adhoc

completed
2026-09-23T19:50:58.349517+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
252.5 s
total steps
382
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 short cap is on the left and the longer pen lies diagonally on the right. I’m positioning each open gripper over its object, with the jaws turned to cross each object rather than run along it.
move_to
right_x0.3600right_y0.1600right_z0.1400right_yaw0.7500left_x0.3600left_y-0.1000left_z0.1400left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3779, -0.0204, -0.0128, 0.999] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0017 right_z=0.1838 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.4718, -1.5248, 10.4137, 1.7705, -0.0269, 0.1099, -0.0366, -0.5949, -1.3197, 9.7846, 1.8144, -0.0464, -0.0659, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.16,"right_z":0.14,"right_yaw":0.75,"left_x":0.36,"left_y":-0.1,"left_z":0.14,"left_yaw":-0.75},"note":"The short cap is on the left and the longer pen lies diagonally on the right. I’m positioning each open gripper over its object, with the jaws turned to cross each object rather than run along it."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteBoth objects are now close to the centers of their wrist views; the cap still has some space below it, and the pen runs down toward the right-hand jaws. I’m advancing slightly and lowering both grippers to check their grasp positions before closing.
move_to
right_x0.3850right_z0.0450left_x0.3750left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0067, 1.3327, 0.7029, -0.1589, 0.5339, 0.3801, 0.9998, 0.2043, 1.351, 0.7048, -0.0444, -0.4061, -0.2802, 0.999] state[eef_state]: left_x=0.3471 left_y=-0.0886 left_z=0.1153 left_yaw=-0.6655 left_pitch=-0.0881 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3507 right_y=0.1476 right_z=0.1221 right_yaw=0.6887 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.999 state[joint_eff]: [-0.4171, -4.9983, 9.7026, 1.8877, 0.4225, 0.1978, -0.0122, 0.2803, -4.9299, 9.1692, 1.7802, -0.4322, -0.0855, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_z":0.045,"left_x":0.375,"left_z":0.04},"note":"Both objects are now close to the centers of their wrist views; the cap still has some space below it, and the pen runs down toward the right-hand jaws. I’m advancing slightly and lowering both grippers to check their grasp positions before closing."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteNear table height, the cap is slightly left of the left jaws and the pen’s near end is slightly right of the right jaws. I’m making small sideways corrections and bringing the fingertips down to object level.
move_to
left_x0.3900left_y-0.0750left_z0.0050right_x0.3900right_y0.1250right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0067, 1.6295, 0.6235, 0.1173, 0.5297, 0.3828, 0.9998, 0.1852, 1.673, 0.6514, 0.2302, -0.4221, -0.3004, 0.999] state[eef_state]: left_x=0.3571 left_y=-0.0881 left_z=0.0281 left_yaw=-0.6718 left_pitch=-0.1688 left_roll=-0.1236 left_gripper=0.9998 right_x=0.368 right_y=0.1462 right_z=0.0326 right_yaw=0.6985 right_pitch=-0.149 right_roll=0.0704 right_gripper=0.999 state[joint_eff]: [-0.0889, -7.0085, 5.641, 1.707, 0.2711, -0.0855, -0.0171, -0.7453, -7.4462, 5.5043, 1.9072, -0.2466, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.005,"right_x":0.39,"right_y":0.125,"right_z":0.005},"note":"Near table height, the cap is slightly left of the left jaws and the pen’s near end is slightly right of the right jaws. I’m making small sideways corrections and bringing the fingertips down to object level."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteAt table level, the cap and the pen both enter the spaces between their respective fingertips; the right jaws are near one end of the pen. I’m closing both grippers and will check the settled jaw openings to see whether each item was captured.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0307, 1.7931, 0.6968, 0.1967, 0.5545, 0.4046, 0.9996, 0.1162, 1.8084, 0.6769, 0.3191, -0.4576, -0.3462, 0.9988] state[eef_state]: left_x=0.3831 left_y=-0.0777 left_z=0.0066 left_yaw=-0.6654 left_pitch=-0.1638 left_roll=-0.1295 left_gripper=0.9996 right_x=0.3858 right_y=0.1272 right_z=0.0066 right_yaw=0.6836 right_pitch=-0.1519 right_roll=0.0683 right_gripper=0.9988 state[joint_eff]: [0.1983, -6.5573, 6.147, 1.0965, -0.0904, 0.0562, -0.022, -0.3624, -8.0205, 6.9812, 1.4237, -0.4225, 0.1099, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"At table level, the cap and the pen both enter the spaces between their respective fingertips; the right jaws are near one end of the pen. I’m closing both grippers and will check the settled jaw openings to see whether each item was captured."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteBoth grippers closed almost completely, so neither has a secure grasp; the cap also shifted to the right in the left wrist view. I’m reopening partway, centering over the displaced cap, and lowering the fingertips slightly below table level to get around these thin objects.
