adhoc

completed
2026-09-23T18:38:56.132191+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
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
281.1 s
total steps
415
operator
0
scenes
1
trials
1
errored
0

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
camera top_cam flipbook
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
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe cap is the short dark piece left of center; the longer diagonal piece is the pen. I’ll move the left open gripper above the cap to refine its position in the wrist view.
move_to
left_x0.4050left_y-0.1900left_z0.1450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7918, 0.6025, -0.3794, -0.0216, -0.0246, 0.9998, -0.0166, 0.7902, 0.6086, -0.3805, -0.0231, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.295 right_y=0.0028 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4718, -1.4974, 10.4547, 1.79, -0.0415, 0.0806, -0.0366, -0.759, -1.1966, 9.8393, 1.873, -0.0464, -0.0659, -0.1001] 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":0.405,"left_y":-0.19,"left_z":0.145},"note":"The cap is the short dark piece left of center; the longer diagonal piece is the pen. I’ll move the left open gripper above the cap to refine its position in the wrist view."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is centered between the left gripper’s open jaws in the wrist view. I’ll lower to its table-level height while turning the jaws more nearly across its length.
move_to
left_z0.0080left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6437, 1.5948, 0.9443, -0.0978, -0.5182, -0.4007, 0.9998, -0.0193, 0.7959, 0.6128, -0.392, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3918 left_y=-0.1801 left_z=0.1234 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.0329 left_gripper=0.9998 right_x=0.2944 right_y=0.0021 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.013 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.4855, -7.3915, 9.5795, 1.7998, -0.2515, 0.1148, -0.0122, 0.1162, -1.6205, 6.7077, 1.8291, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.008,"left_yaw":-0.65},"note":"The cap is centered between the left gripper’s open jaws in the wrist view. I’ll lower to its table-level height while turning the jaws more nearly across its length."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteAt table height the cap runs just to the right of the left jaw centerline, so closing now could push it aside. I’ll shift the grasp point about two centimeters toward it before gripping.
move_to
left_y-0.1840left_x0.3940left_z0.0090
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3664, 1.8385, 0.6403, 0.487, 0.0811, 0.094, 0.9997, -0.0185, 0.7975, 0.6128, -0.3954, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3897 left_y=-0.161 left_z=-0.0003 left_yaw=-0.4976 left_pitch=-0.1404 left_roll=0.0263 left_gripper=0.9997 right_x=0.294 right_y=0.0024 right_z=0.1799 right_yaw=-0.0015 right_pitch=-0.0179 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.253, -6.8171, 5.012, 1.1062, 0.4127, 0.0757, -0.0171, -0.335, -1.0188, 7.1316, 1.7851, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.184,"left_x":0.394,"left_z":0.009},"note":"At table height the cap runs just to the right of the left jaw centerline, so closing now could push it aside. I’ll shift the grasp point about two centimeters toward it before gripping."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe short dark cap now lies on the left jaw centerline, with the gripper down at table height. I’ll close gently around its middle and check the settled jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.421, 1.8561, 0.6724, 0.474, 0.0727, 0.086, 0.9997, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.388 left_y=-0.1838 left_z=0.0008 left_yaw=-0.5406 left_pitch=-0.1394 left_roll=0.0258 left_gripper=0.9997 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.1026, -9.4017, 7.1179, 1.5458, -0.0562, -0.0024, -0.0122, -0.0615, -1.2103, 7.2274, 1.7509, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The short dark cap now lies on the left jaw centerline, with the gripper down at table height. I’ll close gently around its middle and check the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe closed jaw reading is 0.009, which means the cap was not caught. I’ll reopen and advance about two centimeters toward the visible cap, then try the grasp again.
move_to
left_gripper1.0000left_x0.4160left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4232, 1.8542, 0.6762, 0.4793, 0.0589, 0.0792, 0.0094, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3909 left_y=-0.1836 left_z=0.0038 left_yaw=-0.5274 left_pitch=-0.1293 left_roll=0.0307 left_gripper=0.0094 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.0068, -7.8838, 4.9299, 1.5653, 0.1197, 0.022, 0.6178, -0.1709, -1.265, 7.0222, 1.7363, -0.0122, -0.0464, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.416,"left_z":0.01},"note":"The closed jaw reading is 0.009, which means the cap was not caught. I’ll reopen and advance about two centimeters toward the visible cap, then try the grasp again."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteAdvancing did not reveal a cap clearly beneath the fingertips, and the first close was empty. I’ll clear the left arm to expose both objects in the overhead camera before choosing a corrected target.
move_to
left_x0.3000left_y0.0000left_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]: [-0.3965, 1.8881, 0.7467, 0.4202, 0.0601, 0.0849, 0.995, -0.0181, 0.7986, 0.6128, -0.3981, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.4069 left_y=-0.178 left_z=0.0025 left_yaw=-0.5051 left_pitch=-0.1517 left_roll=0.0319 left_gripper=0.995 right_x=0.2937 right_y=0.0025 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0217 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.6496, -7.4051, 7.8974, 1.6093, 0.1832, 0.149, -0.0562, -0.0342, -0.7726, 7.0496, 1.7509, -0.0659, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18},"note":"Advancing did not reveal a cap clearly beneath the fingertips, and the first close was empty. I’ll clear the left arm to expose both objects in the overhead camera before choosing a corrected target."})
tool
executing move_to over 16 steps (1.6s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteWith the left arm clear, the cap is still at the left of the table and the pen is the longer diagonal piece at center. I’ll bring the right gripper above the pen’s middle with its jaws angled across the pen.
move_to
right_x0.3900right_y0.2850right_z0.1400right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2787, 1.0977, 0.8127, -0.5789, 0.4915, 0.5312, 0.9963, -0.0181, 0.8036, 0.6128, -0.4118, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3088 left_y=0.0054 left_z=0.1641 left_yaw=-0.4363 left_pitch=-0.1666 left_roll=0.0272 left_gripper=0.9963 right_x=0.2921 right_y=0.0025 right_z=0.1749 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [0.1983, -4.3419, 9.5385, 1.3065, 0.4029, 0.2173, 0.1245, -0.0615, -1.6752, 7.3231, 1.8926, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.285,"right_z":0.14,"right_yaw":0.65},"note":"With the left arm clear, the cap is still at the left of the table and the pen is the longer diagonal piece at center. I’ll bring the right gripper above the pen’s middle with its jaws angled across the pen."})
tool
executing move_to over 24 steps (2.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe pen runs along the center of the right wrist view and reaches the fingertip area; the cap is off to the left. I’ll lower the right gripper onto the pen at table height.
move_to
right_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2798, 1.1011, 0.8131, -0.5991, 0.4789, 0.5323, 0.9965, 0.6006, 1.6535, 0.9997, -0.0132, -0.033, -0.0208, 0.9991] state[eef_state]: left_x=0.3058 left_y=0.0069 left_z=0.1596 left_yaw=-0.4291 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9965 right_x=0.3797 right_y=0.2715 right_z=0.1213 right_yaw=0.63 right_pitch=-0.1047 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [-0.1709, -3.4803, 6.8855, 1.5653, 0.2906, -0.0366, -0.0024, 0.4308, -7.8427, 9.0735, 1.9902, 0.0269, 0.0513, -0.0122] 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_z":0.01},"note":"The pen runs along the center of the right wrist view and reaches the fingertip area; the cap is off to the left. I’ll lower the right gripper onto the pen at table height."})
tool
executing move_to over 8 steps (0.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteAt grasp height the pen appears about three centimeters to the right of the right jaw centerline. I’ll shift the gripper diagonally toward it while keeping the fingers at table height.
move_to
right_x0.3940right_y0.2430right_z0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6029, 0.4751, 0.5327, 0.9965, 0.6037, 1.9114, 0.8158, 0.3782, -0.0376, -0.0307, 0.9991] state[eef_state]: left_x=0.3052 left_y=0.0073 left_z=0.1587 left_yaw=-0.427 left_pitch=-0.1957 left_roll=0.0198 left_gripper=0.9965 right_x=0.3725 right_y=0.2693 right_z=0.0085 right_yaw=0.6426 right_pitch=-0.1548 right_roll=-0.0014 right_gripper=0.9991 state[joint_eff]: [-0.2803, -3.0564, 6.8308, 1.3553, 0.2027, -0.0122, -0.0122, -0.253, -8.3897, 4.8205, 1.7216, 0.0269, 0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.394,"right_y":0.243,"right_z":0.008},"note":"At grasp height the pen appears about three centimeters to the right of the right jaw centerline. I’ll shift the gripper diagonally toward it while keeping the fingers at table height."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe pen is now centered between the right jaws in the wrist view. I’ll close the gripper across its shaft and use the settled opening to check whether it is held.
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]: [0.2798, 1.1015, 0.8131, -0.6044, 0.4751, 0.5323, 0.9965, 0.5232, 1.9266, 0.8154, 0.3916, -0.0883, -0.0742, 0.9991] state[eef_state]: left_x=0.3049 left_y=0.0073 left_z=0.1585 left_yaw=-0.427 left_pitch=-0.1969 left_roll=0.0185 left_gripper=0.9965 right_x=0.3885 right_y=0.2462 right_z=0.0045 right_yaw=0.6289 right_pitch=-0.1543 right_roll=-0.0007 right_gripper=0.9991 state[joint_eff]: [-0.335, -3.0564, 6.7077, 1.3651, 0.2125, -0.0562, -0.0122, -0.2667, -9.1692, 6.7624, 1.5458, -0.1978, -0.0269, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen is now centered between the right jaws in the wrist view. I’ll close the gripper across its shaft and use the settled opening to check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe right jaws stopped at a small nonzero opening, consistent with the pen’s thickness. I’ll lift it clear of the table to confirm that the pen moves with the gripper.
move_to
right_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]: [0.2798, 1.1015, 0.8131, -0.6102, 0.4744, 0.5327, 0.9965, 0.5205, 1.9266, 0.8169, 0.3824, -0.0982, -0.0822, 0.0457] state[eef_state]: left_x=0.3039 left_y=0.0071 left_z=0.1576 left_yaw=-0.4274 left_pitch=-0.2016 left_roll=0.0155 left_gripper=0.9965 right_x=0.3874 right_y=0.2462 right_z=0.0034 right_yaw=0.6392 right_pitch=-0.1611 right_roll=0.0006 right_gripper=0.0457 state[joint_eff]: [-0.0479, -3.2205, 6.7077, 1.4286, 0.1783, -0.0366, -0.0171, 0.1299, -8.9915, 5.012, 1.7656, 0.0757, 0.0513, 0.989] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right jaws stopped at a small nonzero opening, consistent with the pen’s thickness. I’ll lift it clear of the table to confirm that the pen moves with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe pen appears to have lifted with the right gripper, while the cap remains on the table in the left wrist view. I’ll bring the left gripper over the cap again, approaching slightly less far forward than on the empty attempt.
move_to
left_x0.3720left_y-0.1770left_z0.1000left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6128, 0.4709, 0.5323, 0.9965, 0.5194, 1.6493, 1.0744, -0.1871, -0.1032, -0.0883, 0.0487] state[eef_state]: left_x=0.3035 left_y=0.0076 left_z=0.1571 left_yaw=-0.425 left_pitch=-0.2054 left_roll=0.0155 left_gripper=0.9965 right_x=0.3858 right_y=0.2457 right_z=0.1228 right_yaw=0.6464 right_pitch=-0.1951 right_roll=0.0038 right_gripper=0.0487 state[joint_eff]: [-0.1299, -3.0017, 6.694, 1.37, 0.1929, -0.0611, -0.0171, -0.2803, -10.4684, 9.265, 1.5653, 0.0073, 0.0366, 1.0281] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.372,"left_y":-0.177,"left_z":0.1,"left_yaw":-0.5},"note":"The pen appears to have lifted with the right gripper, while the cap remains on the table in the left wrist view. I’ll bring the left gripper over the cap again, approaching slightly less far forward than on the empty attempt."})
tool
executing move_to over 17 steps (1.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe cap is now fully visible almost on the left jaw centerline, but it ends just short of the fingertip area. I’ll advance a couple of centimeters and descend before closing.
move_to
left_x0.3810left_y-0.1560left_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]: [-0.429, 1.507, 0.8112, -0.1707, 0.0528, 0.0559, 0.9965, 0.5186, 1.647, 1.0729, -0.2104, -0.1062, -0.091, 0.0535] state[eef_state]: left_x=0.3517 left_y=-0.1672 left_z=0.0768 left_yaw=-0.5185 left_pitch=-0.2965 left_roll=0.0016 left_gripper=0.9965 right_x=0.3818 right_y=0.2436 right_z=0.1191 right_yaw=0.6503 right_pitch=-0.2171 right_roll=0.0069 right_gripper=0.0535 state[joint_eff]: [-0.294, -6.4479, 9.5111, 1.7314, -0.1392, -0.0024, -0.0122, -0.253, -7.8427, 6.9265, 1.6825, -0.0757, -0.0317, 1.033] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.381,"left_y":-0.156,"left_z":0.012},"note":"The cap is now fully visible almost on the left jaw centerline, but it ends just short of the fingertip area. I’ll advance a couple of centimeters and descend before closing."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe cap’s lower half is now centered between the left jaws, but the gripper is still about four centimeters above the table. I’ll lower the jaws to the cap’s level while holding this lateral alignment.
move_to
left_x0.3700left_z-0.0040
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3946, 1.6119, 0.7757, -0.0795, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2142, -0.1066, -0.0906, 0.0535] state[eef_state]: left_x=0.3571 left_y=-0.1562 left_z=0.0389 left_yaw=-0.4947 left_pitch=-0.345 left_roll=-0.0048 left_gripper=0.9965 right_x=0.3811 right_y=0.2433 right_z=0.1178 right_yaw=0.6506 right_pitch=-0.2223 right_roll=0.0082 right_gripper=0.0535 state[joint_eff]: [-0.3487, -8.0615, 6.4342, 1.6435, 0.105, 0.1783, -0.0122, -0.0615, -8.1162, 6.8855, 1.5849, -0.0904, -0.0708, 1.0379] approver: 1 step(s) modified (delta_clamped). 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":0.37,"left_z":-0.004},"note":"The cap’s lower half is now centered between the left jaws, but the gripper is still about four centimeters above the table. I’ll lower the jaws to the cap’s level while holding this lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left hand stopped at about four centimeters despite a lower target, suggesting its tilted fingers have touched the table or cap. I’ll straighten the wrist and ease back slightly so the grasp point can descend without scraping.
move_to
left_pitch0.1500left_x0.3650left_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]: [-0.395, 1.6119, 0.7757, -0.0772, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2268, -0.1066, -0.0906, 0.0535] state[eef_state]: left_x=0.3575 left_y=-0.1565 left_z=0.0393 left_yaw=-0.495 left_pitch=-0.3427 left_roll=-0.0046 left_gripper=0.9965 right_x=0.3791 right_y=0.2422 right_z=0.1156 right_yaw=0.651 right_pitch=-0.2348 right_roll=0.0099 right_gripper=0.0535 state[joint_eff]: [-0.2667, -7.9932, 6.653, 1.6581, 0.1294, 0.1441, -0.0122, -0.1709, -7.8427, 6.5983, 1.6679, -0.0757, -0.0708, 1.0281] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":0.15,"left_x":0.365,"left_z":0.012},"note":"The left hand stopped at about four centimeters despite a lower target, suggesting its tilted fingers have touched the table or cap. I’ll straighten the wrist and ease back slightly so the grasp point can descend without scraping."})
tool
executing move_to over 17 steps (1.7s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteStraightening the wrist let the left grasp point reach the tabletop, and the cap is still between the open jaws. I’ll close on it now and check for a nonzero opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3656, 1.9209, 0.371, 1.0554, 0.0978, 0.0486, 0.9965, 0.5186, 1.6478, 1.0718, -0.2337, -0.1066, -0.0906, 0.0535] state[eef_state]: left_x=0.3614 left_y=-0.153 left_z=-0.0002 left_yaw=-0.4856 left_pitch=0.0764 left_roll=0.0064 left_gripper=0.9965 right_x=0.378 right_y=0.2415 right_z=0.1143 right_yaw=0.6512 right_pitch=-0.242 right_roll=0.0109 right_gripper=0.0535 state[joint_eff]: [0.6222, -6.5846, 2.5231, 1.5897, 0.2369, -0.1294, -0.0122, -0.0752, -8.0479, 6.5846, 1.5849, -0.0855, -0.0708, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"Straightening the wrist let the left grasp point reach the tabletop, and the cap is still between the open jaws. I’ll close on it now and check for a nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe left jaws settled around five millimeters apart, consistent with holding the cap. I’ll lift it to verify that it leaves the table and to give both held pieces room to align.
move_to
left_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]: [-0.3668, 1.9327, 0.3626, 1.0824, 0.102, 0.0448, 0.0497, 0.5186, 1.6478, 1.0718, -0.234, -0.1066, -0.0906, 0.0535] state[eef_state]: left_x=0.3598 left_y=-0.1537 left_z=-0.0011 left_yaw=-0.4883 left_pitch=0.0835 left_roll=0.0019 left_gripper=0.0497 right_x=0.3779 right_y=0.2415 right_z=0.1142 right_yaw=0.6512 right_pitch=-0.2424 right_roll=0.0109 right_gripper=0.0535 state[joint_eff]: [-0.0068, -7.8427, 3.6444, 1.5556, -0.0122, 0.0562, 1.2625, -0.1026, -8.0479, 6.6256, 1.4725, -0.0659, -0.0366, 1.0379] approver: 1 step(s) modified (delta_clamped). 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_z":0.17},"note":"The left jaws settled around five millimeters apart, consistent with holding the cap. I’ll lift it to verify that it leaves the table and to give both held pieces room to align."})
tool
executing move_to over 12 steps (1.2s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteBoth grippers now retain a small nonzero opening after lifting, and neither piece remains clearly on the tabletop. I’ll bring the cap toward the middle and turn its axis to match the pen while keeping the two hands separated.
move_to
left_x0.4700left_y-0.2850left_z0.1900left_yaw0.6500left_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]: [-0.3668, 1.2629, 0.6365, 0.1307, 0.1017, 0.0418, 0.0581, 0.5186, 1.6478, 1.0714, -0.2379, -0.107, -0.0906, 0.0535] state[eef_state]: left_x=0.359 left_y=-0.1533 left_z=0.1518 left_yaw=-0.4862 left_pitch=0.0755 left_roll=-0.0016 left_gripper=0.0581 right_x=0.3772 right_y=0.2411 right_z=0.1134 right_yaw=0.6517 right_pitch=-0.2465 right_roll=0.0118 right_gripper=0.0535 state[joint_eff]: [-0.1573, -5.9556, 9.7299, 1.6923, 0.0024, 0.0171, 1.033, -0.1709, -7.7333, 6.6667, 1.5116, -0.0952, -0.0659, 1.033] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.285,"left_z":0.19,"left_yaw":0.65,"left_pitch":0},"note":"Both grippers now retain a small nonzero opening after lifting, and neither piece remains clearly on the tabletop. I’ll bring the cap toward the middle and turn its axis to match the pen while keeping the two hands separated."})
tool
executing move_to over 12 steps (1.2s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe arms came too close: the right hand was displaced downward as the left crossed toward the middle. I’ll withdraw the left hand to its own side before repositioning the pen, rather than force either arm against the other.
move_to
left_x0.3820left_y-0.1560left_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]: [-0.7719, 2.4504, 2.2921, -1.0634, -0.9173, -1.206, 0.0581, 0.4534, 1.6768, 1.0412, -0.3206, -0.0669, -0.091, 0.0569] state[eef_state]: left_x=0.484 left_y=-0.2704 left_z=0.1343 left_yaw=0.5668 left_pitch=-0.0401 left_roll=-0.0448 left_gripper=0.0581 right_x=0.3733 right_y=0.199 right_z=0.0763 right_yaw=0.5566 right_pitch=-0.3911 right_roll=-0.0033 right_gripper=0.0569 state[joint_eff]: [-3.0974, -6.9265, 2.7419, 0.4811, -1.2772, -0.1148, 1.033, 5.8872, -10.8376, 9.4154, 2.7375, -1.0379, -0.0366, 1.033] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.382,"left_y":-0.156,"left_z":0.17},"note":"The arms came too close: the right hand was displaced downward as the left crossed toward the middle. I’ll withdraw the left hand to its own side before repositioning the pen, rather than force either arm against the other."})
tool
executing move_to over 11 steps (1.1s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe hands are separated again, but the right pen hand is now low and tilted from that contact. I’ll move it back and up with a level wrist, keeping its tip pointed toward the cap without crossing the left arm.
move_to
right_x0.2880right_y0.2750right_z0.1700right_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]: [-0.7456, 1.8038, 1.4002, -0.8112, -0.9035, -1.1713, 0.0581, 0.4576, 1.6985, 1.0191, -0.334, -0.0799, -0.1093, 0.0583] state[eef_state]: left_x=0.3848 left_y=-0.1615 left_z=0.1598 left_yaw=0.5692 left_pitch=-0.0504 left_roll=-0.0262 left_gripper=0.0581 right_x=0.3619 right_y=0.1979 right_z=0.0578 right_yaw=0.5864 right_pitch=-0.4465 right_roll=0.0045 right_gripper=0.0583 state[joint_eff]: [0.5949, -10.1675, 6.6256, 0.9402, -0.5153, 0.1197, 1.0281, -0.6085, -9.5658, 8.212, 1.3895, 0.0415, 0.1148, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.288,"right_y":0.275,"right_z":0.17,"right_pitch":0},"note":"The hands are separated again, but the right pen hand is now low and tilted from that contact. I’ll move it back and up with a level wrist, keeping its tip pointed toward the cap without crossing the left arm."})
tool
executing move_to over 15 steps (1.5s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe right wrist is level again, and both visible tips point in roughly the same direction. I’ll pull the pen hand farther back before bringing the cap into the shared workspace, leaving more clearance between the arms.
move_to
right_x0.2250right_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]: [-0.7444, 1.7992, 1.3827, -0.8062, -0.9012, -1.1687, 0.0581, 0.8257, 1.3334, 0.8066, -0.1337, 0.1646, 0.1127, 0.0583] state[eef_state]: left_x=0.3826 left_y=-0.1593 left_z=0.1561 left_yaw=0.5685 left_pitch=-0.0545 left_roll=-0.0168 left_gripper=0.0581 right_x=0.2851 right_y=0.2716 right_z=0.1475 right_yaw=0.616 right_pitch=-0.088 right_roll=-0.0135 right_gripper=0.0583 state[joint_eff]: [-0.2803, -8.6496, 7.5419, 0.7937, -0.525, -0.0806, 1.0281, 0.4855, -7.4735, 6.612, 2.0928, 0.2466, 0.1099, 1.0281] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.225,"right_z":0.18},"note":"The right wrist is level again, and both visible tips point in roughly the same direction. I’ll pull the pen hand farther back before bringing the cap into the shared workspace, leaving more clearance between the arms."})
tool
executing move_to over 5 steps (0.5s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe pen hand is backed away, leaving a clear gap. I’ll move the cap hand inward and forward at a higher carrying height so their axes can be lined up without crossing grippers.
move_to
left_x0.4600left_y-0.2550left_z0.2100left_yaw0.6500left_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]: [-0.7448, 1.7992, 1.3827, -0.8055, -0.9009, -1.169, 0.0581, 1.0069, 1.187, 0.8024, -0.308, 0.2768, 0.2024, 0.0584] state[eef_state]: left_x=0.3826 left_y=-0.1596 left_z=0.1561 left_yaw=0.5681 left_pitch=-0.0547 left_roll=-0.0179 left_gripper=0.0581 right_x=0.2278 right_y=0.2766 right_z=0.1674 right_yaw=0.6545 right_pitch=-0.0994 right_roll=-0.0188 right_gripper=0.0584 state[joint_eff]: [-0.0479, -8.9778, 6.2017, 0.8571, -0.5153, -0.0415, 1.0281, 0.4718, -5.2171, 9.4427, 1.6532, 0.2271, 0.1441, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.255,"left_z":0.21,"left_yaw":0.65,"left_pitch":0},"note":"The pen hand is backed away, leaving a clear gap. I’ll move the cap hand inward and forward at a higher carrying height so their axes can be lined up without crossing grippers."})
tool
executing move_to over 9 steps (0.9s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe cap is now carried forward near the middle, and the backed-off pen is still well behind it. I’ll bring the pen closer along the cap’s axis, stopping well short so the wrist view can guide final alignment.
move_to
right_x0.3160right_y0.3500right_z0.1900right_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]: [-0.7891, 2.4813, 2.5538, -1.4113, -0.9562, -1.3514, 0.0581, 1.0229, 1.1732, 0.8059, -0.3679, 0.3138, 0.2291, 0.0584] state[eef_state]: left_x=0.4628 left_y=-0.2563 left_z=0.1843 left_yaw=0.6432 left_pitch=-0.0278 left_roll=-0.0426 left_gripper=0.0581 right_x=0.223 right_y=0.2677 right_z=0.1638 right_yaw=0.6239 right_pitch=-0.1301 right_roll=-0.0363 right_gripper=0.0584 state[joint_eff]: [-0.7316, -13.1624, 6.1197, -0.0513, -0.7057, 0.1343, 1.0281, 0.3077, -5.053, 8.8137, 1.6044, 0.1978, 0.0855, 1.0232] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.316,"right_y":0.35,"right_z":0.19,"right_pitch":0},"note":"The cap is now carried forward near the middle, and the backed-off pen is still well behind it. I’ll bring the pen closer along the cap’s axis, stopping well short so the wrist view can guide final alignment."})
tool
executing move_to over 8 steps (0.8s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteThe cap hand is visible to the right of the pen tip in the right wrist camera, so the two axes are not yet lined up. I’ll shift the pen slightly to its tool-right while moving only a little forward, leaving room for a final check.
move_to
right_x0.3450right_y0.2980right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7723, 2.5286, 2.5549, -1.4204, -0.9356, -1.3609, 0.0581, 0.9436, 1.549, 1.0641, -0.2035, 0.2623, 0.1375, 0.0591] state[eef_state]: left_x=0.4669 left_y=-0.2514 left_z=0.1583 left_yaw=0.6632 left_pitch=-0.0554 left_roll=0.0017 left_gripper=0.0581 right_x=0.2953 right_y=0.3355 right_z=0.1621 right_yaw=0.6381 right_pitch=-0.0992 right_roll=-0.0601 right_gripper=0.0591 state[joint_eff]: [-2.359, -17.6479, 5.6274, 0.6227, -0.6032, 0.0904, 1.0281, -1.6205, -5.9145, 10.988, 2.1172, 0.188, 0.0415, 0.9158] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.298,"right_z":0.19},"note":"The cap hand is visible to the right of the pen tip in the right wrist camera, so the two axes are not yet lined up. I’ll shift the pen slightly to its tool-right while moving only a little forward, leaving room for a final check."})
tool
executing move_to over 4 steps (0.4s)
step 248
top_cam
camera top_cam step 248
assistant
agent noteThe pen tip is still clearly in front of the right jaws, with the cap hand ahead and slightly to the right. I’ll advance along the current diagonal by a few centimeters, stopping before the gripper bodies meet.
move_to
right_x0.3690right_y0.3360right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7467, 2.524, 2.5542, -1.401, -0.9298, -1.3636, 0.0581, 0.7971, 1.5558, 1.108, -0.2852, 0.1234, 0.0166, 0.0628] state[eef_state]: left_x=0.4752 left_y=-0.242 left_z=0.1602 left_yaw=0.6877 left_pitch=-0.0578 left_roll=-0.0243 left_gripper=0.0581 right_x=0.3242 right_y=0.3059 right_z=0.1599 right_yaw=0.6725 right_pitch=-0.1653 right_roll=-0.0742 right_gripper=0.0628 state[joint_eff]: [-2.0991, -13.2581, 5.8051, 0.3785, -0.5153, -0.0171, 1.0281, -3.8359, -8.5538, 11.0154, 1.8486, 0.359, 0.3394, 0.6911] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.369,"right_y":0.336,"right_z":0.19},"note":"The pen tip is still clearly in front of the right jaws, with the cap hand ahead and slightly to the right. I’ll advance along the current diagonal by a few centimeters, stopping before the gripper bodies meet."})
tool
executing move_to over 4 steps (0.4s)
step 252
assistant
agent noteThe approach displaced the cap hand instead of narrowing the gap, indicating arm interference. I’ll back the pen away, then relocate the cap nearer its own side so the next approach does not depend on the left arm’s stretched pose.
move_to
right_x0.2250right_y0.2700right_z0.1900right_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]: [-0.6518, 2.5244, 2.5542, -1.3949, -0.9127, -1.3643, 0.0581, 0.7879, 1.6989, 1.3373, -0.4564, 0.075, -0.0303, 0.0633] state[eef_state]: left_x=0.4961 left_y=-0.1982 left_z=0.1578 left_yaw=0.7791 left_pitch=-0.0737 left_roll=-0.033 left_gripper=0.0581 right_x=0.3401 right_y=0.3282 right_z=0.1637 right_yaw=0.729 right_pitch=-0.2546 right_roll=-0.082 right_gripper=0.0633 state[joint_eff]: [-8.3897, -14.0513, 5.8735, 0.4615, -0.6129, -0.0562, 1.0281, -1.6615, -6.2427, 12.0957, 2.4933, 0.2515, 0.4029, 0.9011] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.225,"right_y":0.27,"right_z":0.19,"right_pitch":0},"note":"The approach displaced the cap hand instead of narrowing the gap, indicating arm interference. I’ll back the pen away, then relocate the cap nearer its own side so the next approach does not depend on the left arm’s stretched pose."})
tool
executing move_to over 9 steps (0.9s)
step 261
assistant
agent noteThe right hand barely moved on the retreat command, so the hands may still be mechanically blocking one another. I’ll withdraw the cap hand toward the left side first to free the pen arm.
move_to
left_x0.3700left_y-0.1450left_z0.1800left_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6483, 2.5328, 2.5568, -1.3945, -0.9051, -1.3685, 0.0581, 0.7784, 1.6997, 1.2938, -0.4526, 0.0654, -0.0502, 0.0653] state[eef_state]: left_x=0.497 left_y=-0.1977 left_z=0.1534 left_yaw=0.7836 left_pitch=-0.0819 left_roll=-0.032 left_gripper=0.0581 right_x=0.3358 right_y=0.32 right_z=0.1459 right_yaw=0.7383 right_pitch=-0.2961 right_roll=-0.0905 right_gripper=0.0653 state[joint_eff]: [-0.6085, -14.7214, 5.5453, 0.6032, -0.5495, 0.0122, 1.0281, -1.0598, -10.947, 7.241, 1.8437, -0.0073, 0.0171, 0.8132] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.145,"left_z":0.18,"left_yaw":0.65},"note":"The right hand barely moved on the retreat command, so the hands may still be mechanically blocking one another. I’ll withdraw the cap hand toward the left side first to free the pen arm."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteThe hands are still close and the pen wrist was twisted during withdrawal. I’ll move the cap hand fully back to its home side so both arms can recover unobstructed.
move_to
left_x0.2950left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6411, 1.8778, 1.5257, -0.8791, -0.8837, -1.3151, 0.0581, 0.8955, 1.6791, 1.253, -0.5499, -0.0643, -0.1665, 0.0687] state[eef_state]: left_x=0.4132 left_y=-0.1335 left_z=0.1639 left_yaw=0.7451 left_pitch=-0.0777 left_roll=-0.1305 left_gripper=0.0581 right_x=0.2599 right_y=0.3485 right_z=0.1239 right_yaw=1.041 right_pitch=-0.4114 right_roll=-0.0498 right_gripper=0.0687 state[joint_eff]: [-7.9795, -14.8855, 4.8752, -0.3541, -0.5983, 0.1245, 1.0281, -9.1009, -6.6667, 9.894, 2.8059, 1.0965, 0.9206, 0.6716] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_pitch":0,"left_roll":0},"note":"The hands are still close and the pen wrist was twisted during withdrawal. I’ll move the cap hand fully back to its home side so both arms can recover unobstructed."})
tool
executing move_to over 12 steps (1.2s)
step 283
assistant
agent noteThe cap hand is now back on the left and the pen remains held on the right, with open space between them. I’ll level and raise the pen wrist before attempting another, shorter alignment approach.
move_to
right_x0.2650right_y0.3450right_z0.1900right_yaw0.7500right_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5236, 1.2575, 0.9489, -0.8341, -0.9115, -1.1015, 0.0581, 0.8982, 1.7123, 1.2488, -0.5652, -0.0578, -0.1661, 0.0705] state[eef_state]: left_x=0.3005 left_y=-0.0081 left_z=0.1838 left_yaw=0.7542 left_pitch=-0.0229 left_roll=-0.0362 left_gripper=0.0581 right_x=0.2573 right_y=0.3452 right_z=0.1065 right_yaw=1.041 right_pitch=-0.4643 right_roll=-0.0472 right_gripper=0.0705 state[joint_eff]: [0.1983, -4.3692, 6.7761, 0.9451, -0.652, 0.1636, 1.0379, -0.3077, -11.1795, 6.8308, 1.4188, -0.1685, -0.022, 0.7106] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.345,"right_z":0.19,"right_yaw":0.75,"right_pitch":0.12},"note":"The cap hand is now back on the left and the pen remains held on the right, with open space between them. I’ll level and raise the pen wrist before attempting another, shorter alignment approach."})
tool
executing move_to over 20 steps (2.0s)
step 303
assistant
agent noteThe pen wrist is level again, with its exposed tip pointing forward. I’ll bring the cap to a nearer meeting point that lines up with the pen’s angled axis while keeping the two gripper centers well apart.
move_to
left_x0.3900left_y-0.1800left_z0.1900left_yaw0.7800left_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]: [-0.5201, 1.2594, 0.9375, -0.8402, -0.9047, -1.0985, 0.0581, 0.997, 1.4368, 0.8608, 0.02, 0.21, 0.0479, 0.0734] state[eef_state]: left_x=0.2979 left_y=-0.0064 left_z=0.1784 left_yaw=0.7537 left_pitch=-0.0345 left_roll=-0.0169 left_gripper=0.0581 right_x=0.261 right_y=0.3425 right_z=0.1625 right_yaw=0.7845 right_pitch=0.0187 right_roll=-0.0706 right_gripper=0.0734 state[joint_eff]: [-0.4581, -4.1504, 7.5145, 0.9841, -0.4811, -0.0659, 1.0379, 0.7863, -8.9778, 6.9812, 2.1661, 0.2515, 0.1294, 0.569] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.19,"left_yaw":0.78,"left_pitch":0},"note":"The pen wrist is level again, with its exposed tip pointing forward. I’ll bring the cap to a nearer meeting point that lines up with the pen’s angled axis while keeping the two gripper centers well apart."})
tool
executing move_to over 16 steps (1.6s)
step 319
assistant
agent noteIn the right wrist view the cap hand is directly ahead of the pen tip, so the lateral alignment is much better. I’ll bring the cap a few centimeters toward the tip while watching for any arm displacement or contact.
move_to
left_x0.3660left_y-0.1980left_z0.1750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7761, 2.048, 1.8492, -1.327, -0.9699, -1.5814, 0.0581, 0.9894, 1.4448, 0.8429, -0.0525, 0.2165, 0.0631, 0.0744] state[eef_state]: left_x=0.3906 left_y=-0.1742 left_z=0.1874 left_yaw=0.7879 left_pitch=-0.0322 left_roll=-0.0451 left_gripper=0.0581 right_x=0.2568 right_y=0.3282 right_z=0.1371 right_yaw=0.7627 right_pitch=-0.076 right_roll=-0.083 right_gripper=0.0744 state[joint_eff]: [-1.5111, -9.5521, 6.694, -0.1001, -0.8034, -0.0269, 1.0379, 0.5949, -6.8991, 8.1026, 2.254, 0.149, -0.1978, 0.569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.198,"left_z":0.175},"note":"In the right wrist view the cap hand is directly ahead of the pen tip, so the lateral alignment is much better. I’ll bring the cap a few centimeters toward the tip while watching for any arm displacement or contact."})
tool
executing move_to over 3 steps (0.3s)
step 322
assistant
agent noteThe pen hand moved away as the cap advanced, so the grippers are blocking a two-hand insertion. I’ll set the pen down while keeping its tip orientation, then withdraw the right arm and fit the held cap without the arms competing for the same space.
move_to
right_z0.0160right_x0.2520right_y0.3290right_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]: [-0.8276, 2.0781, 1.8645, -1.3701, -0.9695, -1.6772, 0.0581, 0.9958, 1.4448, 0.8387, -0.0696, 0.1864, 0.0376, 0.0773] state[eef_state]: left_x=0.3792 left_y=-0.1921 left_z=0.1796 left_yaw=0.7899 left_pitch=-0.0339 left_roll=-0.0661 left_gripper=0.0581 right_x=0.2488 right_y=0.3304 right_z=0.1314 right_yaw=0.8078 right_pitch=-0.1017 right_roll=-0.0895 right_gripper=0.0773 state[joint_eff]: [-1.8256, -9.9487, 5.1214, -0.1392, -0.5201, -0.0855, 1.0379, -0.5265, -6.1744, 7.241, 2.0147, 0.4176, 0.1636, 0.3492] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.016,"right_x":0.252,"right_y":0.329,"right_pitch":0},"note":"The pen hand moved away as the cap advanced, so the grippers are blocking a two-hand insertion. I’ll set the pen down while keeping its tip orientation, then withdraw the right arm and fit the held cap without the arms competing for the same space."})
tool
executing move_to over 8 steps (0.8s)
step 330
assistant
agent noteThe right gripper has reached table height with the pen still pointed toward the cap. I’ll release the pen there before moving the empty hand away.
move_to
right_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]: [-0.8593, 2.0789, 1.8603, -1.4075, -0.9615, -1.7275, 0.0581, 0.9947, 1.7916, 0.5339, 0.5865, 0.1829, 0.0254, 0.0792] state[eef_state]: left_x=0.3677 left_y=-0.1992 left_z=0.1774 left_yaw=0.7872 left_pitch=-0.0408 left_roll=-0.0647 left_gripper=0.0581 right_x=0.2426 right_y=0.321 right_z=0.0035 right_yaw=0.8161 right_pitch=-0.0981 right_roll=-0.0963 right_gripper=0.0792 state[joint_eff]: [-0.3487, -10.2222, 5.5043, 0.0317, -0.5934, -0.1148, 1.033, -0.5265, -7.4598, 4.2325, 1.9805, 0.105, -0.1148, 0.1929] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The right gripper has reached table height with the pen still pointed toward the cap. I’ll release the pen there before moving the empty hand away."})
tool
executing move_to over 10 steps (1.0s)
step 340
assistant
agent noteThe pen remains on the table between the open right jaws, with its exposed tip visible ahead. I’ll lift the empty right hand vertically so it does not sweep the pen sideways.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8589, 2.0789, 1.8584, -1.4029, -0.9607, -1.7271, 0.0581, 0.9947, 1.803, 0.5297, 0.614, 0.1825, 0.0196, 0.9949] state[eef_state]: left_x=0.368 left_y=-0.1994 left_z=0.1768 left_yaw=0.7873 left_pitch=-0.0418 left_roll=-0.067 left_gripper=0.0581 right_x=0.2433 right_y=0.3222 right_z=0.0031 right_yaw=0.8197 right_pitch=-0.0868 right_roll=-0.0985 right_gripper=0.9949 state[joint_eff]: [-0.0342, -10.8239, 5.7915, 0.1294, -0.5397, -0.0171, 1.033, -0.0479, -8.0889, 5.1214, 1.3602, 0.0562, -0.0269, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The pen remains on the table between the open right jaws, with its exposed tip visible ahead. I’ll lift the empty right hand vertically so it does not sweep the pen sideways."})
tool
executing move_to over 13 steps (1.3s)
step 353
assistant
agent noteThe pen stayed on the tabletop when the right hand lifted. I’ll park the empty right arm at its home side to clear the overhead view and leave room for the cap hand to approach the pen tip.
move_to
right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8558, 2.0789, 1.8587, -1.383, -0.9569, -1.7275, 0.0581, 1.0004, 1.3911, 0.9131, -0.2913, 0.1478, -0.0078, 0.996] state[eef_state]: left_x=0.3706 left_y=-0.2011 left_z=0.1762 left_yaw=0.7898 left_pitch=-0.0471 left_roll=-0.0872 left_gripper=0.0581 right_x=0.2316 right_y=0.3194 right_z=0.1422 right_yaw=0.8672 right_pitch=-0.2001 right_roll=-0.114 right_gripper=0.996 state[joint_eff]: [-0.0889, -10.7966, 5.7778, -0.0317, -0.5641, -0.0317, 1.0379, -0.4718, -9.4701, 11.0838, 1.9853, 0.3248, 0.3004, 0.1001] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The pen stayed on the tabletop when the right hand lifted. I’ll park the empty right arm at its home side to clear the overhead view and leave room for the cap hand to approach the pen tip."})
tool
executing move_to over 27 steps (2.7s)
step 380
assistant
agent noteWith the right arm parked, the pen is clearly lying diagonally on the table; its exposed tip is the upper-left end in the overhead view. I’ll bring the held cap above and just ahead of that tip for a careful single-arm alignment.
move_to
left_x0.2870left_y-0.1700left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8562, 2.0789, 1.8584, -1.3727, -0.9501, -1.7271, 0.0581, -0.0139, 0.7937, 0.5961, -0.4107, -0.0193, -0.0166, 0.9961] state[eef_state]: left_x=0.3711 left_y=-0.203 left_z=0.175 left_yaw=0.7889 left_pitch=-0.0547 left_roll=-0.0963 left_gripper=0.0581 right_x=0.2895 right_y=0.003 right_z=0.1701 right_yaw=0.0015 right_pitch=-0.0462 right_roll=-0.0045 right_gripper=0.9961 state[joint_eff]: [-0.1573, -10.865, 5.8872, 0.1734, -0.525, -0.0611, 1.0281, -0.4581, -0.9641, 7.3231, 2.1758, 0.0024, -0.0952, -0.0024] approver: 1 step(s) modified (delta_clamped). 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
move_to({"targets":{"left_x":0.287,"left_y":-0.17,"left_z":0.1},"note":"With the right arm parked, the pen is clearly lying diagonally on the table; its exposed tip is the upper-left end in the overhead view. I’ll bring the held cap above and just ahead of that tip for a careful single-arm alignment."})
tool
executing move_to over 7 steps (0.7s)
step 387
assistant
agent noteThe cap hand now overlaps the pen tip in the overhead view, but height and camera perspective make that overlap ambiguous. I’ll shift toward the pen’s estimated table coordinates at a safe hover height and use the wrist image to confirm the alignment before descending.
move_to
left_x0.2710left_y-0.2790left_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]: [-0.976, 1.9099, 1.2919, -1.1858, -0.9325, -1.9015, 0.0581, -0.0174, 0.7975, 0.5961, -0.4129, -0.0277, -0.0227, 0.9961] state[eef_state]: left_x=0.2894 left_y=-0.1682 left_z=0.0976 left_yaw=0.7768 left_pitch=-0.05 left_roll=-0.0268 left_gripper=0.0581 right_x=0.2894 right_y=0.0034 right_z=0.1687 right_yaw=0.0084 right_pitch=-0.0521 right_roll=-0.0046 right_gripper=0.9961 state[joint_eff]: [-0.335, -10.5915, 5.7504, 0.0952, -0.486, -0.0513, 1.0281, 0.1436, -1.5658, 7.0085, 1.7363, 0.0024, 0.0317, -0.0171] camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.271,"left_y":-0.279,"left_z":0.095},"note":"The cap hand now overlaps the pen tip in the overhead view, but height and camera perspective make that overlap ambiguous. I’ll shift toward the pen’s estimated table coordinates at a safe hover height and use the wrist image to confirm the alignment before descending."})
tool
executing move_to over 10 steps (1.0s)
step 397
assistant
agent noteThe pen’s gold tip is now visible in the left wrist view just left of the cap’s axis and near its open end. I’ll shift the held cap about two centimeters toward the tip and lower it to the pen’s height for insertion.
move_to
left_x0.2710left_y-0.2440left_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.103, 2.2578, 1.7947, -1.4776, -0.8806, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4149, -0.0277, -0.0231, 0.9961] state[eef_state]: left_x=0.2903 left_y=-0.2647 left_z=0.0904 left_yaw=0.7776 left_pitch=-0.0673 left_roll=-0.0375 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.168 right_yaw=0.0086 right_pitch=-0.0552 right_roll=-0.0048 right_gripper=0.9961 state[joint_eff]: [-0.6496, -10.6325, 6.8308, -0.696, -0.5104, -0.0513, 1.0281, -0.0752, -1.3333, 7.0222, 1.6874, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.271,"left_y":-0.244,"left_z":0.03},"note":"The pen’s gold tip is now visible in the left wrist view just left of the cap’s axis and near its open end. I’ll shift the held cap about two centimeters toward the tip and lower it to the pen’s height for insertion."})
tool
executing move_to over 4 steps (0.4s)
step 401
assistant
agent noteThe pen tip has disappeared beneath the cap hand after the sideways correction, suggesting the two are aligned at close range. I’ll lower slightly and slide the cap a few centimeters backward along the pen’s axis to seat it over the tip.
move_to
left_x0.2440left_y-0.2580left_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]: [-1.1065, 2.2475, 1.5295, -1.2949, -0.8745, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4152, -0.0277, -0.0231, 0.9961] state[eef_state]: left_x=0.2724 left_y=-0.2333 left_z=0.0364 left_yaw=0.7807 left_pitch=-0.0505 left_roll=0.0329 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.1679 right_yaw=0.0086 right_pitch=-0.0555 right_roll=-0.0048 right_gripper=0.9961 state[joint_eff]: [-0.1573, -11.6991, 5.3402, -0.3394, -0.4762, -0.0171, 1.0281, -0.1983, -1.265, 7.0359, 1.7021, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.244,"left_y":-0.258,"left_z":0.012},"note":"The pen tip has disappeared beneath the cap hand after the sideways correction, suggesting the two are aligned at close range. I’ll lower slightly and slide the cap a few centimeters backward along the pen’s axis to seat it over the tip."})
tool
executing move_to over 3 steps (0.3s)
step 404
assistant
agent noteThe cap hand stopped descending at about 2.5 centimeters and resisted the insertion slide, indicating contact at the pen tip. I’ll release the cap at this contact point and then clear the hand to see whether it has seated on the pen.