move_to
left_gripper0.4500right_gripper0.4500left_y-0.1050left_x0.4050left_z-0.0100right_x0.4100right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0322, 1.8084, 0.701, 0.1982, 0.5499, 0.4019, 0.0078, 0.112, 1.8111, 0.6834, 0.3428, -0.4686, -0.3489, 0.0081] state[eef_state]: left_x=0.3836 left_y=-0.0764 left_z=0.0022 left_yaw=-0.6602 left_pitch=-0.1736 left_roll=-0.1349 left_gripper=0.0078 right_x=0.3914 right_y=0.1279 right_z=0.012 right_yaw=0.6874 right_pitch=-0.1244 right_roll=0.058 right_gripper=0.0081 state[joint_eff]: [-0.1026, -8.9094, 4.5744, 1.2869, 0.3492, 0.022, 0.5641, 0.253, -7.4051, 4.6838, 1.0574, -0.3785, -0.0073, 0.5397] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.45,"right_gripper":0.45,"left_y":-0.105,"left_x":0.405,"left_z":-0.01,"right_x":0.41,"right_z":-0.01},"note":"Both grippers closed almost completely, so neither has a secure grasp; the cap also shifted to the right in the left wrist view. I’m reopening partway, centering over the displaced cap, and lowering the fingertips slightly below table level to get around these thin objects."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe open jaws show the cap sitting just outside the left gripper’s right finger and the pen running along the right gripper’s left finger. I’m shifting the grippers sideways in opposite directions to bring each object into its jaw gap before trying to close again.
move_to
left_y-0.1400right_y0.1700left_x0.4250right_x0.4250
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0551, 1.8816, 0.7544, 0.289, 0.5251, 0.3363, 0.4453, 0.1108, 1.911, 0.7338, 0.4255, -0.4908, -0.358, 0.4453] state[eef_state]: left_x=0.4039 left_y=-0.1074 left_z=0.0022 left_yaw=-0.6869 left_pitch=-0.1336 left_roll=-0.1254 left_gripper=0.4453 right_x=0.4104 right_y=0.133 right_z=0.0035 right_yaw=0.7064 right_pitch=-0.088 right_roll=0.0452 right_gripper=0.4453 state[joint_eff]: [-0.4308, -5.7641, 5.9145, 1.0916, -0.1001, -0.1441, -0.2613, -0.6222, -6.0376, 5.3538, 1.1013, 0.022, 0.0073, 0.0073] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.14,"right_y":0.17,"left_x":0.425,"right_x":0.425},"note":"The open jaws show the cap sitting just outside the left gripper’s right finger and the pen running along the right gripper’s left finger. I’m shifting the grippers sideways in opposite directions to bring each object into its jaw gap before trying to close again."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe pen has rotated across the right wrist view, and the cap is no longer clearly visible between the left jaws, so the second approach disturbed them. I’m pulling both open grippers clear to relocate the objects in the overhead camera before trying a more precise grasp.
move_to
left_x0.2900left_y0.0000left_z0.1600right_x0.2900right_y0.0000right_z0.1600left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1413, 1.9297, 0.8223, 0.3042, 0.4774, 0.2771, 0.4463, 0.2115, 1.9511, 0.794, 0.4339, -0.4442, -0.3149, 0.4458] state[eef_state]: left_x=0.4183 left_y=-0.1379 left_z=0.0036 left_yaw=-0.7023 left_pitch=-0.1278 left_roll=-0.122 left_gripper=0.4463 right_x=0.4171 right_y=0.1709 right_z=0.0052 right_yaw=0.7462 right_pitch=-0.0817 right_roll=0.0378 right_gripper=0.4458 state[joint_eff]: [-0.294, -7.3231, 6.653, 1.4823, 0.0415, -0.105, 0.0904, -0.4308, -7.5009, 6.2154, 1.5946, 0.1392, 0.1929, 0.0415] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.16,"right_x":0.29,"right_y":0,"right_z":0.16,"left_gripper":1,"right_gripper":1},"note":"The pen has rotated across the right wrist view, and the cap is no longer clearly visible between the left jaws, so the second approach disturbed them. I’m pulling both open grippers clear to relocate the objects in the overhead camera before trying a more precise grasp."})
tool
executing move_to over 15 steps (1.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteWith the hands clear, the pen is centered right of the cap, and both now point diagonally toward the far-right side of the table. I’m approaching the pen with the right hand near its near end, rotating the jaws across its new orientation and leaving the other hand out of the way.
move_to
right_x0.3800right_y0.2800right_z0.1200right_yaw-0.7000right_pitch0.0000right_roll0.0000left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.448, 1.2808, 0.9001, -0.2539, 0.7238, 0.7338, 0.9981, -0.4778, 1.2991, 0.8646, -0.1287, -0.7849, -0.8555, 0.9979] state[eef_state]: left_x=0.3713 left_y=0.0526 left_z=0.2098 left_yaw=-0.5452 left_pitch=0.0878 left_roll=0.2612 left_gripper=0.9981 right_x=0.3803 right_y=-0.0523 right_z=0.2136 right_yaw=0.6131 right_pitch=0.1277 right_roll=-0.4042 right_gripper=0.9979 state[joint_eff]: [-1.4427, -1.4564, 5.8051, 0.8962, 0.4908, 0.1538, 0.0269, 2.2359, -2.3863, 6.2838, 0.9841, -0.2955, 0.1929, -0.0073] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.28,"right_z":0.12,"right_yaw":-0.7,"right_pitch":0,"right_roll":0,"left_x":0.29,"left_y":0,"left_z":0.18,"left_yaw":0},"note":"With the hands clear, the pen is centered right of the cap, and both now point diagonally toward the far-right side of the table. I’m approaching the pen with the right hand near its near end, rotating the jaws across its new orientation and leaving the other hand out of the way."})
tool
executing move_to over 28 steps (2.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteIn the right wrist view, the pen is just to the right of the jaw center and its near end still has a little space below it. I’m advancing about two centimeters, shifting right slightly, and descending beside the pen for a centered grasp.
move_to
right_x0.4000right_y0.2700right_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2001, 0.7322, 0.503, -0.2588, -0.2684, 0.1398, 0.998, 0.9573, 2.3783, 2.0537, -1.3067, 0.9646, 1.5272, 0.9982] state[eef_state]: left_x=0.2927 left_y=-0.0079 left_z=0.1787 left_yaw=-0.0593 left_pitch=0.0791 left_roll=0.2594 left_gripper=0.998 right_x=0.3757 right_y=0.2877 right_z=0.103 right_yaw=-0.5988 right_pitch=-0.0481 right_roll=-0.0967 right_gripper=0.9982 state[joint_eff]: [-0.3214, -1.3197, 7.0085, 1.9121, -0.3443, -0.0073, -0.0171, -1.1419, -13.9145, 8.0342, 0.232, 0.8864, 0.4518, 0.022] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.27,"right_z":0.015},"note":"In the right wrist view, the pen is just to the right of the jaw center and its near end still has a little space below it. I’m advancing about two centimeters, shifting right slightly, and descending beside the pen for a centered grasp."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe lower end of the pen now reaches the fingertips, but in the wrist view it remains about one finger-width to the right of the jaw center. I’m shifting the right gripper toward it and lowering to tabletop contact before closing.
move_to
right_y0.2250right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2031, 0.7368, 0.5018, -0.2626, -0.2798, 0.1246, 0.998, 0.907, 2.4229, 1.8221, -1.0073, 0.9443, 1.4372, 0.9982] state[eef_state]: left_x=0.2923 left_y=-0.0067 left_z=0.1764 left_yaw=-0.0448 left_pitch=0.0726 left_roll=0.2527 left_gripper=0.998 right_x=0.3859 right_y=0.2669 right_z=0.0235 right_yaw=-0.6012 right_pitch=-0.0728 right_roll=-0.1461 right_gripper=0.9982 state[joint_eff]: [-0.0068, -1.2376, 7.2, 1.8193, -0.0024, 0.1197, -0.0122, -1.2513, -11.6171, 5.4632, 0.6129, 0.696, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.225,"right_z":-0.01},"note":"The lower end of the pen now reaches the fingertips, but in the wrist view it remains about one finger-width to the right of the jaw center. I’m shifting the right gripper toward it and lowering to tabletop contact before closing."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe pen’s near end is now centered between the right-hand fingers at table height. I’m closing on it with slight downward contact, then I’ll lift to verify that it actually follows the hand.
move_to
right_gripper0.0000right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2035, 0.741, 0.5018, -0.2626, -0.2806, 0.1207, 0.998, 0.8692, 2.3432, 1.57, -0.7574, 0.9913, 1.3781, 0.9982] state[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1753 left_yaw=-0.0426 left_pitch=0.0691 left_roll=0.2504 left_gripper=0.998 right_x=0.3864 right_y=0.2338 right_z=0.0064 right_yaw=-0.6043 right_pitch=-0.0237 right_roll=-0.1212 right_gripper=0.9982 state[joint_eff]: [0.0068, -0.8274, 7.0906, 1.7411, -0.1392, -0.0122, -0.0122, -1.4838, -11.1248, 4.0, 0.2564, -0.1685, -0.3834, -0.0171] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":-0.01},"note":"The pen’s near end is now centered between the right-hand fingers at table height. I’m closing on it with slight downward contact, then I’ll lift to verify that it actually follows the hand."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe right gripper settled at a small but nonzero opening of about 4 mm, consistent with gripping the thin pen. I’m lifting it several centimeters and checking whether the pen rises with the jaws.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8509, 2.3383, 1.5425, -0.6979, 0.9913, 1.3285, 0.0443] state[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3921 right_y=0.2284 right_z=0.0028 right_yaw=-0.5956 right_pitch=-0.0226 right_roll=-0.1259 right_gripper=0.0443 state[joint_eff]: [-0.1162, -0.9778, 7.2684, 1.7265, -0.1392, -0.0659, -0.0122, -0.7863, -11.6171, 4.0547, 0.3053, -0.0122, 0.0855, 1.0867] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The right gripper settled at a small but nonzero opening of about 4 mm, consistent with gripping the thin pen. I’m lifting it several centimeters and checking whether the pen rises with the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pen rose with the right hand and remains held; the cap is still on the table to the left. I’m keeping the pen raised while bringing the open left gripper above the cap, with its jaws crossing the cap’s diagonal axis.