move_to
left_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]: [-1.1069, 2.2597, 1.5146, -1.2495, -0.8627, -2.0933, 0.0581, -0.0174, 0.7994, 0.5961, -0.4152, -0.028, -0.0231, 0.9961] state[eef_state]: left_x=0.2719 left_y=-0.2355 left_z=0.0255 left_yaw=0.7842 left_pitch=-0.0664 left_roll=0.0192 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.1677 right_yaw=0.009 right_pitch=-0.0563 right_roll=-0.0046 right_gripper=0.9961 state[joint_eff]: [-0.4718, -9.9077, 6.4068, -0.6911, -0.5348, -0.022, 1.0281, -0.0615, -1.3333, 7.0085, 1.7167, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The cap hand stopped descending at about 2.5 centimeters and resisted the insertion slide, indicating contact at the pen tip. I’ll release the cap at this contact point and then clear the hand to see whether it has seated on the pen."})
tool
executing move_to over 10 steps (1.0s)
step 414
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1069, 2.2623, 1.5154, -1.2625, -0.8577, -2.0933, 0.9956, -0.0174, 0.7994, 0.5961, -0.4152, -0.0277, -0.0231, 0.9961] state[eef_state]: left_x=0.2703 left_y=-0.2335 left_z=0.0252 left_yaw=0.7873 left_pitch=-0.066 left_roll=0.0347 left_gripper=0.9956 right_x=0.2892 right_y=0.0035 right_z=0.1677 right_yaw=0.0086 right_pitch=-0.0563 right_roll=-0.0048 right_gripper=0.9961 state[joint_eff]: [-0.3487, -10.947, 4.4513, -0.359, -0.4176, -0.0122, -0.1441, -0.2667, -1.1966, 7.0496, 1.707, -0.0317, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
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 · 7.404 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6025, -0.3794, -0.0216, -0.0246, 0.9998, -0.0166, 0.7902, 0.6086, -0.3805, -0.0231, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.295 right_y=0.0028 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.4974, 10.4547, 1.79, -0.0415, 0.0806, -0.0366, -0.759, -1.1966, 9.8393, 1.873, -0.0464, -0.0659, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b600d2b8078a37172746fa8f679be7e170960e1d036279db831d510120e6230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a201b11e051ca43b4a1588a1d51741bf2d1a354147229ee62dcedbc1b8a4eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba899fdd6d503d689ae6c7413dc5e39a3560706ea14e3b438d0027ec608637ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.574 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0ace0ea9c10c8ac9016ab41cd3a1cc87d0a2e564eee71e191d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.19,\"left_z\":0.145},\"note\":\"The cap is the short dark piece left of center; the longer diagonal piece is the pen. I’ll move the left open gripper above the cap to refine its position in the wrist view.\"}",
  "call_id": "call_JSSZUmnfxHeGfhabsoQG8E4a",
  "id": "fc_0ace0ea9c10c8ac9016ab41cd3d5e487d0ba5226a8c4abd4a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JSSZUmnfxHeGfhabsoQG8E4a",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.6437, 1.5948, 0.9443, -0.0978, -0.5182, -0.4007, 0.9998, -0.0193, 0.7959, 0.6128, -0.392, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3918 left_y=-0.1801 left_z=0.1234 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.0329 left_gripper=0.9998 right_x=0.2944 right_y=0.0021 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.013 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -7.3915, 9.5795, 1.7998, -0.2515, 0.1148, -0.0122, 0.1162, -1.6205, 6.7077, 1.8291, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ea6e091587ec6736a030f91f21636d369461482b8192915805b7b295e6ed39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6ccb8c0a17be0e478fbbaa33910673869e7d7d52d003a5e69016adfe298bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d3761d8980f8b10d1b2f3fcab0c9c7ab6fb86b049b2f6bb2cc8e0b9370b08a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.122 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6025, -0.3794, -0.0216, -0.0246, 0.9998, -0.0166, 0.7902, 0.6086, -0.3805, -0.0231, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.295 right_y=0.0028 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.4974, 10.4547, 1.79, -0.0415, 0.0806, -0.0366, -0.759, -1.1966, 9.8393, 1.873, -0.0464, -0.0659, -0.1001]",
      "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]: [-0.6437, 1.5948, 0.9443, -0.0978, -0.5182, -0.4007, 0.9998, -0.0193, 0.7959, 0.6128, -0.392, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3918 left_y=-0.1801 left_z=0.1234 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.0329 left_gripper=0.9998 right_x=0.2944 right_y=0.0021 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.013 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -7.3915, 9.5795, 1.7998, -0.2515, 0.1148, -0.0122, 0.1162, -1.6205, 6.7077, 1.8291, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ea6e091587ec6736a030f91f21636d369461482b8192915805b7b295e6ed39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6ccb8c0a17be0e478fbbaa33910673869e7d7d52d003a5e69016adfe298bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d3761d8980f8b10d1b2f3fcab0c9c7ab6fb86b049b2f6bb2cc8e0b9370b08a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzcIw716wAfRDfHbXXatUkn_-Zjy-Qfzl6E3e1q8AxBL5IpsN4qEkQbcQu0xiK5hc-5dY2S_ej11XExqHf-KXh9nhb_2kfXAaxruyVM7Hz6DteW9aqfcZsgoma0-cttghM0Vl8O57OA_5Yi0jJ0l9U3K93uON4Wx3iE-yDPxTyYgx5oSG3l8kIW4FMWN7ir1ZnGr6zKDSrh59Td4Zf89VjT0uvr6-f6KdWHQlDVpGPIj3nyNmWqXvI5pQ_EMn8GSmrEfKhJRtDofEohMJ9MCEX8ZYXuhC_w6kbfmq2vTKnTzjagzE_5LMBC8THfexeYkEtb3fuxNj85NnXMSZJS1G8V2wsbFPdrtxFy6TBh8eyS-rNZYBSNXi-wmF6cIbmavodNk3Zhjc3a6lxgKLemfOIW6cXOM2e3kPzebgOUHooo6GOjaeLcOWrlcY1jogNYQLh-P-y5xuqhtbcCxRyY06AVKe0Y-YH5kkv6FFcL7_697eqXZZJEl_GSO92ort3m5FliPstlYm950B52jb_Nb59rhRoFc4yEC7u71l9DIPrd5m-u_G1X9BOa-G28y0sdzqpH6loUJDz8us1HgdIB_v-8thq9X9bbTiX00nwbLr0I_3pdHoUgD6O0imFhgfRV_uDT96BzqYUw7BmY9YAaCypoX9s4vmDuvpL207Hq_F51xEkqzFPxD6aLSGwloAM86HdJQHnCMaY7_NrBwBF8jDAZXGT-WN5xPOgFAghx_p1b6b0AbBNYxOQQsdbS9Ud3cWqaQbOtJurWmdGaXoht8T44YwedkBXPW-A-xN6c7bp3MIyW7PzUK5PBgJeN7jq-P6rxLErA64y10aulvF4qkW52YAt1Dkmsdq6NCy_NESQzJ4md0Ge3iaMIG86f8u4L4LhU15MBcZiziF7smilJ-SB0pxrnEGL0uT3BHwAoVp5gmo2Onp9xywkeBSNae0rfjj1GEZYiQLmFZK14xjHd4fykpWnMNQTAdF_uXlPMqdtkFXuLL5hajBIWjel6LZIDkhGSKToxjCuU2hSSaWMeXDtW787lvoFLd9bsxa7gofFs7aVjT6DuLWx8zVoh4dsg6uGaQucrzhqLe8qF2zb4nciHBo_7fexIYoadZU5K462rs35Sl8uLYQ4rUANqXDubosLgc30tBXzQqouBOYqeNJAUOMmo5nmEk9oJcml1vy2EcrBu26jqWgrBnY9hmUGluvYFgNpkvhR8erHKUR3zScC6dW5BJMNZeqQ8Qs2TUITile1OKF6YdCz970FpC042jkMu1qdLlz8ptKG7l1dFES5N5wIWBg-UbyuIc-kKzTjiQbWx1I_ItVPr5g9jNfmiEOU3hLm_F4yQTaYSfZwdbPh8fGzG_rp6otQfMRG3poyRT4IIpyp_LmmQumvjfgPWaaxrmhqi2UAehBhcA1I3ZSQNWadqt2T0-N6DcLJPLDF2u7yZogh86QS9UVPswJ-yUEZSnI9VUXSzyRrQpaXYNdw2p_tmN8yrYee1u-kHbieCDahfvZJgZtmFb8oe2rcW5Fr6hSREON1b8Cfyzwv_meA90uNu2jOisk1ln3B5c14BspSMc7JAFOnbENiK5QWp0FjVdaYZG7MSBukmtSzoYm1UCmlEllyIDKFici3n91yMZvrZzV648g6iB2-rnE4zFagEimA3VzQWKjG1dS1ZlareOjc5HaC8wV8CcDZRmD0gy8MVk3dORms105U0SZamira8ILQ0GXIOOfYae4ygBAbGeA4n9n6D1XjrzmkY6hXJ8iRGz-SjeWFxC-nOHgSLHf5pHkeU06BK-4cH5ilRNtstmWL3HacESbQqAnPo77T16APeXPopYfvbpuMi4dxVOj7QmBYzVtGR17T3_SAWkzyYXTK0q-GbFZmOE2bpOcckgds6jZY_lOBukOmMbSGhde0SHnYowpw7JMKUcLeMyiRVLa87mc4GCac-4iATERGYyobBeoiZKaMVc3KTkp5A6nrZSndLWeFlgeB_J7PYiTe-iFt6NGOHDtWAVUlQfJKICgqXe238RrqyY9WvQOaCscLj6uvdLptLi5YI3eZCFsyCXtQQUvLqIE1F2hrUWY8d0Wq5GdmNzRoydTxbuIYEzb1W931iVOLKgeQmybEsCGM28EaLceNTRPhdfO03um1Zqcag7zSbExIFq_myeQroI72zo1lXEUWH51ZPx2VYTdP_b4-eHlY8JIO3jvzUimJyd44ibz8bWNlJnEB08WOMqEv9zaIV44D6ziBVQ-Nb5hwRXxWrc50AKsqLO6Q30pODTmnFF_DQBwP1eodFOvnb5F6MdsnwqIQvi_x31fRHJb7YZWGh5sz7TiwFsWRq9EB0sMTksNWUH4QpNuaE1sfZWTGjNGyLLMeYt5Jk-XNH5o_hqyeeUKIegxwDv78SwFdBTQLNRkGKG713RD4PgdQIYSp_zr187881aNuGVtE-HZnd199PqSSBJzoNoZ8UFzZeoYHNHV9310_aL0ThaC_Ic9Qx8UIsNXNAbveFql7v1TcDJadu51F6GrKNMowl_VHNuXwdIeQdIniQzlvFJAYinRY_oZ33Lx-Rt2KgvULjeLwhQVpOufzdZTuSAncUzqJpabOSAHAkrMxt_v3TOyYNORzhz8J3O6jV9GOuufJEmpeRLg0S1Uanr65EqxYy6veFl7SOH_dTZ42qeMj9wr6yNkzwwO2Gj32MLBOJVoDDtVjWZscGTM_Nqa_H5WNYrKb6BSvHVYCjzTXvDHLlfs157aDPn5WvenEk_IMJQbOgK1sfdTYbEFP6fNAxryWhE8QcVn34Pq1vtG4tMlz4_o24BViDIXoppaVB5cO-BVt4lHJvn_p4yVdON3Jb4RxiHADUIEJpOUH1f0PS4_rBFbW-Ho1nYYBw09DSDs8IRtbYoASHpH55a2Uncg5vOjNw1jD2x-6XGuZHS5rCd31xY43JUwSqLyXhud4VqAhysksH8x5EY2S8Gy-EVcpYd2FqpIsfWbuSpzi4auugXcwNJ38lanneh0EqLPhuATYp0Z_5roBanyvciSZ7wPS0y6qrW-ae_oScJYKtsQd76KFXbpou08W1bPBg5QXHabHVgU40JaXqiHGSyebjY5g9ulaCdYJ3dxFxTXk25KnSoS7IQUNWFA9bRr1ONvuDAKcl1oZojnQdr9qYsAquvVt5V6mkCYCf_gc5p69KULH4j8lgXe3N6Oc342QGBaOhC6xHxitbm2KyyglBZs5tOZyLG28G0eNcCjVz7MZbk0ftD08OP3vtLL53AfnylLHLP1QwguaMCUYar2NUtQIAMXhC5mZCUQrb_H_FoHonBt2jm_w58BgIiBL_PCmOwWDyi_7Pay63uARTt67Vvm528YOXIqohuh6w3R4t_vpHw9sHK-OV6u1dFCatsVnzCPOy9S8kfn-BTQaK2VbeBt58H8pSlTcn8Y2yD_2ZaESf7eavGOKw_neBqAggJ2bzZVo8GPV-5FGm8jitWube8gZjMFxPVLMOiXx84z4hvDmCvq4OpXs9LY5eG7FwQTKkoUP7gUI4R3eDlNZXKuF4KyBwPNBAeGSQiaSrw9L92WP0q1CQdNofLRyGktUr_LRLzBavz-a8Ote-p6EUb_zz7M0ZZ5NpsmhW_t1jZAHkIRjmF80nzKBJgBvVqQZfDYN6TGt0gLk-f2-G6vMTqf48iXmQGoV4CZV57FlpmlsVDNhBV3RsUiA9jXwgvAipaiXeUiZFE4hRceXk9IDH1QsW91xn19jOoRkGrhRKTvYWAghipBpqcvNEZYX0m-T2_kbuc55onAtogrOyql9SAgXPw6VkpgEutc-Ajh_aM7_J8C5r35O-aCPdBmONQ_Mhp3L5Y64bc7YEEj9o_mvGijDu6hTr7cwGTZZweQhbFNEpiidqbggHlwZfVMMDmPwAbaESAm-t1Del-wH-G2jto4SA7t-mY6tvqxG7M0ijEon9iZCewfVkrHcJTuqBWQTgH3hSPTp0eur3D_TjtdP1CEbyZjxrBt1MENLUKivyTD0=",
  "id": "rs_0ace0ea9c10c8ac9016ab41cd72ec487d0b68103c671634dd0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzcOszcXFA3J9ioGSctwJSQkL8IauQvxFt_gFkT43K8VC55E6PlLtW73xWL3CidGjDYktqbH-hmit079MijU6_8YLnJxmB8IgQ0apQlSyd_nD4yiBiGx9v8oYEHP4ZjCPUi46VORBaLyOt6VNxUoYfCASe7bwXg4NRDQLCOPlwNSDEhKg7HQGVu08MgVFVrZ0l5lAGzS_Bv4ZZsFPVHwD0_YOrgzAXl9Vabhjbo6R86d3IEeFUTRMkUXNhcgcH4juuZj8OKmWuAq6Dx_RbtUDmPRhLfXHsZwmxCU-K54mjPsbxYX3I9sE8CGDCJKa0jNeF97_ENeDJuOYRgdl8kZ5Pvfp2aFeGAS_J0_NHXANDkClqSEGvHOty_cUUq26dRJsP46G96WDYQLodmlbQXedJndwz2sBsXR_9kEsTsNC1MKuVHtJjRwJiSerCBzT1_EGZXFuQN0j75fEpE_08zXCJkBiGKHuXsiFDvYWNCj6f-VnuWhAxin0JdX6CWKpZxsu84UogUCLdnqbHCo-ZUd23y7ppj5kvH6b_KpHimrzL-nVfNtWJII5EYz53uOcsaOKZMGwr6U9bZm_XwliUOcK95emrFli4W2tmxTKD72_koM16ZchCdWu_tJPnySFnHyrdQMVAo4yKld-FyfpHU6WXtJHPUIrOj46a_SYafAqM7OiQFQVt1IQBXviFlsxra6jJJSvhbc87_d8aHaADOl_cVu54WL0N_ttzrdEos5AoBF2Ljbbfo9tKtAXDJIJ0lJFqWPlqWLDSSHConmuDdQR6KcPSfxIdeheAGrzIkVir0WZKqA9WApptwXvllrThETbUpDaUKmdd7v86a_OScfhrqsfJ2n93PIfy4s8LE_1AOBG50WqftZzRwvn9hampguAT7zMRCpWWBPYFzDzQwCJFMmFMqQlWfLw7y1iJiARHJQwbTI7iw3PTK9LG9BUOQNfFup2vyrAihkYlSoB2Zt4LzvRfYB0XwdlaRvcO36rbGZ9XIsEBRyb7o2BSxOSQNuPAuwBNFPbGWTeyHXBw8fqOiPLvdnoXflN6VNlgTww1v0Om9zgr_gtCgOdoVAEOcwQuKtDeMGLrymmwCPjHurJaObXoOY-WVMJS1qmenai2fEEon5mlKTyv22Ea1WUjOkkBlu8zDDGnMfwActjlWwoisD_lFAezmh1MZKgbpkQNPIS2vON9lmWSJNYMmk7D8Bw_YxKzFgUVKksUrhaDcILU7yNX9JYVry7vwSD79UYu22TTElnsazxNWImqmnd6EDTH5dS7QjMFp1zID4tOZQ9jSi2gCDe9LnpjxRCYIoPVfyrU=",
  "id": "rs_0ace0ea9c10c8ac9016ab41cdba89087d0b9fe91c9749b31c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.008,\"left_yaw\":-0.65},\"note\":\"The cap is centered between the left gripper’s open jaws in the wrist view. I’ll lower to its table-level height while turning the jaws more nearly across its length.\"}",
  "call_id": "call_JUGeLFMmBEwuw0SBw9Cgn8TE",
  "id": "fc_0ace0ea9c10c8ac9016ab41cdc010487d099f635224ecf8355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JUGeLFMmBEwuw0SBw9Cgn8TE",
  "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]: [-0.3664, 1.8385, 0.6403, 0.487, 0.0811, 0.094, 0.9997, -0.0185, 0.7975, 0.6128, -0.3954, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.161 left_z=-0.0003 left_yaw=-0.4976 left_pitch=-0.1404 left_roll=0.0263 left_gripper=0.9997 right_x=0.294 right_y=0.0024 right_z=0.1799 right_yaw=-0.0015 right_pitch=-0.0179 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.253, -6.8171, 5.012, 1.1062, 0.4127, 0.0757, -0.0171, -0.335, -1.0188, 7.1316, 1.7851, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa02a10773d3add6b532fd15ea98e0587b50df18d555e949566b6c59ab3eeae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c95e5e33ad35d9c94a36d4a311a59398eb5b39ee1a68b587a5f70ffc32734e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134420699e021ffbc71cb199e26b8bbd98d54cdd97dffbb1785e4eb47ca6a4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.948 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6437, 1.5948, 0.9443, -0.0978, -0.5182, -0.4007, 0.9998, -0.0193, 0.7959, 0.6128, -0.392, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3918 left_y=-0.1801 left_z=0.1234 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.0329 left_gripper=0.9998 right_x=0.2944 right_y=0.0021 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.013 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -7.3915, 9.5795, 1.7998, -0.2515, 0.1148, -0.0122, 0.1162, -1.6205, 6.7077, 1.8291, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3664, 1.8385, 0.6403, 0.487, 0.0811, 0.094, 0.9997, -0.0185, 0.7975, 0.6128, -0.3954, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.161 left_z=-0.0003 left_yaw=-0.4976 left_pitch=-0.1404 left_roll=0.0263 left_gripper=0.9997 right_x=0.294 right_y=0.0024 right_z=0.1799 right_yaw=-0.0015 right_pitch=-0.0179 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.253, -6.8171, 5.012, 1.1062, 0.4127, 0.0757, -0.0171, -0.335, -1.0188, 7.1316, 1.7851, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa02a10773d3add6b532fd15ea98e0587b50df18d555e949566b6c59ab3eeae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c95e5e33ad35d9c94a36d4a311a59398eb5b39ee1a68b587a5f70ffc32734e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134420699e021ffbc71cb199e26b8bbd98d54cdd97dffbb1785e4eb47ca6a4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzhHljdT0-GvRhhIUIdSnzDB1zTMEhfe4kpXQWtD0bC-F2_VwT7to4ACHYWTYpM-OdHwrfO9-9TFd8YqGUWL12sFS93XKkgTc-oOVbciRpVtGd9vPyzfZpP8XqgfjuRIcc2K8kSrygtc_WzLOoXGIkpMgn6q9ysp9NwUW3G5u7d0On3-owHVJnKWnI5wWYbxF6-8U_-ENZExPOrH59HWYCVOmLqkDVjCR_AgjxBNrjRxitGKppxMfHQCAFCtk5eR21RLxn2MY7kZUh_1hyTwfwVn_IqJ1N_ud_SRWJ_tqdh_FEnlrjerTP-bJ6XF8vepKCSER57eM4KAeCLTR7XlJgxaoOLSKzAkb_lFhODiFDgXLdCanjz3RxTCUSiT8p_twLLArYprFD9CfVscpy3YJILtiWknuUTLpG_Y6RpU8Xy9IcaaM3rEiVripg3n9XwBqBjBVcrluCqwehVitYJujnL2wBha4KB7in8maO250YoSiB6f8Z1OA56-D8yHYWD0WYShjp8daslwyz8Tik0cgkroYPAoTiaBh4IEb4NCGPKPn33IS0I9pGKgqpVS0rImJbQDOBy1VaP3zAnrTBsl9ABBs_F9GPPkfo_ApahFGCbxP6D2WR3HDH7lpRBb0C5M9QzGc4X-4mojLvcZzgMqz25XDHwInJ-xsxFcDtPvhwdIm9uo6-qzqzSEqGVirg4T09vOsdLp2_klbcOOkhLOB4qIvxOSF4CVnM70adGPqv9T7KosHEz6ffE0u9bM1MCmsYZZrNe9J1dNgKsRc03X7p4I23nbWqUbzUKigPWkGk1eKwsIxe-aThHKxjGOt0bSTf3aqVPYqyf45SyHQ3Zt2MAk49cZlAHLSN12BIycSklYtWSOqcQpaG87zK6B6s4F5zFqx6vqcySlxnt27SLToxKKoKqHBSJEaAbp0Un3V4JDeaYcVl9yN_SC4mw1J7GH13XAawzWFyfWVgk88vrTd4cU4FGmjIMXOxcA2fhO72CYiauWlzJDEX-u6qWyUSLdZIxCbjjPqLw8aAmK7gv8ySHb3FUBgFSjSzRnU3O7XrL85E3sUtJGthw8M7O0bL8OzaQjYidxmOQ5u5GKyG-5PEHxvjscp6n5FuR80ikGnzfuy-7THFXmyKOwpxlwh3xx5_STVeddcHGIl91CGXl8-nT4AOW3ucf1zsIBre8E9J1jfEIXq74dIKtZrkDf4MyfWRLBecbHFJTMhaxa3KAO1jPtWuOgrb2R6TwzxTK9y-PHcEX6zUUB5li1fKp-dMzkp5tvHWzUn68-OPEskaubYiiB_fo2ptcP9-v9QqeCInAaY7Kg0j44PUJwJsyA_kg4Pm1v6Ptb-qGwytKOg7ZsjETu4426zEx75mptgVRnZhkFqsY8U1_j2-2XzfcIK5qncJ-tNkmVNacmFPJ7qg-6Dq5YprBCkX_lv9sdNVpSgbfw3RNhQ5sVvfaWUIwF88lph-ZtQAhayl9fuPLwBP0KVkpRp3JgzyV65rCgH7oN3ZafHGm03C9AI6pDDJ-PurBxuHzcgTlqPpfxJy9oceka19tY83RsmjI46T_S1NHGnSsNMiP30YMB405TINK0gwkDQXxAD2KL00Rq7fZMc1BEPNQ8hFsQy9XgFr8GuCNyALPF0j6FDcZeVJYV9nZGuWR529lF1qBftQHaZaoYIpemnB0L2tSg0tfvtNYpOYcWQxCys1XiBtGxpnUvr5hbdU-dgDOyCVIxsuQfiW4i1NB3LYAvoQFnhsOXQB1-qPCnd19uXNdVEBDcasJfoogInvu3LTRTyg1tVSNpa5ebM05LE3KV1UJd_b7__COvLvEdEitG7DS19Ma1ZnvAsYl-YME5Qe6IdrTswRHnKzApelI706bCG6th7d2b17pJqWaUUC1K52QAYKDKbRch1TA5IX3ZiKfxgjMbKIagCb0IPipo2rzX1kkpLaIRJ72Ex4nNndRpUMrPDnLpZIVqQNkDJutiiZv-rpmnCsFkHYPk7LuA1x7EwP8b66fFCWqnsQTPxAB7cz3Zkgbobis5YGigyLH3w8605vLptDYMbNK5h-QZBRsT_gFuoP3Z-t5EgpGaG7FCv5ttBQPFvZ_TpOB423YyNe4l959UYmxKqlT5vhrwWmigHGb3PHCDbGCLawP_pT_SAFCE1LzG2LKyaGpi94ggI4k0kZv3I7hgx2EFP9I38JU8Etjy95fZ0JW-3lKX6_gkZUgjzk18QHMr42nJ0r1RacK2EDh_FiqKJ7iMqCG8YialLWlShg7p9NhV9Y_8TUsYSzFCRE694mI3ves_lZQsQBKrgYiNQaIB6KRvWlhl_v02A==",
  "id": "rs_0ace0ea9c10c8ac9016ab41cde723c87d0aaac9dd118791947",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.184,\"left_x\":0.394,\"left_z\":0.009},\"note\":\"At table height the cap runs just to the right of the left jaw centerline, so closing now could push it aside. I’ll shift the grasp point about two centimeters toward it before gripping.\"}",
  "call_id": "call_IdNhhfDazvx0k35l6BCbzFk5",
  "id": "fc_0ace0ea9c10c8ac9016ab41ce0d67c87d08a0de7e42371f95f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IdNhhfDazvx0k35l6BCbzFk5",
  "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]: [-0.421, 1.8561, 0.6724, 0.474, 0.0727, 0.086, 0.9997, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.388 left_y=-0.1838 left_z=0.0008 left_yaw=-0.5406 left_pitch=-0.1394 left_roll=0.0258 left_gripper=0.9997 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -9.4017, 7.1179, 1.5458, -0.0562, -0.0024, -0.0122, -0.0615, -1.2103, 7.2274, 1.7509, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767d5c0073d99896817e41f39df639fe1a71dcd9a62ae2d0f29ff27fe4138f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024835ef70a13acdeca056e5fd23d3a336e488040410b91929d9097084125d25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec4f9a8a6630a78ee576dfb58ff3cef3b42e344bd327d3a0a6a6a984edb1abc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.36 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6025, -0.3794, -0.0216, -0.0246, 0.9998, -0.0166, 0.7902, 0.6086, -0.3805, -0.0231, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.295 right_y=0.0028 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.4974, 10.4547, 1.79, -0.0415, 0.0806, -0.0366, -0.759, -1.1966, 9.8393, 1.873, -0.0464, -0.0659, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3664, 1.8385, 0.6403, 0.487, 0.0811, 0.094, 0.9997, -0.0185, 0.7975, 0.6128, -0.3954, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.161 left_z=-0.0003 left_yaw=-0.4976 left_pitch=-0.1404 left_roll=0.0263 left_gripper=0.9997 right_x=0.294 right_y=0.0024 right_z=0.1799 right_yaw=-0.0015 right_pitch=-0.0179 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.253, -6.8171, 5.012, 1.1062, 0.4127, 0.0757, -0.0171, -0.335, -1.0188, 7.1316, 1.7851, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.421, 1.8561, 0.6724, 0.474, 0.0727, 0.086, 0.9997, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.388 left_y=-0.1838 left_z=0.0008 left_yaw=-0.5406 left_pitch=-0.1394 left_roll=0.0258 left_gripper=0.9997 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -9.4017, 7.1179, 1.5458, -0.0562, -0.0024, -0.0122, -0.0615, -1.2103, 7.2274, 1.7509, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767d5c0073d99896817e41f39df639fe1a71dcd9a62ae2d0f29ff27fe4138f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024835ef70a13acdeca056e5fd23d3a336e488040410b91929d9097084125d25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec4f9a8a6630a78ee576dfb58ff3cef3b42e344bd327d3a0a6a6a984edb1abc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBzkbWgZHwYxfkjx1bD9urMfRwY-qFAYXM9sudbEiWVB_m54BXeceyxmPvyWdrv4okTpA5nvPY5c_jfi6SRCBH8EhnFxQg6xXiduGAJLWNWDr46ubfwdZiAO9oLmntiFibG_rM-dvyz7ykdxz_u_POb-ojKNBXcbhrlz7xWUVbjmOLUWmKP-zliE37poy9npWBtXAwi7v0Bx6Rp8O_UV7vASUQsP_xWckvnlXQdGz_eSeTfYqURMVG1GMgswF4adFCG2hgKKhScZr3hFPkqGE_4h97Kh8GVcxqyuZtkcRVIXUlaeqa4-cZ8XGQngFaSNIu98-QQgaSGX7d7vP4NOzUpvgGYvRZ5NiYJszqUxz2zo2R8mSL5dFP97bGAYb-P9Lirhid5Fli9RXJ9Z91zvxyLM_5D1YnkWb0kkyzHr-tYqWcjM9QMhMLkJEK3lWWNt_joeBHaI0tcleL6NFZfznb9HLgQ6HukKau3rVskmz05kTOA6pNxY9kAsvTWWAzZr12qzcx9c-IiaEG5riuK0QkHSIpqRYgX0yvhEdnoujl_lczW5hcyUeo4GZc1AeulvZwUUxXzDxzEIG5qtkAzBSVgFrno3YBxRy7gIZO1XGjdd_kuxwSf1ByZJ403P37voGG2SZi1BMXzjWPh4qJSh9k6gcWNB3vSnVGQ6OO5NJEcX2ZKKR3ABRVrv-5EmJptH86hAotKEkyyPTu2oh2oCLi0Btjgf9PJYmL1S-Ir6_ILhUwgpeoX1xFhdBb6770yPICoboyeIuDJ-9lGQQkoPaDRtlKAZGFAo0aSxVcHwbjCaCBrMdRAn92-kJH-XsIh5RzGjIvbKP_RIPrUldOapLvUZvgfDoJ8jN6NdOoWHSxAsBea1h8bWiEABw26PyvYzYg1O3cI_EftItWZ5FgHn7725V9YUITsAm_hjIG_Ge9q8y-3DhUd2Sad0piKGPPulp60oi1MkTEvU5SNEe9Eh33C9BXqiJuyCGNm2Oc9aRUIMO6tqZOkkLwdzHbWTalpRTd8Vnv1yKY-ImmqF_e0yMN5DtneHELcKZ19HNyJcOvGqQSWSRL5PObihDRxYwlG4-tgcKAfVImhfzlg6sL40taMnBOHrTsaDsqrxPQYSc_z37qJHim2jEdDKUVn3uGVHEAzOn75hpuNg7etjJpBkLYMy6mcggc4FwgmuYOZrK2ntg60gmEA-fWefAVi9kMh9mZy6arBg9H5B7pE0qZuadFHXKZKXbCgw-6eUmvUEr8GJYdNqcVWNg9YqJnkYN61tiJCRhACNxTOG5i_LeLOCfuy90VCAiWxzj7BrXdOtSLrXX0Lo3d3KYJuGXb4xmD_-I5OKWsu1KyeL5nhG5kt4RNOI6DlZLSmHj_oxI-li7Pcs0ojr4vIWXWnwjfJ6PkZ_Q-WosJLIXrzG66Hj0CDRbE78qKtppiCAd1FZkvjowK6JWeCgcIJWCwLKUdjPIcvB90JNc6FGVjX6dblkdjFCaI8BQWMupUo1SYTCLDX7Wg6-gRfrasLiZI-_2sGiKUa9f84xYksg-NzhUji5Hz5pSSvBD3q10fHF6BI0xhF0tnXpOpcxmbrw4gTkkXMRKlDdvjZZbQYjP5rbxSlLtF9TkiGvM2KlisKrW8CZ_fSlr4uMABGQEJ7G83DrPweWJWP4RRJzobeV73-96txZC9cxUg8sqdy0htjzMlve5p8GTQr5r7y25W1YCegG3BnWBmY22TGvorjdxSHykdAK_7FY4jfLbg==",
  "id": "rs_0ace0ea9c10c8ac9016ab41ce2ebe887d0927a45f4667b2381",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The short dark cap now lies on the left jaw centerline, with the gripper down at table height. I’ll close gently around its middle and check the settled jaw opening.\"}",
  "call_id": "call_EUfl1aiVmefaDcfFlBQ9wd4T",
  "id": "fc_0ace0ea9c10c8ac9016ab41ce4152487d0a4aa6219e9569dda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EUfl1aiVmefaDcfFlBQ9wd4T",
  "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]: [-0.4232, 1.8542, 0.6762, 0.4793, 0.0589, 0.0792, 0.0094, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1836 left_z=0.0038 left_yaw=-0.5274 left_pitch=-0.1293 left_roll=0.0307 left_gripper=0.0094 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.8838, 4.9299, 1.5653, 0.1197, 0.022, 0.6178, -0.1709, -1.265, 7.0222, 1.7363, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262f0ad5d4e692650c3dae6072beaf99cc2c3cb61692565b0dabd3623ad1eda9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edd99a50f29e21cd92226290249bbc3eb20b375646496d4ac59af5cc8f15c38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1665963f8852c2059f055ac67ad1a997a0466dbc5d08a99ad940d023c3601685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.889 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6437, 1.5948, 0.9443, -0.0978, -0.5182, -0.4007, 0.9998, -0.0193, 0.7959, 0.6128, -0.392, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3918 left_y=-0.1801 left_z=0.1234 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.0329 left_gripper=0.9998 right_x=0.2944 right_y=0.0021 right_z=0.181 right_yaw=-0.0022 right_pitch=-0.013 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -7.3915, 9.5795, 1.7998, -0.2515, 0.1148, -0.0122, 0.1162, -1.6205, 6.7077, 1.8291, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.421, 1.8561, 0.6724, 0.474, 0.0727, 0.086, 0.9997, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.388 left_y=-0.1838 left_z=0.0008 left_yaw=-0.5406 left_pitch=-0.1394 left_roll=0.0258 left_gripper=0.9997 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -9.4017, 7.1179, 1.5458, -0.0562, -0.0024, -0.0122, -0.0615, -1.2103, 7.2274, 1.7509, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4232, 1.8542, 0.6762, 0.4793, 0.0589, 0.0792, 0.0094, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1836 left_z=0.0038 left_yaw=-0.5274 left_pitch=-0.1293 left_roll=0.0307 left_gripper=0.0094 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.8838, 4.9299, 1.5653, 0.1197, 0.022, 0.6178, -0.1709, -1.265, 7.0222, 1.7363, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262f0ad5d4e692650c3dae6072beaf99cc2c3cb61692565b0dabd3623ad1eda9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edd99a50f29e21cd92226290249bbc3eb20b375646496d4ac59af5cc8f15c38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1665963f8852c2059f055ac67ad1a997a0466dbc5d08a99ad940d023c3601685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBzqdtXo3UsHBYu_MQHqzwNTUapKx-1pS4e4ic7VemeX-biQFMsb_WAe2L90wGS270XdxvewZyvrhbkQ3vxSSGykvb_7aS2UyG4MFXI0Ib4I3OhHblBLynzPR_ayMJwYeB7esV_UXiBUhMmY4drx7tPg5z5T6HspOw6ONMrS9nQgUoDfTGgDayNrptFvMgH8KRptmrSHCaQcJE93Ylq4hxtNJ4YKOmOPyOgMwcK7kNMip0G1-Cr442lFaf2poan8Zvpt18Cv5dIa77ryj0DkDd88vMrz8DGFyaO0KSMSJVdjD3Qq_DQRDq30MKe5_g7GKPGkHAE-Zh9FyvnnWBVVTa5k648HtRoyQT_82O6NnuCCNEUiLar9bLkyIa6NmGeQlq4ClyeeiukcOAqIQONFKS049MrhH6OlUiottXmASCGNaZW0o1AhO4zFrKcpHtdFhaUBuzuB2LH38jDqZccLxSQ35sXcNWXfyJenCzJU_ql022jeh1b5hwxg98S0A5Drq0OEWNwpzPKbr7q2r6528ZFchYlCtpTvNewFpY4QB2WFeBEB-zQFxBuVCwZoeBlvmR65PMvgfqMPgL2yc9LZE8bf97nkw9MUMJZmnjM_5z1VCsWzJHSW41zzL2LSIZYwhAdUgPXWeVgn0GyrWjsqlj3N0-fCq0BC9SXMA2vC4t9a_gbVXZrrS02GSzxVsmv7J507U0uB1h5Vesm1tBavMaYxD3Y-sXs8s12FxpXtcwAO3SeQCB5n8wttNcfGs75Ft4Wry_FtM2nhIcEq3dXixKujR6BxLxxlu96wNKVq2EkDvKROUjZvDxAYtHBFYxkwfZNLvYaXh3CcqP1OzBxiV77E0zDLoyeuotmavyIfgYIe0LBAB1l5na5uVI3ErorPoT6ydEYF0kg7JTgH186-U52_pjlDzeGfYnpAifQ4-ubAW-nz0ZomFLRUoSelyx76MyIXIJNzeyHOKxraKPsvy4ypVPGj__aH8WXRrQwx7dOJQ-bSIUNusPzzu6RWSm5kLTW9ni6vcZqEVUqNQVt0RcGxb90VgQOW_BptKCf2_K2HA0cD9wL8GpRogZlNuBHfmZlAr2qYSxzyg1ktaHzefPcZkqd5tnMlj0TIFpMlUikPOb6IbGVYhYAygqIsUbzIgK--sFjSdnUKJzkwctLUQlo_ujvw3pwUrw-VmE-En7RN6hsrA9JWc4rKxRSN_8k5qBk8M09WHVeiEtSe7tFAoGm7SQ4YohAHFxONN_hhQFQpkUiYh1u3x_Cu5i3gzKMvMniYXza2eiCaGcorpYjtlrHM6m3cf1Tf8wJ9BLuwjkNujlCU0_bCC8bbi-MNJS12Ad00TskVCX6lLnpJhvoWCJknNbWiA30VoIL7Ne_paFn2xxHuBpnbwbY1oCxsyJoJ5BD2oEiw_U2RAcUqRI4IPki4X5pCwauLfWXugSVkX8u59No57TpQeljY2hDMNpyfkUrqSl4QUmRc7z-ySjqI-HQoiAP108v8W5oCl5HU6wBm1WN4tFgRSLn9N5AoNjcN3FMl1ccEfKn6hyPQhmzMvCYw_4DovD7YJVsKUeH9RgfJCZnYi2YoxpuwY_2ahnEwHvInYVCyN8oDijhQxaROakP8BW0-61EQtxe1jepTx2HCaQIw7ULcAIJ9kiYgS7F8DJBpLhidcg7gzr5J-lgdul4TmVqeyhtmAWo77Tl9cVixw_WKXZUur2_b4gDj4qnu4abNIi3me3gl5cN5BCVbpgVVm_a2IB1S7gdsiI0jFJiNEJ5-EpBzpyJIB5X56wHi3bC6tBcHkKNfhUIfvcw0Vhgdloo0AgzY95tdYRkAe1UvG6DGGEWuPQruM7BcbUgcWyXMDpudqfcVQvZYGxDQaM4Wbp37CsMd1wMwI8p535FTH0YFuIb-gq73ayvhagIMuq5KbSE6gbLIvgbGJ8TRxZXoiGYokBtupfLtL5CGIzARwiai2NQDjAiKfowspw8-vufvn0kW2zgn1SH93hKM9XMQqGOFUdDl4ExPLDpaHrzQrQT2RfeUy2ayuQwksFf6QvoievNahF1XVAgnz030Z4bMoYGclx3HaGnfDit9HB2Lby9K6odpACtjYfiATOGGxuUZd22EOwlQ06Nm4nUTvp5iz_CVcOjaklaJgTwwQHM74mqk_FMLxzTAG5mpn-ylgSPPF7TZLO0GlylJiN7ifssuzul1KR5oWEG8BZ3wemF96d-F11XFWfX5aycM1PTYFLk7Er2tLyt6j3amcvYz148MSvSyl6kjauYjZhs0W9SIHi3h1w7vHlwM57Vk3V1kDY1wcxuKcRgZb_SMk8LhU65Ilyt-2aARieTgaX83o8eYUjI=",
  "id": "rs_0ace0ea9c10c8ac9016ab41ce7487487d0b2b66c152545181c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.416,\"left_z\":0.01},\"note\":\"The closed jaw reading is 0.009, which means the cap was not caught. I’ll reopen and advance about two centimeters toward the visible cap, then try the grasp again.\"}",
  "call_id": "call_eDNj9NTml9Mgs9TgSQZYnZhv",
  "id": "fc_0ace0ea9c10c8ac9016ab41ce94a6887d081dbd617deb9a9f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eDNj9NTml9Mgs9TgSQZYnZhv",
  "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]: [-0.3965, 1.8881, 0.7467, 0.4202, 0.0601, 0.0849, 0.995, -0.0181, 0.7986, 0.6128, -0.3981, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4069 left_y=-0.178 left_z=0.0025 left_yaw=-0.5051 left_pitch=-0.1517 left_roll=0.0319 left_gripper=0.995 right_x=0.2937 right_y=0.0025 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0217 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.6496, -7.4051, 7.8974, 1.6093, 0.1832, 0.149, -0.0562, -0.0342, -0.7726, 7.0496, 1.7509, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f94645b98103fa891779f14a3e13f6af3e8b024fc79aac7d81be12f77713cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4504ba4686e99b5a7f40c4ad717c17bd09fd943c302b5d7602bd0ae1d095de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6107538eef65c8d0cd5f87354163948e4cf8aa85cfe60f7c071219fa4941c357",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 10.02 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3664, 1.8385, 0.6403, 0.487, 0.0811, 0.094, 0.9997, -0.0185, 0.7975, 0.6128, -0.3954, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.161 left_z=-0.0003 left_yaw=-0.4976 left_pitch=-0.1404 left_roll=0.0263 left_gripper=0.9997 right_x=0.294 right_y=0.0024 right_z=0.1799 right_yaw=-0.0015 right_pitch=-0.0179 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.253, -6.8171, 5.012, 1.1062, 0.4127, 0.0757, -0.0171, -0.335, -1.0188, 7.1316, 1.7851, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4232, 1.8542, 0.6762, 0.4793, 0.0589, 0.0792, 0.0094, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1836 left_z=0.0038 left_yaw=-0.5274 left_pitch=-0.1293 left_roll=0.0307 left_gripper=0.0094 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.8838, 4.9299, 1.5653, 0.1197, 0.022, 0.6178, -0.1709, -1.265, 7.0222, 1.7363, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3965, 1.8881, 0.7467, 0.4202, 0.0601, 0.0849, 0.995, -0.0181, 0.7986, 0.6128, -0.3981, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4069 left_y=-0.178 left_z=0.0025 left_yaw=-0.5051 left_pitch=-0.1517 left_roll=0.0319 left_gripper=0.995 right_x=0.2937 right_y=0.0025 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0217 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.6496, -7.4051, 7.8974, 1.6093, 0.1832, 0.149, -0.0562, -0.0342, -0.7726, 7.0496, 1.7509, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f94645b98103fa891779f14a3e13f6af3e8b024fc79aac7d81be12f77713cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4504ba4686e99b5a7f40c4ad717c17bd09fd943c302b5d7602bd0ae1d095de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6107538eef65c8d0cd5f87354163948e4cf8aa85cfe60f7c071219fa4941c357",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBzv1UFDEL0z86jLpKnS0k83WqbNxwNa7d42C91XdmGz_C8xyYdfAZu2koe_2RrFcVrs6BUimhqlazNeCeJOSwwhjCQZCFFqN8JZ7bCP6RmhbR2ifdCuf_trHth_1pQ2Zbri4gCGQyvf6XbaEXL8d8IU_aET21OxgikBs62PwwpPGK0Y0uaKNL7df5AlJegt5XL6SXbZRr3wsS3HskgEYI9dMGnKKu2zLLpIp2HU8TE4RnZjsGAN5D3thMDtIP9ORwWsj_vxAG3697TJ9lkFIVXY0jrT9G0qKmfLcSYC9RdMJF43MVJ2e66x75uKsXMX9riB1maNyJ7nmIiKYXZl_qljMHEkqZ6xoxYy1n0i-PEqckv4F_G8PFlxTIckLf5OAZqSt-iMcnzJHtNbzMgFwx6ryhYm9L2zE-zLsD0EzV3DWgSHY3R8GoADu3xJRJ0_Ohpqk18ECz_qro_r57MBMNPJuc1rphnyTV8F0KeZrUEGJl0sGbuQHXgHmrdCaWDzHY2oqdtlUaQQbwRGHpdDxibwqaiAOTM0tp1HhB94s6LG9lz9wi7ebZP8reWnPiGK0BQnWkTaWtLHHQo_qdJe6SRyY8p-bsgeLWbqG3JTk4KdiMrDtYqF_gyZu6ACPzWqgbB87fZ2014BtggoEtsooqBvjmU6tjON0LZEbNh8ciQese0xwi2879pwJsPspIqQ8bhndncbhz6CBWfNPcm41bcuDeQKuEXSfwFXsz94-r94bNVp3c1Ahdf3exCKcElB7d--tlInRxTg__AZHx84eQ3qjdgMneYoEu2e8BC-ctkWhQNELva7_0BQQLzFMjLgtafs1HajcDrudfIL_3S1F-KznqP3te-S9Ub4jM0af9XRJukG_nI9zaH0EqV4jckm8snEjGrJ-i8LO7XYdBnEPem3Ni7JnTGaHOMj06vX6F7Kib4YLi2uETMVdwj6REXmt7n2b9OcCWV-G1qdpXxtTQq14ULJa7l4L8JDftxwwDT0iOmbgVLzisVlPIMY33HxdUiZiJTgJScU4U7eULvxK4ZNota8uXtH80_cwfZ10MWt9uPPSHOAM3xr-67wYeoGBWU2k4dB2alk16EWNSUrQdaWz2gh6cew9M7k0n9dm9vR-X0NohOwAMMacwX2eTZ0GcYVF4ELMaSllIT48tdNWkN5lBWd2K3Y0STDDOznVOVl-dpd0vGVTZeXb6bwCBkMjj2f608c9ksz08zI0RqCVhjaPDARJXc3qoLrBGzU-fseUkg5DnDXrsiXJqbUC_ySErNe_RiImxXueZH33Zl3XpexaI8uVXMsnmY0QXIckxQ0yI2f9TBzXrX2kfGNhG65Xvyjm4x3QPAAlwdLzp4a-Ga8IcBglsUiA_Suol2L3NjybnPnrS8SF9ITrYimVuh7hS3SKzaxW0ec_GFH_bn84FluIchebnCjGlos0hqslOJDUIXXW5wJrK1RUykxsf9oIQpQx0i8r5O77-iSN0whb4rNQBd5tShergN7no9Aaj2TQD7KtYyzb_LmtPsl3cO1-WxDM3zzyWkkCOOLs8mgz8ZoT6Pk-IObwf5GXe6bhO2EjWM_Sg9HK98lp29Y62VdE02SnB-6lWmVFys8yGE1C7yyipIb2ZaJ8Vk2IKvc5yIxBgDV8ZEYmguJXnjEUbObLkez5mN-enpNvyxYMTKxEno2j-wyTRa2k2GRuPOsTRrsoNfdb_C41GhnNuELY8h7CO9XHLbrQIz05WHU-bE1OLm22K1CDV4MKdSO-V3gNTDFH5hquk5HrpVdaR0MuMGvV9TgITmpc2LdVwhWT2rZmhlJis43mXbG570WwmcJwmdDnexmw3kZrU5FpSFbFMc_Ak3ofN97DI60yoJw6xa4mCpBZV26PJ3GPhd0G0rZWKEDSGAXigAFFcRErRxze3WDzVAPJ2I8aPiVJC8m1H0wXZBw4yKvJXc862RM1ebeM33jMcQHNV94iIiW1ZsLPeQANh2zsdyi9YTkzDTPeUqeSkz0eO0PoodVOW7cOxjrUISRONrXZrcY0J8t_YTwldb5KaJL1Pj3HBo9EU-bD7HisrDYwsKP1p5nkz3JkKlkhu30EU78Awj9j2WGAdkDiN__9Ba00xrLFEtRQxKW6ul3rxSL_DVSY_NyqzE0a-Xta5BgV5-DvVLiP0hEUYaAN2RMgJpFqEZ8EPcQAN6B-O2N065bLG9ozAouEEYnjUvAjqzFN9I1OMYHRPH6mNk14dmwKkPfqL7_ygopNvIczsZ4tryKKGDx1b4ckfyKjoswZiSWIHvg67stg3yHtP8bwakKaVgJt2VWDJuRt4h6ZGQKBtiyE3j22bOQpJ2_38-kMLoN3jncxQGLQxPNeRoXGtVnIYyK5MJPjRh1CENm0dbTawFHuaZJbmFEwfOZSD29F5EpOuPSeHTq6gdtXCJUIIh9RbDxQZuivDBS7zjKIDDesI41iAgDRLergjwRb7Bg9vInIbnEKhoLOkTrRVbqpdoc7UObsNMUsdraoVinRIhenc6TjucLkwYTbQEyp-nIFfcjfmnxg1Wc-hcFT6QwUJeLXhs1dYxUJajSiicupmmtYuTZxwEhqbhz_7gg7u75SgCOl50=",
  "id": "rs_0ace0ea9c10c8ac9016ab41cec57a487d09126d3ecd85f6c09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"Advancing did not reveal a cap clearly beneath the fingertips, and the first close was empty. I’ll clear the left arm to expose both objects in the overhead camera before choosing a corrected target.\"}",
  "call_id": "call_yyUXNOI1u6lxCAFNbfWqLtIG",
  "id": "fc_0ace0ea9c10c8ac9016ab41cef151887d0bbce6ca430319556",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yyUXNOI1u6lxCAFNbfWqLtIG",