move_to
left_x0.3600left_y-0.1600left_z0.1100left_yaw-0.6500left_pitch0.0000left_roll0.0000right_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]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8539, 2.2246, 1.7374, -1.0836, 0.9638, 1.3201, 0.0476] state[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3859 right_y=0.2274 right_z=0.0892 right_yaw=-0.5901 right_pitch=-0.0602 right_roll=-0.2059 right_gripper=0.0476 state[joint_eff]: [-0.1162, -0.9504, 7.0906, 1.7314, -0.149, 0.0024, -0.0122, -0.5128, -16.294, 8.8, 0.5446, 0.7302, 0.1245, 1.0281] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.16,"left_z":0.11,"left_yaw":-0.65,"left_pitch":0,"left_roll":0,"right_z":0.15},"note":"The pen rose with the right hand and remains held; the cap is still on the table to the left. I’m keeping the pen raised while bringing the open left gripper above the cap, with its jaws crossing the cap’s diagonal axis."})
tool
executing move_to over 14 steps (1.4s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe cap appears just left of the left jaw center, with its near end close to the fingertips. I’m shifting the left hand slightly toward it, advancing a little, and descending to table level before closing.
move_to
left_x0.3900left_y-0.1150left_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]: [-0.2958, 1.3865, 0.5873, 0.1158, 0.2253, 0.1516, 0.998, 0.8593, 2.2066, 1.8778, -1.327, 0.9226, 1.3037, 0.0476] state[eef_state]: left_x=0.3467 left_y=-0.1432 left_z=0.0849 left_yaw=-0.5792 left_pitch=-0.093 left_roll=-0.0146 left_gripper=0.998 right_x=0.3735 right_y=0.223 right_z=0.1262 right_yaw=-0.5849 right_pitch=-0.1139 right_roll=-0.2985 right_gripper=0.0476 state[joint_eff]: [-0.4855, -5.9829, 9.0325, 1.8974, 0.3541, 0.2613, -0.0122, -0.5265, -13.2581, 9.2376, 0.6422, 0.8132, 0.1392, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.115,"left_z":0.01},"note":"The cap appears just left of the left jaw center, with its near end close to the fingertips. I’m shifting the left hand slightly toward it, advancing a little, and descending to table level before closing."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cap now runs through the center of the open left jaws, and the left fingertips are at the tabletop. I’m closing around its near end with a light downward press, then I’ll lift to confirm it is held.
move_to
left_gripper0.0000left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1623, 1.7542, 0.5831, 0.3981, 0.2974, 0.2207, 0.998, 0.8597, 2.2078, 1.8751, -1.3354, 0.9035, 1.3003, 0.0525] state[eef_state]: left_x=0.377 left_y=-0.1105 left_z=0.0025 left_yaw=-0.5468 left_pitch=-0.1614 left_roll=-0.0365 left_gripper=0.998 right_x=0.3704 right_y=0.2228 right_z=0.1226 right_yaw=-0.5857 right_pitch=-0.1348 right_roll=-0.311 right_gripper=0.0525 state[joint_eff]: [0.4034, -6.0239, 5.8598, 1.199, 0.3346, 0.0659, -0.0122, -0.3624, -11.6581, 5.7504, 0.1587, 0.6129, 0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":-0.01},"note":"The cap now runs through the center of the open left jaws, and the left fingertips are at the tabletop. I’m closing around its near end with a light downward press, then I’ll lift to confirm it is held."})
tool
executing move_to over 10 steps (1.0s)
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 left jaws again closed completely, and the cap moved forward in the wrist view, so it was pushed rather than gripped. I’m reopening just enough for the cap and advancing to its new position at tabletop height for one careful retry.