  "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]: [0.2787, 1.0977, 0.8127, -0.5789, 0.4915, 0.5312, 0.9963, -0.0181, 0.8036, 0.6128, -0.4118, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3088 left_y=0.0054 left_z=0.1641 left_yaw=-0.4363 left_pitch=-0.1666 left_roll=0.0272 left_gripper=0.9963 right_x=0.2921 right_y=0.0025 right_z=0.1749 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -4.3419, 9.5385, 1.3065, 0.4029, 0.2173, 0.1245, -0.0615, -1.6752, 7.3231, 1.8926, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2308067da93cd15ad49dcd69449811e2c73960016291d62be3d4f754a570cfbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546624629aa2d494b4996561cd299143dff451dcd7f8a84833b01c5bd38bc99a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1980cc49286ffc478a3d18725052e09b605e11d74585a20bff452ca60d4d9fc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.051 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.421, 1.8561, 0.6724, 0.474, 0.0727, 0.086, 0.9997, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.388 left_y=-0.1838 left_z=0.0008 left_yaw=-0.5406 left_pitch=-0.1394 left_roll=0.0258 left_gripper=0.9997 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -9.4017, 7.1179, 1.5458, -0.0562, -0.0024, -0.0122, -0.0615, -1.2103, 7.2274, 1.7509, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3965, 1.8881, 0.7467, 0.4202, 0.0601, 0.0849, 0.995, -0.0181, 0.7986, 0.6128, -0.3981, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4069 left_y=-0.178 left_z=0.0025 left_yaw=-0.5051 left_pitch=-0.1517 left_roll=0.0319 left_gripper=0.995 right_x=0.2937 right_y=0.0025 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0217 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.6496, -7.4051, 7.8974, 1.6093, 0.1832, 0.149, -0.0562, -0.0342, -0.7726, 7.0496, 1.7509, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2787, 1.0977, 0.8127, -0.5789, 0.4915, 0.5312, 0.9963, -0.0181, 0.8036, 0.6128, -0.4118, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3088 left_y=0.0054 left_z=0.1641 left_yaw=-0.4363 left_pitch=-0.1666 left_roll=0.0272 left_gripper=0.9963 right_x=0.2921 right_y=0.0025 right_z=0.1749 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -4.3419, 9.5385, 1.3065, 0.4029, 0.2173, 0.1245, -0.0615, -1.6752, 7.3231, 1.8926, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2308067da93cd15ad49dcd69449811e2c73960016291d62be3d4f754a570cfbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546624629aa2d494b4996561cd299143dff451dcd7f8a84833b01c5bd38bc99a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1980cc49286ffc478a3d18725052e09b605e11d74585a20bff452ca60d4d9fc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz7ukQAh_4xbAq8YrZds3LEBUFNpD6IxKKoneVIcIstdeoWvU4owiAjbLxfjNLTV9nxbYBPqKxalhcf_AV0ZHMPGSwnLx8WDhDgcpeJfNqtJlVwKHG4Ru66V9_rQbUMbskETxGKYR4JjI7UCm6oZn46fJwNxf4yWaZQMpC0W6LEMnevk8r3t4t1NGQ9C77mUUV0Qy7k29iS4ksgmal3-orRjo5yFsq5vDZfQZmgUi5FyzSzS1jwvXpvUX2PDdbWcSa7biHyjg5hjdXNohl5lcEWMXoDyDpVNEcK7YPORGgFQGSI4hW9m84XtW00guC2xNqmN1epy5tUErF_6VPErnBx3wzH1SNM8zF3m2gtpM1RjmsaoJmcesWXjVWnoUVHjsYxtIIBzQ2dmjbELEtpLVigwKAnz0ZFSQidySYOwRT7kaXKeSejnr3bvw4sWOx9oQjttG8PKdH5V2buYsXcrV1QbyfHTFRnsuEbL3augsNu9f30x-RJ0Z7ARhI55U86oXD7wIiJfOXIqg8Ywh35sZj7yRZUcYXYmQkRnuUn1ALKRKd1JgwmJqDZ-ZMlmcOSRaXGtjGVnONyAv-1bdTJsQQRrwNuYreXtHuaffAFtAoQWZDKpd_EELq3NJEH7IoSuu7dxJQww9iakmUkQyU_h5xz8MKvSPG3BxNvjshRgNJ7HA86orzK7nyeOSiO4fL7XvLkMGArqTyr35wY0NPhll264qr_SeSnXX6nGkr4ZPM7vASZc50lu0HQXyRoKf0oJQGwQUYag6bWs53kWSLmhPXzF4HoHrHe83eLvUTDDe-KSYG1iEYDzgYy87I3RZLhNdF-tCAb8VRQP9re0LKHWis3oEa6zda-urrPntVRl0mNpqVNh_6yj7h8Cp1j65yV0k4d3pgzt5yUVeTFITjELDnRV6cYF2Nb5GfdtN9uFDci4q6lrcD1Ri54mZlsZ5BH8Z9Q8GTxAh14EOie8EsqS-xwRwLAuXJ8YHz0ADqclV3B4bEJHDxar2x_gtQTlkDmuCnYgjws4kq395MUL-6cizexAffQYFlMrVAfqGgmIrFwgpE3mJqfht648m2NKts1GVMT78nUGrIzPudpLCDNUaUnhe-R4VWxixrvQQJE3x1jKwiiu1W1FpJwMHVKGgzqGGCP1nUrQ7dWhGja1xHqDABMYkmxubnq9d7VeTYGyq51svbmWLWTMasueflNxSx_LbNiPbwGMHQoPlzu1jP9-SYjQie-6K-7Aa0gxjEXEc7QkH4NTUk38V1SbZPljUBR58zuUN5M_rswiEsgoZ7sWm_WmkJN7eIipNG_gclQOnr3rsPy6sJ5zLfHUAst9h2ekFzGn5wNfn4oOHm76TdgVlAISb3gsAl-xf3YSdAOwxYd6U6SDWSfrk56EvwOVmc3CvPLwYH3RVZrHAwLpDMeZKMB5L8ROujrfACT9gYG-dCqgFPZw37WKkcPpKlLsEOcfdHuS54wTRC3u63N-DONCm8gvaBSOVW6H17_pIOFjUx-69sZ36pWbyHem86kcfJ9acTF0jdsMEs6QoMSyLpWsGXAZMErdwADbXyAu2cug2iQ4nNVopCdfo-M3sLUj6j_WQy9KxObryDuoWvlKobMKVgng_cVF3rVdJtrHT_4QSp__5A3DRT0stjb44DnKHXcAMoA7IyAlyXrvF5u0MG6F_MgYY3Q-pSgEIEOAc0EdABS1HldAysfE_M5nZcgTQ37MNAaO5lPM_3vjOa8CEdg4ZRuGVrPlgCKKB50XovK4gUAprGUUZuHMGqiyc77UckK9CLzCtnnQnMLNUUUJB0zR6-WjB8nv4NRZMpk9bbPLP5qgCZCAWlXF5nlcW8FXsGF7pNue_l4Y-wS9BpT0G0CnO0daMUWGSHZVcyGMe1YPNTCMJTI5GeSIBVnMgrN6va9ffbteMxAzYjI4-HZDeTI9j1QPcbqHtsVz8Rls-uI40IAaRvMoTZwOgS5iqLkxIUamqXB06NQ_2UFEG2FdgiRULB5swXUbHiCfo-3TK2hBIewS_O_IlfdluiqtKInW5NCS_bjf-SrbMFbluyQ4Un4CXz38VGCz7sZOJbO421YKV1h6ipW1mqWAd43AmGA7TWB3hBTm5iNMIT2gBBWn6fzl7p0mt1NhL7XNs4RjZjmFW65mAVRJZcN4KrLjEtVlmGyKpuQw2IYNK8ut2KhNhwBMt-OKhKhp5CXw2oZ3hKGDBqFmMEIP0KUdQRxK7Ge-mFlbkdgwMRU2ZZq-8PIr5Y8C5Py-g2BX25RpK35bj9jjQ-WOe0d0PqgrXjOhK9bzbdY12j0E-zxlHNrQQBIm_vVMdhpvTdXm8un1WJIw2HPTv_u6O1JZoRvVQxSl9_Z4kyzEKlMNfnlSizc8OJ66J057P6ukyQ8Anx5lmV_rlm36T_pgqcxul8_nx1mBNenb2PxDBfs_f4U1ycrlkoXaLHHkzLEhV4GTpqWpEnRWX4cWwoIBRrLzs6IlQRjJBdB5wtIrI0WIO2Gdddc-ssCRJoA-GiqBVnInytKeAd8Qf_MMnQLfAQnDaJncMEUXwxU4T2BpyBU8Xzd1OqJjfh-YcC9R2GJavb2FRFqN0S69EsZqyhVXMTSX3wyR9pCTdUSPL5e7CubGuHvyCBdq9vRQ8Z4JHcj9VhlJSTTKMwtR9wtteBF6jw49CvyGF5SRfHaZ2jM846YNlDlePLGaes5mcIXTHZjjLZbakeDEYr6ETcxcrM_K8jVVFODBXa6bgiISmiU6Q70P6j864cjA0jtbnd8u_Dr-YQvYNLO---dBqfn5d-AYBPQNoVkWGPtkp65zHLV0PRogjDLvpWSOs1EzOedrLQtfPYpl8enn7Pd_VA-k0P4qTG9Bd9NAH4-5qhwQlbaLdPVtmP6H2fmX4yscd2HtWQvX9y_898PHRmf02NzXJdIA7ZH1MIebdZqzjkfJ7o1qY_2yvkkqXHkweeNCyTDptLhkB-9JImilRHDaDmfmCaB_SmhiklSkYZiIqIdvglfgiwrpBodswRipYCoEF3vhQadO4LA5zEVYSRfqAIAQzQ-AGGHwRuTDSF6zGf0HB6KpGyzFkBDyzUwSZlpTbYVEVRVXGQuUHVsxVVboqwTLpSz0gkRsA4-Hjrcams3TGPGkx6lYTfKHjzs8AoEwCtpB-6gspiwEFhbvK-nJmzvdPs8PsijuaaNQXtOQyRekk_U1ItaZDLPDM0P06HLqdUtMgfibcaZ4_Ux9aQE76JyN6LYx4Mj_ldIXJITkIuRmLrldQhN1J-F6rcgSZzr2hgSVa95OZSlpzQaKmrFii1_y1viBEmrF8fcOyY3AHm_5u4-9YG_gPKgBWGfueHR0vOqjMXogGNsBzduGnzGx-rof_Du_GeCr8XDaJG0hUBb94UcYKtghNsEagGCqKtMzBZFgmSXswQViEtQM-mkFBM5wgTjoxuIqXxvPQW6O101yad57uEgW0AZAUiGr5JBcJK9eHD1nw9s4LhlA9FurEo6xmEEYW0PpQ4x_LOBbKK0xYTNXfuwAwjGhKD0XcOgtUxgan_1xVBvlEjkRhUPzycTFUN0v6g=",
  "id": "rs_0ace0ea9c10c8ac9016ab41cf27b6087d0b9e7f214bc7803c5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz747xWR-OMvP0GeQHmsPdmlLGFA6LTf0D-v-mx589lJoyD7ZoOAPqmtgAzfQy7aiS_Nz3-CIs9XUPRVt6rKVutS3_rDPebNoX5CztaHrhfhg3H5mARBexLnLwF6xZB7T0NFonVYutCkyPoMSIclW8d2Q5y9JKDn152qtzc4cz3zUSPWU0AzA1GceCf1jR-7eNl1UKIm4OFiOPvbwleLIuAIlUIR_DJadedxlhDcZHY1GxBJ7IwSX_pFPewMoeR18Qhs0cLOfZbXFLO5xMm4k3mQwX3AIfvUcygkH-W3rCJlGVnTl4GpSmkPww_fT17U3OATcUZMKjjyKxAj62cNSywRb6MstvgTUGgFh7vU0cvRQ3VrLkuAxQxitzC7YyAw8q3b61_2wdBfrXjxDh8Oid84pMm3IZ7snwiCNd2L8zJwARZnihckJ8SfT6D335N20rnsRscw9m4Tiacc58_xgqR90GPjFEPquqnKjAopXwNm58Gy-k5v319Qfm60e5K_GLQBcPI0KTo_rweM3yMkF3qkzlv8y6qg18RJqjf7KeLDBv3pNrLxwbKGtuuTNInqqPKKLt6qBTH4quBZHbKlpO35XixgqY690rrLFHjQhHAekkKIxZVjoQ3cBafTkhIYkBV557PVdkFBAHfCrc-vLgkr0vHAkjnSGCLfQUxYtqd1wIT_v5emy5aC9REZb2C8bXe1YZNCZoKr2KOWn5vw69wqEuaSnHcbAGSkniUSiEstj87V3iVOJYg_9qYgtOk7rkQ3PyuyyfBbYrB9vX24mWZnKdOZOkFf_cnjeikcBwocqsi_pMLm6uy2MtPgAoXXJd05Cvewmu5WQ7GYyWc81EyWsNLVgG4mHK24soKCwAbYCqis0QmHKuvLrQg6yjWTagtAf9qEGAI_CDxmRb1wOE9Kr6SVcy7FmIxawi6ojSUgxsaxenUzRVtB5oCO47g824XWcZ8cXenJn73Lc-ORFBdzaEfi81A27hrq2zojJUQwwvIkRN_OFP744woc4K420vMvTQKCAplE8Nu8XaVAv60j6UocujVkphYwtfeZgnuczVfyUdtrP6z76pHdPkfbaWzmI-zFy2Zf2K18leGBaBdUqVLTluXYwGz8i1eJIm0pOe7qmmbdWsJl4Gvfhv6D73lrHXlSvVNQ_b_sIQ6oGlII-DnzW0RcpfdFw834nds08_OWiTarLnES5eAxi4K6J8jSsAHnzXEFRpe2NY79YbtzO7-e_EbdRgKJYhc2keLX2l1iC3MsAyeHljz--AwB515wyzNvSC8wDzL-Ke0kAkSwSRF6oFp-p4HLlOKOc8nDnPcM42tQe4UlC4OMMmMLDtgP_rizDQOrIG1WUa2UvEYWjdj_lykk5ltE0hs7Hmyqrl4h6PDvX5z_gMfYnhqNMkHPeKIBd_ezorqD5EuXtTO86S2aa41Qxizo1q1B9dEIw59BO4xVewEyz8-yWb4oEI8AHiHO2b8xqjt8KdOs67EfpTdIljKemcLcndIQ7zoq1Ja9A827MgCEvP4A3YDhGj3bzN97sBXpHoGmy4YFnp4ikQhh4h0soqgw7rqF1g4DfzTEdo42t2oByXFR944PpM9h8aLvKv6QZu7bfKKUTSJ7Ifr-H0Yc0E_BOHEPozzg-CWl7z3KUnFS-UKBquKYTFIh6n3E1cqHTDxwzkEZG7RYZzK5bmnHMseEJ4dPXn8wXW4s2YRFmuV1MMhkzdCK_lA_iBT40QsyuchxSDncPsHCCWq1P_yI3YKzUGLOrT4GGNU7vqpy_eDMSKv4c851uT4JKj81bwAE95Eb799e3-waLqQ3PIsMFVI5_TJ4ulhe3qmSqDnURyFXTABD4XmANjxtmNoH0ypZP7ZAPA1K74thsr9Q8dNMM8LslXESMoswt9ZT6BgvoX9FsAxGZALP52Q6F9_4eVHPkltC75D2vugVnJ4ZmzFvhWGaP58kGYYmpNqllvEVaLeuVKEII8TiBupK9N02X64ceZOTWrnMgirSrrCt8wr1N5vI5H4KZxOGlIRiAsJuKHxLraaANSOsODQqt_3BzqyNYfoZsfqO7RjnG6yHxcXMQHRVdosl7LEBKAcW3svXGSih-oZylXiuxrpMOKGpgb1d6Sf0eiLDdUgmNh3dIVJhsxjmWWTAYMD9foV_LSQfRgAy58BG4YveOMrRyJgTHDMkqps-h9yJOW8Tea8amRdsvMeAKc7e06enPqOxeGqnfFcdz9e0I0F4d7ontir9aW2al3hEfJgnvsrYSFjBNgfaMz7z-f9gY3PHbKNmU3twbF36FLo_m60Te2ysxqAbURInLr7eElVdWB2Wf3E1hULDIsH3SEOtuFWsLIBBbCBAlLgFDtc08qeULco9Z94pVEsq_Gs92v_aehqYD7z5-c08hQAfubzhy-Hga1gwV_KDwfv9KQzC3JXzG-veqarwIJFhVp2OjaAmVHm6Y6yAjuZOfWMvdkxscTTsPqf22lmFU9lNquR8Tj3DhR-1XFOyWdUEsQ7iEHdtHqE_mFze9pfO6qmZ2e2fIfl62hftS551WKTArrvhHuJ6mIO4yyFzegnXWdCsRtARDo5MEGA0LXonrrwJQzgyyLq4QPDyNY3sXlxwq_swllIjzZNbcvoUT71nzA0t6iG9sX07Y-wvXgabjCYp6hChGh7QBmnjVALXkfZGqRNb_6L9HZDop2-jf6LehfxIl50ozixO97hc6K0yusQiGI3GTotOHVcBi7E8BJSoVDAjFXB_ETrpGo4iFV5taZCZ3g8zQP104I9qWUExe3X4RrhMbxRQcchzX2LZzpm7wDyWZZzKL1rpP87eqtl-QIEhCojUFHksHDsITWSa1Ho3gVQfBItlp-LRBkEWv8KighXAMPMkIOWjdBdFN-jGWIUFxJwb0b9i6jFiK2kJDocqOjQsK2h1Dk3u71A9UfnSq-UN9WwqmleIxRJXgAfyqTtXyyF_jJcp237yLN5dbpGnbagHY8vwws2LQTDo71Rjiw5bntKD12LymRBsTaHgxrH_mgthoFRBg==",
  "id": "rs_0ace0ea9c10c8ac9016ab41cf6d8e887d0a672b9eae19764a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.285,\"right_z\":0.14,\"right_yaw\":0.65},\"note\":\"With the left arm clear, the cap is still at the left of the table and the pen is the longer diagonal piece at center. I’ll bring the right gripper above the pen’s middle with its jaws angled across the pen.\"}",
  "call_id": "call_wLQxEPnIDqZ4WpBatpMf3v7p",
  "id": "fc_0ace0ea9c10c8ac9016ab41cfa866087d0a98e15771b12deb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wLQxEPnIDqZ4WpBatpMf3v7p",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1011, 0.8131, -0.5991, 0.4789, 0.5323, 0.9965, 0.6006, 1.6535, 0.9997, -0.0132, -0.033, -0.0208, 0.9991]\nstate[eef_state]: left_x=0.3058 left_y=0.0069 left_z=0.1596 left_yaw=-0.4291 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9965 right_x=0.3797 right_y=0.2715 right_z=0.1213 right_yaw=0.63 right_pitch=-0.1047 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -3.4803, 6.8855, 1.5653, 0.2906, -0.0366, -0.0024, 0.4308, -7.8427, 9.0735, 1.9902, 0.0269, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460be8c9f887510d930fa82f6b0b5093af4ba2643b4aa20466415dfb205c03c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92da1d80db39193af9189d173f91112600220b5b1579212645c2995df1ab482f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e2c85897056a1e6fcbced675698dff73df13d438b924d838986a7c70d2fac5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.575 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 33 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4232, 1.8542, 0.6762, 0.4793, 0.0589, 0.0792, 0.0094, -0.0181, 0.7979, 0.6128, -0.3969, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1836 left_z=0.0038 left_yaw=-0.5274 left_pitch=-0.1293 left_roll=0.0307 left_gripper=0.0094 right_x=0.2938 right_y=0.0025 right_z=0.1795 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -7.8838, 4.9299, 1.5653, 0.1197, 0.022, 0.6178, -0.1709, -1.265, 7.0222, 1.7363, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2787, 1.0977, 0.8127, -0.5789, 0.4915, 0.5312, 0.9963, -0.0181, 0.8036, 0.6128, -0.4118, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3088 left_y=0.0054 left_z=0.1641 left_yaw=-0.4363 left_pitch=-0.1666 left_roll=0.0272 left_gripper=0.9963 right_x=0.2921 right_y=0.0025 right_z=0.1749 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -4.3419, 9.5385, 1.3065, 0.4029, 0.2173, 0.1245, -0.0615, -1.6752, 7.3231, 1.8926, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1011, 0.8131, -0.5991, 0.4789, 0.5323, 0.9965, 0.6006, 1.6535, 0.9997, -0.0132, -0.033, -0.0208, 0.9991]\nstate[eef_state]: left_x=0.3058 left_y=0.0069 left_z=0.1596 left_yaw=-0.4291 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9965 right_x=0.3797 right_y=0.2715 right_z=0.1213 right_yaw=0.63 right_pitch=-0.1047 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -3.4803, 6.8855, 1.5653, 0.2906, -0.0366, -0.0024, 0.4308, -7.8427, 9.0735, 1.9902, 0.0269, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460be8c9f887510d930fa82f6b0b5093af4ba2643b4aa20466415dfb205c03c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92da1d80db39193af9189d173f91112600220b5b1579212645c2995df1ab482f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e2c85897056a1e6fcbced675698dff73df13d438b924d838986a7c70d2fac5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0AezpfCL6WYPrglBb4Wp1fuqxdWNc-OvK-CeCigDvAdE-umzRK-XYs971sd_OHkvqPByeXQCixbpB4QWd9N-P3UCUSnOej-y6NrN7EXfHtR_SFfUQmsCdSOwysw1hn7gB_WLvgijwL7n7x6wcoEhXkfeld1BVqNA8aDGGL13p8QzuXwGuyU1_QqjFmtYb846LuIBrp7_41F8aWKUZkPBAx3nDHauoWdkGxMv-pnaCki1agkS94_TwsDU3yyuYIdNi4keZZycFKS8RBIwGZGcSVbWWvQYTQSVgaVVrtWwMGeif9tAfhTDk7h311YPXYlES7AFL6Kd1-VpV15fI20Ubu950-SSybn9dMFBmxof5b3QBwg3UCu1qLWdZD2OL1RJ1BenAl_6YtCypNL47cNCbJcU8vBgYRGf3fhyFVo3MR6z7FVYGs2_IT4rV4SxldMmH-95h6yx49Smrn1gK4JoLExtNIuLqGrzOcYH4Fy7-1Q8yVpcec9oWcyQ_manKfSARuReWB9rxccBTEdy8IFSoMpDnPRZKzKvwxyG7HSJvDmJ53lZ47BrAS6fZEfwA_tcN_zg09UxgHnaoKP6fcKGJ-NwDyFhHWeFN-WZK22ZPT_3LX0iLrPbEMp-71SIK0EBNCDzIJVIeMDo2QmGVM7YnJpeeHnbsFy868HzdMhZ6vcgvUG-7dzUxHSOyGYYJvtAoB37lRWp7BHDqc0zb9uHd5DPfoxoQSRSa-K8_MfY75ULgKmHlLT-ftmqLh3KIR669uxxnE4dKLhDJ1TZM3Dso5RYqikoJZmyXYqh5XG9bPISZvM2a0VmzlYVZZVjp0vyYtfG2CikajNvpB_yFG7WZxS-JrB97heNCnwL5L2GkjTZNIL9Epk2dHkOm6qtFVPJZ_v_2BfnQcHN2LXIBYIUA3bnMXGD3i4RJ9nsG_30eDK8_Wtwk2IASikefXh0V_hdlJKQfNNq_vyU9ZS1Ig90OVjoVcm8nkL2IGvcWnvrdDYblUhazNWjdaDDm4c__ruVekLLrjbk-r4q9uP0YNTMdMKk4-SN3wa8Vh3XJc1jEzXcI3b3Zg-HrTsrVbYjPBWmL80vbkBE57OHyZLZ0vs2o39HzsA_SSO-g3DqI2NxCuE3-7DjzYUHIlgfwrnXO73hsDCpNy77NlcBufWrhdlNosv3fT16MQZjcNUOcdRYjhMcRcGxNJ3_hUiiIDTLq4ghwdda1Q9J-XBfTwDRiz1IRisL8xHuq6lN5-Vg86rP36h3tTpkqCbrtXrkyhHIrgY3OMStIVAPVkYrK2JjBQeF2NSCKy8oqoboA2B42rUt_NgvgkE849mqU0R2flIcWQSODbODYw5NKYavgDod3AhNVHA1z-uZx0Wrti6P4YwMfRugl9Ay0jIyvvfKPLrv7ex7XN9DjYxuG4Pl76g8UKhGSGpiA20o813x7UbVwsb_Fc-_0VNCm0FD4APVyytCOwwoPMnZck631Wf2E-QHEKh_u3wOixYCSrcUL7ZGET5lZZmlhYfg9CjCu1eJn4lHnH9yLEgiSvt6kU294UmmyY7gLFGqS_OhUoDOpP-vO5NuDdd3H1ttbSVAH49qulrxVbdPSuEjTnaNX9ZS3HRYyq9FPJFNxXaKcmTCYmhDi1uUctzvh_Vg23eD1kiVQ_dV0KfWT4I6oSsdwYgdRDNEQpUkGo3NKXIxeev6xiMOMtnRzADTWtNj9I51ndPKVIuKWp1X_WGSgUWTxlUcVGJtYo75FGwEfYCHq-jRqaaThvFTC0yQ4=",
  "id": "rs_0ace0ea9c10c8ac9016ab41cff093087d0b8ee93eee659542e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.01},\"note\":\"The pen runs along the center of the right wrist view and reaches the fingertip area; the cap is off to the left. I’ll lower the right gripper onto the pen at table height.\"}",
  "call_id": "call_jWuuH3KclOtSNFVOdJqPFKnm",
  "id": "fc_0ace0ea9c10c8ac9016ab41d00318487d0ad86e35bfc7e513f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jWuuH3KclOtSNFVOdJqPFKnm",
  "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]: [0.2798, 1.1015, 0.8131, -0.6029, 0.4751, 0.5327, 0.9965, 0.6037, 1.9114, 0.8158, 0.3782, -0.0376, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0073 left_z=0.1587 left_yaw=-0.427 left_pitch=-0.1957 left_roll=0.0198 left_gripper=0.9965 right_x=0.3725 right_y=0.2693 right_z=0.0085 right_yaw=0.6426 right_pitch=-0.1548 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -3.0564, 6.8308, 1.3553, 0.2027, -0.0122, -0.0122, -0.253, -8.3897, 4.8205, 1.7216, 0.0269, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4adb4b94c0437df0c8c2a189a9fd0b8fb5a7b30d0c63e15aba03d4f4eab57a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bcf7c78f3640210bee7b43e7b00ae091a6a0f9fabec0e757e5e01e1e8bf25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a64035a3abbac8cf8792667def7c827aa6c6601a55378c6d91c349c0d625d9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.29 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 33 changed as sent

message 37 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3965, 1.8881, 0.7467, 0.4202, 0.0601, 0.0849, 0.995, -0.0181, 0.7986, 0.6128, -0.3981, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4069 left_y=-0.178 left_z=0.0025 left_yaw=-0.5051 left_pitch=-0.1517 left_roll=0.0319 left_gripper=0.995 right_x=0.2937 right_y=0.0025 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0217 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.6496, -7.4051, 7.8974, 1.6093, 0.1832, 0.149, -0.0562, -0.0342, -0.7726, 7.0496, 1.7509, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1011, 0.8131, -0.5991, 0.4789, 0.5323, 0.9965, 0.6006, 1.6535, 0.9997, -0.0132, -0.033, -0.0208, 0.9991]\nstate[eef_state]: left_x=0.3058 left_y=0.0069 left_z=0.1596 left_yaw=-0.4291 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9965 right_x=0.3797 right_y=0.2715 right_z=0.1213 right_yaw=0.63 right_pitch=-0.1047 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -3.4803, 6.8855, 1.5653, 0.2906, -0.0366, -0.0024, 0.4308, -7.8427, 9.0735, 1.9902, 0.0269, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6029, 0.4751, 0.5327, 0.9965, 0.6037, 1.9114, 0.8158, 0.3782, -0.0376, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0073 left_z=0.1587 left_yaw=-0.427 left_pitch=-0.1957 left_roll=0.0198 left_gripper=0.9965 right_x=0.3725 right_y=0.2693 right_z=0.0085 right_yaw=0.6426 right_pitch=-0.1548 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -3.0564, 6.8308, 1.3553, 0.2027, -0.0122, -0.0122, -0.253, -8.3897, 4.8205, 1.7216, 0.0269, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4adb4b94c0437df0c8c2a189a9fd0b8fb5a7b30d0c63e15aba03d4f4eab57a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bcf7c78f3640210bee7b43e7b00ae091a6a0f9fabec0e757e5e01e1e8bf25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a64035a3abbac8cf8792667def7c827aa6c6601a55378c6d91c349c0d625d9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Hzuik_S6hKMss86k-bIRwidtxnzXURyJ8jPRG7Eo85D8ikrniJcMpjqbxO6MnZm4ote91TYdKjoUv49-OyU3fgCww6n2NcRiFxxYqepzS5i_uA17j8OoZMpduFG_qW_yWkzvdUeQ9Lck5HFf-YyU8g8Mp7M0ntNC84ZqsAsH3iCjxtqpvn3pTZeHCLvovZezqEZ6LMjNfH8Gc4pNfPrb4ZcrkpXonKkijCHJfjjNWWBtwmhu2Z5pogV_ifOjtqoIrrerEBmPqnKYcPXa2shpfcnJDcZeFG_QunLFsEJjDm8RqDqv8BSlJlpSGQiNIzuSr-aR3qeZt0eJYc8DCNdeGrjVDC-QC8hX5BVVOcDj6PxZW3pgm9-JFkud4VQ2nJaOHQX-z5g-7j27wN6aXjCoeYqMPHhcC5CLzZNqpl_ze_If7MXkxAJbSvfOIwdlRjTcd8p8sfQh6qa54xLIilhz2ulp5Fut8tw8pRFF4-v3tm_WCSb0B2mp4ITHA-TNG2NEEuelxGUZR-p8pN9RiV_RN3WrniuzLlLZsfTTzLEXIJDhItlUCf1Zr9rJ_tv6d2IO3QypGsCbQoD3Qd1LyxCKAtEPIA5NdXh7nMLFArtGPzM0azBKEpTW4gRp1TzVgcHLmV2NdquOzeycAHp1GZGRJA4B-C51fVtzbebXqWIFG1Bhd3INHaWEzLSt7nlc1a4h3IQFw1vaJBbJfuvJPAVTGsY0UG6aJ_Nt36BovM2RamL4BRfGX-dBC5aXXRg52lzC0wRSurgSOL8KO7lF21jDrK1GfZuGdeAy7gjm1pxA9tHkmD5pr_Hu9fEdZPmJi7klQJPcv20NxNxfZ6sAVgkMIS9NzfuHw3EXG-ppnSEpgoSJu2qwJxUtS0x5dwidRjIem8FBAiZbSlpTKnBi5srvKHKwSc4m_FI7Q_af1cwOklXDrrIDADTavIggSNt75A4MWvPCRBlAsPjCnoCztCLFkKEp9NC-wHOVbkBiI1Jt3cTVDzWYcGNlI_j9Bj6FRG7y-S7bqLZpofvYeyp7lKDA3GhVrKQ7hqJjxBxvqvbU_JKg5RV9KswJf1BXR8EU9uid9A4iMJFOoT2SGmZcJph3KdLLJhPtDy2Wtnef6861ZLuJxCV465vrIM1g9OHS9Wtn_x6AjGCzajPoag3Y8Uu5yXDrS5RGl7comqNSPzsbMsXQXwrzzL_BIAo4hvuluB7N0Ah_bGTFBxxmeJXwcUxMH9dNuQGz-k6ITYFMWx_wRcJhiSnCFY2-V_aUiDthDrKerAGL016cu1HM_DEnF4fTO6_JeZXUnho-Tpw2K9UaYcKzsbHPzzEy8UAAHHu0907takuJWXbJ-JgM6UOQZkbswFyYdJvDcQiWPEmRH0_Rk8oLdb7Sg_4emsYHTltihywEekNgEYktiCZHeI7GLePA-mc35aSsNr9i2u1-7sCGwief1lYg-iOZ8F9nMVXmX4jcXgAqARjctYsfkh4_JtTLR--LlWXUyIvdQx_0DS4XuldrIe5Uf7oYJ3tYSADb5U6LrWRqrebbEKmp7numykVxOcPObpEKoGEx18yKag9HsWqtgdmGqo-cS4t_z8R95qGhOpkbDuDpCI833s2Cibt9I4dtqDbgMPdtya3k-Q5Z1EpQ-oI9q39bspU99loAFdqWhSCiq7oU2c_NcV93Hos1aokj7xe2ZqdoQnDK_oT-kw0MkdritkYNk4cIpB5aK-Tnu0J6RZvp9Q09nxuwJ2780Put1K83WPK4rkjkukYjYLcLsLQXXCMdgpUaoVdXApsl0Mp8OqB_Wlfja5uxY6KzqDwNxvAeU1Yd-SaKiePOqx0y9AtKprUp4heNCFoxJhc1Luq6nEla7-yxmxi_PX0ZysEh0jzkAOQkNB4bEmHTEATsIEfmDWd_gr8urutsQryyV4cFMq2ziH_HjqmuvAQ9CeZ_xi4THzccBdnugS1PkJaJ2npzrMRbn4llp3aPtfovgkEDYV9QOkQbDKehu1_t_KU_z_cVeOdvz7_v3XvBzawgFt8gRj9YUakrdIQ5WF0AiknwvSK4Hfph0r5NhQ6VGIMtQEF-IF73qh1YU8neDi0pk7GvYtVISSF-yLJBN2XrVAt--YAl_WalPTFortKcwFekWBXVB-moY3gxYoeVNlIqzZnQ_2R9tNeYgOOPAkWpuznrkFL0-MTQIoDQzaWgPkYGOsL8LxSlXyJ_GkGPZgdpZGaWS7eo0Y1IddpZvoRnGJp_djnUkMBT3ZkxZuds2jOJt26q_njdGNWgNJlP-G07fqotKrNkgJoITMWifTEffMOq4OUMh1I08E8qfQxVBpG9jZbyWpDJbLbZ99ojavQl4PB5mGPRES1vpKRFEuvhkoE4b1-pMPSNowNOEggUqJSijJiR1JbkdzMyFV4ws1NzGOtpqhzIN7v1CmfI3R4YXGniRiDS6spKCcVAC7BmBmHUbTrVedNG_FEQ66oUK8emZM6KB8t4PRXLa4Y8WfgPo8fR-ivib86XjrNDYRXIbP2BhqKrwkKKT37JDDOZLxtXBwYsrfUMpBg1NEy9HRU9_AxtATvNNyDsjV26fp4SQVSinRwdYyaL5BUinqBL8urY=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d03652487d080c1db48c1f2b23e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.394,\"right_y\":0.243,\"right_z\":0.008},\"note\":\"At grasp height the pen appears about three centimeters to the right of the right jaw centerline. I’ll shift the gripper diagonally toward it while keeping the fingers at table height.\"}",
  "call_id": "call_j4svMZDQDykQbUL4YfzGTLue",
  "id": "fc_0ace0ea9c10c8ac9016ab41d0621ec87d0b51d70a2a90bd6fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j4svMZDQDykQbUL4YfzGTLue",
  "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]: [0.2798, 1.1015, 0.8131, -0.6044, 0.4751, 0.5323, 0.9965, 0.5232, 1.9266, 0.8154, 0.3916, -0.0883, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.3049 left_y=0.0073 left_z=0.1585 left_yaw=-0.427 left_pitch=-0.1969 left_roll=0.0185 left_gripper=0.9965 right_x=0.3885 right_y=0.2462 right_z=0.0045 right_yaw=0.6289 right_pitch=-0.1543 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -3.0564, 6.7077, 1.3651, 0.2125, -0.0562, -0.0122, -0.2667, -9.1692, 6.7624, 1.5458, -0.1978, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5dba8d7774193cfbd3d79c74fb441b3504a0974e9a55309be6b07ae6629ac62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3676f1c2f352b2ba1ff615aca617bf95cbb06944b6eae85007a5f348d03be4ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63afbf585720b2777aef112b41af7056e385c7c06dca3ebeff41f2203205b9e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.991 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2787, 1.0977, 0.8127, -0.5789, 0.4915, 0.5312, 0.9963, -0.0181, 0.8036, 0.6128, -0.4118, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3088 left_y=0.0054 left_z=0.1641 left_yaw=-0.4363 left_pitch=-0.1666 left_roll=0.0272 left_gripper=0.9963 right_x=0.2921 right_y=0.0025 right_z=0.1749 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -4.3419, 9.5385, 1.3065, 0.4029, 0.2173, 0.1245, -0.0615, -1.6752, 7.3231, 1.8926, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6029, 0.4751, 0.5327, 0.9965, 0.6037, 1.9114, 0.8158, 0.3782, -0.0376, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0073 left_z=0.1587 left_yaw=-0.427 left_pitch=-0.1957 left_roll=0.0198 left_gripper=0.9965 right_x=0.3725 right_y=0.2693 right_z=0.0085 right_yaw=0.6426 right_pitch=-0.1548 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -3.0564, 6.8308, 1.3553, 0.2027, -0.0122, -0.0122, -0.253, -8.3897, 4.8205, 1.7216, 0.0269, 0.0904, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6044, 0.4751, 0.5323, 0.9965, 0.5232, 1.9266, 0.8154, 0.3916, -0.0883, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.3049 left_y=0.0073 left_z=0.1585 left_yaw=-0.427 left_pitch=-0.1969 left_roll=0.0185 left_gripper=0.9965 right_x=0.3885 right_y=0.2462 right_z=0.0045 right_yaw=0.6289 right_pitch=-0.1543 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -3.0564, 6.7077, 1.3651, 0.2125, -0.0562, -0.0122, -0.2667, -9.1692, 6.7624, 1.5458, -0.1978, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5dba8d7774193cfbd3d79c74fb441b3504a0974e9a55309be6b07ae6629ac62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3676f1c2f352b2ba1ff615aca617bf95cbb06944b6eae85007a5f348d03be4ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63afbf585720b2777aef112b41af7056e385c7c06dca3ebeff41f2203205b9e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0J33TJ3aedYrrmDPvRvGfb5_y1z19Wq_SshzCk1NbMzDJcM9NR0qx0BxCwkxmm4SYa_ozBRovh7BZTYQr16VRx68jqsb9wilDVQx_wh2F_TtgcVYyyIIqL6EIk1TL_5WSDRxtI6lV6C76bl7NCGbVyzUu93k47SBy8wlE7HfTa6xv8YkUMzQZGuvCB13n7LQ6O4la8wR32j811P05ncRpLUc33XZyvoJP20M1KLxklpJlVLBLEXAVa2cj0ig0-W7X_dCV6FaJ-0dhheZGl4mIF_k4Pby0eDHO8aisVOwu3BDedbAggwOYx2K1IIfi0gz8-GJxbwpYUUW2C8rBtkl8mSVZGM5tzCuw9Gc7X8K5ZC05mga-QUWSl1sYNHU_5GG9XAOm4tadqjnP0B3NOYeGINF2H3hWkKDPwktqEUu8OnguLLbuYDQVC98B5NdG-CRwHX3D-XMdeEEpc_ZYIlHSXtwUAnQzSQEcyjQwwe0LkRUk8FOj6zDDZtN4UOrQ5KWJ8u6U0cT8Diee6OdIpq8v3D_6My_OPx_1KCkMiGZXlgSWvwXYQ9kQbnF9uw4aLLL_MH3S1aBf845wp0GupE_GzCD_o1L_2SjjyxQyoFk5_PgHsu_tY__AWdggagAmW1b83n_We8SwrZRAZGW41FwcFDF4yyLWJO9E5BUc-9iAlLlz5K9k_q3zDODMwclCgjmT8vQqbNgw2cr_xDf9UmlutrRR2__WwBpve7HLyyvnIt7PSlAKGttmfsY5cLW3SJmAzsPsgWJUWbqGYiqcXIMlihI9TcQBGPwBOM_DqMC1C5ITB5-aFumL2HbwoNTl6jrxFdPJ-J-M9vluEy7tkisFLVTMYGyBBtR4GH8jyMWjExnKsnJsi17zCJckMzyDKBcwh-UD0JWUQYsUpIGpXRvi0X4JkYZIPRgelSPwVJmFldfhGYovWzwa0qpboiWhOA53v_2Us00esUSBrTL5KcXGviFI953pE8kkR9tFQD-_DPYfOKSu5-ADMk5Jp-TI9bMtg9JYuFw0ql1iml6TsSpnK64q55hfG9Dd1w1hhy19IQTxwhTSyeTfAIYMM05iSZggBFW5LT3SIBTY0-W0jC0U6a7j2dnfWjNImusIDUGUBKF1qfhZHa0K38YS7WgN0IzPmwHXbD_OkrrrPJlIgLhR2DeXZ7n81LZQwIM6RRk1-w54rgH4Pg3qLAE2d7Azd0mThlomdSZykNZ4_WQ8-an9QmfKzVMzlkXvV_SLuqcPVmaV2ye3CsDUU-nQvAflKv4q_tIpRWaadFM1n3yba9M-YolHj2MC6uhrPRTJrGH8EWiRm8rMv4XrTTLW4ftS1WBAuyJT4iD9FqUT5xcXXHlhCDJFjmH5Det0Rkkr4yE3EbEk=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d0871b887d0bba1890d5eb5df9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now centered between the right jaws in the wrist view. I’ll close the gripper across its shaft and use the settled opening to check whether it is held.\"}",
  "call_id": "call_BwPHLLCO1oSZh0QbTYapJvYr",
  "id": "fc_0ace0ea9c10c8ac9016ab41d08d9a087d0b0a1272eec535af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BwPHLLCO1oSZh0QbTYapJvYr",
  "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]: [0.2798, 1.1015, 0.8131, -0.6102, 0.4744, 0.5327, 0.9965, 0.5205, 1.9266, 0.8169, 0.3824, -0.0982, -0.0822, 0.0457]\nstate[eef_state]: left_x=0.3039 left_y=0.0071 left_z=0.1576 left_yaw=-0.4274 left_pitch=-0.2016 left_roll=0.0155 left_gripper=0.9965 right_x=0.3874 right_y=0.2462 right_z=0.0034 right_yaw=0.6392 right_pitch=-0.1611 right_roll=0.0006 right_gripper=0.0457\nstate[joint_eff]: [-0.0479, -3.2205, 6.7077, 1.4286, 0.1783, -0.0366, -0.0171, 0.1299, -8.9915, 5.012, 1.7656, 0.0757, 0.0513, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde98d9a12542a21ffe23a558ea759374c7860d0e43e343a4bbc2abf7890d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa59fb82e00ab2c892cfeae28fecb958c4c3cf162aa2ae4dadcbf54ce3aad4d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36bc8cdf136fd8161e415eb79dff5c0d71ddafbe9f5a8e004564c53c7c2da75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 14.11 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1011, 0.8131, -0.5991, 0.4789, 0.5323, 0.9965, 0.6006, 1.6535, 0.9997, -0.0132, -0.033, -0.0208, 0.9991]\nstate[eef_state]: left_x=0.3058 left_y=0.0069 left_z=0.1596 left_yaw=-0.4291 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9965 right_x=0.3797 right_y=0.2715 right_z=0.1213 right_yaw=0.63 right_pitch=-0.1047 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -3.4803, 6.8855, 1.5653, 0.2906, -0.0366, -0.0024, 0.4308, -7.8427, 9.0735, 1.9902, 0.0269, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6044, 0.4751, 0.5323, 0.9965, 0.5232, 1.9266, 0.8154, 0.3916, -0.0883, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.3049 left_y=0.0073 left_z=0.1585 left_yaw=-0.427 left_pitch=-0.1969 left_roll=0.0185 left_gripper=0.9965 right_x=0.3885 right_y=0.2462 right_z=0.0045 right_yaw=0.6289 right_pitch=-0.1543 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -3.0564, 6.7077, 1.3651, 0.2125, -0.0562, -0.0122, -0.2667, -9.1692, 6.7624, 1.5458, -0.1978, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6102, 0.4744, 0.5327, 0.9965, 0.5205, 1.9266, 0.8169, 0.3824, -0.0982, -0.0822, 0.0457]\nstate[eef_state]: left_x=0.3039 left_y=0.0071 left_z=0.1576 left_yaw=-0.4274 left_pitch=-0.2016 left_roll=0.0155 left_gripper=0.9965 right_x=0.3874 right_y=0.2462 right_z=0.0034 right_yaw=0.6392 right_pitch=-0.1611 right_roll=0.0006 right_gripper=0.0457\nstate[joint_eff]: [-0.0479, -3.2205, 6.7077, 1.4286, 0.1783, -0.0366, -0.0171, 0.1299, -8.9915, 5.012, 1.7656, 0.0757, 0.0513, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde98d9a12542a21ffe23a558ea759374c7860d0e43e343a4bbc2abf7890d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa59fb82e00ab2c892cfeae28fecb958c4c3cf162aa2ae4dadcbf54ce3aad4d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36bc8cdf136fd8161e415eb79dff5c0d71ddafbe9f5a8e004564c53c7c2da75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0N2Ajhl7UAheay0zKVe3geGDn5SuAUgDFb4qr_aIPWS5t3HJt2JlXuGdYYpfw-K-aZF0xj1myWg5zeQcoeFKP3zQoT4d5IjSuZ96rvDBGS0tkwQt9Lwv_kc2wUx1QoPZAqwPgINpDmEmQNCCdrC0ISvQC69LTHp4urToLqKNpSuI70J1ama9KlR9E-zErNOpMMQBtrhdmoJok-o9A1L6Hsc08tqtHvjj9a19ETM3EkWd5_gjjvEBRgUUCrpOOikCppkxzs4ys704Nq3MRIyPUJO16E-RTwdIl6sNFG81a6XGRUo-trPlQ9NhGG1eL6mT2bPYZwW9T_jNn1CL2qdU5mRTXfpo3cnUs3YS4MGwbwUJkQodLukM3cZTGoy1uG9xbVEeeD25EaE3lSdRQ0c3_-0ZlbRQifT_UhuX-pq33Yg5gnHUeyyFQ4zUfzXqXn2SOJ3GjZc-RxaONHY2JiPE1gvijJquJz38Qn9gWXCiyvjwTRWq5keCjMwdRKzxyzEqry9GgLSERdWLuCXD5j38PGCW0_wXaDN60wHXDcByzqpEmcMKi4N9RQydaCeTtaj9PX-gfMdafHueCn1mBLz6wY9UXKUhswW-FvX3eQzgZrtIon46_b8-w8n8-C0a-vtHTvvuBaIHPS3a6xgZLpNHfOnoqf8J30LMq63ebrm59p3B1xcNWo1J2V6oqXd3fZM_w1Rn9MquMwmy_LO62AWRiMbw02nBMlxL3ivaX8QZa5xn8f8NZdYT_KTLbhAqNLl53tSZJO7amgg7udUmSHduvXCqoyN4ESz0CEe4PJtBLlzFxjMslYOGav7OSQ6kseZfQLQhssVr_6sLEa5rL-c6jmuJlc0oDCbOaPk1aqU5XKYnLdylbQ2PIthHxdUaLCdTYCSnyZxaVKT6kLahfa63KLLMsHDhDNObbdYcVdl_CWfWkA_1oZ-G7_XK8vRk2hHib3xSzLmpSUXAa7QXBDfN9esKBoC5C60PcUoxceksW7QuPQrP0G5hV_6ijOKfXlT3p3jqNjRH-HLLJ6bsVAeZuZQX-TeEfz9BKDDA8LYQ-FKlDAp2vBr1w8tC0howFtp3WAlq3_AQIoE8Kz_ywYHb1ia1hupiOKOdPg5yJxLZ0dQebfaYYM-BxcP3hmV5FVCJQDYtqo0QUpSEjbAmDqAeestuLEFhiVjxE4dRFyc_uvRQyQV15lQyEyq-Fxfc0G0HzJiPzGVH_uFJfQdiUkuR2wn2_mpR8zuIvDXAoviuLAT-Tg18QRiP0zQf708V1-fOrMDF7LlkJm48JmG-4etPh7VA==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d0ca07087d08bc579027b8b96fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right jaws stopped at a small nonzero opening, consistent with the pen’s thickness. I’ll lift it clear of the table to confirm that the pen moves with the gripper.\"}",
  "call_id": "call_Jv9bwaWlvxr8Jexo3tt8fjvq",
  "id": "fc_0ace0ea9c10c8ac9016ab41d0cf05c87d0b2cb212f4fe0cfcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jv9bwaWlvxr8Jexo3tt8fjvq",
  "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]: [0.2798, 1.1015, 0.8131, -0.6128, 0.4709, 0.5323, 0.9965, 0.5194, 1.6493, 1.0744, -0.1871, -0.1032, -0.0883, 0.0487]\nstate[eef_state]: left_x=0.3035 left_y=0.0076 left_z=0.1571 left_yaw=-0.425 left_pitch=-0.2054 left_roll=0.0155 left_gripper=0.9965 right_x=0.3858 right_y=0.2457 right_z=0.1228 right_yaw=0.6464 right_pitch=-0.1951 right_roll=0.0038 right_gripper=0.0487\nstate[joint_eff]: [-0.1299, -3.0017, 6.694, 1.37, 0.1929, -0.0611, -0.0171, -0.2803, -10.4684, 9.265, 1.5653, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937be2b374c65514903aa9e76b067d03ae0cf0c28e0fd45188e374be7673880b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef209980b473993031edb439df9f5bd67df580de66f5f66be4aa03cb3d18f97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba296b4179f2cd65ffa0adb7c027ab0c01a452d44d156abd3dee5c77a5a03fb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.698 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6029, 0.4751, 0.5327, 0.9965, 0.6037, 1.9114, 0.8158, 0.3782, -0.0376, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0073 left_z=0.1587 left_yaw=-0.427 left_pitch=-0.1957 left_roll=0.0198 left_gripper=0.9965 right_x=0.3725 right_y=0.2693 right_z=0.0085 right_yaw=0.6426 right_pitch=-0.1548 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -3.0564, 6.8308, 1.3553, 0.2027, -0.0122, -0.0122, -0.253, -8.3897, 4.8205, 1.7216, 0.0269, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6102, 0.4744, 0.5327, 0.9965, 0.5205, 1.9266, 0.8169, 0.3824, -0.0982, -0.0822, 0.0457]\nstate[eef_state]: left_x=0.3039 left_y=0.0071 left_z=0.1576 left_yaw=-0.4274 left_pitch=-0.2016 left_roll=0.0155 left_gripper=0.9965 right_x=0.3874 right_y=0.2462 right_z=0.0034 right_yaw=0.6392 right_pitch=-0.1611 right_roll=0.0006 right_gripper=0.0457\nstate[joint_eff]: [-0.0479, -3.2205, 6.7077, 1.4286, 0.1783, -0.0366, -0.0171, 0.1299, -8.9915, 5.012, 1.7656, 0.0757, 0.0513, 0.989]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6128, 0.4709, 0.5323, 0.9965, 0.5194, 1.6493, 1.0744, -0.1871, -0.1032, -0.0883, 0.0487]\nstate[eef_state]: left_x=0.3035 left_y=0.0076 left_z=0.1571 left_yaw=-0.425 left_pitch=-0.2054 left_roll=0.0155 left_gripper=0.9965 right_x=0.3858 right_y=0.2457 right_z=0.1228 right_yaw=0.6464 right_pitch=-0.1951 right_roll=0.0038 right_gripper=0.0487\nstate[joint_eff]: [-0.1299, -3.0017, 6.694, 1.37, 0.1929, -0.0611, -0.0171, -0.2803, -10.4684, 9.265, 1.5653, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937be2b374c65514903aa9e76b067d03ae0cf0c28e0fd45188e374be7673880b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef209980b473993031edb439df9f5bd67df580de66f5f66be4aa03cb3d18f97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba296b4179f2cd65ffa0adb7c027ab0c01a452d44d156abd3dee5c77a5a03fb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "summary": [],
  "type": "reasoning"
}
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  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0ace0ea9c10c8ac9016ab41d18a91c87d08ec27719768a5854",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.372,\"left_y\":-0.177,\"left_z\":0.1,\"left_yaw\":-0.5},\"note\":\"The pen appears to have lifted with the right gripper, while the cap remains on the table in the left wrist view. I’ll bring the left gripper over the cap again, approaching slightly less far forward than on the empty attempt.\"}",
  "call_id": "call_oZs4bt8sldyzjCJNWTUE4wjm",
  "id": "fc_0ace0ea9c10c8ac9016ab41d1b9a8887d0a1d022b2a33ab6d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oZs4bt8sldyzjCJNWTUE4wjm",
  "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]: [-0.429, 1.507, 0.8112, -0.1707, 0.0528, 0.0559, 0.9965, 0.5186, 1.647, 1.0729, -0.2104, -0.1062, -0.091, 0.0535]\nstate[eef_state]: left_x=0.3517 left_y=-0.1672 left_z=0.0768 left_yaw=-0.5185 left_pitch=-0.2965 left_roll=0.0016 left_gripper=0.9965 right_x=0.3818 right_y=0.2436 right_z=0.1191 right_yaw=0.6503 right_pitch=-0.2171 right_roll=0.0069 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.4479, 9.5111, 1.7314, -0.1392, -0.0024, -0.0122, -0.253, -7.8427, 6.9265, 1.6825, -0.0757, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a916d84f14ac3e4081d0bb0cfe59c2f69e7994ab86843447a281b0247e74ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cd584f02b3800756081d2255d9c1aa28de528b7c57435f59eb3902ca7074b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c78e714cc0c8d1e23891f414ca0fda7e3f324b6f721b29f92bdb9c08f89ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.784 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 55 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6044, 0.4751, 0.5323, 0.9965, 0.5232, 1.9266, 0.8154, 0.3916, -0.0883, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.3049 left_y=0.0073 left_z=0.1585 left_yaw=-0.427 left_pitch=-0.1969 left_roll=0.0185 left_gripper=0.9965 right_x=0.3885 right_y=0.2462 right_z=0.0045 right_yaw=0.6289 right_pitch=-0.1543 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -3.0564, 6.7077, 1.3651, 0.2125, -0.0562, -0.0122, -0.2667, -9.1692, 6.7624, 1.5458, -0.1978, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6128, 0.4709, 0.5323, 0.9965, 0.5194, 1.6493, 1.0744, -0.1871, -0.1032, -0.0883, 0.0487]\nstate[eef_state]: left_x=0.3035 left_y=0.0076 left_z=0.1571 left_yaw=-0.425 left_pitch=-0.2054 left_roll=0.0155 left_gripper=0.9965 right_x=0.3858 right_y=0.2457 right_z=0.1228 right_yaw=0.6464 right_pitch=-0.1951 right_roll=0.0038 right_gripper=0.0487\nstate[joint_eff]: [-0.1299, -3.0017, 6.694, 1.37, 0.1929, -0.0611, -0.0171, -0.2803, -10.4684, 9.265, 1.5653, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.429, 1.507, 0.8112, -0.1707, 0.0528, 0.0559, 0.9965, 0.5186, 1.647, 1.0729, -0.2104, -0.1062, -0.091, 0.0535]\nstate[eef_state]: left_x=0.3517 left_y=-0.1672 left_z=0.0768 left_yaw=-0.5185 left_pitch=-0.2965 left_roll=0.0016 left_gripper=0.9965 right_x=0.3818 right_y=0.2436 right_z=0.1191 right_yaw=0.6503 right_pitch=-0.2171 right_roll=0.0069 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.4479, 9.5111, 1.7314, -0.1392, -0.0024, -0.0122, -0.253, -7.8427, 6.9265, 1.6825, -0.0757, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a916d84f14ac3e4081d0bb0cfe59c2f69e7994ab86843447a281b0247e74ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cd584f02b3800756081d2255d9c1aa28de528b7c57435f59eb3902ca7074b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c78e714cc0c8d1e23891f414ca0fda7e3f324b6f721b29f92bdb9c08f89ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0hZ4DjOTWYrhIMdE0ahllVuMOYh6Y7NlaMnMM318W9r1JyNx41iWDMo-MjYTlLFmQumAG2o4yc0a-tX4evXyyOG4kKIeiA4XK-JW9nEadfO36-3xV9_fOQmy8ci4Mdr3vrhkihFOnYNHF0IVJZXd-obRcrBxyZwsWMktYObz79knASg9TRzkzP81wbmBOijPrNReD7fTzHEcniheh2tXNR9k58xPWytFbQFxznhdq4txbZoiOAkXRnaXoYrLoNqoVlq_pV-oaGtfK7ZEGOW6ijXXvFPBCC65cid7ClIoBhC5qu3_PKTk-6wlW-CeR16QdS2ZvjWIHC5dXFJUijwy3JeMc1T1qxOSedHzB5bjs7UqaBXr4xMKLkoB9SJU-XyYhrK7aCAl0GuLYSORMvnqe5qVT-N_exS3GncRsk-6nSt5EW-g-h5WheZWabMgUaz6eXatoj4vv21DIg0zlJBOI_n4_Egp5he9RCYFmiU5m9v7HoyhIeUayfk85RwK5W0hKxdGno8Vj3-PaawzY35H04QtGvL3lhDkhirdDRNdBTyoSyxiRpwnPQY0CqSSnLX0bYRStIdos6-OUTfmx-ImMMzwrOzsrwaZLPnFyGGR6DPluKl3gG60ctp8nUDaVhnkW0Yni1Tlwd0moh-6CQTHbT47udE4VgR073KiZwluxFt_Kk__WfuHdXDgXwmHlhW8rmGTKFGXqj-hWGJtYBWpfydgG3-l1w_JdG4rhjmDP1iNVHRetL4StGNenPpxzEXjbueyqv5Ta-sxzYmOsbjg5wz6zyUtR4vS1KNm2z9dLDz86Tv6KFkJ8_XNlzvo3HXwRtelVNX_4O0W4USQMCMtGYQoMbzxId8Mm51xCfUMx8Kg5KBqfzEM5QoYhd3kYFoi61Z4Y8hSPF4P0IgQJMAGXWajhMu2HntGoNcRs5OfgAy__j6NnTfUwa1UdKVTBV8tBGScswG69yfEzExOslXNN-AXvyk-w_EoHw1OBhKDdmMTS_YAeiz50ZhYJXifB1SBmjSzXvNTw8ylSsJ0HIvnD6n5SjLL_lSbgV5K5yS7H0xVOMZKacqJCPegmrK1qsDgXg9ubb775COlyRvF7jjAkZ-MocqNfULwRnpJFU4OLgFYL2LKz2TjHd-AiP0J9AmT-yCtgkdtrN4un3cRzwIQWfVyTKAe09OBxwW1sHJGtOmcqFr4nybUPRasza3kJ7yXitCbUs1GR5ELJsNjlpbF2YGPPZjD_LzXwn60xbMy0mMlzAHqpOqnAWsTjBf-YVdLEz6Rrj8rLzQPNLpm06mthBInatwT0b5gaBudkMw7QaurAvKcCwpS7KX-_RfglcSXIysXbp1Sxg11-yOI6FVZfE6me-7iEruubXsHx5zfb_2A3s9vSAMeC5PIcAOtIwbJX3JsX8RU1ua9XGiwKh-lDCPshnYqh_q-gJ8K4sEdf7LFog2snsxyaXPgR4WfPTQ4bNwAI-mYTtOHIRF85oibb9bmnJGj_-9eMOF6i7igYHiMJ_mzicu7jozRHRMmL0g20Zrndtfl1CHGTRpqqddPbfmOd_hD5ngYaRLsgfirZ05SEHeUbRvgOy_pk7AokLIs5xfSJFbxYqX_L23qq4zOS1yIHmiWjKYa25-RmaRKyVrWr-huKKZKyyCw9bNy9-I0_3531CnAelS0tSkA_AvXkvx4ZCJocKhofAX4EP5xVIBc_YfMkm5Vs0iJepfHUXF5MlF6Cg3Lr0EhGW68YRzU-cNagdTOuJrJcxy2KLT-hGoiVhgbHR5VovJy8-HqS8T4C11SLQyeiTA7x3X3koPX4PLCjOSP4BhHB_3oN__1iTJnmPaUcsgezcNDsWyqVlwNTN834KPFf8vPKb9OoBDTbx6A==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d1f4eb487d0a74a50b6216e4951",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.381,\"left_y\":-0.156,\"left_z\":0.012},\"note\":\"The cap is now fully visible almost on the left jaw centerline, but it ends just short of the fingertip area. I’ll advance a couple of centimeters and descend before closing.\"}",
  "call_id": "call_iSMy7EWl0oyOivu9dnxMavwr",
  "id": "fc_0ace0ea9c10c8ac9016ab41d20bc9087d09971ae195fd3e1c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iSMy7EWl0oyOivu9dnxMavwr",
  "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]: [-0.3946, 1.6119, 0.7757, -0.0795, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2142, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3571 left_y=-0.1562 left_z=0.0389 left_yaw=-0.4947 left_pitch=-0.345 left_roll=-0.0048 left_gripper=0.9965 right_x=0.3811 right_y=0.2433 right_z=0.1178 right_yaw=0.6506 right_pitch=-0.2223 right_roll=0.0082 right_gripper=0.0535\nstate[joint_eff]: [-0.3487, -8.0615, 6.4342, 1.6435, 0.105, 0.1783, -0.0122, -0.0615, -8.1162, 6.8855, 1.5849, -0.0904, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf2ed357f99a02e9d910cac9b27eec0afa5481273c8d7bf6725a76313b4bf07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcdcbecb4f549b4ebc2520ccf2ae36b8210cdc19ca1b749a7c89df1dac7204b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48a102b691827578e798335a4fe5498b043468766d80ebe31b2df93a523100f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.332 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 55 changed as sent

message 59 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6102, 0.4744, 0.5327, 0.9965, 0.5205, 1.9266, 0.8169, 0.3824, -0.0982, -0.0822, 0.0457]\nstate[eef_state]: left_x=0.3039 left_y=0.0071 left_z=0.1576 left_yaw=-0.4274 left_pitch=-0.2016 left_roll=0.0155 left_gripper=0.9965 right_x=0.3874 right_y=0.2462 right_z=0.0034 right_yaw=0.6392 right_pitch=-0.1611 right_roll=0.0006 right_gripper=0.0457\nstate[joint_eff]: [-0.0479, -3.2205, 6.7077, 1.4286, 0.1783, -0.0366, -0.0171, 0.1299, -8.9915, 5.012, 1.7656, 0.0757, 0.0513, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.429, 1.507, 0.8112, -0.1707, 0.0528, 0.0559, 0.9965, 0.5186, 1.647, 1.0729, -0.2104, -0.1062, -0.091, 0.0535]\nstate[eef_state]: left_x=0.3517 left_y=-0.1672 left_z=0.0768 left_yaw=-0.5185 left_pitch=-0.2965 left_roll=0.0016 left_gripper=0.9965 right_x=0.3818 right_y=0.2436 right_z=0.1191 right_yaw=0.6503 right_pitch=-0.2171 right_roll=0.0069 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.4479, 9.5111, 1.7314, -0.1392, -0.0024, -0.0122, -0.253, -7.8427, 6.9265, 1.6825, -0.0757, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3946, 1.6119, 0.7757, -0.0795, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2142, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3571 left_y=-0.1562 left_z=0.0389 left_yaw=-0.4947 left_pitch=-0.345 left_roll=-0.0048 left_gripper=0.9965 right_x=0.3811 right_y=0.2433 right_z=0.1178 right_yaw=0.6506 right_pitch=-0.2223 right_roll=0.0082 right_gripper=0.0535\nstate[joint_eff]: [-0.3487, -8.0615, 6.4342, 1.6435, 0.105, 0.1783, -0.0122, -0.0615, -8.1162, 6.8855, 1.5849, -0.0904, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf2ed357f99a02e9d910cac9b27eec0afa5481273c8d7bf6725a76313b4bf07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcdcbecb4f549b4ebc2520ccf2ae36b8210cdc19ca1b749a7c89df1dac7204b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48a102b691827578e798335a4fe5498b043468766d80ebe31b2df93a523100f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0mzJCOBuaFFx46VvZqF-7BOe2FHLlkS-35_XXX-XJyuQiXYWmDhaeSE3oJdWRBcxyFcygaXNhusloxf9lNzhpp8U-bCkPGBlLTtM9_dri8-CFRw5OrWVdYoMnMlXTPSIh1NjTSqjynkFnZveUFpraRFoIqb7B1YQyGAhDpUkmfoT3U78CH6UqScYY3rC6pWl47-up4YjEAx5sf09Sn7f9juRtQYxIHaJ7Koj9PWpktlJhR5jGIQ1LIzRWftxu43vmxBdhQ2LdwfF7281KSLPj89IB6JRS3hjp_1lsOk65gBsgq4uojxwbT8KofNJPgIrLafvfqgtwq1jA5v5HJaKBjfUGPfFAqxgaJAaUifsqp_CISj8rq-cOfWG-WxYTNia2_7iSpDEUY_KFLM2ov_JcTZIBFBfqhvUYSavKcGK1HyscMA1BXwVlNU9g9VMHumjIKUCyoLIM216RtcflNMjtp-PvyLUNmW0_yoqaGKN42K5YE0yuOOF6Qxl1lvFQedOdGcq2CA7GCqfb0JEqxmGK9APDY3kzsmxyxJ-mgBSueKQ7mr9a-33TjPtPWYbTnBaaVchYjsGFnZd0ztMgt9Kxk9oZ5q9T0nweXmgCplrISEDTF4EwZLvFi6vWrMrVPgRR0QzjaG2pG1BcLGAtF2V-Lqg4XmoXD5AjzZsrMk2gU0z1W2hxEb6DahsgVXUQt9oD5n5kjqYvhdxNuHNGz17CxLUwPyGJw6HKT_aFlvNx8_knR_GWACN_I_UaXhCUCTFWJxeBjmCDUk7fJretPlzGBi7a4J1AlJI6ATk5g6-AAdvcbnyGe6iVFWHYg_VFYUVA6oXMB92gfkZZ86Sv0m1LHDUCGzch0id0Ec5Ne0At1bdKbonyPyqUmEVMSEUC6uRkRUdNxL6LtpCVWaj3WTzXgTPGE5ypllmDrmH9VuhCKTQ6BDgxldBKzUgtIcfrT1pKz4pUjQHVdVPEgN7Rbu-1S6YPJZKCacNFqtJU7v_RqeFbSs7lHzz5fInykvtZrM1aDajwB50YEwKWiM_MVK3gmfcmkpSalcD6JyDbUajOnmVqa2z0Zbty3CkVHTW9QA4Jmqrs8I5lSsFSuZ9w21Bx_XjXUlUOuAaUmB_m7PE6WBpJbHJ3KVdCUUASWGYjShceQ4nxJnhYCEB8vhN6xZ3ZppriyEXxhwr9vwztJnviajrSbk5q2Mf9Fn5b1W3F7FoeLWOqQZWcyopqppqFlvXF-XLkZEDlhb_HiHkbOlRhfdGTSPnXUqgJK_vfesawbJQPfSqfK9M8YMVD3qGIKEx46-XnaznCfsFeNdIA6rmbynsn2vzRUieRWAD8nIf8oueA9jFTrKmnbOOqWoSc3qqPunrmEAEgQCWuqajtzzxJNdb9etfce3As483cI_xhlfiFI6aqKXFV2TO5cS7vVSklCioui2PwcdN84koDSb6BFDiOhFloAgsQ5Mni6q3pBcTXlnD_Z1YAozjJ6YlmNwkKa4Rs0JRdm4UAVVv3H3agkCJqHZSnKLqk0XIHaEgp-LveeVaXQKQ7yyfM6-9s5o5LgKuhBzzWzysNl_Qb559EqfRw7PmkJXes4t4ik7DR0sMFmsPBUmL8Tr7CebLEGr_i4f7lcvh_cuyuI0yPguYnXTarGWewSs7EyVbV8qVLEXvlAQneG0EugKXajEhlPu9zLWEo9-TWIkVZWmv-gIMwcl37ZKDBkkWjCPsw-1eCBzJsXN6Lvo7_1VGhwt1EPJChBNMbyMrzl1Hf0J1nqq3HGoxXOxaKFM9hw19r8EPMOFlhkthDRGGoBCKcneq6y9FcltEVhW9OiamHzkdUiSOirP0SZEFdQ7IyzI7SXwj1lIns7Q1DJah94GoYSHIGvlyI7Ca5X9atbQA39SdLheasswO1zqcdp9ZOsD404Brl9BscD3KmfRIzWWxNkfXtuPoXykxTFICqAedf7NZMh3-tuw3Wc9Mm34mQ-G6JPs1VDNX7gAgn-R6TKOAsNGFbm_FHsiL7l95ZCs6wmsulV2SAyIgL3MwdOOc29vjzzgWbBN4Qj6-GXNiW2v9aT5kIGE1W3DK1BEurvRYDQwpMmKj9GiK2JtPYNoP7qLnZ2FyQVPBH8sW3qfpHCOOS137zvNS5l-e1x-lvpEG09E3GyfxMGPE9XL_tm0UE-pDIRzUh1U8_9Zwxi4AuwNcDIhDOJka0fubYqhqIXUEpYe33OQm3aGYg=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d23707087d09bbc443b1eb174e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":-0.004},\"note\":\"The cap’s lower half is now centered between the left jaws, but the gripper is still about four centimeters above the table. I’ll lower the jaws to the cap’s level while holding this lateral alignment.\"}",
  "call_id": "call_oCtIY8XtpVWTA351fCIhcyRs",
  "id": "fc_0ace0ea9c10c8ac9016ab41d25726887d0b3574f6e801d935b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oCtIY8XtpVWTA351fCIhcyRs",
  "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]: [-0.395, 1.6119, 0.7757, -0.0772, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2268, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3575 left_y=-0.1565 left_z=0.0393 left_yaw=-0.495 left_pitch=-0.3427 left_roll=-0.0046 left_gripper=0.9965 right_x=0.3791 right_y=0.2422 right_z=0.1156 right_yaw=0.651 right_pitch=-0.2348 right_roll=0.0099 right_gripper=0.0535\nstate[joint_eff]: [-0.2667, -7.9932, 6.653, 1.6581, 0.1294, 0.1441, -0.0122, -0.1709, -7.8427, 6.5983, 1.6679, -0.0757, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ecd7922b9dac089a71cbe2c44e9030fc7b5fe18855945d0326488fd814b83c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18909e2a472ffbabbe5dd253ae636202cc3d2856c7e6039a484db66f29d37efd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378e0a4f98335a62f3824c123c84705f5c8e304b4b516e8dfaaeaff734313c1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.334 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 59 changed as sent

message 63 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2798, 1.1015, 0.8131, -0.6128, 0.4709, 0.5323, 0.9965, 0.5194, 1.6493, 1.0744, -0.1871, -0.1032, -0.0883, 0.0487]\nstate[eef_state]: left_x=0.3035 left_y=0.0076 left_z=0.1571 left_yaw=-0.425 left_pitch=-0.2054 left_roll=0.0155 left_gripper=0.9965 right_x=0.3858 right_y=0.2457 right_z=0.1228 right_yaw=0.6464 right_pitch=-0.1951 right_roll=0.0038 right_gripper=0.0487\nstate[joint_eff]: [-0.1299, -3.0017, 6.694, 1.37, 0.1929, -0.0611, -0.0171, -0.2803, -10.4684, 9.265, 1.5653, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3946, 1.6119, 0.7757, -0.0795, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2142, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3571 left_y=-0.1562 left_z=0.0389 left_yaw=-0.4947 left_pitch=-0.345 left_roll=-0.0048 left_gripper=0.9965 right_x=0.3811 right_y=0.2433 right_z=0.1178 right_yaw=0.6506 right_pitch=-0.2223 right_roll=0.0082 right_gripper=0.0535\nstate[joint_eff]: [-0.3487, -8.0615, 6.4342, 1.6435, 0.105, 0.1783, -0.0122, -0.0615, -8.1162, 6.8855, 1.5849, -0.0904, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.6119, 0.7757, -0.0772, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2268, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3575 left_y=-0.1565 left_z=0.0393 left_yaw=-0.495 left_pitch=-0.3427 left_roll=-0.0046 left_gripper=0.9965 right_x=0.3791 right_y=0.2422 right_z=0.1156 right_yaw=0.651 right_pitch=-0.2348 right_roll=0.0099 right_gripper=0.0535\nstate[joint_eff]: [-0.2667, -7.9932, 6.653, 1.6581, 0.1294, 0.1441, -0.0122, -0.1709, -7.8427, 6.5983, 1.6679, -0.0757, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ecd7922b9dac089a71cbe2c44e9030fc7b5fe18855945d0326488fd814b83c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18909e2a472ffbabbe5dd253ae636202cc3d2856c7e6039a484db66f29d37efd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378e0a4f98335a62f3824c123c84705f5c8e304b4b516e8dfaaeaff734313c1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0ruvDDQ9OudCo2BLwyoJITm8iTa04kWttRku6Yi5Wq19yHxz2DNyNwUmYbu698qTraG4S2Gl8lgh68QZKQPzrHEA195IOlUa6clFwsc2kq4Y-JVooQFVhKcv50zFXmjRlCp0u84TglfuMAsNqG4H877HwhcTPith0vNWQeSZOpkvdBVGmIaehKwOObe7dXlf7GVbY0X4CXst_WE1Xkx_9qFh5WVg6QcmKTKT-lL4REshAiSv7Lh-A_yC1KWzG6VIwZxz1_v0iNCpTstNa5BlkKC86R9LnIm_yhgrZc1v9k8Vg_wQ-w0W1cufboSDGDw9JnYCrzWE3XaCcd0gKba7vcwK2_4gFXhLEai6i9oGuQ1UBW4KTa6e3iunS6BEW0ugAlGGxl2Av3sXwBqoX3EvYqxoQcKdE_-Z7BTsMg2xIHJ_zJh4CVqJizGzVQSAVs0BX7Itr-sAxaBuzPme7JeoX3zZTWlq6sooU3t-pUZ8wZQtPii6O-JwgA8fbo94MsI43EbHKxFOhKdkyVfvZ8AM_6HYW6TQ9T-DDG56aaqO195VxiioBLv0GBhhU1aQu1GpOThl43KF6ZQS3Q-801MruOgUJODHdjwRyuTqFC-SkdegHqe8jvbrLohmJE1dZOHMv2W0RSMm4jm_jkmhTMhpI653apWdoCqF24O5ze5kpbJ0x3xHACBm6VwTGeoi7u36NXNxTVHG9lfsf6yw9shjcf5qYubwFiyMgDuaoU9sdRjTYUuDHw5aWYrG9tHQWalYuC669K50nB1MfbbYiGtFgBgUyxwCAS9A1VWy45ZxM8yWO6EklsN2GFsTPWGFBxyp_MulZsUKbA9_fmWn-bw8RNmNeaFuocvtl0XZ0EOQdn0TOtDZ6-hZlwwyxc-caEqa3lCze6NvmKAzDhnjvMyuxuz1APa4JSN8_OkL1j1LhKdfFiJSNGkW7CWQbAaz8l9ilxaygwJGPhb6OwI5KxVLGxCA3V8x5McBpFfF1UvdVpvw_bUcBYlmSECQ1_n9PI15RC5JtPQD5HJ3HL_WF1lyOYVxenMRqFvtjesR6L5vZQ25ZFO0snpgRO5wknldsXXz0hPC_oTVG0avrB9L2SQ7QElv87oDoElKzqWKLpnBSrr_r463zg4OtUUprkyNby6IyiFygGSqt8W370wMo7jP5tUReLXjWSxXDJs3KbbuHJQhaCixqCCACyw70ST6pExvgu-1lYnuWV44w_5OGYJIx8t_SG9AwPrsiGfV2Kxyj1VuhzmwsQgPVZl2YvSovYMzTbot60c09V1fo7PznNBto5XQUNT92SvF96U_ySb2OPuyHF7egIOQVlVWv-UNUy_kPo8glPUcU9U9xVr8QzDcMnUIN4w9BZV08cxNPZe0lHEjX_M38FYcop0b___OT4WTkVg-hjpRK_0e4GNNreyUT3_FYeE81Yffdlb-Srz6mbK9_4hfItkwTuh-t1dD9YGEH4En7K3nQdPfBZLh9x6RRcveSMn9oc4eb2oRULkhZoIo4oYSuuDTtGmHmiwovX3X4wLxQOM7p7Dvp3UKGY7uNd76MWxhzSnWoZcohDaKaHKi_Ny3jluYKBTXO_ZB7erJmHLo8-q2n8At9BA48ArZ2-yvahqQQX-e-64szWGK1wanLS87tofdnCjPN2KcOja7bkTKw_IaSM3DLx-ODQPq1LizOUJJx_roeAoVuWqtRFNPeHAKO2eF-Bj75PhbnMIUYHh_WWAKeCXmsjgEO36uHcrOPsEmWc3L4UX92BG6R7tmLrL0mEwYd6Zfu4c3L2K36mkEEgHXmUfC4j1nFfy9r0xR9IgX_8oY4_HVQJOilwEP6GSx47PFoPEhPvOddo8LMmS6fbsyRm2TtKjhStP5ApFL4K7T0teJbb1OtndN-s_SKbRkHcnceA1NmPvutc-R_PrpieHMI4sNkmt6Ehnsi64hIJpmb80am7SZ9wSGEbj5baIRedYcJAV7DRq2SBlJcSKbLYYvI3VFCAtvcoTa7kz3vQ10ek-8Jt8h0Rukh2FOWEsXJG_ZAllcTiPNn2s1hawr4BU6_dV4z0Xx1wuLWSly52H-VBPLFa8sXAq4c639RYwUW7eeg10-_9cMk_IXVxHBM_ZYIFrvtH_iWEZGx8ByL-OIgGx6U79KaKVSj7APSl0XpRqSpeo6-ZIJdEXSKIw_4WTevMusQCD69Exm2E7f4tQfBms1os8lIsnSH8njuBVK-1cSplvIwD2mIKu0tjuPETvt8C8WrLs39suCMDq54LsQDzNxsCZuqr16Ui-BLu9_5LgqfHkPg8IsRX9tNdUH_3JyGJm-keM-Sd_d7gz-yZsrNVryJ-tk_-T09AHVF1N3tS0tb_ceX7Aq_E-YuII04Bt9Jzzq-DJjO-l5vJQ9B03qpOp_c8GFWHTIZpldwdZ-GKpcFUUsUnsU0z93hqzDyK5yAbMD19wtuX-sg2VsWpRWDQkLOBKbovDWGiV_O3oPpKT2k0GfiS9OxWVGHKbLMlHq9dQfAEVdlNmRzqkvzfWSAUrGFcL16scvyS-Y2EWhsehkV2MRF3zaokMcAWe2CD50WA90Vl3I0kZAM1ZU_6EswGysaOtxzRjaJCx9086SivYf9luxKpeKYMKCVgJd-YgXAB5VzBFOG-LEbcjg==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d27fcb887d0a248345bc65212b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":0.15,\"left_x\":0.365,\"left_z\":0.012},\"note\":\"The left hand stopped at about four centimeters despite a lower target, suggesting its tilted fingers have touched the table or cap. I’ll straighten the wrist and ease back slightly so the grasp point can descend without scraping.\"}",
  "call_id": "call_Xa2vICqmB6BdeM514su2cmSh",
  "id": "fc_0ace0ea9c10c8ac9016ab41d2aed9c87d098b1c14f25f3c13c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xa2vICqmB6BdeM514su2cmSh",
  "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]: [-0.3656, 1.9209, 0.371, 1.0554, 0.0978, 0.0486, 0.9965, 0.5186, 1.6478, 1.0718, -0.2337, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3614 left_y=-0.153 left_z=-0.0002 left_yaw=-0.4856 left_pitch=0.0764 left_roll=0.0064 left_gripper=0.9965 right_x=0.378 right_y=0.2415 right_z=0.1143 right_yaw=0.6512 right_pitch=-0.242 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [0.6222, -6.5846, 2.5231, 1.5897, 0.2369, -0.1294, -0.0122, -0.0752, -8.0479, 6.5846, 1.5849, -0.0855, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e643af5a35c5d061e76a8c2dd5c526e6cc035e4c87fa54a51474a4c332ec9ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36065d8588c24340940b01c2136a9660ea915c27557edc01fde391126ca02ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc58eeb45362a7b0b254c35a7e35263671be540d6ab67e4882e98c023cc01bc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.475 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.429, 1.507, 0.8112, -0.1707, 0.0528, 0.0559, 0.9965, 0.5186, 1.647, 1.0729, -0.2104, -0.1062, -0.091, 0.0535]\nstate[eef_state]: left_x=0.3517 left_y=-0.1672 left_z=0.0768 left_yaw=-0.5185 left_pitch=-0.2965 left_roll=0.0016 left_gripper=0.9965 right_x=0.3818 right_y=0.2436 right_z=0.1191 right_yaw=0.6503 right_pitch=-0.2171 right_roll=0.0069 right_gripper=0.0535\nstate[joint_eff]: [-0.294, -6.4479, 9.5111, 1.7314, -0.1392, -0.0024, -0.0122, -0.253, -7.8427, 6.9265, 1.6825, -0.0757, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.6119, 0.7757, -0.0772, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2268, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3575 left_y=-0.1565 left_z=0.0393 left_yaw=-0.495 left_pitch=-0.3427 left_roll=-0.0046 left_gripper=0.9965 right_x=0.3791 right_y=0.2422 right_z=0.1156 right_yaw=0.651 right_pitch=-0.2348 right_roll=0.0099 right_gripper=0.0535\nstate[joint_eff]: [-0.2667, -7.9932, 6.653, 1.6581, 0.1294, 0.1441, -0.0122, -0.1709, -7.8427, 6.5983, 1.6679, -0.0757, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3656, 1.9209, 0.371, 1.0554, 0.0978, 0.0486, 0.9965, 0.5186, 1.6478, 1.0718, -0.2337, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3614 left_y=-0.153 left_z=-0.0002 left_yaw=-0.4856 left_pitch=0.0764 left_roll=0.0064 left_gripper=0.9965 right_x=0.378 right_y=0.2415 right_z=0.1143 right_yaw=0.6512 right_pitch=-0.242 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [0.6222, -6.5846, 2.5231, 1.5897, 0.2369, -0.1294, -0.0122, -0.0752, -8.0479, 6.5846, 1.5849, -0.0855, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e643af5a35c5d061e76a8c2dd5c526e6cc035e4c87fa54a51474a4c332ec9ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36065d8588c24340940b01c2136a9660ea915c27557edc01fde391126ca02ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc58eeb45362a7b0b254c35a7e35263671be540d6ab67e4882e98c023cc01bc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0vuCvfqx3sSIGBc4rXXRvNHJnDfNzT1aaM9lkCaLhc8f2aC_vMxEj44ibkLs2iDiwr3yGcepJ9c8rpbllM9tCfi3oxeYWcTnvtszsmQ8C35zuXCWjj8BfCFMTHjQRBXdk-jwNKAJnNd7pRt5919KE_N7NgdUC9QRsUPFVTtE6fWwNibYie9a1G0ydQaEeoQTCo77TTctF6FA9gLgc7xzs0hLzrqpvb6dq904FZtoZGdqXp3UdWVqkPj5hAB6VU9KIHwluk3zlLRldaKrzdHIEXxQTqIlwXFdS8CGPedLS9uXZMU-DBGr8rU52_81J3n97sQ9QahOw942EFbvpU1epHJ05pKj1NKyHnWU7ZFL7Lzto6pTk0IUZgyejWdzXjrFkOh0rbZz1JJ1Ukc4KrIMrbR5TTIBNQbC9TtcL22vL2uvOuws41flDj5EN8WXyTgranB2mJZtAUr6ojwVora3jVKFMCM7ZXw2IQJ0vjP0tnMFQaU70GTDz9OiWwDnznCY_4BaiFoawyXUBLLWYeR-E-GjzPBy-CqK2abs-Wvxh_DnU5tNqkCbsFSQQFq31RVwtBW7mDlUiAu04PTFJUV-wmuTQuT_O3KrHt352MbdW-hiM1ReIsAIZiAm3MPGUFLySULJRPQDCclPu1b0AfcjF3T937ggZpynbr7NtmhVNHo0YRNQysaXu8kTK9kcgAA1-xt9oFMRh4Jy_62PGIUGhjUPaqU4EznMA7t0amuV_6x06Pm70k3HulCWfacwxV0VgQT6x9Vds1KlMTWWLTbmDXUcjNv3EaekKZCQ9PbkUT71GdN92i2V0anYOMXNTHkfxXfTDi_MvJQPUtbtNF_9R4HrP95SckqGzRTOb7m89Qmz3VYXyBzjrN334Qzv3oVDYFHLmLobTmDuva7rEh2yMkNSeaXZxoFDQGvi2HqqgaNMeGtuhz3J4Vvb0GZfL7YekID7VE7yT9BWKOZ-1Kaq9k4BKCCm-OdV9h516mTZEp3XrCfWGEtrh1PKzvuiM06JwKuSQy4YHNFPdte5Wl7aXN9FRxM04WM056xhkofhmyjLinFZ9px8sMLAdLKa2e0iIIjBxcmdIPqpPi50c3LTBuqasb48_c-LOXy9OUm223VecAG_xG1fAdN2uoK4_pMnOmlB_HnLWKMFtOMDs8sAVRB-a-yiYQ_7Tq4eZDqDGHjFP_f-_4fYdWr9RZX9CMUVyNPs6j9o6D3yiAxfodc1D4MfdMQfccRyPIRZxd243rbEArdgCFnCfgIU9D_Sv81GxTfsR-YIz9Ce96F1jw_o1UWJpiBrD18CUfQFimkJNgnIA=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d2e98ac87d098557726ddf70967",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Straightening the wrist let the left grasp point reach the tabletop, and the cap is still between the open jaws. I’ll close on it now and check for a nonzero opening.\"}",
  "call_id": "call_CXbiq6Xob9s0RzmTcU0YvmGf",
  "id": "fc_0ace0ea9c10c8ac9016ab41d2f02c087d0b385c96fe541f061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CXbiq6Xob9s0RzmTcU0YvmGf",
  "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]: [-0.3668, 1.9327, 0.3626, 1.0824, 0.102, 0.0448, 0.0497, 0.5186, 1.6478, 1.0718, -0.234, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3598 left_y=-0.1537 left_z=-0.0011 left_yaw=-0.4883 left_pitch=0.0835 left_roll=0.0019 left_gripper=0.0497 right_x=0.3779 right_y=0.2415 right_z=0.1142 right_yaw=0.6512 right_pitch=-0.2424 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [-0.0068, -7.8427, 3.6444, 1.5556, -0.0122, 0.0562, 1.2625, -0.1026, -8.0479, 6.6256, 1.4725, -0.0659, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a5ea8c49406a34b43e77b8c6c66952f64cf564844ca85af2a63e49dad1f351",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6751ef59363c5cc84de9ce0b5fe9ddba0037dd36bba4e69db4a7dac0b39512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd936180eda495e334921cabf987a2d0febf4d57853ef3ee34c03cd0fb4cfa74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 10.24 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3946, 1.6119, 0.7757, -0.0795, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2142, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3571 left_y=-0.1562 left_z=0.0389 left_yaw=-0.4947 left_pitch=-0.345 left_roll=-0.0048 left_gripper=0.9965 right_x=0.3811 right_y=0.2433 right_z=0.1178 right_yaw=0.6506 right_pitch=-0.2223 right_roll=0.0082 right_gripper=0.0535\nstate[joint_eff]: [-0.3487, -8.0615, 6.4342, 1.6435, 0.105, 0.1783, -0.0122, -0.0615, -8.1162, 6.8855, 1.5849, -0.0904, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3656, 1.9209, 0.371, 1.0554, 0.0978, 0.0486, 0.9965, 0.5186, 1.6478, 1.0718, -0.2337, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3614 left_y=-0.153 left_z=-0.0002 left_yaw=-0.4856 left_pitch=0.0764 left_roll=0.0064 left_gripper=0.9965 right_x=0.378 right_y=0.2415 right_z=0.1143 right_yaw=0.6512 right_pitch=-0.242 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [0.6222, -6.5846, 2.5231, 1.5897, 0.2369, -0.1294, -0.0122, -0.0752, -8.0479, 6.5846, 1.5849, -0.0855, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3668, 1.9327, 0.3626, 1.0824, 0.102, 0.0448, 0.0497, 0.5186, 1.6478, 1.0718, -0.234, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3598 left_y=-0.1537 left_z=-0.0011 left_yaw=-0.4883 left_pitch=0.0835 left_roll=0.0019 left_gripper=0.0497 right_x=0.3779 right_y=0.2415 right_z=0.1142 right_yaw=0.6512 right_pitch=-0.2424 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [-0.0068, -7.8427, 3.6444, 1.5556, -0.0122, 0.0562, 1.2625, -0.1026, -8.0479, 6.6256, 1.4725, -0.0659, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a5ea8c49406a34b43e77b8c6c66952f64cf564844ca85af2a63e49dad1f351",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6751ef59363c5cc84de9ce0b5fe9ddba0037dd36bba4e69db4a7dac0b39512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd936180eda495e334921cabf987a2d0febf4d57853ef3ee34c03cd0fb4cfa74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0zLGrJSwxCEwKrUP5JytEMGVl3BXLl60eVC2vXNES9n3EMwtztZigYMOpePAiKnGyA0eAVGBZymmpoTdhnPmgxuJNmcgqQM_rH7lFaohDn_DtpY5d79TwYc_z2Sur4KTU2RwOMw2dKrXkTnNRUEUzEX03TeCyYWdM66XyA91_EZnoNCcjxtqGt0sxQRF49is_Lk4WKC0K9tlQBJAFA_L5qAuroKA7bbxqZlx7-c2iGu1s3XN8zaC5zf48Mfna2YvUP2Ws7Nqx3bUsrEDgcQSa2s2ndQoS5jRyOtMdU71-FGABLk4hBfwNNyMq6z6yjt7ydm0m85D5UYBSNr9yokUYGILL9h_Wpy07g9HeyGDGDhv1m62JP6x9IgbJS8XcFSWS1CWKi_ub8us3lbWJAn1N9K53EI0J-TDtESUaNcfm0GzabkIfNxe1OrfLsYldU-3ZNFzT7Q4MUUGaBrB7QXSXYfTBI8o4MGU3dBshvg9PFDIRZinSajzc6hdWrW0CaI0lCznS_ukVrSEWo8Vxjy7ed4tqrr5vBCJPOczO4UMe5ZkP06IbjGPOFIiCm-ZP8EOaZZwcVYk21CB5EV0zyLIXWuBK4hLXujQCYwCdfO5XegRdH7Y5YTI2VkbfTBVa2XZtIgJjMP6_-EgAHTqHDnTJmgzsYSzra-TY_RLFmogV_LQJ3Bq8J_1OYDzhNP0GTLqQYh1zOkhCFmy2M-9E5jmuaBcqg3w5ZXIOhAdm5cBEa9QMZiYrVayzMKIyONeq3cm_cPqZEIjK5iUXCFj5EsvlRSPQk4UpXlxrOrWELbNqPYYISq6lF5DVFxoHnBbOsokVoALiE0mrkyPOabm2iFKxNkZYqjOXTma7dqnRC5Lhzml2IalPmesU80TG7AAseVR1y8FIyw-wJolmrduoA2BwJywHO9qRIlD3lhwxSgcVPd6F6minKSxqCuBtaXAGkrKZPnOGeA9pmsbtfM79BWntIFCkQc7Fo6onyGDu8vG7FbOaGo-Vig59c1OQmGdfc3dK3zJcYq-v1NcKW64F1NsqbIz-wjduNlioTOugCErwPYF0_0gLOQXlbOuCkCea5bdGewSR_XVSJvTKOaOMUt4U7VdNWmFgw39encNFqYar4UjfKB7DZsxuybSkgbzty7ATDqiTSkVruXZpEYedah0UjBqQsXWkErIpCN_0lNiVUYwM4gf70jPEyyFyBqsOHwavTR1SIPd2mgbVBDoOfOlOEZ0TLypz7J-SBF8Zh8PaQsbNX6J9vR7aJtE5CtJJiEpKkDxJR83sgaZYdwvdtX2q0jz-Ll0tU1ISMhmhZG_ZXrgFBzoaXPR2vl4ZDCQcUZQ35NzPeJtXq1LizmMP8Q8infyeUrysE7nyxYdUoZJAFBi_-yHR-MvxGEcn9u-616rpL",
  "id": "rs_0ace0ea9c10c8ac9016ab41d31da0487d0bc63ae5fc194834b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left jaws settled around five millimeters apart, consistent with holding the cap. I’ll lift it to verify that it leaves the table and to give both held pieces room to align.\"}",
  "call_id": "call_JHkca5GpkrFRtg5PrQFYarBM",
  "id": "fc_0ace0ea9c10c8ac9016ab41d3254ec87d09f073f257af82b80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JHkca5GpkrFRtg5PrQFYarBM",
  "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]: [-0.3668, 1.2629, 0.6365, 0.1307, 0.1017, 0.0418, 0.0581, 0.5186, 1.6478, 1.0714, -0.2379, -0.107, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.359 left_y=-0.1533 left_z=0.1518 left_yaw=-0.4862 left_pitch=0.0755 left_roll=-0.0016 left_gripper=0.0581 right_x=0.3772 right_y=0.2411 right_z=0.1134 right_yaw=0.6517 right_pitch=-0.2465 right_roll=0.0118 right_gripper=0.0535\nstate[joint_eff]: [-0.1573, -5.9556, 9.7299, 1.6923, 0.0024, 0.0171, 1.033, -0.1709, -7.7333, 6.6667, 1.5116, -0.0952, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabeb3e59e57ecd737d6cb7f74371e2c8fa48e82097f69b7d4c8736c4454f3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b5bfcabccb6fcb4ac9400948e1d3d0efccdb10253797289c766449657539d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1004bd744c94a6218be96fb744974193e35003a2d77c4f63addd48a645cd76e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.904 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.6119, 0.7757, -0.0772, 0.0593, 0.0616, 0.9965, 0.5186, 1.6478, 1.0721, -0.2268, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3575 left_y=-0.1565 left_z=0.0393 left_yaw=-0.495 left_pitch=-0.3427 left_roll=-0.0046 left_gripper=0.9965 right_x=0.3791 right_y=0.2422 right_z=0.1156 right_yaw=0.651 right_pitch=-0.2348 right_roll=0.0099 right_gripper=0.0535\nstate[joint_eff]: [-0.2667, -7.9932, 6.653, 1.6581, 0.1294, 0.1441, -0.0122, -0.1709, -7.8427, 6.5983, 1.6679, -0.0757, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3668, 1.9327, 0.3626, 1.0824, 0.102, 0.0448, 0.0497, 0.5186, 1.6478, 1.0718, -0.234, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3598 left_y=-0.1537 left_z=-0.0011 left_yaw=-0.4883 left_pitch=0.0835 left_roll=0.0019 left_gripper=0.0497 right_x=0.3779 right_y=0.2415 right_z=0.1142 right_yaw=0.6512 right_pitch=-0.2424 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [-0.0068, -7.8427, 3.6444, 1.5556, -0.0122, 0.0562, 1.2625, -0.1026, -8.0479, 6.6256, 1.4725, -0.0659, -0.0366, 1.0379]\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 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]: [-0.3668, 1.2629, 0.6365, 0.1307, 0.1017, 0.0418, 0.0581, 0.5186, 1.6478, 1.0714, -0.2379, -0.107, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.359 left_y=-0.1533 left_z=0.1518 left_yaw=-0.4862 left_pitch=0.0755 left_roll=-0.0016 left_gripper=0.0581 right_x=0.3772 right_y=0.2411 right_z=0.1134 right_yaw=0.6517 right_pitch=-0.2465 right_roll=0.0118 right_gripper=0.0535\nstate[joint_eff]: [-0.1573, -5.9556, 9.7299, 1.6923, 0.0024, 0.0171, 1.033, -0.1709, -7.7333, 6.6667, 1.5116, -0.0952, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabeb3e59e57ecd737d6cb7f74371e2c8fa48e82097f69b7d4c8736c4454f3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b5bfcabccb6fcb4ac9400948e1d3d0efccdb10253797289c766449657539d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1004bd744c94a6218be96fb744974193e35003a2d77c4f63addd48a645cd76e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0-1QVC5T5RQXmrIXRTchrrHJE9OmINaNznXgqXsnL4NZmKErwqgVA2GDVnHwIfiDBhyPo0Z0zM9-hUp0Fyz1Rm_ZiNf9qjP6vDSLzQbzHOW_Ri9TNw8Oer93-X-2X9KJCLRL9iPb3n5Mv5blUUjxB9EknOL9lQSQawHuV4CWHeIKpXiMSXhKP77gri6n0svATyVYG18UftbaKAbKe1G5G_DPRvjFk-nxNGivwweO_H_qehJnMybmVOq8uRc4A9_uuXPoEQN-JadIhMBJmhUjsEhI6VYiPWd629htN-bxq5Q9z4lJbWxssr5aKhYSqdiExDQuHYLkGLlLU2x7zaueTtZPcZrL7MNUx6x3adzUQPGkEVd5UCL8ONXkQ6SQ2H_smKOnvrw3KKP_o5ogKPPyezVtT8qKFNveaTNWif_EgbNyq7erUA6Yo-Le1Jl19-WEVEqvNjF_yYvE7PaSh_nTut3gyfOW6qmRN5YkYwo9OqdnGbpVMZBT94FV9bzb8pf5fA9_gDVODeRW6G-NCX4Gzqx6XOIFv0yBltTgDWFCmOVguAjX69vS0u5hZW8fO6gUVzKaBHtsM0pm-q8W0xSZf7p4KUExRTIvpRkfuREId1JbFQ7I27nMoOb6THfPrkK6P56pVgfIrCDOxmS246K5jN3dCaDohHQtPfgoHJy8FM-3b_04r-kV1B0ILO7C2dqqyiyBwfDVtQDm92DbS19BbCiItlWsrB2Bxfo7M8KpcRESdO79_guNv-frpubbsOZgvlSUKPcrJqXAZgLzkplY7JljNMnzFlkcvaeAwaE4ttGKlggxl3ZciP4mqWAYFCHEx9RTpg-TmLjDAnmdziT6qDQnMxUZ6yrFi34bLWRWOSShKBqu8wguBJjpUzdxeh4t1y38cZUjJtHmNVx7pvYYxyJyNe0Q8_MIJA3uFlhHzdN8uShh5j7bZ9lu1jj6LrBldrxE_5uju4rQyKuZZleRxt-GKGrv7oNXAREpwmoP2SNg74k7747qETKtNZCNvGmM1ruRl5iuFNROWdvQO15yutAxe42rRVmLcd-8kvPTLGvHroF2Q6TRZMsjJ6DKX-xandMAGvJgkgKx76LROtAqF30T838uUuISO68_OIJ4drnzwowpdcVneeyMXyI1pQtYl2yPUk4TixC794DYq-Siwxb-OAexOToHg7llZTkqfihBffkvQlPdnah0mIINQymofa5PDsj3s7tRZ5w_6y54ZxChHkXJzoOE5ha3BICwcSq0D3Gj8g1jlF9XKSMZRl4zDsG87fZTxURROkV1NwvQNyFsdmW4sO4hn-6ORNd6xMZYSLeI0oEOp9WcfxzLuCgrtOL_3ZBXelAy7uLfvmmHD7gUWN1qs1XbqZxCUDTMgp0SuKBr3eo0ANope3VR4iQk2QO4EbcQVfXFGD7whF6l7Lt8jpS7MKexY5o_6XfRgOrZU3Z4Qxs0TtdlaB_ba6ohkKcuB-8uiAsrPDC3n5O0SDE3KP22unlHK7r3ym5jyXkHlGcNSFRWNoOLKQXZ-2oBMq5TqcwbHBI4H7D7jIw8DU-ClIhOGrO2P3fWuyukn_4Tc_-sqF1cFjGBMvp17q6HfFxlbtO3aSGrrdpw0mg9C2uVzbWHFljGX8g2NsGDc_TWI-KhC4xD0YDt18aAJm3vXQpXCR8-Z9VAPm5v11QukSgQA_xNYlZbhF2T5HtTJtaBkYaNsRFVtOUWofkHLuXJGuoQAoentdrGFAxFx_2blfAmt4ggCnqOnKJUbcbSBWtKSDoL9qkUZcRCP9w3u1f9d6DyFSgXokyW3d515_nR9Edc3HF0_ZMKB0TEVHDGwguv7afDsMc2KIYViQgOkAxHTNJVNxpSIDuFb4HUPQIvSVRiZD_fqFOYPWlOYUQPzp3_IQ-ON-vDoJ32KlD9v88iodvzX9vZV20TUGhHIhnCuH3FEWID1ZLnCmXl7htVO2O9iUHjAvUcul8osoXrTHKNIBfpH7Kc0KIRT6bdySL-eM2P9Qt_yQQqZgzmyo-VKWPJmVZzWb6UoJKSNyVFeKJdV8Q25-mnLcSXQM8sr35U3RxDU3plKhUVjX6rzfIsgZEerBiOK7_fnqpX9GkEH8USLkmNeEXgpVdkJiHCP3JDcWOQ96HaCgLJSylaLt00QO9P8_cjjnT527mKejCYzOVegzzx-J2HliN2vJ-tw8jabX-Per913gdCQzqzq0HoC92a1gcCu1iEcnEqujnRyQt6zjtaHfLMqB5DfvTdvZHocKP8DGSyCik3kC4luSJplTptJi0YIDp61GBKGqeNNGyWN7NW12U8TpFkEUM2IkoZXLnfC8etxe0OrY6H-3weh-FvFUg1JRZgpTZ6YC9LD_Z8CzwUb7RVoJJT5_ACAIHYZbMBspWePo3bjZjhH7pSs84N-n1P7wxutk1ddyALiTW7-4fWdh_iB0e__y8bqtZyvGU7ZFDfeUGN0Oem-Hp3S-pU4_ZW42OLWMZIHN6sfGxrKuzCRApudSuYHuKxHTH_0qjnfz4SYhsf7J7o0tKKiWvUEGtcpmUsBOxRQWMwiRpaANuk5wPC2ZapBb_ukhWajV7D6mX4AyHoMxf-1OlmXTc2NAl-hg_QZEl0B3dR5j1UgCuT9ZucoC_HcsIoPDs_lyqUj7uZ_5RBJKH2dIb47ZrRDaNAdPRnQtFW5zy4Vh8I-rJ762TubGInsVJUWVH1A9MEuS2lXInXNIVlV8oQiB1a6rUfYUqaRLSVEYMqgNAi_NAdmetr-whoV22CQmgBLAp679fP4EULiaNJimqd42w9WjsvfFsN6GGMw_oR-cJzU22H8QSdPq_pc0MjpiYwsCAiO_UGrV2powYe4tJNM_KQHPhPlDNFLs8fvyOgddfYPY_uMYh4aH82eb1aHvF9xshjpS9q3BzoZWuVY-D1UBKO91mGx74oW6vEtTiD8OWzPAd4wWY6-7ddZjyNsS-nm2MfIF9anaW4kCVtPmunNbux-ZxEPEloMKmiw7xTwByfM3gIURm2lfxorJJIKsSrrh-mrFoTzsD5tKdtXQLB2jEel6NE05lZ6A1iaarLfuhRbilsiqYCXupWMdjozcF52UyMAo6XNWLc91yGb91V6-kQMogF6wx0SvYl1345W2eA5rIpM8bC7oXxupOXX3RM_WRUAS0ztd6HqcVi7tq1Q_IwxL1IkQ_TUASzAbhrmL5bDXsfkUtl6x-0S8CZlrjTkIpUaWVhI0VQZK-iBcy6FTSQ1mgDmNkDXfsUPQQ6FqpC-Q5YLaiLuy7e_oTrgjah-IUlnR4J-EZvxT5xzs9CIiju3quvlPC4_kpCapbPjPBRdDEC4Z4hhZeDa_ollO7nef6G8C4486wAztyGyxJAVFQN4qBmpqZbAfgV2d1uAW5NahTYQNIERo6Qa_byTMh88NssPig3yO5u6J49RX9KLDWSAhiS988zRsZdZ5NPcZ1QH5Upc9JqS-dzreufAMDjhZbztnmEYiTLNmZizBAPAzHgK0dczIUHvTNLKyXMKSWNHwqyG8gGHgmGHmWq9c5u0zUknBQ5Fm2ogpylvemPpVzHgcZBtNk_xlsFwWvkHvXbWxzEz5LkesHuzqSYn5kzzTG29iy52TgunB6vaIKbO3F_JT4GuOU5J81_wdQv74_5AmKykscwRNm-ZkooziVWkPsHmeGWCKsS6waVGT6AoGZaGDjvhOoRh7BA7F0HyOYMi67mG2MM-y0ATsIM3PLv9quJyp2IMb6_gRqDausDYJABM=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d354b0087d092a07b882fe4633c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0-SbifV8MD6evoBvm03-EdLDbUQ8RnumvB1JxbPD90RoPMB91eZowQ4zvaIopJlUzp04I37Xhbab7C7sYspUp_StX5Vh1TFpJL1VJ6Ef6oo6i2lWhHPq4HV3On80qDDS_IKssIePWStvj5DvWEwAa_77Oyvzbfaa4YJtKHLZxcQFrqdSWypJyPz_Urj4O2IlYaOVBLYjcK0DONW9CcqpYX8qwQmr1lWzi5P7_dBqbO5JKf6EmjLou6qc3xXiyeIRB5f6iSWs77gsJ_snt2DIeCsg9fRWTpGfNpy6Cl4GXDawfaCcmbr-mC5_lTAi_XoCEoY6bo5JrkCLonCOA8CBYDT19JzkQ_HIx6tzx9Okt26eA2kJlGhI2QGbsVGcKgX-p4_l799OH9loq97psrZCM6GHmaaVL06hOz7ipnJ-hmRAQRvSMTGAMH-Mu6g6qxrlCrx-zxWfXp0rgwDsgm0Eu23qDAhkEege2Ej7bEENQnfgabnPQKacpcbGnnY7GijebTSGyk2yrVJuZFvjtDNyxYWffWWg5UxEt1Z4J8-IVsAzIFEcjH0YLdvIPYwoqzjPBcM5ZuQruHPSA3HUoDnWp5kdO3E4qXjlNSkbnzOMOI-_rHebpO-CzpAFbQJzpxlG_LUxzkQQqN876f86GYl9HQnBSsFKfku2TU-VUzJ5Sq63-Y0seVJMcCBPqxU0LuthiRlMYG97nARWa7aREhx5wQVuan-XOB4moRTtHctOL1-ks65U9waw0zM1Dxq6W-6dFxbG90XZRfL5bULYwt-410IDPmzZesuZqOIZcljgqvNTQwLX7-jN2CpZv891E7koiGj5LyWdyvm5-wG52ECRkejKFTh9uHz-eGiBmRjxJbsJKD6hjiVA98Itrirm6WMbYx2rpKbjDm1lkKppph0no7MM8g76wHUuAJoVtroVjS5DYRGs5gkh5cnQkjcm2sS0SxmQA6KzwAqWhW_qScCe_WTMBEKk7Hq0syN-5DXv7fLAk3wNjP0ieYjf0w7kY1oDTPNb9pqLuI0BZNmEQfiq9-a8Wn7MiWx-fwPHF1zO_YGdiZ-rjrOzvh5-3l8nUha7UzWLwgKR5z8lMPnf2weGfVa4HzPdDQjJxMsdg-W7nXkn19_lBY-7FcMxl-Vc1HiKrx7BiAPARq-MPFsy5m1uyjwvhvYrBtIO5HmVAkACszmozXJfHAg3fyF9qIf7PaOo4yp39yoWqqE35Kdx_DMO9GMVwiP4FLhdX1cS4GZ_lKPk7Rc55sislHwz-4dBEIG_22NTRFWXqWzVEBbfsm-zkPG8wzPsIWtPiQGkgX40X23i7usX9GBO8QN25wscq8VhuW7m_cA3AzrCx1-c1b4BeEoonW-NwynR1nH9aJ7PZ1oTY18bEtZ2B7mNqdzYGlUsDzjg649zqUvl47jEJRXId0iobMlNevmNO8SBaG1fG4hHURjVhTFuAGC6KDAaZ8JH-QeCfjg9YOC_vJY3xNP-4sD-Y_0Poeh5I-brX2mVO3Ztt83Pmz0aVysR40mkAQR1TeTIQ9v0n15nezfc0NjA950GIOED7kSjpDWBsI2Xo47xIZnIdiUmH9gGc_fSHt-fBKFmzqEAyfi6D9SddaMDUJpiFuL6fip1S5AjlRhAZ1do6zRqPneargvUxUaAkgLJmlbG3m9tIIaokz8iIw4lJ3rMFvamvgshzG_Njc0Ey_HPreRAh4cGRqCz8njzK5AJ5pwPAEV9rjEMK0Z7MjHw3mNDASzmamcGnvcImC-BtzmGI16aE5Uetmi2kgLBDFNZan014oVusfQV-ZN6u4bz6OoKqCisP9W-AejqdBhyIn_hjWPSSzRURB9479r6oa5o51rGJ2qVM50ng9kP85ENUnb0-2_8epLp6TvMGeezm_PRSZlhVIVOwGa7Vj6NZEo5QSG74fZqcIMeqyN5jQS6fH26NuE5FRvfKrxm-RpvB8wGt6fz7OGAB16N9OzCac7r1lPYMUpqzgLRpo8BwiB9z7QXs76wIjv-Qg-v0KoOUgBKL0PONuf4iAG5LsV7YSYvrezj3uGqQNSc6nHlsJ0GPCpni-ducZnIwj6BRMuzdZUWIpKY66HBqVPvmFSlkZSfDdmb6DigI2Kh2IIC1mM_RhyDb-prW1iObSDB5A6T8gsRvObm7O_BMsuYVbZ1_SEk2bo3_cia9CnBdQ3L5nOgLjm49sFI1ZbU2N6gL_mi3_5g75ahGi2ahWHknqCHEm0oNnB7_qbVO6nBWbBJXMFsBOP3KN61a1TIIeeGJW32WqDDS8EMcC2_sW-hOm2QLOIfFaPZOdkhIKxRGE3tw7SuHuS0i4k7-TI_hElsOFhg60VT2ZqAbyU7rD3H663HRwqgiYzPebmryeidNxvUCQms1B9mFPbZwzThDDiJiI9kCE3Rm9yPzdVfdqIhsbk2uXKZiV6w0BqfLkczuaZAXtEeEhYMh-iYXFf4FEWxvegjspX27hcoTgle0gHyMZTZ9ye_mjNbNx4whECOylMHDTkdKGY4GyY6UZb9y6F9Sytl8FwZTi9dqpElERQOyJ37STJOeVUxOSesqxMaH72MVF-FhjmfeVj9zG0luXZ2mUk3LiYfyvSGPqS-235LpDaUcYxwIHZmTx4E705jp4SKbggqke7IScA1CGg7IJLNIfV1cp1x1S9gpOT28X5YtSwMWqm2RJ450Go8C_Cz5Ls4cGEWkdsjfKXaohgSZsqM5Puy3VScuZK1ut2mqket8AZdRE_t4fISWBtRh_s-nTVs2FJBv03JHJoU1g8KfwzPU_43K-BU0T-TZ5sBYgbzrff2eiY9osJWN-hzgEcBDzwZPp50paUtRx45bX9LZKpwXL3VUNNrXXuYgBwESQAx31X5c-fJ3XjmKRtuPvbVciW6LkefL_-zICPD01i6whJ8ZSYL2aKCsQpaMkKcE2nXR1SqrqnZ3G-NyXANLqwT6YVhwLPA7ux8UoTRjgFCnMh2FD0pvZ3JdAlREMVsSxco62lj9fTSiA4U7iiFofTRCtl4jzGKWfirSqI4Vs5RZfwTMMXmHYJL3CrUX-dEtAjYzP-g6Fbh_gFm9VhZjhbC5GKwbngzHdDGOZs0zsbsX8MsbRUI8j_oVS3spPgLKXS9Dwg7acUuSrX0hmBC0c9NPuzQ3Ehw2mp1SpsF73hdVPBqq6era-XU7L9zzE13og7q3zqvJowsFrSGMNIm2C21iNfavsWvObzix5MMQ9XkTMaK2rZ7RoIInhhubIMRKXzflrK6NTCOGWgvJfDCDqyKJa0xbxp8a1cPk6_PeWFep1Nop5I48pFLVxK_migJcA5QAzZM9jvOd0CV_NgF_Izjm_SsFOtLeSDKcPqaP4vK_HtfGeV2lK6eGbZPJx5Wjr_-u6BgXwtQnefBSmgmmOAWgDMYOv17dMOle-1ZEKj1JD0_l2674_xI6PRll0_YWzGiB8U-GJJoAAPTh6p050O_SrK52pummqz08csIwAFtL3XmLR_TXT8jKJ_a-apm5zl-tTIX1TACHa9ylAKghdUeV1FrsTBImvD-TJQ_9KY3HIFy-FwRNl7wmVS2R5ql2-lv4ne__Eudb8",