move_to
left_gripper0.4500left_x0.4200left_z-0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1509, 1.7805, 0.5907, 0.4793, 0.3267, 0.2379, 0.0089, 0.8597, 2.2078, 1.8751, -1.3354, 0.8848, 1.2987, 0.0525] state[eef_state]: left_x=0.3893 left_y=-0.1129 left_z=0.0104 left_yaw=-0.5655 left_pitch=-0.0959 left_roll=-0.0172 left_gripper=0.0089 right_x=0.3686 right_y=0.224 right_z=0.12 right_yaw=-0.5864 right_pitch=-0.1535 right_roll=-0.3098 right_gripper=0.0525 state[joint_eff]: [-0.3487, -6.6803, 5.4359, 1.3993, 0.1587, 0.1245, 0.6032, -0.1026, -11.7949, 5.5316, 0.1148, 0.5983, 0.0122, 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_gripper":0.45,"left_x":0.42,"left_z":-0.015},"note":"The left jaws again closed completely, and the cap moved forward in the wrist view, so it was pushed rather than gripped. I’m reopening just enough for the cap and advancing to its new position at tabletop height for one careful retry."})
tool
executing move_to over 5 steps (0.5s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteAfter the small forward move, the cap is no longer clearly ahead of the left fingertips, which is where I expect it if it is between the jaws. I’m closing once at this new position and will use the jaw opening and a lift to test the grasp.
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]: [-0.1432, 1.9305, 0.6846, 0.5819, 0.3397, 0.2413, 0.4451, 0.8589, 2.2078, 1.8744, -1.3354, 0.8696, 1.2964, 0.0525] state[eef_state]: left_x=0.4221 left_y=-0.1167 left_z=0.0004 left_yaw=-0.569 left_pitch=-0.05 left_roll=-0.0029 left_gripper=0.4451 right_x=0.3673 right_y=0.2245 right_z=0.1178 right_yaw=-0.5873 right_pitch=-0.169 right_roll=-0.3104 right_gripper=0.0525 state[joint_eff]: [0.3214, -6.2154, 5.1624, 1.0623, 0.0317, 0.0562, -0.1441, -0.212, -11.5897, 5.7778, 0.0806, 0.5934, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the small forward move, the cap is no longer clearly ahead of the left fingertips, which is where I expect it if it is between the jaws. I’m closing once at this new position and will use the jaw opening and a lift to test the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe cap is visible beside the left gripper’s right finger, not in its closed jaws; it was displaced sideways again. I’m reopening and moving the hand rightward toward the cap’s new position, keeping the fingers at table height.
move_to
left_gripper0.4200left_y-0.1700left_x0.4350left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1436, 1.9423, 0.6918, 0.5949, 0.3405, 0.2371, 0.0077, 0.8589, 2.2078, 1.8744, -1.335, 0.8581, 1.2961, 0.0525] state[eef_state]: left_x=0.4252 left_y=-0.1175 left_z=0.0003 left_yaw=-0.5675 left_pitch=-0.0422 left_roll=-0.0033 left_gripper=0.0077 right_x=0.3662 right_y=0.2253 right_z=0.1163 right_yaw=-0.5879 right_pitch=-0.1804 right_roll=-0.3089 right_gripper=0.0525 state[joint_eff]: [-0.1162, -9.5111, 3.9316, 1.5116, 0.1099, 0.0171, 0.6081, -0.2803, -11.7675, 5.5863, 0.1343, 0.5104, -0.0269, 1.033] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.42,"left_y":-0.17,"left_x":0.435,"left_z":-0.01},"note":"The cap is visible beside the left gripper’s right finger, not in its closed jaws; it was displaced sideways again. I’m reopening and moving the hand rightward toward the cap’s new position, keeping the fingers at table height."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe cap disappeared from ahead of the left wrist camera after the sideways correction, consistent with being at the fingertip line. I’m testing one close at this location before moving the cap or pen again.
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]: [-0.2867, 2.0064, 0.7532, 0.6563, 0.2409, 0.1581, 0.4158, 0.8589, 2.2078, 1.8744, -1.335, 0.8509, 1.2961, 0.0525] state[eef_state]: left_x=0.435 left_y=-0.1684 left_z=0.0017 left_yaw=-0.5853 left_pitch=-0.0074 left_roll=0.0066 left_gripper=0.4158 right_x=0.3655 right_y=0.2258 right_z=0.1153 right_yaw=-0.5885 right_pitch=-0.1875 right_roll=-0.308 right_gripper=0.0525 state[joint_eff]: [-0.3761, -6.7624, 5.8188, 1.4676, 0.1685, 0.0659, -0.0806, -0.212, -11.7949, 5.7778, 0.0952, 0.4518, -0.022, 1.033] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap disappeared from ahead of the left wrist camera after the sideways correction, consistent with being at the fingertip line. I’m testing one close at this location before moving the cap or pen again."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe left gripper closed empty again, and the cap is hidden under the hand in the overhead view. I’m clearing the left hand completely so I can find the cap’s actual tabletop position rather than continuing blind adjustments.