  "id": "rs_0ace0ea9c10c8ac9016ab41d39230487d0bb41c8dfbb076ebe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.285,\"left_z\":0.19,\"left_yaw\":0.65,\"left_pitch\":0},\"note\":\"Both grippers now retain a small nonzero opening after lifting, and neither piece remains clearly on the tabletop. I’ll bring the cap toward the middle and turn its axis to match the pen while keeping the two hands separated.\"}",
  "call_id": "call_cCljB1wzJegtcKxkaSTaDn4Z",
  "id": "fc_0ace0ea9c10c8ac9016ab41d3d7f6487d097cf182f4ec484f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cCljB1wzJegtcKxkaSTaDn4Z",
  "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]: [-0.7719, 2.4504, 2.2921, -1.0634, -0.9173, -1.206, 0.0581, 0.4534, 1.6768, 1.0412, -0.3206, -0.0669, -0.091, 0.0569]\nstate[eef_state]: left_x=0.484 left_y=-0.2704 left_z=0.1343 left_yaw=0.5668 left_pitch=-0.0401 left_roll=-0.0448 left_gripper=0.0581 right_x=0.3733 right_y=0.199 right_z=0.0763 right_yaw=0.5566 right_pitch=-0.3911 right_roll=-0.0033 right_gripper=0.0569\nstate[joint_eff]: [-3.0974, -6.9265, 2.7419, 0.4811, -1.2772, -0.1148, 1.033, 5.8872, -10.8376, 9.4154, 2.7375, -1.0379, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd09d4fe90ca0842cdf77bc66063682279afdbe5928e3b7fb3ebaec58573da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5ce64851a0d802615bbb1eae253a10738deb6b8a0f33040bbf84dc8fbb17e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e9233b608bfe26d299537045434f7e8b054b25e2e707f12017351378c77fd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.686 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 80 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3656, 1.9209, 0.371, 1.0554, 0.0978, 0.0486, 0.9965, 0.5186, 1.6478, 1.0718, -0.2337, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3614 left_y=-0.153 left_z=-0.0002 left_yaw=-0.4856 left_pitch=0.0764 left_roll=0.0064 left_gripper=0.9965 right_x=0.378 right_y=0.2415 right_z=0.1143 right_yaw=0.6512 right_pitch=-0.242 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [0.6222, -6.5846, 2.5231, 1.5897, 0.2369, -0.1294, -0.0122, -0.0752, -8.0479, 6.5846, 1.5849, -0.0855, -0.0708, 1.033]\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]: [-0.3668, 1.2629, 0.6365, 0.1307, 0.1017, 0.0418, 0.0581, 0.5186, 1.6478, 1.0714, -0.2379, -0.107, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.359 left_y=-0.1533 left_z=0.1518 left_yaw=-0.4862 left_pitch=0.0755 left_roll=-0.0016 left_gripper=0.0581 right_x=0.3772 right_y=0.2411 right_z=0.1134 right_yaw=0.6517 right_pitch=-0.2465 right_roll=0.0118 right_gripper=0.0535\nstate[joint_eff]: [-0.1573, -5.9556, 9.7299, 1.6923, 0.0024, 0.0171, 1.033, -0.1709, -7.7333, 6.6667, 1.5116, -0.0952, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7719, 2.4504, 2.2921, -1.0634, -0.9173, -1.206, 0.0581, 0.4534, 1.6768, 1.0412, -0.3206, -0.0669, -0.091, 0.0569]\nstate[eef_state]: left_x=0.484 left_y=-0.2704 left_z=0.1343 left_yaw=0.5668 left_pitch=-0.0401 left_roll=-0.0448 left_gripper=0.0581 right_x=0.3733 right_y=0.199 right_z=0.0763 right_yaw=0.5566 right_pitch=-0.3911 right_roll=-0.0033 right_gripper=0.0569\nstate[joint_eff]: [-3.0974, -6.9265, 2.7419, 0.4811, -1.2772, -0.1148, 1.033, 5.8872, -10.8376, 9.4154, 2.7375, -1.0379, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd09d4fe90ca0842cdf77bc66063682279afdbe5928e3b7fb3ebaec58573da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5ce64851a0d802615bbb1eae253a10738deb6b8a0f33040bbf84dc8fbb17e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e9233b608bfe26d299537045434f7e8b054b25e2e707f12017351378c77fd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1Dby9bJSAwbYBjLGIjGBLSGy-Adxp_c4GFNGIxY5r5yP9HPF8SKagzv8S6PKa-LexTW8AtBnOwB0DqPzHtdf3zV-BMBjVtackZ9Pm45UFC-kIdtqJ_kZIKhystBCgVSM9dn2IAbSoDoU6xPeinFvRqnIdFuKNJ6JK0QX9y3iDWFQlefTuG7au_T1tB69Flajbpy4eCiOtOBxnTZSHLBw_43jXgLqlCLRp-sI0OKmceRNTEeYImLT1cYIGxX1hcLuKNRc6RXWLxdqMrDEuZ7k5ySnFZK8u0canCajTopocnHBG12Rm6TXhHmZJeg1f0RkIL8D1yqWHouSfeW5sP3SzMb96HYnrgWiwU13rRVl4EnYPEkvuoy86c1DOsWiG8R3g5pBRWZ2RvvRcHZCKfqJVBapvh-6yLkUdhgWKvVAHehpkpGQ7eim8XG11QJNVmyMz0btc_pazrgOwEM1w01L69KGGaIjQbgB-Z-Fg-BQGWFNSrQVVw1f4FpXnnwCyoNEBbWP8JitP4nYFE-GkwZFMeJelgLomiU2GIALDXpRWpbIp0KqBDprHWJeTgZNZV9LtQ7CuqeW6Hvyk30-6X9d2Rch7kAa6z19UM91M0U5mlz4_Z_LWftSTgTnDIsmXGGQcjfeo9seRCEmWDqWVVtzKpdwyvO579DpC-AQ11BI513s67DtsG90xgWVwaUBEktFarCFjwezlCqm0eHa_7ICHOrWGhSSzo2csrChtMfNuLnHVadayKD1t2qDNXyKydQBR_Hs8bKyEfDGOi1e2Z9Z3nc701jVqBe487G4AUyg9Mha1u_tomRIANOLF1IqZei8PkbEMgBYtnNeGS0uL0lvWU0rHYVc2lHRPOB7Z6W_GpX6atNwC6TTyJ0iN11mjM-I7wjBcmTVRpKe6u9zxQNYpz6c1acmuHoy3kvBWjCR_C7V4AxvhrqNTeEtppQE7MOREDqQDQ7GmbLTiJKheYFoBYgqiHgSvvpTWgc5YIhtGmIQ8vnqlJsTlMFISmMlNAz2cKR_kGn8us-clv0qon41pq8_1kC25z-Wi6JrjM0zEWOcYkoU2x1u-MpGhOVBCji5EuLf48lndj4lJr6TmYGarqQu8ndNNmImjR8np4iJ7bPxCdlCjaahVpFKjCpIAKdQM_Izdj60NhVPBxMcBHhH9AN-8cWg3GebtsaBR940cP1qzkcDll66A2ZQGkXyC-Np5m-MXrSZ1E9PwBLfAyTx21GrSLlX9dfMaIfOBRX5N-_pFAKDwGGdEbgR_DhlDAr4pB0Rc66w7inb-rbOTmi4CKBkceODzo6LraCwED3GuyKDyXwWUpv8zifDne4WegJ5plBiaQmkX-kBiTBnEI2aed1OZOAJfavszvZ7Q5u_IWWaZzsTvY6kloZYJEOGiB4MJys2xYovbBFdTs5Q8jYoi9ToQ7_uX2VivW_7_7dAHYRqFPgo7j6QfoT5OSLzyOMrz2OjDhOSPfk4Ptp-_DuB6GW1S9QdndbPjZmqFedaDWnRcVPvyWXi9hF-RZNDbQ16zMlYC4jHLsXBiGa4awLVPHFA_14FO8RtYmZ5j9R-buovmkgKeIbDAVkwOEp6rgMF92bsP-Q7LpMY2CKig-d4FQIJPSyW_xyQE9ELc5H6HmfNCNY7Jr9PU_gYx-L-Xbl-Al7beoRZRAfNb16ns6FweztKgCX5Qcl303PoF7sVjNSJqrZIezQ1JXlOYRKsL1b4R3E0B5qvjY9KhlTeGiVNuYNoD2qHekFeIay3H-fUUfgwGv7Pog955ovcZ7TAQAHIJIK3VFVJ6OjRw_lQzGbF7TkYN4uzBmn73QFnTMYBNjhwu3a7WZ7K8F5Ml0XVe2EeKd99fgqAEUi7KslBgFertrNMe_par3djWPEHV8EJlSv6-ePByS8KrhF5S1eNVtr5bpx-0X9tU7h0IsYP1i3SbuXl0uA2BczKYo3iufv8FmftPDA_1o7rhvJa2_4Pucj_Wrfs7yQaa-OmtH5NlPTD6E8pfCb8cxCR3FwQSvBoxO5fPVqEZeOx--iP9Vd9dfJjNCwLldAzsEVt8sDw2Caeyn8LoHMNO02upxxACU3-eEObu1eO0py7Iwrad0rm5P_NabuWjkz8B4FLUxU_pYwc3wbXe6-ClJSyGiyY9qCuti3sco5GEj-4COcDa5PTAKDQMMEo6KXt6N34RUwG3AWOCCV7grcxLqGnLCUotzWZeIjzj6fUepNq7bd_DRL9G1Ex_PyVF3vKFql_MKlnIPESWH8Q==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d40b6bc87d0a2fd18d8103a5211",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.156,\"left_z\":0.17},\"note\":\"The arms came too close: the right hand was displaced downward as the left crossed toward the middle. I’ll withdraw the left hand to its own side before repositioning the pen, rather than force either arm against the other.\"}",
  "call_id": "call_ofFfNYqxmmkyYokdTRvWEQ9Y",
  "id": "fc_0ace0ea9c10c8ac9016ab41d42858487d09b8c830ab32c5513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ofFfNYqxmmkyYokdTRvWEQ9Y",
  "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]: [-0.7456, 1.8038, 1.4002, -0.8112, -0.9035, -1.1713, 0.0581, 0.4576, 1.6985, 1.0191, -0.334, -0.0799, -0.1093, 0.0583]\nstate[eef_state]: left_x=0.3848 left_y=-0.1615 left_z=0.1598 left_yaw=0.5692 left_pitch=-0.0504 left_roll=-0.0262 left_gripper=0.0581 right_x=0.3619 right_y=0.1979 right_z=0.0578 right_yaw=0.5864 right_pitch=-0.4465 right_roll=0.0045 right_gripper=0.0583\nstate[joint_eff]: [0.5949, -10.1675, 6.6256, 0.9402, -0.5153, 0.1197, 1.0281, -0.6085, -9.5658, 8.212, 1.3895, 0.0415, 0.1148, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd8d8d5d687b82d7ed7a83bb7bd62d1c32f1ff79dd9889b0bb8a321f3fb8659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873233b65ac190794d2f37b942216c43bf8837b295ea915c48b31edb885f6f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859059bde200bdc66959549bcb601c7f2ccfcca4fded8a2c08210bfc589c9f94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.22 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 80 changed as sent

message 84 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3668, 1.9327, 0.3626, 1.0824, 0.102, 0.0448, 0.0497, 0.5186, 1.6478, 1.0718, -0.234, -0.1066, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.3598 left_y=-0.1537 left_z=-0.0011 left_yaw=-0.4883 left_pitch=0.0835 left_roll=0.0019 left_gripper=0.0497 right_x=0.3779 right_y=0.2415 right_z=0.1142 right_yaw=0.6512 right_pitch=-0.2424 right_roll=0.0109 right_gripper=0.0535\nstate[joint_eff]: [-0.0068, -7.8427, 3.6444, 1.5556, -0.0122, 0.0562, 1.2625, -0.1026, -8.0479, 6.6256, 1.4725, -0.0659, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7719, 2.4504, 2.2921, -1.0634, -0.9173, -1.206, 0.0581, 0.4534, 1.6768, 1.0412, -0.3206, -0.0669, -0.091, 0.0569]\nstate[eef_state]: left_x=0.484 left_y=-0.2704 left_z=0.1343 left_yaw=0.5668 left_pitch=-0.0401 left_roll=-0.0448 left_gripper=0.0581 right_x=0.3733 right_y=0.199 right_z=0.0763 right_yaw=0.5566 right_pitch=-0.3911 right_roll=-0.0033 right_gripper=0.0569\nstate[joint_eff]: [-3.0974, -6.9265, 2.7419, 0.4811, -1.2772, -0.1148, 1.033, 5.8872, -10.8376, 9.4154, 2.7375, -1.0379, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7456, 1.8038, 1.4002, -0.8112, -0.9035, -1.1713, 0.0581, 0.4576, 1.6985, 1.0191, -0.334, -0.0799, -0.1093, 0.0583]\nstate[eef_state]: left_x=0.3848 left_y=-0.1615 left_z=0.1598 left_yaw=0.5692 left_pitch=-0.0504 left_roll=-0.0262 left_gripper=0.0581 right_x=0.3619 right_y=0.1979 right_z=0.0578 right_yaw=0.5864 right_pitch=-0.4465 right_roll=0.0045 right_gripper=0.0583\nstate[joint_eff]: [0.5949, -10.1675, 6.6256, 0.9402, -0.5153, 0.1197, 1.0281, -0.6085, -9.5658, 8.212, 1.3895, 0.0415, 0.1148, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd8d8d5d687b82d7ed7a83bb7bd62d1c32f1ff79dd9889b0bb8a321f3fb8659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873233b65ac190794d2f37b942216c43bf8837b295ea915c48b31edb885f6f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859059bde200bdc66959549bcb601c7f2ccfcca4fded8a2c08210bfc589c9f94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1J-MYWDSnDVDJW76CuS-cGJUNYLZHPU8eL1YbxvgEbH9ZuD8K8-DrD-PMmGiVFfmzrIc3VxT8o8a19JlOdwdz2e6lMvPfcvuyS_yq-mHWusHRE9_oSZMhrR0U6GoDNgovi60EJvM2wyupojdQbU1HcTzIZCz7Krh_u0HcXLK6zU0dLC8OWw6mt9GU7SAJHPxz6AxyChMEk5Omq8JvOam_-uI9LLDy0-NruhJtv1pcAk6DCBvkBP7YP1eDVlfXMcM_cQp1V5ALYSp32VS8P8jE3LGmZKzVWu0S65YmY3-FfMAcufCThOWkYsg-QvcHjkDtH97mh0oldjZxw7gDTGUpDNx4RQjJxXphGAvDguoNWUq6HW4YIsrfbl9ySaqe4d0KJDkafvxRhswFFyHkBg0W2mLBougVhxUDOb_sFV9iuwGV70PCvGA-E_o5eeCFMo2Jb2qtMvh3Xe8wyj8d0XpCmv6BSvXiCXD61FnxffdNXNUOVRGvzya_1nlV804HDoGsKHRT6OaiqO1plzpezvYNWZv9qNm88j2R6EUW-yjLDCaICt8DqccGyot8DEteJDw7bBBl-1cSzwD9JmuWwjxDXpDRQG4KmK47rVAQpPREU9JNdBMkASyzMC0ZYku27HctVvOJHONdW5qIakYRVtSpHg2-YEMNGOVWwmY8EsVNqUtkAnoDHSemdw9-yInXmgcsb-18N01QyqW6xIb4dBWvARbdTJT4ise6IWJ3PPdoDf9GG4KxXHaSnzOK8P2u83SXuM5y4Plre4Xaj6P9Mbch10y87yC7IVU6myhd2E0lMzW4S-4gCE-tKdEKPUq5mXvoAYyY4ZoE2ICvr6z7bYjQhWHJl8zudXm_rXyunr1GtDWbkh_mAyiP4KUSkGt3idY-NeiBq8lljRU55aXvSXO2P3hdJFecq0MiunUdLO2jK75Ofz3eBW10MxyeuKHQlFD0SpuCHPUAZ3CMSju58TttM3unNbQ4wN6AQGUSwa0pKtXdVfq9OSeotvofscriYS6z7pzlGjD-LTvJ5w51nnXBi2mLvy1fzLwMp0D__5TGRLw3BWmFZlHlY-6kxamS_rT_zUEHFhaPj78JgIZWi9X4CCcj9_CH7oeSTx-KpTuH2DuqAUC3VLf67jOZAd6sYfxlGoV1LPiZRLoBUUXwqXuCarUOOi6kRaSAMq5VLUJ7Cmbry8o0nof46OVa9ZGYFTtye2ya8pEYB7hgkfX143llNdNlN2j3cC-ZnrHPUh56weXYRzozdL7Y4OmBcV3FkhKlJc6hgucFxBSwjnwThSl53z-rQXheG0Sh6wXEysOf_LWFQfDslghyKLciHbuqZwvQSwITNanFRDmz8H2oU2DLp_OWMZ0OZEroqbtB14K1QnFlSh-Dpxwgnx_rGKAcB2ySVSogxNjGKtII6Rm_rSeVmAjpUuNuMIkgXfMrJXzbf-8Zo55dW50XHc6RuBqgl6hgJVM8LWQDLc-0aDBxz6CKVD0gRvS72qJsp4NN6mPLygHuLBuUEqvuPiWjfUZ8YR9ZC4s8yhV_tBAnviKPr4MsNQvwltTVRN3MDSk2eC4fNfaN8BtzYsJylyFafun-bm2dsoxubWhEYzbKgy2-W_NkVuk9Q93Ilsj-irz3hi5b60PZjqYjzaGUPyKSARkaVSBgueSvXZUJ4nebCuFl2g3aVuVDDmlvcC5qvXklkwFtiao0g6OcduOsEcliFV1EZsc9IhEwFz1e6TzG1pPTvVb7RWpFntK8L87zjhBEAzvsHZgHaMXU_eu5-kS6c4ZpbteVQfZBe0VpuIc8vEA7A30ZeBF9rybfBQaI0Wfg4ANAFnQ37NtYrB1tj2cwoLArzlC5C5QAEY3sFRQT6DM3t04tNq7iPxcEgEPxB1U6eTgiw9VPqMHntIbuQ05a8on3Hjm9i-3gCAfdXxBf6AX1PBAEUboiQuN_KMpUF_GnQxzol90Fv_RHJd05z6WMS2H9jtEF1IJC1fOtFerbZXczdBqU6YvpfxDJhAuLPj0tHohH-pLF5S7tFl6g_kWZVD9ewdUwWscYmN9k6ahRPTatMUphPYfhImFpTf4mjc5gvOvdy7vSOvTlkaMPQN-sirUUyM8ghPFP1-SZHy1-t1PM2ct-606GEctJj4CPBRup4zCFytnJd9jZygc3GgaNIPs-pk5p9BfMhUF-ulVWor3YwedeTT02sAgQ9348PlIidUH7Ml6_snQG2B9I7ZRpp8BVIp5Er",
  "id": "rs_0ace0ea9c10c8ac9016ab41d45ef0087d085d1a4dc7a17cfa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.288,\"right_y\":0.275,\"right_z\":0.17,\"right_pitch\":0},\"note\":\"The hands are separated again, but the right pen hand is now low and tilted from that contact. I’ll move it back and up with a level wrist, keeping its tip pointed toward the cap without crossing the left arm.\"}",
  "call_id": "call_JolccAyTusOjhM1YixN6zPFl",
  "id": "fc_0ace0ea9c10c8ac9016ab41d48118c87d09ccd00af664177a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JolccAyTusOjhM1YixN6zPFl",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7444, 1.7992, 1.3827, -0.8062, -0.9012, -1.1687, 0.0581, 0.8257, 1.3334, 0.8066, -0.1337, 0.1646, 0.1127, 0.0583]\nstate[eef_state]: left_x=0.3826 left_y=-0.1593 left_z=0.1561 left_yaw=0.5685 left_pitch=-0.0545 left_roll=-0.0168 left_gripper=0.0581 right_x=0.2851 right_y=0.2716 right_z=0.1475 right_yaw=0.616 right_pitch=-0.088 right_roll=-0.0135 right_gripper=0.0583\nstate[joint_eff]: [-0.2803, -8.6496, 7.5419, 0.7937, -0.525, -0.0806, 1.0281, 0.4855, -7.4735, 6.612, 2.0928, 0.2466, 0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82466a28fb0ea3eb4865e2b8f8e379ef85a9ac0fcf967d56f9f5d08831e66619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af65714fdb4a3b91cc740d3e1d23843a38cbcbb6fb4f3b850e889cf6b0bca20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d9c69bea5fe458c67f3406c3f84867218653d2838f58f3b4452301487a5be3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.228 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 84 changed as sent

message 88 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]: [-0.3668, 1.2629, 0.6365, 0.1307, 0.1017, 0.0418, 0.0581, 0.5186, 1.6478, 1.0714, -0.2379, -0.107, -0.0906, 0.0535]\nstate[eef_state]: left_x=0.359 left_y=-0.1533 left_z=0.1518 left_yaw=-0.4862 left_pitch=0.0755 left_roll=-0.0016 left_gripper=0.0581 right_x=0.3772 right_y=0.2411 right_z=0.1134 right_yaw=0.6517 right_pitch=-0.2465 right_roll=0.0118 right_gripper=0.0535\nstate[joint_eff]: [-0.1573, -5.9556, 9.7299, 1.6923, 0.0024, 0.0171, 1.033, -0.1709, -7.7333, 6.6667, 1.5116, -0.0952, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7456, 1.8038, 1.4002, -0.8112, -0.9035, -1.1713, 0.0581, 0.4576, 1.6985, 1.0191, -0.334, -0.0799, -0.1093, 0.0583]\nstate[eef_state]: left_x=0.3848 left_y=-0.1615 left_z=0.1598 left_yaw=0.5692 left_pitch=-0.0504 left_roll=-0.0262 left_gripper=0.0581 right_x=0.3619 right_y=0.1979 right_z=0.0578 right_yaw=0.5864 right_pitch=-0.4465 right_roll=0.0045 right_gripper=0.0583\nstate[joint_eff]: [0.5949, -10.1675, 6.6256, 0.9402, -0.5153, 0.1197, 1.0281, -0.6085, -9.5658, 8.212, 1.3895, 0.0415, 0.1148, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7444, 1.7992, 1.3827, -0.8062, -0.9012, -1.1687, 0.0581, 0.8257, 1.3334, 0.8066, -0.1337, 0.1646, 0.1127, 0.0583]\nstate[eef_state]: left_x=0.3826 left_y=-0.1593 left_z=0.1561 left_yaw=0.5685 left_pitch=-0.0545 left_roll=-0.0168 left_gripper=0.0581 right_x=0.2851 right_y=0.2716 right_z=0.1475 right_yaw=0.616 right_pitch=-0.088 right_roll=-0.0135 right_gripper=0.0583\nstate[joint_eff]: [-0.2803, -8.6496, 7.5419, 0.7937, -0.525, -0.0806, 1.0281, 0.4855, -7.4735, 6.612, 2.0928, 0.2466, 0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82466a28fb0ea3eb4865e2b8f8e379ef85a9ac0fcf967d56f9f5d08831e66619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af65714fdb4a3b91cc740d3e1d23843a38cbcbb6fb4f3b850e889cf6b0bca20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d9c69bea5fe458c67f3406c3f84867218653d2838f58f3b4452301487a5be3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1QudBa8hRXtPyOfKnm2kNHnX6iR52xHK6V0OJwKqTp2l8ocHz0mh5yShBTcsYrkvXloU8NNabSVZJ9YXzVP8jOFl3_pxKW4lD8h7emQ1-BWwpnDCS66t1QXvcM4xJf2xcEdyvqgVRZwiQ6xsrNZAgMcD-vAdNQ1AQT5NbIJXuJ7mAIXlPTt0Lh11wcXIQ0DuRHsQ3OJQYbxEmYk-ZSi2Lm7ZfMMkoKq8KjyLbIxIVSZOZSo6Dd8hhytan6iJKNwXzNWj89U7eFGNWFoZJcZ0Mc-g8YlxYHfR4ByIyuUaembdLRZqnX-H16uV9FlznERUinr5Owf7xQKGVFglH1iIHdkqWRt7I8y79-YCFuF2Pi1IvQh7Yn6OyTN6-M1GEzC90XFgSxZOxUpu7Obzhr67JWZkhfgxUrxugXjCfBpQhF5_e8rmnTwjEDzvXvvBAn3WugFEqO1ZPRlY4ugx3NB_dmg7V2mrzosjJPXsRU-GeOGhehBoPm9L7mejux9syx3iVrqei6FboaylD4I-JBwtUYe2U0JJ_1-8l29XLQHbi9K7677QJmvki91OUG2-329v2VJm_LFzGE-3uk_l-_PMasLJPOADrBjmQqcMTrPudB4KbKCnuoTKF_VeqcOR9bJLabGL3hVKuk83cAUpChsjRaVoL9MXLZxaDBtmbXW07IOyGWg2KN7zc37vpndtKDzuPkVI0qVjtN74PzteVVq2kaDKqAbIx7nvMS_hvi2Gt1kXWTUJcFa8p-s3kfV1FXmmqxZWTuTVaif4QzBQULO3Wrd3vTJv9HD3MO_S9kkYysemBOIF5O9EY1_i5x8_QP6NQtsbxXKuisN1U5bwHpIDeofTK8j_ePoJgWmDAs5VHry7Q9NaUH5rgZCTy50hfiVJoGn8od-2uf0oKqr39hGyAFkQxJq8UWmQu5ub0ZbQMiv6fr-9zd69OhxkQCcPsvB6vZ-w7lPQSsyl2o958ubhKsTMmbfoBx4Zf1Uv9ZbyCuQJWnNvaScR5NCFN6qBYoTA7-4_SyFrQO_jdHpopuWRwsbbchZYSShgcWSQ8t0kZEuc75lpHM1l2uVAadSKypljleeqnvI4u7arjVWxQLEawCBTr4vdPtw-CfJmtdMMT_gxilcWzn75XKgjizQ3UwP5KYGks88gOqYmVfnLCp46oJ9t9D6o-6izHlTmBy0WCFZoXRo5AVfDuD43QeJkyhtM-Ic9ltIKV4DAtGLsYHjBnGd7oAaiFCIhTG6soBxGVz_1eS1YAeLg57dhwz43oG-gUvZeqFDbCGYs7PpDOhFhKhpBUw7xbeGf9v5Ky21kcoGIcWPfXkqnSB59paOxju1ey-sts_p9AbfX8YcJJUJFWFC8b8HrYEUzY_f9KnSW9jOGRyxM-KQpjhS_gIbejwLed8NacjABe2cOpUVN5XG6bLpUDwx8O7s6f70dP7GbytS2JjGC9eHgzYQgoU5knX_cB4VuiCFnDrqD-QBLpteViEFtFERLcZY-lCUdQzWwnr9yO6RqI-glDMa4rUtU341wN4b8UX1HPrESkof2jaIavJzoAYEhlB4YIoh31CtBQ2kc5rfWPrY4apiNAdDY6Yn0m2ne_N2sUKQSf0fHrYmMhbEkyziZUQth1CYSht15DJg_1qGDrFFKQvkNARB5H4-DyDMklZSQknesgOF-TnmS0kzxlYN1n-tm9xTTJBwWnx8-VMTClBs1OpcrPqvP3mnkXGKqqPXaYP4aTXPRDlclZKgky7n77SGbUm6OyqpcTAR1szffHTHgaiLwWzY8y6VlR9YjvANu2HUS36wtxAsLEur-ro9YVJuXQ2Tgwbb-CMEk9UaPeVd6a83wNBiuSAELNecP3JgBZ9sSHTajwnahJ327TdEs7NWMPhhGxMvRyNUp0PVLClnZXNlfZrsvZBb75FXbbVxRs_ptl0WXcpg2IfMu9-Pr6DiFbi_SZA1-BuCrBOqPMgPDcxeFKpLB-XIEYGMDZkITIJ3f3AEdoeJ0MGAKsd75xFPwT7rbXQrIgg1fGID0fbpctIEQc0rglHz9sux-T7Gdw8L1qd1nGWFZxuU5Ts01tXT3lru4d8GB5QIq-7HpZ_pD571x4k3ocZU66yjnYohEVEM8DHrnNlgw6aQKLRgEka-LitDc1LYniORNUIECWdc6p02NsajWC3Bqi3FhdjjUVbIHWNSLlwnkXvoWFmm1-guEXgixsoGpMlf1_Dv57kOHDrzvpdwSUF0sBqWA6CtIjxXsJVtUD8GhcnMHFxqGNk-4DxAlKAVHrkLf2GnXh9lwH8oZBq7DOmPU6bU-4Xlz1FhtDlp0yrgDQsUTAhcxq5Yb9sfgLkqzofGBH3ewgOGf-1uQPZUpuz3TFsrveoRFd7F43-NIEJ4-aEdBrakJw9reh1iTG7rnmC94_oKrbGJerUSFx6tc3ulCEgf8ltLxC7VbluR2LlHoXuqF3YIBOqNQbKF-LR3ZXXT71VclJGB0MTi7KSqstAHUL-NG3oE3H-XA0mdV66eKruLanKBOgUmvWMt8DsIOrfRsXQldZ62eoCVQuehg_Fkn4ouYhZPfTYPnZxcOtKdcBPpFPgsvuNA9kC9QCPGBq14OR_s5A3OrqwSH3HOHlNMzE7GgBOvDaH8zHleWL_jss4Dro09SztZI-7eGAhol2KxVo4W2aZa6eeW_h8mKimwZ4vR2SZqfkAjfxtMc4dB3qBdICHogE13IgJAmw8i8a3XMMgXAdlqdiNLkZCYzJA-NPbesd9kbtYgDVoXMFBwkQPoAUPkKgtvhMef8Ndc6U8tEDh73ySl0sBXUHu7zv7pFTPSMSWfkdW5HSRrNSN4ipQ5RNizFk9bOQdfCI1EGE6tTladxuz70AU8fXnwnT__xlK8wMtOPUJVqh_eyigtw6lszY1Vrrau-ukwxLUV_Je8WiyQG-aGQ5pmwYN6-dGiv_cwvxOlL3hxeYCiZRdNDFbwsC_f1nJ-zSkEmXpXLhB6va1QPrp1PVi3DGCUsfuBxCeACbX83AvnEud6lnRYYnJLk0eVi_qt1MlgLjUUWBjwWvz0_QUWswcR__FPvHEcgVg-QbPuE3LBJcYrIwfl4laHOnNJREqdTAKS7MRHceUiVXVvJkOGgWbQewvf32G2LSfT5TYhqcyWfXn7tTqFpa6yM-v7jmW6I2Dj7yL2u9fvxJr03hTclsMNpi1W86gise0uRZJYX1HJ5nnkD15lNWxvqweZrh8wjl6tLnykzkEYFZPXM5mTZiJPFJgI8F5aeXaZHoOggQyTtK74OlW9N6Ize5MQlQVHUtW5mDbfo9zAX3RU1Z8fup4k65_WOmBf9t3rVQAl7XLroBHaUPm0JRtSERJcE_dfu9_JQk4sznmV-ljLvV0V6y_ZYX-pupJ6F73bby_HvgJvBgyNfoEPqMoaYCbpd0j6o2lMA5foVFjzg06-PJIxNTcmO-KDrRM-7ff1NshkqqPhLi9g9XvjrUHiw==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d4bef2c87d0b44e9a61da2944e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_z\":0.18},\"note\":\"The right wrist is level again, and both visible tips point in roughly the same direction. I’ll pull the pen hand farther back before bringing the cap into the shared workspace, leaving more clearance between the arms.\"}",
  "call_id": "call_vPSDGlfiIWfEGw4rNX1NpjJ9",
  "id": "fc_0ace0ea9c10c8ac9016ab41d4ffddc87d098999bfe85d8befb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vPSDGlfiIWfEGw4rNX1NpjJ9",
  "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]: [-0.7448, 1.7992, 1.3827, -0.8055, -0.9009, -1.169, 0.0581, 1.0069, 1.187, 0.8024, -0.308, 0.2768, 0.2024, 0.0584]\nstate[eef_state]: left_x=0.3826 left_y=-0.1596 left_z=0.1561 left_yaw=0.5681 left_pitch=-0.0547 left_roll=-0.0179 left_gripper=0.0581 right_x=0.2278 right_y=0.2766 right_z=0.1674 right_yaw=0.6545 right_pitch=-0.0994 right_roll=-0.0188 right_gripper=0.0584\nstate[joint_eff]: [-0.0479, -8.9778, 6.2017, 0.8571, -0.5153, -0.0415, 1.0281, 0.4718, -5.2171, 9.4427, 1.6532, 0.2271, 0.1441, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dc1029712dc883a49f9a77714ae9041895787367d6ecf8f406053b6b660b78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6113cccb285781b729c946720f32178566d43d31469f4654ae6d37cb664213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153cbd3f05f648ea44bb636344d1a4703f69a80548ab78bec92c3665d791879e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.761 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7719, 2.4504, 2.2921, -1.0634, -0.9173, -1.206, 0.0581, 0.4534, 1.6768, 1.0412, -0.3206, -0.0669, -0.091, 0.0569]\nstate[eef_state]: left_x=0.484 left_y=-0.2704 left_z=0.1343 left_yaw=0.5668 left_pitch=-0.0401 left_roll=-0.0448 left_gripper=0.0581 right_x=0.3733 right_y=0.199 right_z=0.0763 right_yaw=0.5566 right_pitch=-0.3911 right_roll=-0.0033 right_gripper=0.0569\nstate[joint_eff]: [-3.0974, -6.9265, 2.7419, 0.4811, -1.2772, -0.1148, 1.033, 5.8872, -10.8376, 9.4154, 2.7375, -1.0379, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7444, 1.7992, 1.3827, -0.8062, -0.9012, -1.1687, 0.0581, 0.8257, 1.3334, 0.8066, -0.1337, 0.1646, 0.1127, 0.0583]\nstate[eef_state]: left_x=0.3826 left_y=-0.1593 left_z=0.1561 left_yaw=0.5685 left_pitch=-0.0545 left_roll=-0.0168 left_gripper=0.0581 right_x=0.2851 right_y=0.2716 right_z=0.1475 right_yaw=0.616 right_pitch=-0.088 right_roll=-0.0135 right_gripper=0.0583\nstate[joint_eff]: [-0.2803, -8.6496, 7.5419, 0.7937, -0.525, -0.0806, 1.0281, 0.4855, -7.4735, 6.612, 2.0928, 0.2466, 0.1099, 1.0281]",
      "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]: [-0.7448, 1.7992, 1.3827, -0.8055, -0.9009, -1.169, 0.0581, 1.0069, 1.187, 0.8024, -0.308, 0.2768, 0.2024, 0.0584]\nstate[eef_state]: left_x=0.3826 left_y=-0.1596 left_z=0.1561 left_yaw=0.5681 left_pitch=-0.0547 left_roll=-0.0179 left_gripper=0.0581 right_x=0.2278 right_y=0.2766 right_z=0.1674 right_yaw=0.6545 right_pitch=-0.0994 right_roll=-0.0188 right_gripper=0.0584\nstate[joint_eff]: [-0.0479, -8.9778, 6.2017, 0.8571, -0.5153, -0.0415, 1.0281, 0.4718, -5.2171, 9.4427, 1.6532, 0.2271, 0.1441, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dc1029712dc883a49f9a77714ae9041895787367d6ecf8f406053b6b660b78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6113cccb285781b729c946720f32178566d43d31469f4654ae6d37cb664213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153cbd3f05f648ea44bb636344d1a4703f69a80548ab78bec92c3665d791879e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1UJ-kc2Nx3712Mk1nuRXUfkB3THCfTGDqwDf2eHVAdh1luXMrCIkGgOYZAAGuqNMLdpaQjYi45vesDAwotio52LkuVFdLpGE2cZGHF02Bydi56AdM10gnQPAlshkhLjENbP3nR1Ay-t_sEd3bWs2hHnzj1bLhm9hm46e9QtUnbmdRAKdh6SIaoBdhSJP4I-T1uNEM20rUAGsor6IrWkCtsBHufjOlA7ENYF-aqIkJgQOrMl13OMZ6rloSwZJc1bgIM--tfA_Y_8Vnxjjbbzm2gazKO9kMP-up7llCvrF5Ii1OUgULhfb-Oc-cJc9uk2OEtD1zievhGnHQ-k43FCxOaINqYhcVkWabOEJyHP6T6MhIhUkb4gUb9PDR5HvSQUBa0S0G2gCUx7ahvCAEDmityvXvzlc32ANEbYMnQMa0pZgGfxl8BAmM27YZ9AKMp7QLcuyZdXjT1wfecQzJBeVBtdr-xmx_oZde_BPZzXTdYtBEEY70ioW4m4ruAd-hzlu5ZuqkKvL1Xb3PLTMqTgHoIo6q5hqoddHac6f8Rts_Zw3wFOxT95gK8as_96NuI5oyA5XLsbzByo-HqsaMea2JPPTw43WSmLTZml_kGpq8UBwOcgDSAV6Mac-4ZarhZvwii7z_CJgeLlK-sJJOrwA1SDOWCB9XQO6daMde-SYcYkRlC1LIgrpdVT0uZxRcl1ewucyp77g0oNYsJ6Rh-LlIy7YXaUQJ20XE9HwEXLROOeIdzFKH-IzgLMfAKE5J62lwrQox8nFtPgqt1-XUXHNfUdrrLg3PSPLwix3SnBmuvUAbVfsz_RtuyS4-gGXvrkRxeSC6nXfO_IJRsN18SYZ1BOFcjaPoK8659NJrR-rUtffW0BYcpeghxiq8M1LnibWNVQfnOk-2hkNSZ-uJA0j9-g3fpItKwjq07YwvrQhZ2gUmmiPpjGETRGMK9UheBNEdoCO1ARI1ocAsWKFHjb_fvn5RjVUehLCegy3JVFNMJUMa3CLPIQQXbmuioMAZtcFt_CXL6U3Y88UjY18i5xPZPmuyFPVb4cA8_bODamI1Rxu3sVVNYagJtm8YySXLEHm0AcJuGksmJiPre8JgYX8JPo8KnEeSpje9EvewYz5hcNBzN29Ob4HM_vi1oyaNNBcGFnvxjOI2Nr_bIsArsrAiC9AteD7D-feDD8xsdCAJeimd6idpTHcjT3Bm1wsn_dd2wdzeDwIQiDv_VmZOVMyMrQBFyX5WX8fETicfmJC-eGlAh3GguNLvZ7al75qi2hzd-j9cT6lnL2b-ZFhSN--oWNSsKqm0-6ednhaF8vcKjRR5tIx45Tkk8pk3Qi0YeuD45DOlqvTObyiyNstxOQNPoHeclrWcMXIt76AJbkN3lMHwDshPwOr0IPX5otPranipZBLQF-ABDCz4Lc21KwUTZ4iWwTt3TaE4euHagK-aqECUyuOCKPt9m88sr-4gsCLvA79R2tJ7gmKj4Ffp8-Zd-D8atmIHF1Ib5y6x7vmElWfQW8uSb7orduOyHwbvLK76fJkmYEhd5JIXO9n2lksbd76fdcwQrKdNZujQEyNV90RZUfMsk4MahGRq30Tedt4XXj5mcjCeDBlKBI0_deVgBWA==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d5298ec87d0af15d38bd190d387",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.255,\"left_z\":0.21,\"left_yaw\":0.65,\"left_pitch\":0},\"note\":\"The pen hand is backed away, leaving a clear gap. I’ll move the cap hand inward and forward at a higher carrying height so their axes can be lined up without crossing grippers.\"}",
  "call_id": "call_Sz0eZUWeE5DoZJSTB1U9NyDE",
  "id": "fc_0ace0ea9c10c8ac9016ab41d537be087d082628d30c18cd0b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sz0eZUWeE5DoZJSTB1U9NyDE",
  "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]: [-0.7891, 2.4813, 2.5538, -1.4113, -0.9562, -1.3514, 0.0581, 1.0229, 1.1732, 0.8059, -0.3679, 0.3138, 0.2291, 0.0584]\nstate[eef_state]: left_x=0.4628 left_y=-0.2563 left_z=0.1843 left_yaw=0.6432 left_pitch=-0.0278 left_roll=-0.0426 left_gripper=0.0581 right_x=0.223 right_y=0.2677 right_z=0.1638 right_yaw=0.6239 right_pitch=-0.1301 right_roll=-0.0363 right_gripper=0.0584\nstate[joint_eff]: [-0.7316, -13.1624, 6.1197, -0.0513, -0.7057, 0.1343, 1.0281, 0.3077, -5.053, 8.8137, 1.6044, 0.1978, 0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97f28816b0e13762551b229e395e0ae750c7e8384d0ea73acd2742d69567b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7229aae1a7ddeffe019ba91741b848fccd198e1a5167de3ac65c784126f3eb72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8303f8f6988708d868e74409665298497b768701bfcbc495d99fc0d43a73e258",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 9.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7456, 1.8038, 1.4002, -0.8112, -0.9035, -1.1713, 0.0581, 0.4576, 1.6985, 1.0191, -0.334, -0.0799, -0.1093, 0.0583]\nstate[eef_state]: left_x=0.3848 left_y=-0.1615 left_z=0.1598 left_yaw=0.5692 left_pitch=-0.0504 left_roll=-0.0262 left_gripper=0.0581 right_x=0.3619 right_y=0.1979 right_z=0.0578 right_yaw=0.5864 right_pitch=-0.4465 right_roll=0.0045 right_gripper=0.0583\nstate[joint_eff]: [0.5949, -10.1675, 6.6256, 0.9402, -0.5153, 0.1197, 1.0281, -0.6085, -9.5658, 8.212, 1.3895, 0.0415, 0.1148, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7448, 1.7992, 1.3827, -0.8055, -0.9009, -1.169, 0.0581, 1.0069, 1.187, 0.8024, -0.308, 0.2768, 0.2024, 0.0584]\nstate[eef_state]: left_x=0.3826 left_y=-0.1596 left_z=0.1561 left_yaw=0.5681 left_pitch=-0.0547 left_roll=-0.0179 left_gripper=0.0581 right_x=0.2278 right_y=0.2766 right_z=0.1674 right_yaw=0.6545 right_pitch=-0.0994 right_roll=-0.0188 right_gripper=0.0584\nstate[joint_eff]: [-0.0479, -8.9778, 6.2017, 0.8571, -0.5153, -0.0415, 1.0281, 0.4718, -5.2171, 9.4427, 1.6532, 0.2271, 0.1441, 1.0183]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.4813, 2.5538, -1.4113, -0.9562, -1.3514, 0.0581, 1.0229, 1.1732, 0.8059, -0.3679, 0.3138, 0.2291, 0.0584]\nstate[eef_state]: left_x=0.4628 left_y=-0.2563 left_z=0.1843 left_yaw=0.6432 left_pitch=-0.0278 left_roll=-0.0426 left_gripper=0.0581 right_x=0.223 right_y=0.2677 right_z=0.1638 right_yaw=0.6239 right_pitch=-0.1301 right_roll=-0.0363 right_gripper=0.0584\nstate[joint_eff]: [-0.7316, -13.1624, 6.1197, -0.0513, -0.7057, 0.1343, 1.0281, 0.3077, -5.053, 8.8137, 1.6044, 0.1978, 0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97f28816b0e13762551b229e395e0ae750c7e8384d0ea73acd2742d69567b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7229aae1a7ddeffe019ba91741b848fccd198e1a5167de3ac65c784126f3eb72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8303f8f6988708d868e74409665298497b768701bfcbc495d99fc0d43a73e258",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1avjNMjl62beh9FNk2hPvJ6P4OYX85IijuHwNeK4E-Qz51xkirS4prqjATWlyw1dBJjEYS5ohxBQq5SrnitUZ2fcm-n98-50rWSBouinvuX4eJchIwvAK9rxHSv6H6SmMz7LiXqn9cmvojHBW4Ukooi6gHDHMw865Re4FePlxqH6-eEAOf8bA9wlCW4bZ2wuDY6m423KaXxoMlU8qVkQdwcalLlKDXD2OVkWGqPPcfCpiEKGiirZV314EsyQatknRc4qj6rgTnP5JtsldpoXaq1AFBVISLryzQSBzZH6E1sSYGUjw_f_6efUrK5iCigMB9SgGVYgzc0R6ppYlt4mLHsnk21qqDZdC6jSZkqwGDokuuLRn6JpicWtIUqfXCJx_Q17Y--Sc9tamn_anG06SPvhbFZIy3vaXt_-4Y9Veo-EjXlqSOZPvN81AksJBLIDrLgbIA4uV20EGKRieebPBJz-y9ZwSuurrgt_JYGLLU3VdvsYHAlMYEJwLEUcyHO7Ome2zEKkWmlGBJFSprmStUy5big8doMu0gGAVvFydNBPkk9hh6O8CO5qAFwL-Qo-feENm-sCjpQ6sWidIXkoZAhC8xNEZ1sGKAHreJHmUahzkiSYTkuMcyGfo02FRWy7jZKfLnNU5r8nNmSLzM3RtMxnXzD92g1U5zyTOFvVFKIstoAdR5tDkyvyCBzn76q30YfvfEhQnTtiqIw7Xcsv8hCnEcFu1JvQbLE-A53EaC4H-sdBZ-kEIM0bNihkjwitQMyEgcBfYaQXgaCCTg7kvj5NuTG5fUgIUh3wPDcivVTup6k5LoqYe8tnYhbNFnjYlxL5uLCynupTn8NqtdL-VTfXhmZZghZLqUE3MtMNLXH1gWkyY-fM4CORPlDvDLUdgpOF-zhCrciqDs2VxTLjyvqi7mYUIfaIxCQNKVNIi7_tM7f2eyPcgvc58blJWg7HdPh1tmA2rqPX_E_6kjnHoYfLHaHCPv7rzx2TIr98XhEYIxVSYcBU1v9MoqdKv9NFzCkyLlJjHwL4kuS10tNAckT-zbcr9x8elBn88JIb_SHmb_Wmdo_GcOWVBfuYhTkJ0kE8IE4tW8tiJ8p4paVYUiSQ3qmMtIf3tZizkty0BOUS9G-3_epL8MMa4Co0YpAhsjL8lQ3oNKIkgTgx-WPCJHyOURiuOgrtXfyBd4CKdNilCXpy1okdi4xpmIH3BGT1hpswaUJ5rZ8q9GdlBsanNxipTQ0rP8UvIlBL82wsrEIFBJB8zch4U6SXL8ajZEOvpzaWoYuTNCeY6aviVUE-mTLSCPaEwlTDmCe8roV_xCbtp49WhyOyfGNbB7mvCkhQwRGOnzZ1h6QPtMa_aPeLDoyUjoZzoDzOZj_Qdt1qMMZ35oYmaYHr_wnJteTMvwV1WvSa2JYG7eu-fvtSyKBUkqkypgs4i8NtgA18glurwqG9gcM75M9_MjqLq7WIb1dZDz9i-pWnDesAEI_FF7Us0PQjX3W1_NkWsIQfr1N38gzxQyvRHCx3KLrI0UYQJMG8r3X3OVFB9ZiSVMkVJ73lU7ynr3TuIhMYf2eiIfCWT1SFeNvpbd3TBaCVFelNBftJtXH-w1qEw2p0y-sx1hEhZv2Tz3kk6QMpqVyag-bgoku_uvNrlt9VugOQif10T5zaaaG7jDZNWYWmFUGUdekO0W8UY02bDEoHJpCXVjsWXoqk67LZKP96m4vOw7-jfmWNYz6mqUbfe9N5_bs8_FbzJ_sbPq-m8kYmU34JiUZGJUmdMKCVhvPNae9oOtVk_rvZlgpG6cuuK-14ckOcjWISxj5NPmGkZ2Eu3xJn_5-VFRgYW-PMIPyv8IKXD-JDZmwBxRREI_OLLbxeoyWBG8KZrs3BKJIxSWWmzy5Qd-BUe1BXnXU2mWj9UKLgbKpOMTXCdtOW8ISzvdHD_wE9rxNgZWV3Uays1Q6SSObL4wdgS5QaE3_j83AxbeCsIx-C3z7S0thxQyoy5tWS-mQE0nGOdjR7TCqgJVYl_2cl6Fj_Jrt-SknKG2oMBeRNk_bXWB3F7SJxb1P0mzmgPDfG0dWCOqW4eg7l-Nxi19xTQO-SFpojkwUvRrq_B381tZiJpOfvQaxurDCcVBlS7pg3tCdkA9VQ==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d57f77887d091788f6a5af214e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.316,\"right_y\":0.35,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The cap is now carried forward near the middle, and the backed-off pen is still well behind it. I’ll bring the pen closer along the cap’s axis, stopping well short so the wrist view can guide final alignment.\"}",