move_to
left_x0.2900left_y0.0000left_z0.1700left_gripper1.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 2.0132, 0.7567, 0.6689, 0.2214, 0.1513, 0.0078, 0.8589, 2.2078, 1.8744, -1.3354, 0.8333, 1.2957, 0.0534] state[eef_state]: left_x=0.4383 left_y=-0.1669 left_z=0.0019 left_yaw=-0.5673 left_pitch=-0.0017 left_roll=0.0139 left_gripper=0.0078 right_x=0.3638 right_y=0.2269 right_z=0.113 right_yaw=-0.5896 right_pitch=-0.205 right_roll=-0.3065 right_gripper=0.0534 state[joint_eff]: [0.1026, -9.6889, 4.3282, 1.5702, 0.2759, 0.0366, 0.6081, -0.2393, -11.535, 5.5316, 0.0806, 0.5495, -0.0562, 1.0281] 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_x":0.29,"left_y":0,"left_z":0.17,"left_gripper":1,"left_yaw":0},"note":"The left gripper closed empty again, and the cap is hidden under the hand in the overhead view. I’m clearing the left hand completely so I can find the cap’s actual tabletop position rather than continuing blind adjustments."})
tool
executing move_to over 15 steps (1.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteWith the hand clear, the cap is visible in the left wrist camera at the right side of the workspace and now lies almost crosswise. I’m approaching from above with the jaws rotated across that new direction, leaving the pen held safely in the right hand.
move_to
left_x0.3550left_y-0.0750left_z0.1100left_yaw-1.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0536, 0.7963, 0.5129, -0.2642, -0.0322, -0.0235, 0.9968, 0.8589, 2.2078, 1.8698, -1.335, 0.8135, 1.2926, 0.0537] state[eef_state]: left_x=0.2982 left_y=-0.0067 left_z=0.1616 left_yaw=-0.0251 left_pitch=0.0226 left_roll=0.0059 left_gripper=0.9968 right_x=0.3612 right_y=0.2276 right_z=0.1094 right_yaw=-0.5904 right_pitch=-0.2255 right_roll=-0.3105 right_gripper=0.0537 state[joint_eff]: [0.253, -1.4427, 10.1675, 1.7998, -0.1245, 0.0171, -0.0317, -0.294, -11.7402, 5.8872, 0.1636, 0.5739, -0.0366, 1.0281] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.075,"left_z":0.11,"left_yaw":-1.4},"note":"With the hand clear, the cap is visible in the left wrist camera at the right side of the workspace and now lies almost crosswise. I’m approaching from above with the jaws rotated across that new direction, leaving the pen held safely in the right hand."})
tool
executing move_to over 9 steps (0.9s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe cap is now nearly vertical and centered in the left wrist view, but it is still well ahead of the fingertips. I’m advancing to the cap and descending slowly, without closing until it is at the jaw line.
move_to
left_x0.4200left_y-0.0600left_z0.0150left_yaw-1.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2249, 1.8477, 1.206, -0.765, 0.952, 1.253, 0.9977, 0.8589, 2.2082, 1.8641, -1.3357, 0.799, 1.2926, 0.0538] state[eef_state]: left_x=0.3748 left_y=-0.0582 left_z=0.0973 left_yaw=-1.1782 left_pitch=-0.0414 left_roll=-0.0878 left_gripper=0.9977 right_x=0.3588 right_y=0.2276 right_z=0.1061 right_yaw=-0.5931 right_pitch=-0.2407 right_roll=-0.3158 right_gripper=0.0538 state[joint_eff]: [-0.7316, -10.2769, 6.3248, 0.1197, 0.5983, 0.3541, 0.0855, -0.3214, -11.7265, 6.065, 0.2466, 0.4664, -0.0024, 1.033] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.06,"left_z":0.015,"left_yaw":-1.4},"note":"The cap is now nearly vertical and centered in the left wrist view, but it is still well ahead of the fingertips. I’m advancing to the cap and descending slowly, without closing until it is at the jaw line."})
tool
executing move_to over 6 steps (0.6s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe left arm stopped short of the forward-and-low target at this large wrist rotation, while the cap is still ahead in the camera. I’m easing the rotation and lowering mostly in place, which should bring the cap toward the fingertip line without forcing an unreachable pose.
move_to
left_x0.3800left_z0.0050left_yaw-1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2237, 1.9198, 1.2423, -0.799, 0.9463, 1.3163, 0.9979, 0.8589, 2.2082, 1.8641, -1.3342, 0.7841, 1.2926, 0.0538] state[eef_state]: left_x=0.3771 left_y=-0.0575 left_z=0.0808 left_yaw=-1.2159 left_pitch=-0.0544 left_roll=-0.1044 left_gripper=0.9979 right_x=0.3575 right_y=0.2289 right_z=0.1042 right_yaw=-0.5939 right_pitch=-0.2552 right_roll=-0.3124 right_gripper=0.0538 state[joint_eff]: [-0.1162, -9.2923, 5.5043, 0.652, 0.5641, -0.1001, 0.0024, -0.0615, -11.6991, 5.7915, 0.0659, 0.5397, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_z":0.005,"left_yaw":-1.1},"note":"The left arm stopped short of the forward-and-low target at this large wrist rotation, while the cap is still ahead in the camera. I’m easing the rotation and lowering mostly in place, which should bring the cap toward the fingertip line without forcing an unreachable pose."})
tool
executing move_to over 5 steps (0.5s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
assistant
agent noteThe left arm did not descend at all from that heavily rotated pose, so this is an arm-configuration limit rather than contact with the cap. I’m raising and unwinding the wrist before attempting a reachable descent.
move_to
left_x0.3400left_z0.1700left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2237, 1.9198, 1.2404, -0.7933, 0.9463, 1.309, 0.9979, 0.8589, 2.2082, 1.8637, -1.3342, 0.7757, 1.2926, 0.0539] state[eef_state]: left_x=0.3775 left_y=-0.0574 left_z=0.0805 left_yaw=-1.2118 left_pitch=-0.0543 left_roll=-0.1065 left_gripper=0.9979 right_x=0.3566 right_y=0.2294 right_z=0.1031 right_yaw=-0.5947 right_pitch=-0.2635 right_roll=-0.3118 right_gripper=0.0539 state[joint_eff]: [-0.4171, -9.306, 5.8188, 0.5739, 0.5788, -0.0024, -0.0122, -0.3624, -11.7675, 5.5726, 0.0464, 0.4322, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.17,"left_yaw":-0.55},"note":"The left arm did not descend at all from that heavily rotated pose, so this is an arm-configuration limit rather than contact with the cap. I’m raising and unwinding the wrist before attempting a reachable descent."})
tool
executing move_to over 6 steps (0.6s)
step 203
assistant
agent noteThe wrist has unwound and the cap is again visible near the center of the left camera. I’m approaching from this reachable orientation, keeping the left gripper centered while lowering toward the cap.
move_to
left_x0.3800left_y-0.0650left_z0.0350left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1177, 1.2388, 0.8249, -0.4114, 0.6575, 0.5522, 0.9979, 0.8589, 2.2082, 1.8614, -1.3281, 0.7616, 1.2926, 0.0563] state[eef_state]: left_x=0.3349 left_y=-0.0655 left_z=0.1639 left_yaw=-0.726 left_pitch=-0.0507 left_roll=-0.0182 left_gripper=0.9979 right_x=0.3555 right_y=0.2309 right_z=0.1007 right_yaw=-0.5946 right_pitch=-0.277 right_roll=-0.3061 right_gripper=0.0563 state[joint_eff]: [-0.4444, -3.1932, 5.641, 1.5946, 0.3101, -0.0855, -0.0073, -0.3624, -11.7675, 5.9282, -0.0073, 0.5201, -0.022, 0.5885] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.065,"left_z":0.035,"left_yaw":-0.55},"note":"The wrist has unwound and the cap is again visible near the center of the left camera. I’m approaching from this reachable orientation, keeping the left gripper centered while lowering toward the cap."})
tool
executing move_to over 9 steps (0.9s)
step 212
assistant
agent noteAt low height, the cap is clearly ahead and to the right of the left-hand jaw gap. I’m moving forward and right toward it before trying another close; closing from the present position would just push it again.
move_to
left_x0.4150left_y-0.1200left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0334, 1.6291, 0.5537, 0.2668, 0.485, 0.3584, 0.9979, 0.8589, 2.2086, 1.8584, -1.3281, 0.7536, 1.2926, 0.0594] state[eef_state]: left_x=0.3634 left_y=-0.0667 left_z=0.025 left_yaw=-0.5778 left_pitch=-0.1255 left_roll=-0.0668 left_gripper=0.9979 right_x=0.3542 right_y=0.231 right_z=0.0989 right_yaw=-0.5962 right_pitch=-0.2853 right_roll=-0.3087 right_gripper=0.0594 state[joint_eff]: [-0.4034, -6.6803, 4.8752, 1.6923, 0.2369, -0.0122, -0.0122, -0.3624, -11.7128, 5.7778, 0.0562, 0.4664, -0.022, 0.8278] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.12,"left_z":0.005},"note":"At low height, the cap is clearly ahead and to the right of the left-hand jaw gap. I’m moving forward and right toward it before trying another close; closing from the present position would just push it again."})
tool
executing move_to over 5 steps (0.5s)
step 217
assistant
agent noteThe cap’s near end is now at fingertip depth but sits to the right of the jaw center. I’m narrowing the jaw opening and sliding the left hand a few centimeters right to center that end before the final close.