  "call_id": "call_4OqQh0tieLhsXjHBGa9g1KII",
  "id": "fc_0ace0ea9c10c8ac9016ab41d59424487d089d15fcf983d180d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4OqQh0tieLhsXjHBGa9g1KII",
  "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]: [-0.7723, 2.5286, 2.5549, -1.4204, -0.9356, -1.3609, 0.0581, 0.9436, 1.549, 1.0641, -0.2035, 0.2623, 0.1375, 0.0591]\nstate[eef_state]: left_x=0.4669 left_y=-0.2514 left_z=0.1583 left_yaw=0.6632 left_pitch=-0.0554 left_roll=0.0017 left_gripper=0.0581 right_x=0.2953 right_y=0.3355 right_z=0.1621 right_yaw=0.6381 right_pitch=-0.0992 right_roll=-0.0601 right_gripper=0.0591\nstate[joint_eff]: [-2.359, -17.6479, 5.6274, 0.6227, -0.6032, 0.0904, 1.0281, -1.6205, -5.9145, 10.988, 2.1172, 0.188, 0.0415, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef523237106dcdb0d9f53753bf5425343a6d0c1d8d6dfc7127b17b9a66c6514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf107836ea3fb6d8493132d6354c4a445335c9209acfccc87a83e12f97fc72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605e3e267571d235d28e42d71c89640f05107a973b259b75ed7dfb5bde25997d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.169 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7444, 1.7992, 1.3827, -0.8062, -0.9012, -1.1687, 0.0581, 0.8257, 1.3334, 0.8066, -0.1337, 0.1646, 0.1127, 0.0583]\nstate[eef_state]: left_x=0.3826 left_y=-0.1593 left_z=0.1561 left_yaw=0.5685 left_pitch=-0.0545 left_roll=-0.0168 left_gripper=0.0581 right_x=0.2851 right_y=0.2716 right_z=0.1475 right_yaw=0.616 right_pitch=-0.088 right_roll=-0.0135 right_gripper=0.0583\nstate[joint_eff]: [-0.2803, -8.6496, 7.5419, 0.7937, -0.525, -0.0806, 1.0281, 0.4855, -7.4735, 6.612, 2.0928, 0.2466, 0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.4813, 2.5538, -1.4113, -0.9562, -1.3514, 0.0581, 1.0229, 1.1732, 0.8059, -0.3679, 0.3138, 0.2291, 0.0584]\nstate[eef_state]: left_x=0.4628 left_y=-0.2563 left_z=0.1843 left_yaw=0.6432 left_pitch=-0.0278 left_roll=-0.0426 left_gripper=0.0581 right_x=0.223 right_y=0.2677 right_z=0.1638 right_yaw=0.6239 right_pitch=-0.1301 right_roll=-0.0363 right_gripper=0.0584\nstate[joint_eff]: [-0.7316, -13.1624, 6.1197, -0.0513, -0.7057, 0.1343, 1.0281, 0.3077, -5.053, 8.8137, 1.6044, 0.1978, 0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7723, 2.5286, 2.5549, -1.4204, -0.9356, -1.3609, 0.0581, 0.9436, 1.549, 1.0641, -0.2035, 0.2623, 0.1375, 0.0591]\nstate[eef_state]: left_x=0.4669 left_y=-0.2514 left_z=0.1583 left_yaw=0.6632 left_pitch=-0.0554 left_roll=0.0017 left_gripper=0.0581 right_x=0.2953 right_y=0.3355 right_z=0.1621 right_yaw=0.6381 right_pitch=-0.0992 right_roll=-0.0601 right_gripper=0.0591\nstate[joint_eff]: [-2.359, -17.6479, 5.6274, 0.6227, -0.6032, 0.0904, 1.0281, -1.6205, -5.9145, 10.988, 2.1172, 0.188, 0.0415, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef523237106dcdb0d9f53753bf5425343a6d0c1d8d6dfc7127b17b9a66c6514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf107836ea3fb6d8493132d6354c4a445335c9209acfccc87a83e12f97fc72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605e3e267571d235d28e42d71c89640f05107a973b259b75ed7dfb5bde25997d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ace0ea9c10c8ac9016ab41d5c04d087d092d6dd92028af904",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1kkQrux_7NTA-9PQGZgP9qmaeskgwFUc7jg8YevOFSyGpe-e_Wds_YCtbV-mGKGhG3s52RfZ8clF7NA_t5oHe7lY0Jha825afFYSpmPZAyKsATcFv95P1MP_P53STgWPdtQaC8tjaKfTjWwZOECaCuVayqIBBOTSZlavBnyqJCBYA8Nk85oX2xMeB3Sz9d7nbDxgo93crUAdBKbGU59P-1dn4nyzN2bCnpQ8o9qf9tQTzte2ITw3J6Jsd1HzlWJRbfuwGUbWmjm8Ilr3UlANzlrZLi9Z9RrJVNPOL-zIzSQr7FubxMerJ1npoeNI2nR8qIXkWxQBt1953VcHubkVkfq6HZQ_HceKn-fYjKF5pQVtrYq3NiF5L2vdlJTf1GNEYFHrvYVSEGDR7f7tK_usyjf1bbl5pPwYPgQpJZFv9HbUGlnwBGHqXFvlpjaLpeuEyrdt1L9byWQEy5fNr33dgC4wcFgQQFWYkZFS2uMu6QlFnoTx-YziTwBrhoyG8N5TiRudLZZbJM3XlfoEBXeZYYbNB21Nt-LnWYOD07XxKeD_gbdjSRRZ8zdgRu5wgE89OajtPuqq1OD6usHFADqYa638KpB_j9bNaMUyXqb05Sje_HQ4ubDIYrg0ZvnHZHtpGENgx83RzXKVOz8ypjnyg7OoRh2zMtlfgcxWNUhXyLDuMbhQvI3F-vpCLTNBGthQ7kGD_3127MhhWmdpxXmlymNU1zIif6IZ2Xc7h9kM_t-3RLYJEVV1pjZjJJC-lflKrP4Qnyvwivuaos1zfmWNvSSF1fSPSyXJEyWSzJr1Zu8SZvTSkA8eh7faa_Ta4g_pTFhXxsEbeL3V-rk-v7FkmTqgIXk7DqL3BRltNLOqncoqOtMR-nJqTtB0ULFN4riXepuK9MSCYWODN5F1C05n4XwY-fPcxOFO7JkGJP34n99TznI4KdKPjaWZE3q2sEVJ9BOYWX9wpgYO5XfpJ0alS-UhQsKCJWDxbZwULv5m5HjZmkwBoSXpBxpZG84_8497PsO9zSM9GMmYMzlvDuf8kVp7kj12H0v6vkUPdgUA6A_4Xa3hbu0WDnx6x541T9D2YZHSAhvzbVxsK9cb5ZH7ranFS6p573G7FmV8-VL_HuYg_OmLnubjCpUVNxZF8IEB5_MAiVZNT-8QnfROzOmGS0nj8NjGubWxSQegHSvApJOVtZVDA9Zqpx7hYXfp-i_WqvjFd8ivmdJajgn4xUfBs68PM4Tcx7G0uaFekV3JUMrGZsmdK8mtgFCIZluz7mi0xeoVFpPFHCy41vlmd878e_kBkgUiNlsge_x3JHCFK9sShCqdUnn6euWllTcgRmaH7SfSnc7SS4yzWB3ueHeervj8Wh5S5a-aiMkPr0fTxcF3uUD1Be-MRNiNSxzlzpq5d2PKRN76Zi_RWUBrDC9-gOsek1KT-TWMaAryML2J02dUIGvuqiZIF_GveOVn27c1ORwXMh0LoQRjwo5Zbcc1BDoXUQhIfGR5VgCr9GxnE8umpCwmTTwKEQib4rBUxaPe8dQ7PO7EUSGwbqwdGZxvhfLsOGQugq6fkfOpuIgYymCdTqvIffzIl3H8zsyNh46drhJIcmFmWTYFvaGfpawtllBRoU7oiqk2qeiXf9X-dRRMdAi_Qv5rVTYcJ92mZfRotjaJRdReeftfXRq6x4CnL1NOyhfsihYukAbw9Jh_LoDxOjdU7IWjb-ANSgRtAGqsSqXQ3YMrwXibcTUMgEUMqJnMM7C5FwlVxy0sf55Ui6QDMccQJn06NUKUOvztK3wzYIT211UVw9POO2YVBnQcu7b3oy4fYtDAdNT43PG7QOd_-54HsUEFHdTLx3FebBjwypNgU_LJZ6lArgWDjl_fkzNKx7k4OnHyVeFIXY3OQTbk5vYJ-62NC3GyGkmGtk_R_SaIlCO73Uv9wC5DxEU9dfrpLKacYa7mfS-2cr9k_GJj21h_vNrfHlIi9M0QNefAc8Zs02AGLgTlJw0stFeKpb62XNBZN-tCT1Ue8k9E-RoH4rLGHlY-LNtCQf4zNh4kVyeiOHca_ofXKmlcdDwaXkiXlvjKOcX3WUXULrOCH1PqbIMeDvrvtcDF-mC2otUGgO_1kyxbSpYkNZJae8m_8aumXV-QOiFYgrqqv6Vqad24gY403L8f0dI1kH2IjHWTFfr9D1lYtEMRLRMd_RMqRbQZ5-EXWBOY6zRjwIC03lv2fSHIK6r97KwXijQjOXJelY",
  "id": "rs_0ace0ea9c10c8ac9016ab41d60a59087d0a86f15a90306118e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.298,\"right_z\":0.19},\"note\":\"The cap hand is visible to the right of the pen tip in the right wrist camera, so the two axes are not yet lined up. I’ll shift the pen slightly to its tool-right while moving only a little forward, leaving room for a final check.\"}",
  "call_id": "call_FXgrIwpBaq53k843Wp6IffOZ",
  "id": "fc_0ace0ea9c10c8ac9016ab41d6323a487d0b710aeac65f0d1a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FXgrIwpBaq53k843Wp6IffOZ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.524, 2.5542, -1.401, -0.9298, -1.3636, 0.0581, 0.7971, 1.5558, 1.108, -0.2852, 0.1234, 0.0166, 0.0628]\nstate[eef_state]: left_x=0.4752 left_y=-0.242 left_z=0.1602 left_yaw=0.6877 left_pitch=-0.0578 left_roll=-0.0243 left_gripper=0.0581 right_x=0.3242 right_y=0.3059 right_z=0.1599 right_yaw=0.6725 right_pitch=-0.1653 right_roll=-0.0742 right_gripper=0.0628\nstate[joint_eff]: [-2.0991, -13.2581, 5.8051, 0.3785, -0.5153, -0.0171, 1.0281, -3.8359, -8.5538, 11.0154, 1.8486, 0.359, 0.3394, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa518c544f2b0e66be3891a93a09594c48a0b6160dcbcc3a880c9746108eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7a41124b9a25e8a95f1a865b98333ba1e42b03338d52e989374cb729e3f3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf873070c3e39ab0b25365aa6a90a1be81f59f817ca11972af17938f6e5634ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.895 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 105 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]: [-0.7448, 1.7992, 1.3827, -0.8055, -0.9009, -1.169, 0.0581, 1.0069, 1.187, 0.8024, -0.308, 0.2768, 0.2024, 0.0584]\nstate[eef_state]: left_x=0.3826 left_y=-0.1596 left_z=0.1561 left_yaw=0.5681 left_pitch=-0.0547 left_roll=-0.0179 left_gripper=0.0581 right_x=0.2278 right_y=0.2766 right_z=0.1674 right_yaw=0.6545 right_pitch=-0.0994 right_roll=-0.0188 right_gripper=0.0584\nstate[joint_eff]: [-0.0479, -8.9778, 6.2017, 0.8571, -0.5153, -0.0415, 1.0281, 0.4718, -5.2171, 9.4427, 1.6532, 0.2271, 0.1441, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7723, 2.5286, 2.5549, -1.4204, -0.9356, -1.3609, 0.0581, 0.9436, 1.549, 1.0641, -0.2035, 0.2623, 0.1375, 0.0591]\nstate[eef_state]: left_x=0.4669 left_y=-0.2514 left_z=0.1583 left_yaw=0.6632 left_pitch=-0.0554 left_roll=0.0017 left_gripper=0.0581 right_x=0.2953 right_y=0.3355 right_z=0.1621 right_yaw=0.6381 right_pitch=-0.0992 right_roll=-0.0601 right_gripper=0.0591\nstate[joint_eff]: [-2.359, -17.6479, 5.6274, 0.6227, -0.6032, 0.0904, 1.0281, -1.6205, -5.9145, 10.988, 2.1172, 0.188, 0.0415, 0.9158]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.524, 2.5542, -1.401, -0.9298, -1.3636, 0.0581, 0.7971, 1.5558, 1.108, -0.2852, 0.1234, 0.0166, 0.0628]\nstate[eef_state]: left_x=0.4752 left_y=-0.242 left_z=0.1602 left_yaw=0.6877 left_pitch=-0.0578 left_roll=-0.0243 left_gripper=0.0581 right_x=0.3242 right_y=0.3059 right_z=0.1599 right_yaw=0.6725 right_pitch=-0.1653 right_roll=-0.0742 right_gripper=0.0628\nstate[joint_eff]: [-2.0991, -13.2581, 5.8051, 0.3785, -0.5153, -0.0171, 1.0281, -3.8359, -8.5538, 11.0154, 1.8486, 0.359, 0.3394, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa518c544f2b0e66be3891a93a09594c48a0b6160dcbcc3a880c9746108eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7a41124b9a25e8a95f1a865b98333ba1e42b03338d52e989374cb729e3f3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf873070c3e39ab0b25365aa6a90a1be81f59f817ca11972af17938f6e5634ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1pl1kInjFTsK1yirJCde9vX4MzW4Rpg8QRPP66MS1aEe5xVjZrwXytaV5PZQl-Cetyi5ICXnvUfkKOwwvLyBBAQ96WAEBGi2eyclXtIa38sd0wPtdyzWQ3bamNKsraXNXvWbWZdS9yq8iPZ5-3B4fXQiIWVnMm8a_KrC39f5VNjrWXE5C0wI6ysfhBUognpAtT2EyRX4sfPDv4SgN4IiMmgl3WeiaKYEBuPK92_jHSTO543qfwBs3qYKYXgxdG2AfQ4xMJAqFweYnpbK-_2kpkBjobtF-4Ci1eyn2csqEaxtuKNj62l6DI7e1fkvFvr49Xgx9cN9Tld9A4Tu54o3L6fg2XdF0QUKh28YIMFJ8qPDlw2ffIoThjVCZFEpXwqNopkRe_IeEtWd7qpvCFBK7ZB7X6PnMSdwvbYMl9NB9vfkv9tQ3a6TC_MELKF9HIBfnzGVNdSHzi-mRz33J71zphV49JtOEut6c_2fJg5BUsVlCsQATsTlsyfAk7HM5no2uVjXLbf3Wrp97wSUNExpuTqNrn0fv13hkL7MLT2fQlP_Pdfl8nYw3NHW0VDXk3bb2y1N_1J6wbrxgxTUonKmzvN4tg2A57xix-kLZcucXWiy10NrKyMsjs5qGEKDS4gS7DRtiBQp_t6_kordhuKqBPJNXmQPck6AvB-4cWklT252z2nrUDVAgvR7sfiM3c7HRjbHqGSxSLCvMDMqUaMP9CxMlis1OKd1XsGInIWija-Y9KysEwsZNeD-SrQr7K04aktaYUbRQXcdh23EPRK0xb010_iRDZjYaOksy5ZgKwyYWKs6r7WYoMSWuexk62pzxT8ewaf8EmWehLVrjsnr4y5hXabGXYj-z8CKdPf7bMW3lTpIkt3Iibf___IIK45Zjx8ngQqxI20RiN6vuwp_ohqXk2Bc1zamRyW9taRGg2sWYaW2mSaqQKkyUksSVTcyj8-PGI47AEbvwizMHKC1dxAS26c6kv9fLp74zotT2VNbuKSG8d6RFuD9ER-cKSpwKlHfrqW1vh7A-8ChU0jGu5GLicdFUYdaq6eUgMIHXHTFdbysxZiNoHVTuqcyUMIwgTvthGAG6cS5zZ8drlSoeKQSagN5NV-IlA0ffkxNpop0WUUqTrDBR7_woUJEgB0zeoqQY6kV8U_Jzb6yq6p9iKfQWcRAFxB7pPtSJdPmX9hyWni4aXSYa9U_3dlMUr5KCLSX8bT-JrRmPqCk7paknVlF8FBii91-dNEFcz8Jc74KCYpxviMzM2rJHHdlvUfBZqKIWIZOc2cAnnxJZyDRz0p5FR07U6gpPqpAFzP13gJpoU9RdK0SevG-0QlU2GK4Ras7Ksz0ae9Pr5bTqEFLTohrn7PG8MZ8vnszEZm7qORhb0xJt1gJQBeJttwb1V7FQFq1QiDaX9MHteCVMG_huN8p2Be85vKykTPkdN5SXSh04035wBg6c1tkqVe9_Zh96ws-6_rWz5oaMyPEQwNgPBCdZh0jr8HkmL-BqJNOHliY1UttZHWj_YfoPpu2eGdaoNDaXQoJ546H0XxPRPQUULSEjCsBqwD4qK23GbOJxpq3j_4OQ1Q2Xf5Ck4Vk3nSNV_IRiwORxYd5M1iwkWuwOhW5mSocQ3AzeMoHwowUCdLcO9Dr5Yq0XzeNj65rqnoYt0ch9_sO_8idHwXsMyQpt3odbVFHGMBJ0PEyBgBuP4SB7KLpoiDVqj5yPjvjNpdcIzKEGklTCx6o380sRsvJIVEij9kq20bRv3OvGgRyHvhiglNeuHSRyiUAEuCvUXRj4kivLarxv-_8coz19hSfX0awrYEX3jxBOn5gIJFrnmLpClKap9-Xrte8gIUEcNeO9nRjqt3rLNNZNudDrpKiuVQHTVubS364CK2b3ALHRVGLRYzocFuOxT0MBKuIHOxv7Is_Uj4Z5jI0SatBHp3-vGwDZxR2EALziwARZwcuql_-KP84ySvFQVhLRbHrUseWjrEQXF9CoDWs1cETwbDoZMkG0zg2rBK_9peFj_D55k4r-4QaqM7eZs70S3hIgjB11ZqJPIfBCzBDwqUCmUQZAJyBbqhpk83OB5Iu4AdB3BnTbcSINGsAAkTx8biyeZAw7XSs5uiM4UU5HhP8fUR0fF8W-541-xi-XDMJskYErkip7oK-ETKW3vysl-rf_13lXrTxCLtrsLw9H8Ki7rYo7sQrLSfz2dxel4xZu4-pXLIfkluhv2sYb1qK4L-pluV5KpDv5mHUykhwnZHDJWVdA_OANvqK-duZGN2AT5hXqPk_f3TGVAd-XOytrUgyB0VSWT8iswBUUCWZcy4EeX2o4nkeQ7Evm9XyVXkulFGjGZh702kbavtCgWVKSUnnDPy7GDWazC9tTzUYg28gOFVXCV5sM6Sq_6AT82iUnBPXzB7Uh9i3v2cUSIk9hvcrJjafbRcrHBmY5DBkYNxA9hafR6Q-f4nVn2fWxnqmMDlS9zKPvN1MyEogI8MCkwSiNZ_7KiA_deAemIwLRleAiw10DWNKKa5z3NDLq4frmYe9oqX0IT9_9eBQxodu7hGp66GDKNWjWIxArb7XSB7nMkars-vA7D7QWjm9bJJ6et8I83K97XNR_jAP_p7P4bDX2CO3ypeVyzLreSxJXmyxIHCxJlbuB81-dJwSpnyXjFb12LCtGfP32b0zoUgjpgiI4gRei-JdEHmPLYxhEAzzbCZ3JOD6MxTbB-vefwFnlcdof5kLyNDqogDoheMikf3gOV0r6Sj60anASBJAerTBBLFGDmiHLvAK7vUL8vTKImMMN1ZD9hlmNpH7OMb7TBfZ4HVNBk6X1O4wqzaRWQdptudWvbrfAUKmKBltS38VsMB6af3tQQ7oRrIV8uZ5phVyEgKPWUD8dRa8_UtraV0HK09D9EP3XUmQ6mX47ylJxXeGffbpVowGfTb0fKAlhH8_YczeIWWysv9BW51ngfimEiA5rjStWQGydcX4cFOJXX1A5H5zfm5pDAD4CdojacqSKpiZnZJibyTCFW2Xp8uqs9GIeYrL9FJoUZgTGPCjoxy96KGpZ18bTikvZFmx4-hhqBAjj5AVcwS5_2Pc7l9mHOfWSXtyJpKj8-9rEDSDhVqXyRnNu9yqVc1DApczrcVCKAS0J3",
  "id": "rs_0ace0ea9c10c8ac9016ab41d65db5c87d082b39d6305f30087",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.369,\"right_y\":0.336,\"right_z\":0.19},\"note\":\"The pen tip is still clearly in front of the right jaws, with the cap hand ahead and slightly to the right. I’ll advance along the current diagonal by a few centimeters, stopping before the gripper bodies meet.\"}",
  "call_id": "call_UW0vkLenL7HAZ2EzYRsAMf62",
  "id": "fc_0ace0ea9c10c8ac9016ab41d690c5087d0977e2468715a9c7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UW0vkLenL7HAZ2EzYRsAMf62",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6518, 2.5244, 2.5542, -1.3949, -0.9127, -1.3643, 0.0581, 0.7879, 1.6989, 1.3373, -0.4564, 0.075, -0.0303, 0.0633]\nstate[eef_state]: left_x=0.4961 left_y=-0.1982 left_z=0.1578 left_yaw=0.7791 left_pitch=-0.0737 left_roll=-0.033 left_gripper=0.0581 right_x=0.3401 right_y=0.3282 right_z=0.1637 right_yaw=0.729 right_pitch=-0.2546 right_roll=-0.082 right_gripper=0.0633\nstate[joint_eff]: [-8.3897, -14.0513, 5.8735, 0.4615, -0.6129, -0.0562, 1.0281, -1.6615, -6.2427, 12.0957, 2.4933, 0.2515, 0.4029, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1af592f49150f557a9d47c000fb7330e42416e21f2a4b3a975db89213a97a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f569e489c8b2e4b581ad3812b8215ecd30cc2ae0c81631e5fbf6d27920920947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9ae9608b08f7799b74e16aa6a4a2939e3d50fcdbe45cc2d996080af3bb8163",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.103 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.4813, 2.5538, -1.4113, -0.9562, -1.3514, 0.0581, 1.0229, 1.1732, 0.8059, -0.3679, 0.3138, 0.2291, 0.0584]\nstate[eef_state]: left_x=0.4628 left_y=-0.2563 left_z=0.1843 left_yaw=0.6432 left_pitch=-0.0278 left_roll=-0.0426 left_gripper=0.0581 right_x=0.223 right_y=0.2677 right_z=0.1638 right_yaw=0.6239 right_pitch=-0.1301 right_roll=-0.0363 right_gripper=0.0584\nstate[joint_eff]: [-0.7316, -13.1624, 6.1197, -0.0513, -0.7057, 0.1343, 1.0281, 0.3077, -5.053, 8.8137, 1.6044, 0.1978, 0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.524, 2.5542, -1.401, -0.9298, -1.3636, 0.0581, 0.7971, 1.5558, 1.108, -0.2852, 0.1234, 0.0166, 0.0628]\nstate[eef_state]: left_x=0.4752 left_y=-0.242 left_z=0.1602 left_yaw=0.6877 left_pitch=-0.0578 left_roll=-0.0243 left_gripper=0.0581 right_x=0.3242 right_y=0.3059 right_z=0.1599 right_yaw=0.6725 right_pitch=-0.1653 right_roll=-0.0742 right_gripper=0.0628\nstate[joint_eff]: [-2.0991, -13.2581, 5.8051, 0.3785, -0.5153, -0.0171, 1.0281, -3.8359, -8.5538, 11.0154, 1.8486, 0.359, 0.3394, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6518, 2.5244, 2.5542, -1.3949, -0.9127, -1.3643, 0.0581, 0.7879, 1.6989, 1.3373, -0.4564, 0.075, -0.0303, 0.0633]\nstate[eef_state]: left_x=0.4961 left_y=-0.1982 left_z=0.1578 left_yaw=0.7791 left_pitch=-0.0737 left_roll=-0.033 left_gripper=0.0581 right_x=0.3401 right_y=0.3282 right_z=0.1637 right_yaw=0.729 right_pitch=-0.2546 right_roll=-0.082 right_gripper=0.0633\nstate[joint_eff]: [-8.3897, -14.0513, 5.8735, 0.4615, -0.6129, -0.0562, 1.0281, -1.6615, -6.2427, 12.0957, 2.4933, 0.2515, 0.4029, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1af592f49150f557a9d47c000fb7330e42416e21f2a4b3a975db89213a97a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f569e489c8b2e4b581ad3812b8215ecd30cc2ae0c81631e5fbf6d27920920947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9ae9608b08f7799b74e16aa6a4a2939e3d50fcdbe45cc2d996080af3bb8163",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1viQf2d5knmM7rqHAp7ggT3VlAEze66oY-gl2qDTzn3r9K6wSfft9N4optNMF-HIzo0qjYZ_IiQJbrqURAgCSJYcgyzdX81Net8N3smoSsN-kTdJYN9xhEgRllqmfa_Y-4RWa0GsySbnUC7NZTumVKmp8hEO6hwBL6cjyEAZgyHZKYVTQRrCFZNJSpu2ZRV6TwswjFNAO6DR-Db-OoerW_ChEoWIo0eJPA3QAb-d-X18Xxgwuz-0xAD_uWJcWp7R26X9O1o5u3RTne5ccSdWxvHhHt8rKmiyhxlOVW46ZK2-rhrJ_DIPJb_9qgo_Aqk98RiGMUJtvd3LSsZK6dEyoAd6LXev-nKE-CZ0FidSfCdTmjIFMnnkUb-Lgb9XuOf4ehdQblbZOpY_BhnO5DfayuApZ9_A3W2xN-V3gkFzrq80jKOxgj3_6vvDcdc_lzLzJ2HV_vBbDuPog3WeOhIx798CdQJUJ7m7C4X6zRQbJrSGYqnRbyWMSjeiBTsGSqb0vCM0McoB8jJJMUnmWZGBTKnWSLZ1xbNjnMXgMtkZVP_vEhu2W8iwa8VfblFk7230Jn4etgS9pruOWxhNBBuwOLFws6ZUGBvVmBTN_lvb3pfP6yne71ylaFlUDXGjF_Twi1WHuNfxvpfS1gBCjPhh63z-Ef4b6Cx-gNON_wWco1GhoV7hFjlwdK66vWjW0DIor-KcV5dAZl7DshUD-jwBxTT3yuz2Q1YA2FtsRFZGJMirt0GAfUovpbAyNiVLbJyQu9mB98qylA8HH44Jf2IJM8qcyMHguijYPaZuCVz2VvAcxcoFZw-vjYB9Uibn0OLxan6gFs3SEkp5PK_uTJkvg5uoCCbwCrM9CXttPCMmZ6-6dPmXS1hXi8k2tBlolwRbJpG_N28NvGyEEfBJbk9e1fTgskDaegihTQCA5c4hozKykw6vtfZHkGCTjZVjbJGguml5Al6QSzxPy5UMvHvuFAevxerT93duIQj3jZjbKF3nzwaAV4cznzA458kfbpgmFPvif7ipF2yNrcR94cXLVX5Bz5y_PLvM8G6JK3xfXut6Kt90xYbW2NRJumz5RdRvqU9Lsp9_y6yRhig7lJR7kXfz8v7GxRevws4M6BEzY6d9hf9KFe44DUdO1-i_Q8dBDTq3qMuuKKWQlaASP3KkorkcqKkoVhN6VREZDbUYq3W07ahXeT3sMrSJhXuqTC7mdNhcNbheGoez8f46vknqV0lGeMhdm2cgUTj5Kdc5aAEk3wC-PWuqh-H1ks-Onb4F96rf8-tTFySwNAXcYWBLOh2BQahie6_SYKhaiRY64b25v_7qS-4FX41DXr06KOmwU_D7jURpv5lQKVb5NHRxNGkfQxMzmiA-NHZdiJH1cbMK-hXbtTf7aEwtTVGYCC1Unv4-rpZs1RK-iexxehAinAZXdg1qA0CPOzhTUqlNj8v34l9uKZ4iQnNhmDorFoi-7vdXKRRTE6R7VetGlHAlpmnOSDrpT8DujJNKp2BfiFcDHTfgUB0p3JE9Y97Tq5ffdOKxB1i4S8dpWJREGNQ1u3_Io05t6Wg1ln_PrTS1apHKYzsVNV5U3M-3Kxh0QUhy_9GNkRz5oxNQ2lc16_9D_irLz-UGH2dkpVmwFMkqL0kniddeMjcQY5HmluCmIr7V14SODTwEStoIND2AQ_D7d4B6p9HOHtN0ZMtpOqSRr8O2cKk7msv44wiGusHcTMgPN2cDTt8br4gBPRgv7MdRrpmZna0s_dyWn4FitFcNzORZfDJ_5GRYTGZHYFnoXgPNtL6DcA_98PheBgondYc0wRH2n0wM67ojx3nrQfk2OiVOc-lg_7Hcc3ioW3KemOSQdMWZSOY9zKC8BMg69329T-JVAR4rIdEoav98j4k9HgcPhl1oD3eAQQAz9BuTo5BaA9KdRyyESfsSPSfo2RMgJ9LjREwA7hyCAiSIImwbVWFA30yocQP9xYn9N4XLyS-7vv6FatMSY0EpVXyQn1Y2SY7_QPpoGdXeqRKOR4sMYHbF9QS2RT8oeuFk1PfeWC87v38nxUbzaGjViSO1nmdQwP11q7tMjUsHR44w4D2fRVtGN6jWK8n0FW0h2Gu8rtKSpX4Rj4oY6fh20uxTDcN6xUu8ZQBUl5hBQIuiNUSYO6grQI3f5zo610qJzjJkXu4U3qQTX_t6tS18_2x04EjWEVhSgf7wQnbuG0OnG-sEJAq1ZCMkA93iQVRDhUSodNVRam2ufb4NveMv_Or-0aRacSbUElaWx21hCY43xJIKEsubofFcjDyIOHu3Xk7JLdJenpbWz3HFYK0YWUidlMcawMd_JM-ItMJ0HD888rR-L7NfMEpioRDQ7BQCSpOvVcDzQkzRpo7iCBrhG88FiI74X54vw6fO6mFV26OVG-JPT38cG-5iNzM9FWnLQL3Bl9_5b13Q8IqxvtlVd9nxDusa2bLOWaZJsZTBRvXqV_Hfb4UdfcRMswfWGyBZktVGdzQrgSh-c83dclXT7aB03wqM9iPPa7fuu-PeapYGXkss4ND41sdJpfPOT3vEtUwHW-TV6le5ixQZCcLfYE_IHaSd788gduKzI9SHbLeuT2AzRn_rZ97kUUiYZDREyNuOkjTLkaAxiGJ_FEf66e8N4P1Iuoo9bExJUD4NpYxNeFX2AOks33hCRYXVX3_QoCwR9nnd6q7Fc4vgbqDvI-FW3wt4J86dvVRvo-MlZklNmgyjRts-uD_E7OJn9Uj9kEkBbNO-Oxu-a3kj-en9Dsef_7h8Le9pful8gwzOjfbGPtDNsa82WRYjSfCYqtn99uRXPftalNntBRUmZkAiI3GJFieNVeuId_k8Rb35tbox5lbRygjwfJSUGWWDRbCr3LSNfxsmvxZZ--gBAMzmfDD_XV9AR8IC9xT-fCGSkqKoJvL-1l_K09nbxorM-I-xiRjJ67Q_60jmTtvAALRZkAJ25wWuHG9_KOvRElwKrbIycQsEZFZm84JB4E5TWPm3XkHZLgGSOsDcxnr2Wwyht7T5Pm5eFzXaEg3zPYh8YjsLNXjy0c-WIm8D75HuKF7VgaVPGa0dz-NrP1I0xMFqVCovBRIZk1DT8hmvTJNgu3PRSIlDO1ci1kwElhuQVlbvgkGwFz-8plzXeNu16X_a-N2Er2NnCzih254R9QlDZNAnlaeSoMyeBd4bpruM1JDlsXcWps_B_Bs9TpPBim-qkH_llM7x-_drhyINvqsM7cNClps4C11PgvJSkb97ULlVr8VuDdgQ-X",
  "id": "rs_0ace0ea9c10c8ac9016ab41d6b769087d081e27359c74c844f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_y\":0.27,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The approach displaced the cap hand instead of narrowing the gap, indicating arm interference. I’ll back the pen away, then relocate the cap nearer its own side so the next approach does not depend on the left arm’s stretched pose.\"}",
  "call_id": "call_0giJHn0xDE4tX1FAaQkmTKd6",
  "id": "fc_0ace0ea9c10c8ac9016ab41d6f26e087d0be3af96db88da815",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0giJHn0xDE4tX1FAaQkmTKd6",
  "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]: [-0.6483, 2.5328, 2.5568, -1.3945, -0.9051, -1.3685, 0.0581, 0.7784, 1.6997, 1.2938, -0.4526, 0.0654, -0.0502, 0.0653]\nstate[eef_state]: left_x=0.497 left_y=-0.1977 left_z=0.1534 left_yaw=0.7836 left_pitch=-0.0819 left_roll=-0.032 left_gripper=0.0581 right_x=0.3358 right_y=0.32 right_z=0.1459 right_yaw=0.7383 right_pitch=-0.2961 right_roll=-0.0905 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -14.7214, 5.5453, 0.6032, -0.5495, 0.0122, 1.0281, -1.0598, -10.947, 7.241, 1.8437, -0.0073, 0.0171, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78830669632dcb6453118631bb5b5ba3214dc924de4dee9ccbe0d62a3ce5be77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3c07acd90fb44e2e632693a3d55b071e5e3e80a41a2cb7a28417775b217ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990e658c9c26f572a78c193cb8ced8197cd07aa5a436725405ef841436c06b65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 10.49 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7723, 2.5286, 2.5549, -1.4204, -0.9356, -1.3609, 0.0581, 0.9436, 1.549, 1.0641, -0.2035, 0.2623, 0.1375, 0.0591]\nstate[eef_state]: left_x=0.4669 left_y=-0.2514 left_z=0.1583 left_yaw=0.6632 left_pitch=-0.0554 left_roll=0.0017 left_gripper=0.0581 right_x=0.2953 right_y=0.3355 right_z=0.1621 right_yaw=0.6381 right_pitch=-0.0992 right_roll=-0.0601 right_gripper=0.0591\nstate[joint_eff]: [-2.359, -17.6479, 5.6274, 0.6227, -0.6032, 0.0904, 1.0281, -1.6205, -5.9145, 10.988, 2.1172, 0.188, 0.0415, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6518, 2.5244, 2.5542, -1.3949, -0.9127, -1.3643, 0.0581, 0.7879, 1.6989, 1.3373, -0.4564, 0.075, -0.0303, 0.0633]\nstate[eef_state]: left_x=0.4961 left_y=-0.1982 left_z=0.1578 left_yaw=0.7791 left_pitch=-0.0737 left_roll=-0.033 left_gripper=0.0581 right_x=0.3401 right_y=0.3282 right_z=0.1637 right_yaw=0.729 right_pitch=-0.2546 right_roll=-0.082 right_gripper=0.0633\nstate[joint_eff]: [-8.3897, -14.0513, 5.8735, 0.4615, -0.6129, -0.0562, 1.0281, -1.6615, -6.2427, 12.0957, 2.4933, 0.2515, 0.4029, 0.9011]\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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.5328, 2.5568, -1.3945, -0.9051, -1.3685, 0.0581, 0.7784, 1.6997, 1.2938, -0.4526, 0.0654, -0.0502, 0.0653]\nstate[eef_state]: left_x=0.497 left_y=-0.1977 left_z=0.1534 left_yaw=0.7836 left_pitch=-0.0819 left_roll=-0.032 left_gripper=0.0581 right_x=0.3358 right_y=0.32 right_z=0.1459 right_yaw=0.7383 right_pitch=-0.2961 right_roll=-0.0905 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -14.7214, 5.5453, 0.6032, -0.5495, 0.0122, 1.0281, -1.0598, -10.947, 7.241, 1.8437, -0.0073, 0.0171, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78830669632dcb6453118631bb5b5ba3214dc924de4dee9ccbe0d62a3ce5be77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3c07acd90fb44e2e632693a3d55b071e5e3e80a41a2cb7a28417775b217ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990e658c9c26f572a78c193cb8ced8197cd07aa5a436725405ef841436c06b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1zv93oOkugOsxz-lIxkjvsdUpBCZs0qOZ_MfRiqU4ZhRFzqbfaA8bHst4tM8f4HbvJKreGSVtPGLpUHJsSPfnHfZyj-42bmZbOBNPi2eazXmp-VJGrZAv-FRG-pdVAx1MS30QmoloOFJkYv1SRfyKkDsKsH0Dgn2igMUAEmBa3hnx4MbX1YtkyQbpBQxOvi3lQD-uPoX6IxUL0txVF2YVrIa6t7DY54SzxnNRs580paBN88ntSsM9m9qlHlo76MnAdgV4_Ac_N4myUBnvNW1lRPy_OpUMbpezwApkBEX58zNu8lkHGM3XftREj1oTlQDP_TlutXngm9eY1sVy-9OrJwUbHott-vpayD52i-te6hwrYLI7afONwQPxH7Z3WzUjYJFkCAlSiQXUi8J1hBKjjFc_uZwBdOeGR1bTJNh7VOvmJD_aCNDcuUVnKC3aN2UWYrp_MLN51zxJWtGioSbqhfLEYHOzO8U7te98na0CuLsS4vdkkqrOcryXoYEXtud4wEsqUBoT5oTpsmDROGcIzIdR1mdcJOj-43sQOmAWYe3L-OP3Rm9Ee6JSCUJlgaBUHV_tMGmxaY22HdfuW5QsgytwibV1RESylP_inqmiOHF1XpLO5m9CR6QnjT6gb73SRoEaYOvapkmCLP4Ii_1z8l7G9g9SijL6QOpO8j_bfFFxup26XFRCS-VfiuFj2Th8hpjzP3NWyI0ndnoTVfCaTqWUHCmb6Ntqm5FmXWnr_ejaHxtB3aSh3f1pv1Y-4XY8SaIhAcTGJPmfXMEdRwjIoTPP3neNNTyrA6f6zI9377leHLvFW3TZ90dyy4sN90HrW9oC7QBFyh9XuFbfZnjHWv79BJrwh3Mk_8uL9kF741w1dlAbG1R2OfqJHekItnkC5OBEeSIf-n1exPK17HWldhwsIbNfgp1yu7KLNJG6jGjcYBs36IdHgQ9p4q4YvPMEOuKy0LljgJIymramn83V0YdxYkp2XHfOzHew6QRlCiDHrP2DvuMq-emL6QTl9dm5SGPlizA7yciCMWrAH5cCaBymFaxrEOEw0zoepOg5K2tEWNJGkHY_VTVeIYPFJDnjB7SEoEfKEkeygLfppvbTd2nEQavvZ_8bu2L0-y3oG4TLXtca7ucvGx0Q1u_M-9D4GD_Kamlz0v2oZ-vhgiv9cGqGLc62Dbx2up_SRa8gSH9JlDudL_WkAXR76t8JPATwD6fumOMBS-HzFXRUL_jyQ4rJ6zvjLjstVCO5cpRapjMwSQ9lLu4Oxrf7r0HtnW-3eFPFPPlck3paRoT7-e-2tA0dwMhvT24rOa7lHv4zpmkBtj6Ruyj_aFeqfyZqinjPZ6zhLchJALpUGz1wZYEObLP8ivtGwD8N1abTq0J_KUjZQniME2-lo9ITfjYedImWiftR26N0Uu4t4PxOcQ9jUZom3r_i21j0aXrkzenEqc0zfX8J9B9JRETdU-M3Afvkp3PjOj2GxXyZYO5fwvSKrwj6j1i_q31e9tL9ONATZyqo=",
  "id": "rs_0ace0ea9c10c8ac9016ab41d722f4c87d08321df9e7dd28611",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.145,\"left_z\":0.18,\"left_yaw\":0.65},\"note\":\"The right hand barely moved on the retreat command, so the hands may still be mechanically blocking one another. I’ll withdraw the cap hand toward the left side first to free the pen arm.\"}",
  "call_id": "call_Fgc2Ql5USA0uu9v7RBujBmDN",
  "id": "fc_0ace0ea9c10c8ac9016ab41d72b25087d08462ed59fbb36e86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fgc2Ql5USA0uu9v7RBujBmDN",
  "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]: [-0.6411, 1.8778, 1.5257, -0.8791, -0.8837, -1.3151, 0.0581, 0.8955, 1.6791, 1.253, -0.5499, -0.0643, -0.1665, 0.0687]\nstate[eef_state]: left_x=0.4132 left_y=-0.1335 left_z=0.1639 left_yaw=0.7451 left_pitch=-0.0777 left_roll=-0.1305 left_gripper=0.0581 right_x=0.2599 right_y=0.3485 right_z=0.1239 right_yaw=1.041 right_pitch=-0.4114 right_roll=-0.0498 right_gripper=0.0687\nstate[joint_eff]: [-7.9795, -14.8855, 4.8752, -0.3541, -0.5983, 0.1245, 1.0281, -9.1009, -6.6667, 9.894, 2.8059, 1.0965, 0.9206, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2f6c44457b49501d1866937b00dfeb1b95c6b8a393c16ddb3ea77619d63d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ed26ec32854ca01e2c600f87a66d1e772e8f042c37853a104b45b89a52da23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e355a5a316d1cdd6f2732db9bbb39e147beaee48a5ba5e39ae2308d7d848f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 6.345 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.524, 2.5542, -1.401, -0.9298, -1.3636, 0.0581, 0.7971, 1.5558, 1.108, -0.2852, 0.1234, 0.0166, 0.0628]\nstate[eef_state]: left_x=0.4752 left_y=-0.242 left_z=0.1602 left_yaw=0.6877 left_pitch=-0.0578 left_roll=-0.0243 left_gripper=0.0581 right_x=0.3242 right_y=0.3059 right_z=0.1599 right_yaw=0.6725 right_pitch=-0.1653 right_roll=-0.0742 right_gripper=0.0628\nstate[joint_eff]: [-2.0991, -13.2581, 5.8051, 0.3785, -0.5153, -0.0171, 1.0281, -3.8359, -8.5538, 11.0154, 1.8486, 0.359, 0.3394, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.5328, 2.5568, -1.3945, -0.9051, -1.3685, 0.0581, 0.7784, 1.6997, 1.2938, -0.4526, 0.0654, -0.0502, 0.0653]\nstate[eef_state]: left_x=0.497 left_y=-0.1977 left_z=0.1534 left_yaw=0.7836 left_pitch=-0.0819 left_roll=-0.032 left_gripper=0.0581 right_x=0.3358 right_y=0.32 right_z=0.1459 right_yaw=0.7383 right_pitch=-0.2961 right_roll=-0.0905 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -14.7214, 5.5453, 0.6032, -0.5495, 0.0122, 1.0281, -1.0598, -10.947, 7.241, 1.8437, -0.0073, 0.0171, 0.8132]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6411, 1.8778, 1.5257, -0.8791, -0.8837, -1.3151, 0.0581, 0.8955, 1.6791, 1.253, -0.5499, -0.0643, -0.1665, 0.0687]\nstate[eef_state]: left_x=0.4132 left_y=-0.1335 left_z=0.1639 left_yaw=0.7451 left_pitch=-0.0777 left_roll=-0.1305 left_gripper=0.0581 right_x=0.2599 right_y=0.3485 right_z=0.1239 right_yaw=1.041 right_pitch=-0.4114 right_roll=-0.0498 right_gripper=0.0687\nstate[joint_eff]: [-7.9795, -14.8855, 4.8752, -0.3541, -0.5983, 0.1245, 1.0281, -9.1009, -6.6667, 9.894, 2.8059, 1.0965, 0.9206, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2f6c44457b49501d1866937b00dfeb1b95c6b8a393c16ddb3ea77619d63d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ed26ec32854ca01e2c600f87a66d1e772e8f042c37853a104b45b89a52da23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e355a5a316d1cdd6f2732db9bbb39e147beaee48a5ba5e39ae2308d7d848f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1_Iyp_PeB5oHx6oXri6xpBei-4Lwa4b-HWz9eJORJXXeSZCBEzm5UavRnUmMLWHruzR37uOXtvotmuXWbSpylwXKAQGigl1xm1SX_W16nvqt8WjbyRNN9rX69TLlPs_9JTAdRhHQdDCTGmelDAX1ZmR-uTT8MZHYDN336vyn6kb6qkyGHT-TBaGZB7kcK1KzO8dulGyA1ThmUBVMMsFLsj_hig-6gseshujH9u8_Mux06874BrHp-S11cL5jW0v2ZELWg3DDbqh_A9uCkFpVZ1uxkCegcXYCQ4reHxoth2GWwC0pGSATjIn7acyAYqG5bi9IAJGmrBLpL-_VPLjhwN-t_bY0WRl_OsUMdz7_VccxFinv5jnDB7eombP4RYwlfPoiXJD8IvEgxuyZRdok6vxjTQdS34A2khXmrdsOfbNCK_yy66YvETa-GfeYsvYTxs2EihxmJT0vGHv9M1zOfPhJxJbr8t9YrTBdZWcBiqQopchu-tFf7TXKZOlj668r1ovXYhegweIOaRAvZKTjv6r-nJtGYGuvc5MjO28s4Y7ZOQW6Lu8nttD_KyPYou2dJoE4fZSCJjL4W3bQTT8tbOhBHDEMan7fZE3HSb6idWu0IEojtEWNdRTmKrmbYVdHxG5gVjsO5fU-jIwfsTlD72tJXUzXKx1JOEoTHnRoVXSxEKsvTcYwP9B5QExzYwTH426WTRctj1sw9vSuwceOWL2EM9TPAtGIXrYDXHp6VUkgMswaV2EmaVqN6lxgs-1fdWdbiBZ7XAXo2gbT_R-Q0ZNAR-nnAp8SbEKMkSMNRXyaxfYmcUdj8mW3LJSbCdU87OUR-tqi6kOF4vJrX-j7ajLeDUtKUPsu8v1UDyXXrkXJ1xdpQMCtrEAS3I8wGaG0pNZsEi7wprBXPQkWoUTB6xqH3z5degssIcS37Si4lihNy6GJftPydpQoDCT4aMhFE1pCXXWbmlR7TWllRAVhDd06itB7-vlq8_LsOAuDfmsEDmhgeiea0oRfd-stcahVBP4JVt-COZZnSHdKklmeZU989TzPeOVsf8obJ1OGcdvAhqhMQZbvq29-dvQFnDVTM5tellKT8PdX0qxJQ_16PLpT2rwG4glPVsgJXyxvtohV4bI3nj1PlSTuZOHIngkoX4DoUOhCas3Lk1Ro0dxQeAxsrFPrLs4h_UxVezVb3nW5BEgBiJDfMnvpdtlefHjZC2kESd-9UEUMyqzr_JY2paO1283RiLay-KkSz07HbPF3_x_SNHDUwaKpIlnEqmmyLMAxAD5JieEd4WmxGM2jbpQZpmSulM49bUN66KeOzmV60TDaR2MY3DPg4N4ObtTSd_Z9ixZrwgUf9qAz2tH4578OQtub2_qCsM01S8cKOp66zztW9ujD5WIOy2MT15lvuxfNShYSSgBj-ym-c-3Hw9KLObnG3ZFetraH4Ay2hrDl6N7H9is_0kUx5T7mfpIk9GsRPnz3SSb3ZD5kXgXsbHIpuB75mgNRBstHkcqaDXBBgZqYjuyAojrAMdeuvma6Chvdv-JkRS_1BgUmPLy_ipx99iwzXh8eLwQnjyguy3iTIwi4a9Xb_jNNBfzcqMCJqy3ddVQC4nIrXs8WGvUADEZ72M_LbiLJ143XsYxknHXitnuOvQsoAOKs2m4pi0pZ1V7W8jEWBQiGELdiWYPauj1WwOpj6oemr4qUk6ZtFKu3sk0sEv89JfBRT7ygfnMsh0xxonXuJwomSe6FO_Fi7OkLvyc0gbPE_VeziRif6PEMRXtdp9aj23pFORRVE6jSX42BJdmK4PwUnbStL2-gubz69vjB3nrCq11OmVMzGt8TW34QlWL20GOtAzJp2FOCQ_4KgVMLP4crKq78i0vWyA20uL0sbwzFCWtQqH4uXxB8Zs6-73MG1h67ac6rnZ5lWrPcOOEX8rHAMv8Oli2naLFaxjKn7N-t-cA7Lw3swLM6xLWHuiyqsuVBnB4YQf13rnmHeYQmhN1xb2pj2-kLRUwoz-3amr9oxBIsNojKX653rHEXc2kzvZodtXzxb3IDJV",
  "id": "rs_0ace0ea9c10c8ac9016ab41d766f7487d0b9f7acaeb698050c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The hands are still close and the pen wrist was twisted during withdrawal. I’ll move the cap hand fully back to its home side so both arms can recover unobstructed.\"}",
  "call_id": "call_iep76HVpsrYpRvv3RNVxTtuE",
  "id": "fc_0ace0ea9c10c8ac9016ab41d784ea487d0bb0f7cc4a64a20c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iep76HVpsrYpRvv3RNVxTtuE",
  "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]: [-0.5236, 1.2575, 0.9489, -0.8341, -0.9115, -1.1015, 0.0581, 0.8982, 1.7123, 1.2488, -0.5652, -0.0578, -0.1661, 0.0705]\nstate[eef_state]: left_x=0.3005 left_y=-0.0081 left_z=0.1838 left_yaw=0.7542 left_pitch=-0.0229 left_roll=-0.0362 left_gripper=0.0581 right_x=0.2573 right_y=0.3452 right_z=0.1065 right_yaw=1.041 right_pitch=-0.4643 right_roll=-0.0472 right_gripper=0.0705\nstate[joint_eff]: [0.1983, -4.3692, 6.7761, 0.9451, -0.652, 0.1636, 1.0379, -0.3077, -11.1795, 6.8308, 1.4188, -0.1685, -0.022, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7191c1c6d7db74f317eb20bd04f8d3bc528d2927c136a5c08b63962115c2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f340182ac2c8ffb01640dc828736a7a0860477ad693a744dde7dd8a258547ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a94e4e9413623384b5ece2e2d27a7a078d795a00d62b144f75ab36dc817f04a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 8.232 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6518, 2.5244, 2.5542, -1.3949, -0.9127, -1.3643, 0.0581, 0.7879, 1.6989, 1.3373, -0.4564, 0.075, -0.0303, 0.0633]\nstate[eef_state]: left_x=0.4961 left_y=-0.1982 left_z=0.1578 left_yaw=0.7791 left_pitch=-0.0737 left_roll=-0.033 left_gripper=0.0581 right_x=0.3401 right_y=0.3282 right_z=0.1637 right_yaw=0.729 right_pitch=-0.2546 right_roll=-0.082 right_gripper=0.0633\nstate[joint_eff]: [-8.3897, -14.0513, 5.8735, 0.4615, -0.6129, -0.0562, 1.0281, -1.6615, -6.2427, 12.0957, 2.4933, 0.2515, 0.4029, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6411, 1.8778, 1.5257, -0.8791, -0.8837, -1.3151, 0.0581, 0.8955, 1.6791, 1.253, -0.5499, -0.0643, -0.1665, 0.0687]\nstate[eef_state]: left_x=0.4132 left_y=-0.1335 left_z=0.1639 left_yaw=0.7451 left_pitch=-0.0777 left_roll=-0.1305 left_gripper=0.0581 right_x=0.2599 right_y=0.3485 right_z=0.1239 right_yaw=1.041 right_pitch=-0.4114 right_roll=-0.0498 right_gripper=0.0687\nstate[joint_eff]: [-7.9795, -14.8855, 4.8752, -0.3541, -0.5983, 0.1245, 1.0281, -9.1009, -6.6667, 9.894, 2.8059, 1.0965, 0.9206, 0.6716]\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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.2575, 0.9489, -0.8341, -0.9115, -1.1015, 0.0581, 0.8982, 1.7123, 1.2488, -0.5652, -0.0578, -0.1661, 0.0705]\nstate[eef_state]: left_x=0.3005 left_y=-0.0081 left_z=0.1838 left_yaw=0.7542 left_pitch=-0.0229 left_roll=-0.0362 left_gripper=0.0581 right_x=0.2573 right_y=0.3452 right_z=0.1065 right_yaw=1.041 right_pitch=-0.4643 right_roll=-0.0472 right_gripper=0.0705\nstate[joint_eff]: [0.1983, -4.3692, 6.7761, 0.9451, -0.652, 0.1636, 1.0379, -0.3077, -11.1795, 6.8308, 1.4188, -0.1685, -0.022, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7191c1c6d7db74f317eb20bd04f8d3bc528d2927c136a5c08b63962115c2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f340182ac2c8ffb01640dc828736a7a0860477ad693a744dde7dd8a258547ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a94e4e9413623384b5ece2e2d27a7a078d795a00d62b144f75ab36dc817f04a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2GyGXzgDJ-b7qhBMZgiLcRO9zQvW67ZquGfmCx7bFza6d8qpvl8lF-cewY2TXoMRQE-hZ1mIWAX9QV5aF71j9Hqfhm9FpOZk3PmfpsHdvJY2Ux2F38dMra9o5vffqKyg-SacXcbMVxYQdzONN5f0fJoEc8Tk-NzZmOVNv6APCmVoGt8x3-pO-T0qINDOkc4z3W1EF2uWjpoCVDgmNOj-BGXbajwvh0AOX0-8UlJTSl41BmJhw7GRQJkG6SNwIXJJJWXRmbL7Vo_jV6rSuAA85OiOjAP8dKEYXH_uut1XwFwDGYLZY6bjGNJjiGuJISHD6KSPzKsDvLjlO-kYY0EyP-_GpZtHzTontI2LM1WDNjtTxNRuUCOsjBCgULbhYRmTijBBveTtVrDZbeRxMxb5Q9kppifLMWENXF2lyINKtu2unevviWAZRDA-1GYdX40E9Q2m58M8oxHBvuFIIqbdpfC0Ypy9njYcq2IiWq_1xpYPTFnIfYoK5dKZNNd4UIZzmTIuBwfw6NoSGhwlC-BGaxbnnB75v3FSpLc96OY_CjFIPWbjNsczLFaRl9AK6x72lESnCuu4000ArRo7AFN3HzogB3o53tTgQnVQq3QcglIFQl3wjMBuS6EaGTVMw-_AdxGEtipbqPPBMZ1PDuCtLDj7qO8ym7n60ybxIfa7FP-gmBU_tf4IjppsEqhyWtUUwGA_Clc0T_C9nuct0LO387xjJRo_ulamep5TlOtNGnmXEq1Hvp8ACy26U09A786bNz5gnjiXZNW1PRFs7jSHcE2dg89-D0D9ZpfCqUKNLPIDhDt5RbJTBsbO61j4oJN5hwWecTtJT30IeJHPPV1DQqR4kZ2LBAYinEnukYJZ47MWDruizLLNwPvN2nafREcreNsJREL5AltOqWQ0pgjEqDoWJWGi2g0ufCamuym0MqeRn15dSQNWNTS5UzpfQ8emSXQJvO7S4PlQlAcOPAmUjzEzejbxsExYrFnxalA7bFoQAu79Ms8K5zivlXJrR--2tjJ2eP0TuWj4mbNe6A9YNsWowIBy2cKR4sI6rWv59yyeSFtg0Lv1bojBzLjebZ_loY0uxwkAwL67Erj3_Nr09DtMZnW3SG9211zvcBJjz6hy72Ndy33htZvyYgU1GEaeLHdcZbfhkGD41EXQRnzefAhWT6LD0DU47ahdiQZJ-dQB2A4IK5Fjwrbkd2nGGT5LkzoODeXrc0T_ILXxjcbX_qp7EAP-VKPP3MXhHMZB5rmxcLh1wK7ms1oyGC9sEGpgFXZNQiC1ZGphC5rDBYm9wehBYgA_Ch4wcy5DOfzvST1mz-lCfO3WC1ByjgZ3N8EPG7DYFvSh9IjxC-JrVVpX4NmYdG26HElJOFZbYVrdJxS8xJG6TqYJP5ikfGhddR6tzZQ9xkwadJpEtRuY1RwDsP60rpPjCKpsQKGaZgIFKrM-XeoNvohFEgcmhLs-O1iod6evTU91GtfPZ3eV_p_EIc9_sa271sbuggeL3JNz_INVp5omn1JsDT8-T06RCXwWdhi6l5d_h_l2y_CF9oqQUHzEtzao6oe1toyNSW4sBbkxEmN3WPwBDhZAAfLOX2viGeU9yNtFTbXc04xzzehqy_kVYWSzAAb2qfWOn3BHNfylYJZ7ca5kD2CpLHc_MUqsoI9gGFko36kT6PT_AYFHuK8fe6m-pa7veFJdZEXTqyvI1W_jCNzkJpbWEvjSLd2QKTXQF-3eoPYnYOHeNutQ8Rycukz7lw7QGbR83I-7MVDGqhK5un_k_y58UWF3JraLmBTjByCjcAAGXSRPdlcfbIJnrW2OBm0sxaixBAAQPywPRzhCKrVcwRGqlrVCTRsV1difvBAWoMkYW8neC41U5W87RVao6wC0589hH9c32YcIAgKC-5MlwIeoCBWnoVbImwEtPkL-fUOi7-Iu7K2wtYM2KzKW-LNrWo8Hi82QRmPZlJV47hjWOIGE3ZEXlAG3EbXYIY3MfTZ_ZS8Ro-a485vsKkm72OgfA-zxzAsx2oFUHgfuawnmbR7XSZo5tiIWX3BSd7XiBaTFvnEuRmg1MBmEb_jpXrGYwC4jOhAawX9x89LfkBXycfXQcg8JDfZGZ-YwrA4gG0BAxS3aQ6ueXiNrUabnQDVhmd5uL73M3SVa65oWEzLYm2OOhTvuVugtfTa4su_ik_0R1JgFnSkseF8zVW-H0KpRJL22D_1M62vQce_nHIcv5vc_slSTt5dReOQjBxe71qtL2rLX1jkW7zAU8QjfGHZU1KkHn7poNiqaT2FkD77R47mG4VDUyWanCoS_C3D_4gBOW0sLCiTfkamrJtlO3WuZKFik8tNypJlF_J4-F9v_nNMLbBV4_s-DGAHcFirO5FxuJYlq-rd2PfsF65Pp9kkmQ-c2NhSYtYBKqH2r5RIZfgj0cKa68vCfoZWswmEy356L-LcMSzSd-ooWMKmgaZrG4tnxI3aBcyGnfLHREnF3xdy7BvbRFlB5DcJMsZ8QMYzWON8nLeg5RImeU15PDg7yUdV_m6duMK1Xp5zYJQFGmoXY4k1Mg9Z-JtcnYPgWTWlJwB4mrRDGsbiROL0MalOA_BPWc5EjSOzqVtWfHecYZrtTh0F8GSP71Jzr-N2Qf44MB7Jeu9Uu_30rIa9dHESgqamfM3aJvYytf212lfQSZASBz64L7AErbDKA5seiTk2etoWWaT0TEQjg9p6nj6D67xNLwmV_hxCOtOAqqz8dQFkRzLfoINZoZzrtQD62Hw8kwVg9gEXqlRFAQkDZgYFdBv_YUEtMqUDNkAQM1hbGY-os8YhiUi3Ze6mxxMCjh4uXglG9m6vy1TJrFsZ-CYrR1HbHaU5zOyM4cCAPiwgdY00eRKaq_TnTcPV2a7098W6lc7DtkiENtTw6oE0AbMcrMMKaRUVYsasgpSPV10XH923GwV-GeY5bXCqYUyw71ppwcGirRn92JtjtZKoEZWou59Ge5vBM3CJWZiOZ5xpfJ_UxqIWs0HjXR8sNSEu269GeGPU1w6TAb4HPp5ZXbDNWfPveALVmwa0DDWSumh5JbSAwCpRdoNUoeCeDOHhy58WOa0lp3PrvDC2LkH88fCPMSDMXBFpPJykTGgisR1_3sD7bsoL9rU_2pC",
  "id": "rs_0ace0ea9c10c8ac9016ab41d81b30c87d0936e022962a0fd73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.345,\"right_z\":0.19,\"right_yaw\":0.75,\"right_pitch\":0.12},\"note\":\"The cap hand is now back on the left and the pen remains held on the right, with open space between them. I’ll level and raise the pen wrist before attempting another, shorter alignment approach.\"}",
  "call_id": "call_zrlC9xjq8tstlKXBvGMdtLOE",
  "id": "fc_0ace0ea9c10c8ac9016ab41d85b68c87d0b3ad482ea6a4c3ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zrlC9xjq8tstlKXBvGMdtLOE",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5201, 1.2594, 0.9375, -0.8402, -0.9047, -1.0985, 0.0581, 0.997, 1.4368, 0.8608, 0.02, 0.21, 0.0479, 0.0734]\nstate[eef_state]: left_x=0.2979 left_y=-0.0064 left_z=0.1784 left_yaw=0.7537 left_pitch=-0.0345 left_roll=-0.0169 left_gripper=0.0581 right_x=0.261 right_y=0.3425 right_z=0.1625 right_yaw=0.7845 right_pitch=0.0187 right_roll=-0.0706 right_gripper=0.0734\nstate[joint_eff]: [-0.4581, -4.1504, 7.5145, 0.9841, -0.4811, -0.0659, 1.0379, 0.7863, -8.9778, 6.9812, 2.1661, 0.2515, 0.1294, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e79ef8ce9eb76572b51983c01e3a98cab4469c0a199ab14dd470b247b7512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1355735f6b174e9c4b675d5f8f9ca70929164d7ea6f525173fb233b8321491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae976d7a4c6c8e939d265d34db99285dc1554109cbee5b518199c9dfd2c9d26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 9.117 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.5328, 2.5568, -1.3945, -0.9051, -1.3685, 0.0581, 0.7784, 1.6997, 1.2938, -0.4526, 0.0654, -0.0502, 0.0653]\nstate[eef_state]: left_x=0.497 left_y=-0.1977 left_z=0.1534 left_yaw=0.7836 left_pitch=-0.0819 left_roll=-0.032 left_gripper=0.0581 right_x=0.3358 right_y=0.32 right_z=0.1459 right_yaw=0.7383 right_pitch=-0.2961 right_roll=-0.0905 right_gripper=0.0653\nstate[joint_eff]: [-0.6085, -14.7214, 5.5453, 0.6032, -0.5495, 0.0122, 1.0281, -1.0598, -10.947, 7.241, 1.8437, -0.0073, 0.0171, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.2575, 0.9489, -0.8341, -0.9115, -1.1015, 0.0581, 0.8982, 1.7123, 1.2488, -0.5652, -0.0578, -0.1661, 0.0705]\nstate[eef_state]: left_x=0.3005 left_y=-0.0081 left_z=0.1838 left_yaw=0.7542 left_pitch=-0.0229 left_roll=-0.0362 left_gripper=0.0581 right_x=0.2573 right_y=0.3452 right_z=0.1065 right_yaw=1.041 right_pitch=-0.4643 right_roll=-0.0472 right_gripper=0.0705\nstate[joint_eff]: [0.1983, -4.3692, 6.7761, 0.9451, -0.652, 0.1636, 1.0379, -0.3077, -11.1795, 6.8308, 1.4188, -0.1685, -0.022, 0.7106]\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 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]: [-0.5201, 1.2594, 0.9375, -0.8402, -0.9047, -1.0985, 0.0581, 0.997, 1.4368, 0.8608, 0.02, 0.21, 0.0479, 0.0734]\nstate[eef_state]: left_x=0.2979 left_y=-0.0064 left_z=0.1784 left_yaw=0.7537 left_pitch=-0.0345 left_roll=-0.0169 left_gripper=0.0581 right_x=0.261 right_y=0.3425 right_z=0.1625 right_yaw=0.7845 right_pitch=0.0187 right_roll=-0.0706 right_gripper=0.0734\nstate[joint_eff]: [-0.4581, -4.1504, 7.5145, 0.9841, -0.4811, -0.0659, 1.0379, 0.7863, -8.9778, 6.9812, 2.1661, 0.2515, 0.1294, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e79ef8ce9eb76572b51983c01e3a98cab4469c0a199ab14dd470b247b7512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1355735f6b174e9c4b675d5f8f9ca70929164d7ea6f525173fb233b8321491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae976d7a4c6c8e939d265d34db99285dc1554109cbee5b518199c9dfd2c9d26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ace0ea9c10c8ac9016ab41d8b60a087d0b0c0db0ea4835ce5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.19,\"left_yaw\":0.78,\"left_pitch\":0},\"note\":\"The pen wrist is level again, with its exposed tip pointing forward. I’ll bring the cap to a nearer meeting point that lines up with the pen’s angled axis while keeping the two gripper centers well apart.\"}",
  "call_id": "call_zPyKMO8hoGXPZ5F7zSyHszNx",
  "id": "fc_0ace0ea9c10c8ac9016ab41d9046c887d0b92ad1694453873d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zPyKMO8hoGXPZ5F7zSyHszNx",
  "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]: [-0.7761, 2.048, 1.8492, -1.327, -0.9699, -1.5814, 0.0581, 0.9894, 1.4448, 0.8429, -0.0525, 0.2165, 0.0631, 0.0744]\nstate[eef_state]: left_x=0.3906 left_y=-0.1742 left_z=0.1874 left_yaw=0.7879 left_pitch=-0.0322 left_roll=-0.0451 left_gripper=0.0581 right_x=0.2568 right_y=0.3282 right_z=0.1371 right_yaw=0.7627 right_pitch=-0.076 right_roll=-0.083 right_gripper=0.0744\nstate[joint_eff]: [-1.5111, -9.5521, 6.694, -0.1001, -0.8034, -0.0269, 1.0379, 0.5949, -6.8991, 8.1026, 2.254, 0.149, -0.1978, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054371b01c8ca65a73913c2665bcc0ee06385695b6bc9b0d414d6a2b7eb5b2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761432941f8d91c58b6c3a9985513c8177454871bcccc14c2002c162bdbe5378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0077e45b215fa94895b0ce3dab103e8f1008df49eb4e86914d4e99aa66a8c91f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.904 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6411, 1.8778, 1.5257, -0.8791, -0.8837, -1.3151, 0.0581, 0.8955, 1.6791, 1.253, -0.5499, -0.0643, -0.1665, 0.0687]\nstate[eef_state]: left_x=0.4132 left_y=-0.1335 left_z=0.1639 left_yaw=0.7451 left_pitch=-0.0777 left_roll=-0.1305 left_gripper=0.0581 right_x=0.2599 right_y=0.3485 right_z=0.1239 right_yaw=1.041 right_pitch=-0.4114 right_roll=-0.0498 right_gripper=0.0687\nstate[joint_eff]: [-7.9795, -14.8855, 4.8752, -0.3541, -0.5983, 0.1245, 1.0281, -9.1009, -6.6667, 9.894, 2.8059, 1.0965, 0.9206, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5201, 1.2594, 0.9375, -0.8402, -0.9047, -1.0985, 0.0581, 0.997, 1.4368, 0.8608, 0.02, 0.21, 0.0479, 0.0734]\nstate[eef_state]: left_x=0.2979 left_y=-0.0064 left_z=0.1784 left_yaw=0.7537 left_pitch=-0.0345 left_roll=-0.0169 left_gripper=0.0581 right_x=0.261 right_y=0.3425 right_z=0.1625 right_yaw=0.7845 right_pitch=0.0187 right_roll=-0.0706 right_gripper=0.0734\nstate[joint_eff]: [-0.4581, -4.1504, 7.5145, 0.9841, -0.4811, -0.0659, 1.0379, 0.7863, -8.9778, 6.9812, 2.1661, 0.2515, 0.1294, 0.569]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7761, 2.048, 1.8492, -1.327, -0.9699, -1.5814, 0.0581, 0.9894, 1.4448, 0.8429, -0.0525, 0.2165, 0.0631, 0.0744]\nstate[eef_state]: left_x=0.3906 left_y=-0.1742 left_z=0.1874 left_yaw=0.7879 left_pitch=-0.0322 left_roll=-0.0451 left_gripper=0.0581 right_x=0.2568 right_y=0.3282 right_z=0.1371 right_yaw=0.7627 right_pitch=-0.076 right_roll=-0.083 right_gripper=0.0744\nstate[joint_eff]: [-1.5111, -9.5521, 6.694, -0.1001, -0.8034, -0.0269, 1.0379, 0.5949, -6.8991, 8.1026, 2.254, 0.149, -0.1978, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054371b01c8ca65a73913c2665bcc0ee06385695b6bc9b0d414d6a2b7eb5b2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761432941f8d91c58b6c3a9985513c8177454871bcccc14c2002c162bdbe5378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0077e45b215fa94895b0ce3dab103e8f1008df49eb4e86914d4e99aa66a8c91f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ace0ea9c10c8ac9016ab41d95663c87d08d3e3d1b0a7c9049",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2bwX13BzFCeMuy1A0dgiDooEJICEx9ba1Y5jJy5WLAXDgk2HXJHnLCl2W25ztYztN7GMv75bifKSm1Rnv3HHzOva7nmQKsxrzsm5l0z306-8TAzk2L1FMJscnUKfYZukfFPA35jvmXh-PqchmxveTDyVZY0fozzus1hS_PInk5v3arWXYcWD5mbKaPl-9dheEp5-QvBUnXygZvZGoqC664-aLS-CuZorvcfRWO1zsniNB_0Fp7qeX17Po3PgcjMi2sLZz7qS-nQLdgM0GR-hOvpjj5LHdx5PrVEqHrRY842n0cVbeJgkJPRLgiAmWFIWgGI8bPG9fVrW6nawjR1DvvAGpYGwz0AUVuyNpCT2M0hFwBJh5zwwl7LnoPoS1NQAwwj6x2VuazCGBm6ibRYqBdzUnvDm9jb51a7ctmeF5CvSpyMwJpClCZbmsTiPzYFOC1l6FkwTG77OQGIiFQ6DPHvyFfQdL7oWVIODlN6xkQZbCTq8x7FOHjG3_MPwLD4wyh62iBeHvbg2sVPfsZqKGEsyCkxFA7OBqRmi6SxOu4sjmVpKiOyT_WK6Z1HYpWuteIpXD-Qy4uAetW27Vm92oxD2L0PCPhJE2S5awwur2B99a8ocD4FjMsEoeSQcuK3j7SZRCJ8aAjcU02_GomkRZO2BWhE3YoV19uu8olW7N3X3pLyDWlV3xv-6wLLi15p0VJ8JltsJNs_Bzi-YKPw_OsvgvWH0-koQpplZ2h0ENo13GZzbR2aH8v30NdBi0KUCMEAdpSh7OZGnhqMm7GXzcqNJuD_a2pOuvyzZtDNkAVFr787NiqDNzQNBhbA780jI84TXQIi41jadaCUGWJiRFVlz8cIQY8VYdEYoR_--Ptrdg4cZlOcd13yEE09m0uYPdb64xxd9YJFMC4yg0VPH55J-ybBUJfgV4RfUq2e9IgTkyj0HXaVUJJncNSBrmL8ex8-Tvqgq1-QuKKNdK0KQHTlSuXeSwnutxlzemg5THxb9ifvjEb3sPWc6yhR-tSBqmuYO2oqxgJp89sIZLgn3ErOvPymKllV8FOBGn6FJ_xvZtrSse5v7jUZp7MWjrS_pwLQ-0JJ65uvsm-o91-a3X_PnsppX5v-50gesM3Dgw11i8ZG8Dm9zAYpo_lqqe_HD4FdH5E_pSU-7GBDVln6xI6AvC7rs0iNLn3YKRnwTouMuA-Fm5so6-EmAnF-spaEfALNaqjCqDiF7wGmt-_PYdNutQxyKrN7RNZ9NUwStdSDzIZIF3AdoowVIUvsYg6H5yU7jCD0ZNvwnYXHNT15ZDCVx7Y_T7q0qX22YMc0xUVGRYmtV73CN9mtjRgJzvmKSVs-fps09uau-ciED6XLTBT19acvR2XRmQIq1v1upgi80T4DERMBhw2GcPbT9mw3wxIY5205IBqwwVDHGQ2w2sedld_-69ACxX-JUd18HoE6rk4D-riThX4THLQ2qetBYo_vStcIIuq8GtnKVRP_YCKk1BVaDapPbS_GtX5IJxPLIakkrBbvUblkyHvvgxF4l-LWl5i3ORtIAZIleX9_bz6dDAJ2XBGal2n0Hp1XjglqzmPtuLMOh9tyDwXIHtXCRBjlWdNe_PK5WCja0Y8VAWW2Q==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d99aa7c87d086e8a09da2c1d16e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.198,\"left_z\":0.175},\"note\":\"In the right wrist view the cap hand is directly ahead of the pen tip, so the lateral alignment is much better. I’ll bring the cap a few centimeters toward the tip while watching for any arm displacement or contact.\"}",
  "call_id": "call_5QyJsgi2i8DdhXPEk85KWrBY",
  "id": "fc_0ace0ea9c10c8ac9016ab41d9adba487d097785a09fa6aeb5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5QyJsgi2i8DdhXPEk85KWrBY",
  "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]: [-0.8276, 2.0781, 1.8645, -1.3701, -0.9695, -1.6772, 0.0581, 0.9958, 1.4448, 0.8387, -0.0696, 0.1864, 0.0376, 0.0773]\nstate[eef_state]: left_x=0.3792 left_y=-0.1921 left_z=0.1796 left_yaw=0.7899 left_pitch=-0.0339 left_roll=-0.0661 left_gripper=0.0581 right_x=0.2488 right_y=0.3304 right_z=0.1314 right_yaw=0.8078 right_pitch=-0.1017 right_roll=-0.0895 right_gripper=0.0773\nstate[joint_eff]: [-1.8256, -9.9487, 5.1214, -0.1392, -0.5201, -0.0855, 1.0379, -0.5265, -6.1744, 7.241, 2.0147, 0.4176, 0.1636, 0.3492]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439d25b7e652be4b816ae2cd1a0b7e9d7068a677b3de60e5737c5d02b2aaf29e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220b7bb538b47a07ff74fc6550f9cf3e20745b5d0033866177d4e4cf4483b476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fdfc2ce65b00c8f0fcbbd2cf648504d171665cd33849063f29566be2e52720",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.2575, 0.9489, -0.8341, -0.9115, -1.1015, 0.0581, 0.8982, 1.7123, 1.2488, -0.5652, -0.0578, -0.1661, 0.0705]\nstate[eef_state]: left_x=0.3005 left_y=-0.0081 left_z=0.1838 left_yaw=0.7542 left_pitch=-0.0229 left_roll=-0.0362 left_gripper=0.0581 right_x=0.2573 right_y=0.3452 right_z=0.1065 right_yaw=1.041 right_pitch=-0.4643 right_roll=-0.0472 right_gripper=0.0705\nstate[joint_eff]: [0.1983, -4.3692, 6.7761, 0.9451, -0.652, 0.1636, 1.0379, -0.3077, -11.1795, 6.8308, 1.4188, -0.1685, -0.022, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7761, 2.048, 1.8492, -1.327, -0.9699, -1.5814, 0.0581, 0.9894, 1.4448, 0.8429, -0.0525, 0.2165, 0.0631, 0.0744]\nstate[eef_state]: left_x=0.3906 left_y=-0.1742 left_z=0.1874 left_yaw=0.7879 left_pitch=-0.0322 left_roll=-0.0451 left_gripper=0.0581 right_x=0.2568 right_y=0.3282 right_z=0.1371 right_yaw=0.7627 right_pitch=-0.076 right_roll=-0.083 right_gripper=0.0744\nstate[joint_eff]: [-1.5111, -9.5521, 6.694, -0.1001, -0.8034, -0.0269, 1.0379, 0.5949, -6.8991, 8.1026, 2.254, 0.149, -0.1978, 0.569]\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 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]: [-0.8276, 2.0781, 1.8645, -1.3701, -0.9695, -1.6772, 0.0581, 0.9958, 1.4448, 0.8387, -0.0696, 0.1864, 0.0376, 0.0773]\nstate[eef_state]: left_x=0.3792 left_y=-0.1921 left_z=0.1796 left_yaw=0.7899 left_pitch=-0.0339 left_roll=-0.0661 left_gripper=0.0581 right_x=0.2488 right_y=0.3304 right_z=0.1314 right_yaw=0.8078 right_pitch=-0.1017 right_roll=-0.0895 right_gripper=0.0773\nstate[joint_eff]: [-1.8256, -9.9487, 5.1214, -0.1392, -0.5201, -0.0855, 1.0379, -0.5265, -6.1744, 7.241, 2.0147, 0.4176, 0.1636, 0.3492]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439d25b7e652be4b816ae2cd1a0b7e9d7068a677b3de60e5737c5d02b2aaf29e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220b7bb538b47a07ff74fc6550f9cf3e20745b5d0033866177d4e4cf4483b476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fdfc2ce65b00c8f0fcbbd2cf648504d171665cd33849063f29566be2e52720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB2iN903tKU2fPB5QD37iAfZ0yqa6GiWcbvtxcxQ5MKXIcOc68ALr1TNmbxsoC0Expr_E2h2YsGyRCzQuXqSPHJMVygYborpHAjdipZ4bcKeoVgP2MDjUbx7AjPuD0ssDqLqRu5ZhcIPvEyi3DQd7Zx7fPh1BCcsMER4vHcLUSnQeogBIzmU919jyShOWmbyHeONN-Xt8NJE4RTVF-kMFQSYFDf-_-cMvbtXEviUAbIwBMaS25sNCbxLaPYqOQw3Psu8cvinjF28aCC9FysW9hVyoAVvyMZ6SIsSKk3pEWjLAK5rdN0rpbzxo47DJqCQlMn_WKxqiNAtuJcDYFsgrwAWMi6WqAmSLlGiPIKCQSJTOCiB5o7MRz0GTpZ5SqYNjcA2TRJLudTf1MwEJDOP-q3aT3aB9nNgbe4NwiNyMvbbqgEo4T4r3zjjWJaBWG0E69Ufq2v2l-nCyCGCqDZwXuUYJT-l1uxAEoZREcaYLV6PTEREh6PY6qef1Ij_Mv21s0IvH0qIoGMqMmZhRQXhWLWoVJWeBP-FtKIdVfaW3HDup6IXqTe53d-TAO26SXWs4zIlCQ074HDeKKpXC-iZpUypMkYIFlR8Dby5wSxBn60eSPhvx69NGMUbovZZ0al1_njro3h3m3Qn13c8rxfjw2340ac-FLoATWSfZ_ZlHNUW4cw4td8hK506Ns35SJr0dSNpWvCOkH4RalC1cP_RjFFN-6KxJoMfqvnwncPcWPkwkaSzDmH_MJ5UOVRAfKqgSQcMY86RY7iXRqPJFexjjimhE8gxdkoIz8KJDkGiTZMzOQodEj7HC38MFPCJ4n9mqoa9Nm7UpmlVms5jAJzoQi-qU4JK4nTvMFXQ5sNogY0Jh6CpCZw9JRMNC6i-lmx2De8FVI0gTeGvH7WRRYM-OA5_x1_xNJv9FHx30abF5Mho8cuz9I-hP915xXFL1TQm8J5RvrsbLkAFj7TRxxnWJ-NNQ76bHKalBZEVHUwpQVAGGrkuF4XMuDhNNYL1SpbCSXJ2PDJ8ATTiwPSnxBxEA-W7EOrIx_RgyUPrnr6Gjskm7IkzCpoKOCxEnI85AN5nKvJ2yTrSPkRXQg9yBO0qBKCsjQxAI_7aXmCSTtn4pKmqkaLu1Yeao0yyFP4AypEhAbL6pcT6qP4EZfwwNBM1D70v7WCjiS1C4-zXMXhJ5uYMoHILp97f8yPl_b3XSgAIu87ahW2eTYwjf5FyuhSiYbZlhxsINffmolgWJ2wpUBTC4gTv7ZGPEofi-ssONQSndG016E7aeuI5834Dw1WShov8AkB_-zddrRy6glndDSQxcYU0tOxiYUrHCOc2jL-sNlmiI3l6d0IUwUXlY2gEQNFb9QxJzsDCmTmJksAdvRAAE7Da7SVvPXakw57VN520RGa7LBg-3msJkyu06OFFAidB_mNa0A0L7W-orDplJWHWNbgnAKO3AgBKZL3KodafnUW1KUmJMnUFE7q7_YnozS3NQ9vB5NwUkEN8j65RHAC3ye4SG4UfayhlNNHcEFmKEL9ZL8wTrSfs69T89UyiKTho8ijlZnveTxoeuBJ3M5WgN3A86uAgCxG9yTSyUBc-Be1oosDC5pKNX-wHvpor_Tw2oV4w3sp5ueL_RkobOGxWHjmY9K01lY4aZCFGujToV6oDuUfrZ8pTydvWIIvB7mPXOkYeqzFutvQ0SfPjIJxy3VpL4wehR6WAWbIVJT2Lg_jNTB-BZFikZk3sWXoe-d1TFEAsDvokHKbzt0ZuFshmecncilsRKva1aysjiGXLdeE0PqgiF9DU2SwPwPA9LviRF8dH7Iv2uQhRdds3XMDqOnO3lE9jt8G62AjCqzy7NAxl6EQnhoMlklK5Lq2NGFzyUn9DioxH6EUjZaHbgSH4aeK8r6BjmPQazn35xOTkNBPmikyPkM71YnnL9ViydojUGVfgta6SHj45IcJzclfDA44kHrkHsWODmFlRMTJt8RqYB3xr2w0RZaSFPO6PN0FnVmeLoXy1bbmc56TRhfM79Oavzv0qGE2sFL0iEM58JOu6IspMtO2XzYmOY1xpxzboLSmDmGIWPeWdKVZdbo6YswR1O8yqW6pTLC1_LZKivEyX3HO3jtCFek41XHtkQQD0BxB_UDbO-UniySdY6xD8pjAdHtK8JaCS2vbdrzlk5eRoBZgN4LH0kCoE9y9A1g4DIE2c1hCu7e_uvDe_FiCQxE4jlIn1OnPVDWQjH2n8yry2ZufY75uwaso03cstVWClvU37AnoAt8QEI_UftoMp9xNJyKB1daTmkf2Xez4rFRmaW8D-q9rVrKOCuJyt95pKaFzeHGe-K3bPAM0-5E1Cg2sjnX1VqN4OyUHGZU0sgkTf95Nx_yQUiK9BNoawrHRHQetf1ZM_ctvexlh2clldK24ebXfcFXjJIGltr_HQmFYsoz6IobIWX6Eh-fDVmZE_FTOUu1LbNn3kMjAUQV-u9Ael1uLf_IflA22rTdYgv-HoMO_MQuRKlhRfbyh3zXlyZQOMiTZFd7tMAjiM_Nm1mGUveo231ySj1tZpiB3Creb-uJwNSKAddIxtXMNqs6OJ68CbezRjAuInTjLKYpIcysVhprvMwa8OUh_iVdoMKN1vv1-RQMiSiptGMiCpB0eyFvvKRqpNePJNtx_3p9X-encJTsPNnuwQyW51Nga7bLXG40nvNoSodgTU9EqaXoBBdOYeycTmdHmDsHL2mTP4KpPwW6LxanNLKKQGM8fxsglVB4itQYT16sVKGdu4fDe8h8At98gnyPuUo9VcUim1TT3ADMJK_R6bKzbvxww6SxfFuS_mhcrwNc1fKkmuQnT8pZVAA8rvr2aKsON1smQ8vdHj9cjX_Bwm5ihT4NWsQA-cqtLKGXpWs9jVvThEIafPCAEgCiE3kEXwhFxRnCEgiukNNl-vxFZpD_Z_HiDz-cRHQ307TltN2Xiw-RLZlWZzLRjR2nQ2NKg4wmpNxdEiTubrbN_k5M55kde3gEihrUxS0EQVC3vzC_Vh27K4cTzAH8acfIN1MWua6JD3SOM3vyfnnT38OLvV4MxVoG1cl_cg4fZm6b5HVAr0cvv5JGg0tJbpqqsEDG_YJWqvsQ6TKcazXDLelyWCe-13KMYcNXUYGoGKcw491XEyYBO9qxgkqNzzfFdy-Ajs9zMRVNQw67yLvYkziFyBUuzoO50kT8qahvo6eeyDcGNR3k3FpONZIdXlMyp6n9r6NLBHA-CyGRHQqje3zESmEi1h5rTA0lKo7IIfMW6tFoOFK-MiOD8wYaFXWY3Ak1o0nF2IkbXUSjKONyfCnmfBv4lKmbUBzL4UywC0_df_VI--o9JVyi0qIBnxZivTLmRD9xHp7-nq3161uA6eF1Mv5ZcYhxLB0pTQCCtEtEzh5SuOdmyg2ExCDBuV3XdwOvg1eSJhKQTLs1whttrdoLy-Wy_68Bjuy39R8ri2-uDQZdNfGGX4i3TV13okPHGoadBQzgu9jXg3u1sr_zEf9gQqkfKVdOnWZsGqJzCcGUJ9fX8_7nV8PfcidLQsS7x0Q9h0vPy1LsNOFowI4u8arUARkPRFLWOWFMKNxKQk9l_1TzNydUvmKQfLuw==",
  "id": "rs_0ace0ea9c10c8ac9016ab41d9d461887d0bdaac66f8d3b61ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.016,\"right_x\":0.252,\"right_y\":0.329,\"right_pitch\":0},\"note\":\"The pen hand moved away as the cap advanced, so the grippers are blocking a two-hand insertion. I’ll set the pen down while keeping its tip orientation, then withdraw the right arm and fit the held cap without the arms competing for the same space.\"}",
  "call_id": "call_3cPctIZFYqsf7OFHQtc8I6iw",
  "id": "fc_0ace0ea9c10c8ac9016ab41da1825087d0879d3e303df9c56a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3cPctIZFYqsf7OFHQtc8I6iw",
  "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]: [-0.8593, 2.0789, 1.8603, -1.4075, -0.9615, -1.7275, 0.0581, 0.9947, 1.7916, 0.5339, 0.5865, 0.1829, 0.0254, 0.0792]\nstate[eef_state]: left_x=0.3677 left_y=-0.1992 left_z=0.1774 left_yaw=0.7872 left_pitch=-0.0408 left_roll=-0.0647 left_gripper=0.0581 right_x=0.2426 right_y=0.321 right_z=0.0035 right_yaw=0.8161 right_pitch=-0.0981 right_roll=-0.0963 right_gripper=0.0792\nstate[joint_eff]: [-0.3487, -10.2222, 5.5043, 0.0317, -0.5934, -0.1148, 1.033, -0.5265, -7.4598, 4.2325, 1.9805, 0.105, -0.1148, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a84cbc7a028da08b76683be1229aa2d384f4ae6ffa32db1c5e1d51f15fcda19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f466d314018d0d02bd821f5a61c2e8807affcade96e7b02c1a24ee7c8bbe3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9202da571e655b0ebad08d82895fdb3597e1b51305ed0b5517868f711d3fe480",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.602 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 134 changed as sent

message 138 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]: [-0.5201, 1.2594, 0.9375, -0.8402, -0.9047, -1.0985, 0.0581, 0.997, 1.4368, 0.8608, 0.02, 0.21, 0.0479, 0.0734]\nstate[eef_state]: left_x=0.2979 left_y=-0.0064 left_z=0.1784 left_yaw=0.7537 left_pitch=-0.0345 left_roll=-0.0169 left_gripper=0.0581 right_x=0.261 right_y=0.3425 right_z=0.1625 right_yaw=0.7845 right_pitch=0.0187 right_roll=-0.0706 right_gripper=0.0734\nstate[joint_eff]: [-0.4581, -4.1504, 7.5145, 0.9841, -0.4811, -0.0659, 1.0379, 0.7863, -8.9778, 6.9812, 2.1661, 0.2515, 0.1294, 0.569]",
      "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]: [-0.8276, 2.0781, 1.8645, -1.3701, -0.9695, -1.6772, 0.0581, 0.9958, 1.4448, 0.8387, -0.0696, 0.1864, 0.0376, 0.0773]\nstate[eef_state]: left_x=0.3792 left_y=-0.1921 left_z=0.1796 left_yaw=0.7899 left_pitch=-0.0339 left_roll=-0.0661 left_gripper=0.0581 right_x=0.2488 right_y=0.3304 right_z=0.1314 right_yaw=0.8078 right_pitch=-0.1017 right_roll=-0.0895 right_gripper=0.0773\nstate[joint_eff]: [-1.8256, -9.9487, 5.1214, -0.1392, -0.5201, -0.0855, 1.0379, -0.5265, -6.1744, 7.241, 2.0147, 0.4176, 0.1636, 0.3492]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8593, 2.0789, 1.8603, -1.4075, -0.9615, -1.7275, 0.0581, 0.9947, 1.7916, 0.5339, 0.5865, 0.1829, 0.0254, 0.0792]\nstate[eef_state]: left_x=0.3677 left_y=-0.1992 left_z=0.1774 left_yaw=0.7872 left_pitch=-0.0408 left_roll=-0.0647 left_gripper=0.0581 right_x=0.2426 right_y=0.321 right_z=0.0035 right_yaw=0.8161 right_pitch=-0.0981 right_roll=-0.0963 right_gripper=0.0792\nstate[joint_eff]: [-0.3487, -10.2222, 5.5043, 0.0317, -0.5934, -0.1148, 1.033, -0.5265, -7.4598, 4.2325, 1.9805, 0.105, -0.1148, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a84cbc7a028da08b76683be1229aa2d384f4ae6ffa32db1c5e1d51f15fcda19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f466d314018d0d02bd821f5a61c2e8807affcade96e7b02c1a24ee7c8bbe3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9202da571e655b0ebad08d82895fdb3597e1b51305ed0b5517868f711d3fe480",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2m4X--FL6NAtWGtboJ1jwKGQecK4HsaFiUjCDyillt5nMYILq-vDfk2QMrMSOqdvOijeaREOAtrCvRMzr_8aa8-9vXsFhdVna3He_TjtcJFfz6V-c91hFOYGtfX2uX--Q0dyNpWqgPeaYpRqjw9R1R3ObIfz2jXLq4S-MMlHyJpYoqsjPStrU6p53Dj6iLCNvcHtAlzFGvwN4-s8akxj42caCWrGgWDlpKKZ6jvuVtifHHJ11v9fRaH2F-o-YFAvm2WW2jPNJ49SrVEy5toR8FYgF00LlyI9fYbEMSfJW4URqIUSwxzUKfT61iq728UIPZFxtCuNpjBxUnQvy895ngcA9Zbivb5VgR66y9MU6MJTXcjNW0ur7tOxjCFpaE9kqZnLaHaBwfW5aNc_T0XcCRqCs69yhG_C31eZqgL-Zt8Tr9WyE7A1XddyzFO3SbkxZyvbno9NUeelWdMHSRYlOI_uVymFF66Zu5HXwo0H9YTm42GBcZb3mvG-Cva3cyO6NS7a_sII8K6tYJs_exFcp6h-V5Jbuw4EkSxVJav2kQbX5tjlsH5zpPzjPvGPYDXEiN2mAo5VLEpTjEWfCyudDNffAJRwIf2K1ipuRpG7_YvlY5dtVowYs2OZH3ZYaZaJmk8S5q6f7Cy1cDzxr6nABT9qhKZkDrI_0teTv9lc3U43vMvEXp_lNSQW9eC_lj9NRimZfwzKkIsStTEhkIbCjJYd1djK4o58azVbHJiVo7M4f-22K4Ryg56pA_otYSroOu_0MiURtRPAmjkBYZe0ZPNknS7DZ1mdW2lVp0XUhpsrIXpNM-FpyvS_NHe0CgjSg-m5zokzBLmtkcxFiX2ppstWX-bsHt070Q8iK5exXchV4jzdGswnML8aPKuL8G_-WW4IwEAQMSm4wXcPBJcbWSFLMZsEYQJL-1syO0ukzdNrjDxP_PSaxS2XnS_XGh8bbXxcG1nOycx7B4kfEJ4Zz-L1ACyu3A6XEGHNTmNGfN0--eTAAm5hPbWgpCx4rP6xGy2MuLOVLPnz_2Q2OxLgrL1Q8qexmPKZ2hghinWSltapHWxSEaV4Sq_MTV2igOUlsHaTIn9_kXDwD8hoZBzFVwzmlie-f2HGMbF92mSw-OIvny3P4s6zygXSIg3enuBZ3WhNUUfFJHvnayjlwgIC72UPXEnMd0myoqgdpgP2AeE2aWo_GYEpLHb8zVi2xINU7wX8gN2uPHvceLn46bHvY_kriZHSoM9qDIACztCKAfaZOvzAu81PtOLk_tnOaLcdmkxiYIJKu7af2SJFe82VMlDRPHjb22kTgdiimltUpo1ax1iGAC8zmR6ahvShKYMg5wLjZxH-fnJ_mmzdxK4Y5aNlaOn4OnVWf07AK0n_gqPHmI_sOZI8hdCwzmSjm_sYPytSsM7lbSxRv3FTve53wbBw==",
  "id": "rs_0ace0ea9c10c8ac9016ab41da504b087d0a5b1cfef0e026b50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right gripper has reached table height with the pen still pointed toward the cap. I’ll release the pen there before moving the empty hand away.\"}",
  "call_id": "call_OS7088wSsv8n5sC3x2pJje9F",
  "id": "fc_0ace0ea9c10c8ac9016ab41da5900487d084d3e522e027a960",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OS7088wSsv8n5sC3x2pJje9F",
  "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]: [-0.8589, 2.0789, 1.8584, -1.4029, -0.9607, -1.7271, 0.0581, 0.9947, 1.803, 0.5297, 0.614, 0.1825, 0.0196, 0.9949]\nstate[eef_state]: left_x=0.368 left_y=-0.1994 left_z=0.1768 left_yaw=0.7873 left_pitch=-0.0418 left_roll=-0.067 left_gripper=0.0581 right_x=0.2433 right_y=0.3222 right_z=0.0031 right_yaw=0.8197 right_pitch=-0.0868 right_roll=-0.0985 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -10.8239, 5.7915, 0.1294, -0.5397, -0.0171, 1.033, -0.0479, -8.0889, 5.1214, 1.3602, 0.0562, -0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6f96048c57b1cfbc327809c728459e5f8c6ada071e493d82725d8f842d4c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb060b7e8530d4211121f6e1b5ee531ccce1d13a9e08553250c4376b2644e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe18ea757eab50aa2c5089eaf72d9cef0c67a9058163884a972428eaca404219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.515 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 138 changed as sent

message 142 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7761, 2.048, 1.8492, -1.327, -0.9699, -1.5814, 0.0581, 0.9894, 1.4448, 0.8429, -0.0525, 0.2165, 0.0631, 0.0744]\nstate[eef_state]: left_x=0.3906 left_y=-0.1742 left_z=0.1874 left_yaw=0.7879 left_pitch=-0.0322 left_roll=-0.0451 left_gripper=0.0581 right_x=0.2568 right_y=0.3282 right_z=0.1371 right_yaw=0.7627 right_pitch=-0.076 right_roll=-0.083 right_gripper=0.0744\nstate[joint_eff]: [-1.5111, -9.5521, 6.694, -0.1001, -0.8034, -0.0269, 1.0379, 0.5949, -6.8991, 8.1026, 2.254, 0.149, -0.1978, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8593, 2.0789, 1.8603, -1.4075, -0.9615, -1.7275, 0.0581, 0.9947, 1.7916, 0.5339, 0.5865, 0.1829, 0.0254, 0.0792]\nstate[eef_state]: left_x=0.3677 left_y=-0.1992 left_z=0.1774 left_yaw=0.7872 left_pitch=-0.0408 left_roll=-0.0647 left_gripper=0.0581 right_x=0.2426 right_y=0.321 right_z=0.0035 right_yaw=0.8161 right_pitch=-0.0981 right_roll=-0.0963 right_gripper=0.0792\nstate[joint_eff]: [-0.3487, -10.2222, 5.5043, 0.0317, -0.5934, -0.1148, 1.033, -0.5265, -7.4598, 4.2325, 1.9805, 0.105, -0.1148, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8589, 2.0789, 1.8584, -1.4029, -0.9607, -1.7271, 0.0581, 0.9947, 1.803, 0.5297, 0.614, 0.1825, 0.0196, 0.9949]\nstate[eef_state]: left_x=0.368 left_y=-0.1994 left_z=0.1768 left_yaw=0.7873 left_pitch=-0.0418 left_roll=-0.067 left_gripper=0.0581 right_x=0.2433 right_y=0.3222 right_z=0.0031 right_yaw=0.8197 right_pitch=-0.0868 right_roll=-0.0985 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -10.8239, 5.7915, 0.1294, -0.5397, -0.0171, 1.033, -0.0479, -8.0889, 5.1214, 1.3602, 0.0562, -0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6f96048c57b1cfbc327809c728459e5f8c6ada071e493d82725d8f842d4c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb060b7e8530d4211121f6e1b5ee531ccce1d13a9e08553250c4376b2644e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe18ea757eab50aa2c5089eaf72d9cef0c67a9058163884a972428eaca404219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2rpbr_73yr3gK-O1bn2QCWCNYOgYhqQVZuJqqykynAiKV5dGWEB0O9UuMjaZh39yNCGOjfQd7Pv8a0pNaaYBjn27ctXko1BOw_SiZxBOwyOeGCBgrTJVNQf0x4qHMSANzqi2FYHy83c5NRpZFRYqaoPdOosucCXvopOFzDycrdscokyD2ASnr_4waUTXGstghIBsf1wfA4F_Pa9Ybfz4bR98S-deSfVAwdQFVQgvo2n9q_zvCziq7M27BezV1qM6Xg9JznmtNsH_BDUlkiyGmwWYZGkDkvjMbVURlR6MHfiPbuPOTJ5BEm2Eex6wAxaa2q7XplH9FVDIMV1QvMeoTUbQ5NmJMg4FyqWp5KtwyrI--V3Rwj5swaVb06VVWXhY68CIpijgBy8qhCT01r5-RtNxS_RwZi8P6JM7eMavUvWmoYBz9azAR9IrmwLyGfbAIFXPd_tLS2qvf30yb-Fa1razaAEjT2-cnhWtmttzjQvIb8eIZVvjNR3p_y-MzJlWkFbDV6affqfA7ykceZEQuPjsuavZkq1WxUJvL-qHH9R_l7y4vjga5g3MJ0bT63RxS09cMRLrNYGBr_YxabNFk7AKDWVnmdtv_qqxGWUSCMNnR5i9xcp50DfGGH2WACX37Zb2aE6b-K9bdV_tA9bZhUrdd4DZBw3mnUNd7y9q6llGRBYzPMh_F2_RrIDO1bXWmnMWIxbP9LEIdDLgHJ3iLjd94thFc3kQNTFBXknOAuUsCKTUOzIRqeo6o4SK7WVoPdywECeEe-RRcP4Hj7tJ1D5SpLAuUSqWooCGyEzmQpjRQfGYA1SHD-5TBp7pcur5LX5MHTbjkUuzy0Y3Ede4-Nji0yC9Iu77hSRmc-a8yHNFKGgDcwy5EiqKKjleMVQikohCMhE37x70I1Hm_dOpH5dNHp_WXhbbwZ3qqyFzVqM3mijC6VWbFT1cnbZJc-nnW9su_gLkQHx_T7oWxXBijWd-g2Z5Scn2mP2Y4BqjyEeVa97qnr03g-YDYfTAvPJDJ6ISgNNVL_sfTaf-SVyYgJWlS5o4Sak58r_PjdBWksEffaC3Yq4vSnUrNEpazbuzZFla6ar-z4r-Aijzyz9KsOmQ49bu_y2ZogBOR5BQEy5GNLBNKF--ZDWyPKR-RRhR8ywQKHSRbjtsXn0qHy5MuhJHoi02CcbRj1443SsmMQ-tsPAVH5Z4DWqhdD7g0HM8hL1G_rGVK_C_14cf6cGEwWK_zGF_985YXOrZccvBQlWSRjlLpMQ0Np5i8tDPSfjNqpd_ExiNbKEXFDlY2iHEYYPJB-n6ivZWVpdAXVhbD3y0On2bMEUJl3DrtZi0kAKPbsFK2IfPrxfSXBIow5bbqqFZxfpN_Z0W9MH7f0PTWGMM50zTM9wdm5BUKBdZXz-S0eX0vrwEzmJnpKQ4tlFIO1AnWinWexfTBmHeaRZ4fPnlUuLMmwY-nsDQ9kBBJ0dhIneaczZBqTLi8sbh92o3VZp7L689ZwbHR2Xp-w99Ba8QcOkXo2dug8yADF-dbCXCCARg7jYkjnZn2eMeieSHI12GHuK-Qyg8CvWRTlkDVQPl6goqPZ1aPUpGQDPVKi6Ghb",
  "id": "rs_0ace0ea9c10c8ac9016ab41daa41e087d09dfc4d9b63c4f3c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The pen remains on the table between the open right jaws, with its exposed tip visible ahead. I’ll lift the empty right hand vertically so it does not sweep the pen sideways.\"}",
  "call_id": "call_ygjF3oDzXCOXO5YkJiwSSfd5",
  "id": "fc_0ace0ea9c10c8ac9016ab41daafae487d0b54f347b90ae43cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ygjF3oDzXCOXO5YkJiwSSfd5",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.0789, 1.8587, -1.383, -0.9569, -1.7275, 0.0581, 1.0004, 1.3911, 0.9131, -0.2913, 0.1478, -0.0078, 0.996]\nstate[eef_state]: left_x=0.3706 left_y=-0.2011 left_z=0.1762 left_yaw=0.7898 left_pitch=-0.0471 left_roll=-0.0872 left_gripper=0.0581 right_x=0.2316 right_y=0.3194 right_z=0.1422 right_yaw=0.8672 right_pitch=-0.2001 right_roll=-0.114 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -10.7966, 5.7778, -0.0317, -0.5641, -0.0317, 1.0379, -0.4718, -9.4701, 11.0838, 1.9853, 0.3248, 0.3004, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a1711fa51f9e23ec63afe09a7a586f19e328c8cfdc712102f0bb19a634ada6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728211cf73c8a731a443d571022ad30b45299fa82301e58316e11c95ed24677e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51be93dbc4131edb50507843a5d52209b7160fb28745272a1c4c862682ca1f26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 7.999 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 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]: [-0.8276, 2.0781, 1.8645, -1.3701, -0.9695, -1.6772, 0.0581, 0.9958, 1.4448, 0.8387, -0.0696, 0.1864, 0.0376, 0.0773]\nstate[eef_state]: left_x=0.3792 left_y=-0.1921 left_z=0.1796 left_yaw=0.7899 left_pitch=-0.0339 left_roll=-0.0661 left_gripper=0.0581 right_x=0.2488 right_y=0.3304 right_z=0.1314 right_yaw=0.8078 right_pitch=-0.1017 right_roll=-0.0895 right_gripper=0.0773\nstate[joint_eff]: [-1.8256, -9.9487, 5.1214, -0.1392, -0.5201, -0.0855, 1.0379, -0.5265, -6.1744, 7.241, 2.0147, 0.4176, 0.1636, 0.3492]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8589, 2.0789, 1.8584, -1.4029, -0.9607, -1.7271, 0.0581, 0.9947, 1.803, 0.5297, 0.614, 0.1825, 0.0196, 0.9949]\nstate[eef_state]: left_x=0.368 left_y=-0.1994 left_z=0.1768 left_yaw=0.7873 left_pitch=-0.0418 left_roll=-0.067 left_gripper=0.0581 right_x=0.2433 right_y=0.3222 right_z=0.0031 right_yaw=0.8197 right_pitch=-0.0868 right_roll=-0.0985 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -10.8239, 5.7915, 0.1294, -0.5397, -0.0171, 1.033, -0.0479, -8.0889, 5.1214, 1.3602, 0.0562, -0.0269, -0.1099]\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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.0789, 1.8587, -1.383, -0.9569, -1.7275, 0.0581, 1.0004, 1.3911, 0.9131, -0.2913, 0.1478, -0.0078, 0.996]\nstate[eef_state]: left_x=0.3706 left_y=-0.2011 left_z=0.1762 left_yaw=0.7898 left_pitch=-0.0471 left_roll=-0.0872 left_gripper=0.0581 right_x=0.2316 right_y=0.3194 right_z=0.1422 right_yaw=0.8672 right_pitch=-0.2001 right_roll=-0.114 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -10.7966, 5.7778, -0.0317, -0.5641, -0.0317, 1.0379, -0.4718, -9.4701, 11.0838, 1.9853, 0.3248, 0.3004, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a1711fa51f9e23ec63afe09a7a586f19e328c8cfdc712102f0bb19a634ada6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728211cf73c8a731a443d571022ad30b45299fa82301e58316e11c95ed24677e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51be93dbc4131edb50507843a5d52209b7160fb28745272a1c4c862682ca1f26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2wxOxeCgCRMb7Bc18rvv64ZDfycf0sJYZeHicGbEv4K3ZC3ZrbgCapiskcdSIQKZCCwclhHAfxHmdYxAiMeIvuvh8JnZxhaTlFOSmM2G-06AA0SHMbh00ewpXbCKDnMWE4XDkv5GfeJ1_ZNT1DBL92SPxKOVYO0VrQFIQU7oSXu06ujzzhh_L0AH8PWBaxzrHUOzJfO95uOEPbpWPsYst8myxlsNx5JtHUOFOtvR0teQS_T4DRC8LV2atZUgOrwuneT-u57zGaJReQpfOSrgKnGhig4NOZVvmikoCBmk7ra8UM9C6R0lGA96HrMPfuubJkP6BYXjq1s1ieqC8247p4vsUrWYXFi8_V_2rqIiyKgEPPvBD2Q8M10-fq35GkQWcPSpTYayG6alQ6YmXf6pdCg3H5C84-EDIxHpAUxsNMvieSyR43CE2lEup4AvkD5CCh77gozmbRjHFQ8eiwl1ZC2lC-pIqhKiiQztyrFbhDTSyRRnEXmGXhZiSoi33xk6lrPhUBebKoKM9erCkpRGKq27o6D2JoeNRSbVaXxTCW5AZxuZdDN7TOFCNbdnpgFNC2fOkicFLJt1cLhiLLAk8nU1I4e1Vsf12Povzuybkm6Er0bmsLpSo3faRZNcnwNBdrUghiXGAGv-iY-RG14SIA_fNOLJUU-I_FtAzS-0tzfhu7cF7X57yK3lCMb46PICG5SyGMjTdfAOlHH0USPT2s22YYqtPSof-hSbNqrqoyvV8fWxCxdj2G-u9HbY_8UADGSfwWOcDcxVP1RWLVf-nBdbt-_tyOBIC3hN7GwHlSDArAIN3VO9iGsqA1j4kf4EEXTSDoBs12FBYWeTKmva3ga-dFi8lfuZiiPfu5SMpWzL1qmBIyohj3iSnypytwSpoPxUHrTIoRrvPXsLTZyqyxjM1fs-LSwZGjpCoyBgsNtjFomdGo3mS-PeCAdCYqEFrpx-OlmbNK5TDU8sYvkoka9CdQ9a9BA7NMvKv3pWB-7lTVn12kCGUGIURwqI-yJEytzy3XkKX9lQCnvNRWEdyWACpThENtUj_pJgUaLljcAc2u9dnjO5KPxqZv9oSgbQ8BaZCF3GQVrMgVVKJwHJsnykqtDvFqdeTmMLnxMN2OhBH2kzLhlTMIUkWTtvljPE54sBb1R4o-PiR-a2k0fTNX49STepQLSYmSBQE6GiEKpP2kXBkz7JdcvooS0E77T2500uQtK3N82FWZHtxP1ONAIdRPx9hmv_t0FiQLPpHplbgMfgcfAHCp3DprMkdUURl-cB1f7kgwUsyJiyn_SJxPWEG_GWqcEcIjdvAq22Nee1Xp0CVhAnmfTJSNLePqTM71ahHq19Dj9AAR8I4gxncNpqhzZ0ENXm0NFtbW2-LEjpQNdaqfO9qz3ZrYMzr15e97T_mE9ixj7bqaDwm4pgeTv8puIZymwQDCaTUDti5gY5zu4QktZPoWPGPI7CuncyPcxt3eWmcCxzvxO-wgKjq3vw==",
  "id": "rs_0ace0ea9c10c8ac9016ab41daee17887d083278f8472123083",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen stayed on the tabletop when the right hand lifted. I’ll park the empty right arm at its home side to clear the overhead view and leave room for the cap hand to approach the pen tip.\"}",
  "call_id": "call_Ti70JExjvjBQc5ysCvN2cQHh",
  "id": "fc_0ace0ea9c10c8ac9016ab41daf822887d0a7ecfeff5fe42e57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ti70JExjvjBQc5ysCvN2cQHh",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.8562, 2.0789, 1.8584, -1.3727, -0.9501, -1.7271, 0.0581, -0.0139, 0.7937, 0.5961, -0.4107, -0.0193, -0.0166, 0.9961]\nstate[eef_state]: left_x=0.3711 left_y=-0.203 left_z=0.175 left_yaw=0.7889 left_pitch=-0.0547 left_roll=-0.0963 left_gripper=0.0581 right_x=0.2895 right_y=0.003 right_z=0.1701 right_yaw=0.0015 right_pitch=-0.0462 right_roll=-0.0045 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -10.865, 5.8872, 0.1734, -0.525, -0.0611, 1.0281, -0.4581, -0.9641, 7.3231, 2.1758, 0.0024, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c93dec285a8291ea842355144c4c866c42f00215a82894cab86721f89501b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af49edc308e8eac47fe850c6e6ac5eebca244514c86f6fa51c39adb814a2ea3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a9f666233c4d6e23dbe05e598d309ce2598d117e1657ae54ed210c120f2a45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 11.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8593, 2.0789, 1.8603, -1.4075, -0.9615, -1.7275, 0.0581, 0.9947, 1.7916, 0.5339, 0.5865, 0.1829, 0.0254, 0.0792]\nstate[eef_state]: left_x=0.3677 left_y=-0.1992 left_z=0.1774 left_yaw=0.7872 left_pitch=-0.0408 left_roll=-0.0647 left_gripper=0.0581 right_x=0.2426 right_y=0.321 right_z=0.0035 right_yaw=0.8161 right_pitch=-0.0981 right_roll=-0.0963 right_gripper=0.0792\nstate[joint_eff]: [-0.3487, -10.2222, 5.5043, 0.0317, -0.5934, -0.1148, 1.033, -0.5265, -7.4598, 4.2325, 1.9805, 0.105, -0.1148, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.0789, 1.8587, -1.383, -0.9569, -1.7275, 0.0581, 1.0004, 1.3911, 0.9131, -0.2913, 0.1478, -0.0078, 0.996]\nstate[eef_state]: left_x=0.3706 left_y=-0.2011 left_z=0.1762 left_yaw=0.7898 left_pitch=-0.0471 left_roll=-0.0872 left_gripper=0.0581 right_x=0.2316 right_y=0.3194 right_z=0.1422 right_yaw=0.8672 right_pitch=-0.2001 right_roll=-0.114 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -10.7966, 5.7778, -0.0317, -0.5641, -0.0317, 1.0379, -0.4718, -9.4701, 11.0838, 1.9853, 0.3248, 0.3004, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8562, 2.0789, 1.8584, -1.3727, -0.9501, -1.7271, 0.0581, -0.0139, 0.7937, 0.5961, -0.4107, -0.0193, -0.0166, 0.9961]\nstate[eef_state]: left_x=0.3711 left_y=-0.203 left_z=0.175 left_yaw=0.7889 left_pitch=-0.0547 left_roll=-0.0963 left_gripper=0.0581 right_x=0.2895 right_y=0.003 right_z=0.1701 right_yaw=0.0015 right_pitch=-0.0462 right_roll=-0.0045 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -10.865, 5.8872, 0.1734, -0.525, -0.0611, 1.0281, -0.4581, -0.9641, 7.3231, 2.1758, 0.0024, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c93dec285a8291ea842355144c4c866c42f00215a82894cab86721f89501b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af49edc308e8eac47fe850c6e6ac5eebca244514c86f6fa51c39adb814a2ea3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a9f666233c4d6e23dbe05e598d309ce2598d117e1657ae54ed210c120f2a45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ace0ea9c10c8ac9016ab41db48b2887d09cf4dd29b6c62357",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB27VIufrsUuWc32DkZ-nRQOvy6mE5KXZyTLJzspvVDSP7eKBgE-NosXzHnyHD-TZBLZVXisx-Hx90BdLDYXnXba5Xbzb3ccT5yStRqmjkxP96Rjq0j04HJwTTK4JOzHR9B0lIrB1G_wQQJN3mIflk5h_ZIYOtlXObAs5fEX4fqW6QvBxxBGMhDOZrDsAcEBdXFPvB8TVPwPFOHsuy0IPpcfciUBDftA02H2QY-EQG6HKKUWxyZ7L290FxKeOZj2otvDtsOSh3MfRUkYaBLND9r8tENwCzMgekNiQD0Xwu3EEYRcE8HNUXJ20v2Q6wVlnOtSmIi87s5i5bJuENjk337IiAHy8l1bjFCRfxplzE7YG1DSlysooAulFmGz5t34RjWkN1pPcMMm1Z5V4Q7O_Vcmf_ovYLEsTro4r-GRMSNVjMjbUoId-untR_3Rf5cV-zDcyqutJAqhk03NK2keQoaZRRJGT7F4Sml5HGHZWQzDKcyxbC_mK3y5fB4reFyYeskuKFGzMzdp8yKDrIyUwxEw0mDWc-U60T01mZWn7yRME3dUT9TGm2wOsjwTQ7bH26xFF3KmpyOskD0HUgT2rXArQ0tNqJSfq8t8j5Gt-76Nk4kBkZ7d8hYrvMnG0EK30gxQXEa4n0sCsH2YjB8y2-3R8evJp3j7cURaXYYE3HRwSIua9WdOudWyWJdNg2IWj_Eksz-akb8kf0-jyikZkh2nqBzl8hAPvu77b8naFZtdOM6mRWymyyYrE9RKmxhmXjiLZUlxMy2czJI3ViELq101Nn8RDJ5NIGnz7ZgerEYdCRKogzvoJz1m-Zd5As33TnBzDgnWuIJ9feAJZnckjZYde0ybCofBqqqHBmesPJ8dx3FL3PW4Q_f3cSBlD7apcQDXxjYXE3pCL5g4elk_6WNLrwa-DcuC7L5KmTBW2HNqpuU2yUdlX_xLBpfPFBkbY2uv9mNm0ZvDpAEbieCiqUgE79I7s-3NeKNRYFMIOR7aVO677oIlxCZ4DeDvrOYbg8NDFWVt_lZpW5fGbQlHvxPyFLLBsARmo-xy_msDz0VLR-b0w4vkGK7B9jh7Qdkbg7VVI5jNdUCntGZaLT0azTaaLQOBWX2IJjVRg58RpHazxnE7ar6voIxJkOyIhZBPlwx5e6cZqjiDxVjDH1dVxQWpu24SzzIBu3Kv-6thS2r6zw6Q5tt_jeOf5URyCK8RGLXwf-UTE8lDQybOr5-lgQMkWkvGqQKgj_q1t4FtHDPlYCiuppDVJintkSsdiMB8Y0WFc0_V1Rp7paM8rbopLIMeU4UJcv2sYwbxN6wCkBUVEWJsTTmEELj7mpoYpvKqO8M-QAqMcofij6gOeRx6HNfBMhGmPhbgupuh52Zq4G3QgSNglmPmHHDZ5Do_Ds87lS48UhB2ua-SD1bCvUIfB8n9QgtrsXThwGNvgEO9FpzH875GzqsFNt28jtAxk95g5aKPtNZJTmOAHuKQec0ouAw6HdUcyc9oX6dpXvqXD3zspzQApEAsTbyx3a40kSynK4srSM87RWeSMuPMjR684vcqGEJSzaKMFhSbLxyrrTKVls4BkIEQ9GzvzSxKnhJkfpw5Rr_dK5u_XZLozQ3FwOfs414Y__ICkDa_0DP2dHZVQNHZ_blpn6jVWAgyriQqDJakcPUhHM5zIpppDtGh0uJk1N-EiQq4NuPg8vilvOKybD_TkmXcXpMLoDvNHzq8glYVOyMaysDAFYvxcKzK2TrLDciwgCzzfFmWa3264NnYiBGpmtSAO70dUqRuQzLdkUjm9sCh5xlGH7LEGLC_HQ0i90j-lbRbL0WIcFqE6Ij3RwaJ0SuGGfcStBduBN3-vhNtRDnw0egfD-vKKX_0BCBmEBZKEkeWio6ZhXMFb0JxY3VOsaCtKO_MVz8-526ko44h9N-qy6cpocWfGp0ZDlT7T7A5iwwZ0PpPmbmkADoCtQsIXZtBtrJJPAbOULrNude7HBv13PIehpeYO9JMbnbBb7aPvsD47A-0binkPGpcAUCSRxEs7WdaGGaMIdXr-QLIp1RVm9OEy1Ca7t6DRHqnNnenQxyM-HS7le-JOwjRQMekcl_4du11A4WAAsJ6owL-6WB3EmPeaTzRzYsgDqdvZeRbOlYR4Pxp2t7V4QtThVvbBbsOL-0KA_wjQdIQOsSzwesrB8Bh4rtMjXIicv5BUKd1lucsWMw5gigJv6pLyLDgShhrWV6TDL4EbXWGY88H",
  "id": "rs_0ace0ea9c10c8ac9016ab41db88bd887d099871926f352c5ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.287,\"left_y\":-0.17,\"left_z\":0.1},\"note\":\"With the right arm parked, the pen is clearly lying diagonally on the table; its exposed tip is the upper-left end in the overhead view. I’ll bring the held cap above and just ahead of that tip for a careful single-arm alignment.\"}",
  "call_id": "call_5GtuRFQlVXeDq6RKptGzfgXX",
  "id": "fc_0ace0ea9c10c8ac9016ab41dba6ecc87d0b2b2f58543ba34db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5GtuRFQlVXeDq6RKptGzfgXX",
  "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]: [-0.976, 1.9099, 1.2919, -1.1858, -0.9325, -1.9015, 0.0581, -0.0174, 0.7975, 0.5961, -0.4129, -0.0277, -0.0227, 0.9961]\nstate[eef_state]: left_x=0.2894 left_y=-0.1682 left_z=0.0976 left_yaw=0.7768 left_pitch=-0.05 left_roll=-0.0268 left_gripper=0.0581 right_x=0.2894 right_y=0.0034 right_z=0.1687 right_yaw=0.0084 right_pitch=-0.0521 right_roll=-0.0046 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -10.5915, 5.7504, 0.0952, -0.486, -0.0513, 1.0281, 0.1436, -1.5658, 7.0085, 1.7363, 0.0024, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd50db43e2c0bdab8735d9860589c74b7b3ef7955e8f862c1555da99a44458ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9791c35e93cc842983a292e8e1c1ec63e1abf78eadd81aa938bedaa8171dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5100d6d7c6f8a5614d4c7630df830b55445df90fd2b014bee375d75516ba032e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 5.838 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8589, 2.0789, 1.8584, -1.4029, -0.9607, -1.7271, 0.0581, 0.9947, 1.803, 0.5297, 0.614, 0.1825, 0.0196, 0.9949]\nstate[eef_state]: left_x=0.368 left_y=-0.1994 left_z=0.1768 left_yaw=0.7873 left_pitch=-0.0418 left_roll=-0.067 left_gripper=0.0581 right_x=0.2433 right_y=0.3222 right_z=0.0031 right_yaw=0.8197 right_pitch=-0.0868 right_roll=-0.0985 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -10.8239, 5.7915, 0.1294, -0.5397, -0.0171, 1.033, -0.0479, -8.0889, 5.1214, 1.3602, 0.0562, -0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8562, 2.0789, 1.8584, -1.3727, -0.9501, -1.7271, 0.0581, -0.0139, 0.7937, 0.5961, -0.4107, -0.0193, -0.0166, 0.9961]\nstate[eef_state]: left_x=0.3711 left_y=-0.203 left_z=0.175 left_yaw=0.7889 left_pitch=-0.0547 left_roll=-0.0963 left_gripper=0.0581 right_x=0.2895 right_y=0.003 right_z=0.1701 right_yaw=0.0015 right_pitch=-0.0462 right_roll=-0.0045 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -10.865, 5.8872, 0.1734, -0.525, -0.0611, 1.0281, -0.4581, -0.9641, 7.3231, 2.1758, 0.0024, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.976, 1.9099, 1.2919, -1.1858, -0.9325, -1.9015, 0.0581, -0.0174, 0.7975, 0.5961, -0.4129, -0.0277, -0.0227, 0.9961]\nstate[eef_state]: left_x=0.2894 left_y=-0.1682 left_z=0.0976 left_yaw=0.7768 left_pitch=-0.05 left_roll=-0.0268 left_gripper=0.0581 right_x=0.2894 right_y=0.0034 right_z=0.1687 right_yaw=0.0084 right_pitch=-0.0521 right_roll=-0.0046 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -10.5915, 5.7504, 0.0952, -0.486, -0.0513, 1.0281, 0.1436, -1.5658, 7.0085, 1.7363, 0.0024, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd50db43e2c0bdab8735d9860589c74b7b3ef7955e8f862c1555da99a44458ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9791c35e93cc842983a292e8e1c1ec63e1abf78eadd81aa938bedaa8171dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5100d6d7c6f8a5614d4c7630df830b55445df90fd2b014bee375d75516ba032e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB3HrxhW4g9khUXkPIxmZ5USmPfEoxw2du8joihZeRsJojzi4Znd3OSgPnBZ8L4Er0uodRS00zAO34VHkmOmtyda3x6fIHm8UK3Cnmc8OmWZw_T6WNwd-YTXm00oCCoBWmJlfjyBUOWkqxBxDFw6oSlzpVT7naJUHgPn6kEd6J5zKMUFlPST4yPXVZd-HZjJnRUZTyO6nCL-JRSj_NlPYZwu-evJJQNzKzcr8CKeiqFZaCGpLCKeuvQha3weOWo6jxwkEidMzPYU5pIUwhNtFkibnJ1fKiCxqgJHt4MMCzEnHhXRDg3Dq5dzyu_P4EoATrdZ9HTVvEy6X1FD0j83YoeRCGggioazBkjOsYQq8yYcpHhe5o1NOZ3bEDAXvpCoZsVML6Z53UJD8xALYjKrZol0ohyYh8UK5beoEEhExXn09tnmbIT-Uc7kd7N2k-6PXHvQGbo0fVxB8xvg1iTjroY7kAX1Vw2FsE-nzq3bHV9NKI0U_D_nH0qfgzyRom5J_5abedz3hDNC6g9OI848NQlg5G25PjGn56Ixy-GZjL8CWYiRipXSR89AQxj36-jsF32ev2hGc3ssRlWgbwU17c40AaWc-NURNzbRrqnXfI6xdhlqUcOSeBy_n_LmbED7y4twPI0CW2QYGphiqFbEafX1p_FaYfVjl1iIIimr1rWlIZhZlHjcPUrjp_tVBOTVC4MbuhEaIJeSr9N06LaRVOwJrkJwv8DjG44hkcV7od6N6HPQAnst5fneTV6ekrWs0cR0NkyKe2s8cMmXrxOUlr0uf_QjZo_GAXDWM8Ayfc3gKqYPyjzCJ1YEkboy10hNPylIcMtio2zcV26kM9dUY1b1ajyLH6pcot_n1A4DxoiYWVOnWjlch2FWJ4H4Z-0LFowA0HjA72U0qaG9G1JIMzMwX7sfqHtbJmM-UItl-tCDxhhiF_jSTDp9ddZIVnC7Gv1eJV0v-7AB6H_N2olLI4MhNCGxPqQq-rIFXNaAqdYrBJBCB-SVu9a-7FfBjGHUJncHHfrTaIFa5nmkebZRMR37dQtwLr29RkPqVK5I-fBMelOph0_hubjLfR6T-ehi_DSBLjkFjNN0dO1vvAej1ZjPzEsquDwnDG12Pk3ZLIwCJX22jsvsUayK6AHKI4056IKLmuDfVdv5EICPdsH1udodYRD1OlaZGiOl_unhyPQTP1kfcSobLvDYWfgy7ZyJsMNAa0bNMOQesZOrL33eyapTvWzwJiIKT4GN_WUaYOdon5TY-0jc5cvqgprHovu7iAu0EmvoP4sjSU57VTR5BYjeDuHCdSyXInOl4Lp1ZQ8USUyugFopVkoYGkZi_XzLOl_xn-lt3e2MnAsBQ3Zsg7X65KVAezZPOaHVZSaRATMBK79nrbUFXw5k1h9Gar1UR_-Mm0ZltuN67k5rmfTE2zLznDkZ1woyIKGgu4TMhR73rnJf3E3NmaC8BniHuPQWigg4wvCl_JLbFxN9rhkrSJrirApaaHohfe9rPvKgP8jv2JONQVA0qLZK48cw9tv8LWzg12HsUpa8VPFuFizlezYJecmubO7QKSjQVSVxKWteUNC1lmsDJYvQk8NOJITj_LCj6z4aAj4SH4YpwT54oH8kT85G89atSD2KFghP7KzhayoDxRxMMed1RlmRqzVRF-9ZYuiXAxoY4qKxnBoefTskv6jZyRn5tmPrqd01acd8kFsEmaNT2ZlWzgmMSX_BhFUIyktSSlFd9pFgd8o6rp16lhuRiFNS5AX2DelQJ6w_Z9CaCovv9-FfLyrq7YiReH5XXWitQPYwSS7AWcAaTDt9q8VwSVQDKJrZEsMh_fTLoglocjCeoaMGYX2es9J9Z3nBA5DqKNY-3ZgtLd40A2LLTaaNKj-v-F98UPBObDZL8jjczDFNMadv6Z8d2qdxnZTYxaDJMA_1FxU8rUxs4r4q0YGVmzB7DmPhEYGcmIw4L81o3h2-9sQhNOkvqzkuiqqvhsucd-lY3YwDdiT44emA6oHuxIuCHCEpRjJdXJSpfYmQiFzxNHFsdkmDy6kG_AiaJDseqXFvsUjSqHBmRvVLzy7lg_vFssnQnFy37mjNJkdpdALimONYCGthYnz0dzPLP6XCyY-h_kbnVo4pTryzvNdqBWhd1XewaGmmUQFHbsoZEsDX10-LaGtUEhjBsquCBqyGjrg8cL7_VeL5DEtwQKcLIPAEaSAXC0ToQXriKeaq6vtqWBu3GNbvcaBD7LO7vqu-gKKNySPIiwtAfIGNt6EDDPpLwzDZseK6FHaNH11bXSuuIPOOSgo6W_d1motlBQNcPxrJu8WWHL_thEOObMMtyn-M7okPUwzc9hw75umtpwmoEcEonvD88KZ_s8m1DHfzNIvuU7liUKV_1dllBjJw9eqnq-bD_N7nUaSlNIy_fN7byO5PnZ1W6ZQV5VBjnGFNLMTrElCZ4K1ok73jkIdYi06BVqDavJzgacDTYZn3JWc60Wp7or7ZPtm0vf9bDmmKYCLEJkC_purx4q42bm84sbkZsupDqffJ6yGo843xzeKgHSKWb7VSSC2ubwdj1SEZKLaHTHNpuFOXDy6yUG0zLYNo92o15pc2qEhK47eX3q-2Ip4m4edC1XhSjt-C5C6lXf_G2qeFeyDJ-etnX9cy9FHhcxQdGl_gAK8SF8OATdFDQLjq14UQq9WtRh9n2uZf7CJaSVOAK6hiy2CypM2HUXlrNfV0-1hvzGkYOPPvyHoApJQI1cElb8nBcNxqsc0Ut6J_Fb4Sy7K7VTJ1AEY0E2eT_RZQNeUVrtVZd9iks1TfQnaXAYfVZu5XOu-0xxG7KWylrzII67u3kEMNAAyvs8x9srzbzzItSm-NlaCb0xRq_hqBf9L7Bg2PEE5mQeUe6vibkr_APfspqaOOpYr7_DBLuaXle4K1aRHjoadg4fucWgII5aB84BwkduujeYrukElXZJJRJfQRPxBOcirBTrrRS473okl7K8G7PXkNEfzJwGSAxpE2BRFTSYuuh4aw7y0JBTMfUI85dX3dOBG5gJsJR0Aw1ApUZ81fznXX-E6MJA0lq9whDQT_Hay22b-J9-g42j7dPd66j4_A-U6HZlDjrxQu67f4_XWhJ37m1H_27cirK1XenByeyxC6igIqBGBZOI2PfLQV_daUUhMwuTKXYu-KvXr1a-ATX7VUEJ3F7vEcBsKXTVdg4YVe9VTN5Rg7x_B05u1njWUvjx4r40LKKKz5NgJO2OLMqtOc1JMbIcvOViOpiurFqv5ua6I79JgqWZP6mXcSsuKOWiZOOJW3zDKsitw1DxCY1ClGQ_D0AidMAkUSH7ZiR5Y_liLTdhiW22nAedaoBcuF7MYLT8Ebh9Y0YjD_KGU7bXMDIXUWkYuL9aL5XY1YrnYAnTnNHtFLaGhsDYOylTEZ3hIsY05uxdKT6RgZ_u4XsFtEBT-VLvXMyo4Vew5UHzs1DKCKWUuEw4dQjq__bffGCcHY__zs6gK2Ur_heNisIdtZ5vRLOlkvNURO7N8X2i9F2kDeNlQV4J3jTzdNPDqYDe_BYe-XO9dHWzi1_cg44nDASqYNtn_n3HvJBvJuV4TiDPZSGW4Rccw_nk_EwBVWyA==",
  "id": "rs_0ace0ea9c10c8ac9016ab41dbd5eb887d08ea9798b6376b92c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB3Hd7QqbeUC7_nxHrS2CjR1WdklpL-yydARrUqUQeaDIU4ghl1cvUhhDbnIUUjwtEy9OHwGPnkSRgZrHpT0Df5bqQ9olES2crqW8Tqk5sN6q2mlnck-05G4erk2AOe_hu64N-3k19OPCn8NVPaErgWfRxJAz2_0V03CPjvm6sju_dCEcZi9bGX9sMnBJQoexfZlrLUswnzypzpE-BEWdgAtNKAuyVZkxSYXGk1yx5BXB8LDVItWTiD8gr5iCLs5ifFhjO16krDFtDxS_c6iy8K7Pezj1k4CHgyTwY5JB4xPMWDIJuIE4t-zq_Xwj3VU6cWtbZE4sDWYXhlWrr-BI-x4aNdgafueB3z418pyUDUdNOEtD1x_z1ZqTHbZfiKS2SufOgX7lWqiB2vWmF5M5nu9fdJZor0-mo0DUw1jP0ojyNvrNkwUR8OPvZ6Wa0eYXx_fKNLCya4pRD6AofjbRfnsSE4B8QsuCu68U309vtATMSIu_VDhj0dnB8fCqXOq99r6AFlcxO2gaUJDj3SvFaVylw03V3JxyjsOX5JsOhhDsZ8W3S6d_pAKxSmu5fZ8rWjAk08ZZKiXE1PCl0oruGvofjHdRXazPmSTXAHTgY45CG78B_4YPvO4iIxdWSC6vT56lgV_MrHL74j9QAbCyix6yMT3Ab7j17pkXS5F0A9nHU8BsOZQ5Muqqyma9DShUCGoICRxRuPPTENdRgs0yHg5f49NSHbOdlRVF4fdL_T3C1gamrzJhlXssqzgOB82E-KHBieu5yhsIdw6APE2TjwGR6usG1BlUWxtrOHMEFjnjUULQrCr1_IelwEgx7aTJgxFdEhg4_FcJN28m6a8PCBdzisDSEj9_SoDjN0fqUB417csydDfSlqWNiSBbEYKnKz39tzOPVaW-lQ2QoH3JRWo7CwXcsLLQznwj5A7fgQ2eedRDhPrQ5JNoZDLsYAhwKvMU5BRin7HrFPj27D7rye04r9fA48y7eB3ipaQBq1gDAHtimfTpVYHUEdJtjS6Y2Va7geNxkT7w43xlj98gFa7XYc5z2lfezg83klr9WCsKNLl4pay42MAXhW27oCOG7SJFmGol9I81wsEVQ8qp9EztvfJ71pWHfRKBE6-1EykPAK_0Fc9vPB64x5gR2HGPj1U0d-Psf9syZ9Ltvxfmd3d7Gg_oEjfc4SuMkas6XQuTdvoJgY4tIrixgN-5U9aaeQBVRrd6Mk75_DjzbFc_UNAGHoNn4lxf0aE3KtkFib8yAMomibyrmYIFr4usPms-7NSNAr6sUdXSKawHobHWRc5KGscsK1APXU8YIAI2veaYw9teEuaJgeIIgLEXFLWSa2rmM1wBEja1paMEPkmBcefL6_nID2HHN_Xlr2VFS5Owih8KV3BixHqpgrs33HzkuS3VXWnj8vMpaxaowP_k5LLXaijVXF-pKaQi1NJ69PcOW_hwOsOB7SVgQw6YQ1JErKF5KVdsKfh3QeWvzmCIFn_5wCdWqoQBerCnAcQSWUrGvpu-n-mE15bP4jRe5Cz7_nBq3UIuNfFmlKUO_W8BnrGJWgBIUVUecY-y9SbtCIZfECaL7QNWK_3zCWkZB0rLczqlJDLpd2EeJxD2METwyLKa3R0slhPJFAyurkLvIOgAflnAwAWT_mgH9UOdMR1_Mp-_GLY5ytxi_Xz7FFbsSdHPeIhyGjk9HUk9cCK1v4LubhmS_47oGauKsILyDwfqo38uPTKGOJYSnL5xk85g6YYiVB93Bnk4voBl_uJXKuxW_HclRFmZmZpoN0D3Uu7wl3eDCswl17VKcSrxjrpHOkXSYGU7WV9DDbZ1XEDddta4mebJ9uPEqZZwx-xfd_36YxPl3Zeo2BahbpXMOqiTHc1PkE6G-lLkE1x5Cb3hEw8p1SQDOW_joKEa-YPWNG1R-zouvFdGJ97lnIwwEWbxs5g2BBGCBTub2E923ePB7jEUobwdxCqlm4VLSaXziA2fuhJibkpJTd96YAVBOs5jHOyeX-9-lG2AZnaHQvJw00b6LfSK_s5oBzFb2FX0i6zfK6L9svRCezw1FwUaUdvXEPEYmbeUORO2YLYO3YYr9SWYRrBLhVNYv5bCfllABSPURWcwPfF0cQLiG7KOa1P1ZI9It4PnbxnNgcCIri1nxySa0KF4OEP5ncRRh5Nl8cjAxIi3tTip6bUawDsTM_FuJI4vyHRY06Yy6zkUlXMqU27xQPds5WGTt822TlinLVSQMMu0I-XBYnB1w4kTwt2VHEOD-vZ-JVmNWqv6Ymd1Gb9ow3j2k4Ye8wGySfmfahC8E4tr8NxuDfvXOgzU1y0-nEvR7_L37U3dXKlFTpCRN6U0598XHpc528CYXQkuyPLZWCtJb3kY1_tZrMAEp0RdCE2Iy317szIhEX1lHvlXMpsFMc9HISStWyXR6aDeZRQd4XxWoH5ERROEXqk6VMGP8QKRl9fEo6Ww0LTLvZb0Hx50LVje2fIh7FkC1A2vJkCI5E1pDOTQucaBCWTZCrgEMw3O5_fFG_vQ1DO-OIU2mja-nKC2IL7zCQoml_6nMQPpas_QKBphxJEHSfttWbF5v5_8wr6RERiM59mOyHCWdSxOalls8gdBNjq3XcO5bsaEhfEt_3VjFbZd_GtsOM61QO3BZDAfKZaJf0eTXccYbvO6tOP4I1Pk3dUPg8e1Yr8jWRJZvIZ5fRitb7eQQG3RY_fWXg32zLO5EYIKDI9NZSQJKqkXIWjwR67HFFDLQ0R9qQvwPon-NNjogvy_0ie0xg_9k-U7HVXWqaE2PGPEWLa13kr6Q29l4AEBKDj7_BnmWpkSWo-Z-QZ_54Sm0eSqah6jPr3K49uMmdUJV4BfGEVv5ves9FcL_U4SlEg2Tk3LmqUl47r6ojrpsND9Y1Vn1SQ6diIyVUBZtLKYgQGzp_RlgbSSL6V5mDwnCLHXRy2hZroYKC7cINavp69BQtCD9eQtlm6cQUAGdR7hjaKT1olSX4DibCIA9KLPZK6kIOOKPs4lZwPYiIcE1SW7FexeoscWNHTjAbLQLQ5vJJ5eQL5JO0EGs5LJYiPifFsUvcH6f5Zg5S3cNHNRY_1_k6ZqUG-DbeISLZDkGcMxlmML4z0aX2Kq9sgLXH1c0TD0G8z7mTpXyCe7SQOAfByuFMGrBDIc0xfzqre0b2T1iiR61aD-mLRfi07bb_2FYb05Vik8q_bzumMINW6QC6-cCliu-H6Gpa55O2EsQ5AC2yVit6chddrgR1eZHF8utgzcm4Awd3yCVYDexkrR4Pk9EwAoXtELgRn_n3KR6kSs2gYfNkZOiI=",
  "id": "rs_0ace0ea9c10c8ac9016ab41dc1bbd087d0b23ed5da0b94687e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.271,\"left_y\":-0.279,\"left_z\":0.095},\"note\":\"The cap hand now overlaps the pen tip in the overhead view, but height and camera perspective make that overlap ambiguous. I’ll shift toward the pen’s estimated table coordinates at a safe hover height and use the wrist image to confirm the alignment before descending.\"}",
  "call_id": "call_R6UYc6asSwshgUkMsyKHUeal",
  "id": "fc_0ace0ea9c10c8ac9016ab41dc6247887d0a0178cf4108d8239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R6UYc6asSwshgUkMsyKHUeal",
  "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]: [-1.103, 2.2578, 1.7947, -1.4776, -0.8806, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4149, -0.0277, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2903 left_y=-0.2647 left_z=0.0904 left_yaw=0.7776 left_pitch=-0.0673 left_roll=-0.0375 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.168 right_yaw=0.0086 right_pitch=-0.0552 right_roll=-0.0048 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -10.6325, 6.8308, -0.696, -0.5104, -0.0513, 1.0281, -0.0752, -1.3333, 7.0222, 1.6874, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b25acc84df067038ce69484d25d0b283c721b06bbd6bb9c21c59dd4faa9a581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e844f27497b84dd038f6fe1bcf0e183f25fa9271a1b5705cbe6a32b6006e0917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545792840644018653131e9b4930aaca517a70585855a232fd0682eeb5309df0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 7.683 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 155 changed as sent

message 160 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.0789, 1.8587, -1.383, -0.9569, -1.7275, 0.0581, 1.0004, 1.3911, 0.9131, -0.2913, 0.1478, -0.0078, 0.996]\nstate[eef_state]: left_x=0.3706 left_y=-0.2011 left_z=0.1762 left_yaw=0.7898 left_pitch=-0.0471 left_roll=-0.0872 left_gripper=0.0581 right_x=0.2316 right_y=0.3194 right_z=0.1422 right_yaw=0.8672 right_pitch=-0.2001 right_roll=-0.114 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -10.7966, 5.7778, -0.0317, -0.5641, -0.0317, 1.0379, -0.4718, -9.4701, 11.0838, 1.9853, 0.3248, 0.3004, 0.1001]",
      "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]: [-0.976, 1.9099, 1.2919, -1.1858, -0.9325, -1.9015, 0.0581, -0.0174, 0.7975, 0.5961, -0.4129, -0.0277, -0.0227, 0.9961]\nstate[eef_state]: left_x=0.2894 left_y=-0.1682 left_z=0.0976 left_yaw=0.7768 left_pitch=-0.05 left_roll=-0.0268 left_gripper=0.0581 right_x=0.2894 right_y=0.0034 right_z=0.1687 right_yaw=0.0084 right_pitch=-0.0521 right_roll=-0.0046 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -10.5915, 5.7504, 0.0952, -0.486, -0.0513, 1.0281, 0.1436, -1.5658, 7.0085, 1.7363, 0.0024, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.103, 2.2578, 1.7947, -1.4776, -0.8806, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4149, -0.0277, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2903 left_y=-0.2647 left_z=0.0904 left_yaw=0.7776 left_pitch=-0.0673 left_roll=-0.0375 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.168 right_yaw=0.0086 right_pitch=-0.0552 right_roll=-0.0048 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -10.6325, 6.8308, -0.696, -0.5104, -0.0513, 1.0281, -0.0752, -1.3333, 7.0222, 1.6874, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b25acc84df067038ce69484d25d0b283c721b06bbd6bb9c21c59dd4faa9a581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e844f27497b84dd038f6fe1bcf0e183f25fa9271a1b5705cbe6a32b6006e0917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545792840644018653131e9b4930aaca517a70585855a232fd0682eeb5309df0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB3NhSrla1mMoo_Z84afdMR3vYpxLQgaHhQmCujqYr4BHHZC1gDwVZ2qBKYUlTi_MnjWa6DXlMy61eq47SgVBE6j5A2LPeBtYIFmbA7-8aSFz6OzMfHBHFNN6WAF_KRIQGEfUi6Gojrns4oh4jA2FhNljN4GVdzKAj3GxHonQLX1jdaAOk9ygccNlUSkvZPzTFxgpUvgbdn5m01VG-bSN_jEYHUppvbDYtqPjWu762PVVe1kh7jzF7NsBhZAdLI_oiqeSr86s18qO5rs5nSelssyAzBoBpGQcCnzs2UDOyN9mhFUdLlZrVhV12qwnwuA0c60hjrHy7DPyciIJ4BTRQpuWn7HebURP7FR62PKbBuXh700zz3aHeJ7nPPdGnjouYmkVfyVcnPsxDeI6GzG0IH6L1yw0vtV31wlS6ekQOUfjB9DlRDuoUhyGoWoYhcbP0jFDZP16QEFDCICagZMLQtABRWKCoN9F7ay-Z9fhWWHiKHNUFZEWYCmpdxEDWEgwMRt8U2OQ17n6EqsUV4poRrtpTH7g2nGbmLDWpWx9y78qGQnMwXFVQII3AQkXE5Oj-2d0bgV1_3-Czimr6V69gwXQ5x0dmnZlmkJScQShAC_k2u1cdIsXSqMo7uu4HUXOTJo4BurJAE1oCDOFRYDgfSkHuFAGkqvSFnDtkSuEH3CN9tJGXZKCvlbUa-ITFj7AgHAxCHo5lxe0ner3s0WcJwmWmks85Y5Sx2pR5x54lZtPowKzVo5CaJmz7Sc5GiiNpQpLoEinZJTfMdmhx_4TuB2RecjesZ4creXSSjGBxJ8R63hnJxCt7ig4hSCFRtvQsxSPI2AgukS9BR0bxwOpaV--EH3uBsaW8oPLUC-NQDEs3fI1tDFfbjZ2RFiRgDf108R2k-i2jt_fyi993MnfKi7QtLtkxG3kBrT--mGiRqBuGPQtD982gOPJ2nZBlv4BCuCd-M_EF4YgU-6FNPMB4qRy1ycYCkLTHfHlTpS2awO3Msiikiw6iZc_lmATpFXCa4IX06VBhe1yknkfKWraJoNV48jjDqer41mUAZH6G23RXfzrDfZd-dinGYPkKwmifJSuxqGZL5z_MSJA8fHiZ6T978sEzoBqTSROzKxEn9Ek9hZLQhPVLswmLTleixvFjJj0RKAtv4BIHpQiMq2aiwC1mY8q8xRMLHZSz6TdVHGIjJpQUgsVRuQLt-E1y1krlRzcMvRkngT_pctl8CIDN9hXaZybk6yTEtf-JMDydByXT7RWd8MsufKv8qBmZCLMPcjoHhMCXJPWsNm3CtremIvN-ghDde-A5NLXgmQ5ysFtQH-dFxPsyS4aOWDCrSDJ7U9jED0H_YHDxwS4Qx9LaFCE--e0f2Y0_Gr3bmL3UsPWnqqnFgf_DNWJmSDK38y_M1_3oipoc8wBhUWG0S88KRFlbAFvLIjG0PYwiYXhCCXBuWAGEl5BQfQIdvtovCWMZtv-c3gHSeRfjVLqgRP2axVU0BOiXUlxOmjvpRNIsuCLGDn9MM-O5dNx-jmeIUP5nSNKJGIrv-9Bym4E9egAOXD6NrGNggft76qVscESub072-_rutgTNJ5u_ud074Gj_KFhmNUiL4fztX16SI8Hb3V6I-3lhSwTA2SAwlvmwu9EWxQKpSEYuBrfQJFfCKT68ME5Xe0_Wd-7lo85W5NLb2oQi8Hf5KfsZTCGwRLREiMDO7Gc1Qaq5FG9VLJ37B-QHoLFqt-XXkXM0gOMSrtLiFcOfYn2RgrVpUIICUC2zgIaZ1m0Yr_pRWYn6SN3WkuQ5E7Ix0gvggcdY1oYxaTr_k3Y6gfy3cPRq8C3OWFbybuqFWvT2uvsFuGDgqtd7jANqGFX1C82YofHJOY_Imm-kmDheCQ9Qr7_qVoVSVcnVl8e-qxR3oaMTf_ATs8_snAAO0-7J-Ut9T7Y4snmP7NnQgIdinxDQH0_ejV3vcVfSgHth9QUezxezPzbAb5uHUX4Ftzv3b5IiG9O4wfbHJc7TF081Wl97KGQzVLbXmXOej25H8qtYjYY733i2_KVHACgwJx9kSmB-lar7lrY-fcfJcMrssnm7WdGypBJedWlust3j0QKxmAAYo8DV0Qmk-PfuS2312bZigW_xNzq3bo81E_JeqYkfivBZHFuk8Z-16gnYH5ucqxleFc36eJ5o4dA2oMQdTdX0IcGez76woI-OLQLmKahLXkCTt0Dlu4qV1eFHoXDXOab5ky9tyfJQqsZAqrO4NuBl9vDT068faGfR-afb5cndEUJC4bdcgUnjzvmIaFwptVSiEVNswkkOLtz62Jvs92I2xXTgysUI6o4r7JOymKD262Phoqlspq3d-kIWq9x7USSBBrjTLSRW9-rZuV5-GmZJIH81rxNTbdEOc6V1sUiRNcUUbiHuAItFkbkyvfSUM3twSjerls2zdeUBf4Sd7BeRI5JEq4KlOpRZyr6bEIMJSqqe6Io_LlCeVTs136dqvoLY7elPohvru84WRmqA_9woquFnZ9OQOxgxByjyYUgGwllp0D3gnEqmtuPZE8y4PGnEPriOzOz87lfEiqEtNOjSRocJCxe-FGVuIMMczN_rXD6ORFhe_B5dGoI9JwobFuXp6r-xqDFtsORNg9gFTOg1NSYKsYBdT4wPWozhdLXYpczS3SEMqwYPIXJN2DMnTdx5GBM3B3f9lpIytmD_-prkjAQ1cfoYU1HK42puj9z_VcVjh4OEuQ5p4EYONAMu6L88A9asFKkIhSqTXDLkcwogHrXvG7FSHfbpTrHtdQcpRUs9oJbCPIjH_fNOAY1CAirhzpm3wpA_71KVWF4Igky5GHr8p8Q9R_LxHBa-rIAoss59pKpX2Uf9B3-tvolbBSQEciVsyzojGOI9aY1g-YRCitCg9VMjP7pp8rZbGY0pgiMJ018NZm372yDS2Hcsbl3BTQAb9d3Xtpy03zU77sg1fiCI-Tn4VUeEcKlRDbGa28oxBthvRuZjQVPHnaR6rTqHLRv_2_Npf0qSbwgwel2hZ8HHUGU9Cu6cWVbiuZVT39yIrb3nhnGKlKh21zXaZqpa2BJxnJiaiEEIEOdimBXowJceme83lRlr_CJg1Mf0ms1oAT_0lvl2gBQk5Ni0k0dF2FoVvyGsK7Y-k8kotwsa0pS98lYCxJ1ixp0DRbCJDNl27fNwz0TjZtbeTzF1o2mMQ_UY4QXy3ETYEf",
  "id": "rs_0ace0ea9c10c8ac9016ab41dc9c9a487d0b6f9b97c05a95eb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.271,\"left_y\":-0.244,\"left_z\":0.03},\"note\":\"The pen’s gold tip is now visible in the left wrist view just left of the cap’s axis and near its open end. I’ll shift the held cap about two centimeters toward the tip and lower it to the pen’s height for insertion.\"}",
  "call_id": "call_KxiS7AoUaB37uKTleJTHokKz",
  "id": "fc_0ace0ea9c10c8ac9016ab41dccf3b487d08b6cc04319235ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KxiS7AoUaB37uKTleJTHokKz",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1065, 2.2475, 1.5295, -1.2949, -0.8745, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4152, -0.0277, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2724 left_y=-0.2333 left_z=0.0364 left_yaw=0.7807 left_pitch=-0.0505 left_roll=0.0329 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.1679 right_yaw=0.0086 right_pitch=-0.0555 right_roll=-0.0048 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -11.6991, 5.3402, -0.3394, -0.4762, -0.0171, 1.0281, -0.1983, -1.265, 7.0359, 1.7021, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfac5c893181913b4b4e3cc83d58f46ff02d9e6f972333ead23c0a2129a2eb89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe77f0e46fc3d8b898e2e2f4f14fc628ca48db70715bcf3bfafdd5467294dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be4e4201328c8e16b7c877593062fc4384f6f18bcc9c84fdac30ce0e149071f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 7.157 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 150 changed as sent

message 160 changed as sent

message 164 changed as sent

message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8562, 2.0789, 1.8584, -1.3727, -0.9501, -1.7271, 0.0581, -0.0139, 0.7937, 0.5961, -0.4107, -0.0193, -0.0166, 0.9961]\nstate[eef_state]: left_x=0.3711 left_y=-0.203 left_z=0.175 left_yaw=0.7889 left_pitch=-0.0547 left_roll=-0.0963 left_gripper=0.0581 right_x=0.2895 right_y=0.003 right_z=0.1701 right_yaw=0.0015 right_pitch=-0.0462 right_roll=-0.0045 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -10.865, 5.8872, 0.1734, -0.525, -0.0611, 1.0281, -0.4581, -0.9641, 7.3231, 2.1758, 0.0024, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.103, 2.2578, 1.7947, -1.4776, -0.8806, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4149, -0.0277, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2903 left_y=-0.2647 left_z=0.0904 left_yaw=0.7776 left_pitch=-0.0673 left_roll=-0.0375 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.168 right_yaw=0.0086 right_pitch=-0.0552 right_roll=-0.0048 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -10.6325, 6.8308, -0.696, -0.5104, -0.0513, 1.0281, -0.0752, -1.3333, 7.0222, 1.6874, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 164 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1065, 2.2475, 1.5295, -1.2949, -0.8745, -2.0937, 0.0581, -0.0174, 0.7986, 0.5961, -0.4152, -0.0277, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2724 left_y=-0.2333 left_z=0.0364 left_yaw=0.7807 left_pitch=-0.0505 left_roll=0.0329 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.1679 right_yaw=0.0086 right_pitch=-0.0555 right_roll=-0.0048 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -11.6991, 5.3402, -0.3394, -0.4762, -0.0171, 1.0281, -0.1983, -1.265, 7.0359, 1.7021, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfac5c893181913b4b4e3cc83d58f46ff02d9e6f972333ead23c0a2129a2eb89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe77f0e46fc3d8b898e2e2f4f14fc628ca48db70715bcf3bfafdd5467294dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be4e4201328c8e16b7c877593062fc4384f6f18bcc9c84fdac30ce0e149071f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ace0ea9c10c8ac9016ab41dd1316087d0a2f4edf369c928f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.244,\"left_y\":-0.258,\"left_z\":0.012},\"note\":\"The pen tip has disappeared beneath the cap hand after the sideways correction, suggesting the two are aligned at close range. I’ll lower slightly and slide the cap a few centimeters backward along the pen’s axis to seat it over the tip.\"}",
  "call_id": "call_Yr6FF2rwswecTFQnmCXFXZsw",
  "id": "fc_0ace0ea9c10c8ac9016ab41dd465c887d0b5bafa46249151c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yr6FF2rwswecTFQnmCXFXZsw",
  "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]: [-1.1069, 2.2597, 1.5146, -1.2495, -0.8627, -2.0933, 0.0581, -0.0174, 0.7994, 0.5961, -0.4152, -0.028, -0.0231, 0.9961]\nstate[eef_state]: left_x=0.2719 left_y=-0.2355 left_z=0.0255 left_yaw=0.7842 left_pitch=-0.0664 left_roll=0.0192 left_gripper=0.0581 right_x=0.2892 right_y=0.0035 right_z=0.1677 right_yaw=0.009 right_pitch=-0.0563 right_roll=-0.0046 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -9.9077, 6.4068, -0.6911, -0.5348, -0.022, 1.0281, -0.0615, -1.3333, 7.0085, 1.7167, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d5f0dd725b1e69e35010fce210f4f9d42ee92e03e3fca9db9817d4851b9a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb43345cf9a78bc66e249971313d9cf4c743103f697dadc06df42851bc5263a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fa283e52ca4a65d087f168eee0dd8cff66766538aebd0574b93a128a99d735",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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