move_to
left_y-0.1450left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.131, 1.8477, 0.6998, 0.3798, 0.3805, 0.2512, 0.9979, 0.8589, 2.2086, 1.8568, -1.3285, 0.7456, 1.2926, 0.0624] state[eef_state]: left_x=0.4042 left_y=-0.1158 left_z=0.0047 left_yaw=-0.5993 left_pitch=-0.1322 left_roll=-0.0645 left_gripper=0.9979 right_x=0.3531 right_y=0.2313 right_z=0.0976 right_yaw=-0.5974 right_pitch=-0.2934 right_roll=-0.3097 right_gripper=0.0624 state[joint_eff]: [-0.5128, -7.159, 6.147, 1.2821, 0.1734, -0.0952, -0.0122, -0.335, -11.6034, 5.6821, 0.0806, 0.4567, -0.0269, 0.8669] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.145,"left_gripper":0.48},"note":"The cap’s near end is now at fingertip depth but sits to the right of the jaw center. I’m narrowing the jaw opening and sliding the left hand a few centimeters right to center that end before the final close."})
tool
executing move_to over 6 steps (0.6s)
step 223
assistant
agent noteThe cap’s wider near end is now centered between the left fingers at their tips, rather than alongside a finger. I’m closing at this position and will check whether the jaws remain open around it.
move_to
left_gripper0.0000left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2184, 1.8652, 0.7113, 0.4015, 0.318, 0.1951, 0.4843, 0.8589, 2.2082, 1.8568, -1.3277, 0.7341, 1.2926, 0.0653] state[eef_state]: left_x=0.4031 left_y=-0.1424 left_z=0.0025 left_yaw=-0.6046 left_pitch=-0.1375 left_roll=-0.0615 left_gripper=0.4843 right_x=0.352 right_y=0.2323 right_z=0.0964 right_yaw=-0.5979 right_pitch=-0.3046 right_roll=-0.3072 right_gripper=0.0653 state[joint_eff]: [-0.4718, -8.4308, 5.3812, 1.6044, 0.2076, -0.0855, 0.0806, -0.3624, -11.6718, 5.6274, 0.0855, 0.4615, -0.0611, 0.6227] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":-0.01},"note":"The cap’s wider near end is now centered between the left fingers at their tips, rather than alongside a finger. I’m closing at this position and will check whether the jaws remain open around it."})
tool
executing move_to over 5 steps (0.5s)
step 228
assistant
agent noteBoth jaws have nonzero openings, and each wrist view shows an object extending from its fingertips. I’m lifting the cap and pen above the table to verify the cap moves with the left hand and to prepare for aligning their ends.
move_to
left_z0.1600right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2222, 1.8885, 0.7067, 0.458, 0.318, 0.1848, 0.047, 0.8589, 2.2082, 1.8568, -1.3273, 0.7235, 1.2926, 0.0666] state[eef_state]: left_x=0.4073 left_y=-0.145 left_z=0.0015 left_yaw=-0.6015 left_pitch=-0.1112 left_roll=-0.0587 left_gripper=0.047 right_x=0.3509 right_y=0.2332 right_z=0.0951 right_yaw=-0.5985 right_pitch=-0.3151 right_roll=-0.3055 right_gripper=0.0666 state[joint_eff]: [0.1436, -6.106, 4.2188, 1.5604, 0.0366, 0.2222, 1.6825, -0.1709, -11.7538, 5.559, 0.0513, 0.486, -0.0513, 0.7155] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"right_z":0.16},"note":"Both jaws have nonzero openings, and each wrist view shows an object extending from its fingertips. I’m lifting the cap and pen above the table to verify the cap moves with the left hand and to prepare for aligning their ends."})
tool
executing move_to over 11 steps (1.1s)
step 239
assistant
agent noteThe cap rose with the left hand, so both pieces are held. I’m moving the pen inward toward the overlap of the two arms and straightening its wrist; this will leave room to bring the cap to the pen’s exposed tip without the grippers colliding.
move_to
right_x0.3400right_y0.3500right_z0.1700right_pitch0.0000right_roll0.0000left_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]: [-0.223, 1.5475, 0.9874, -0.1963, 0.3134, 0.1802, 0.0524, 0.8597, 2.2101, 2.0598, -1.5929, 0.6941, 1.2667, 0.0687] state[eef_state]: left_x=0.4048 left_y=-0.1439 left_z=0.1334 left_yaw=-0.5975 left_pitch=-0.1427 left_roll=-0.0714 left_gripper=0.0524 right_x=0.3395 right_y=0.2265 right_z=0.1439 right_yaw=-0.6093 right_pitch=-0.3555 right_roll=-0.3876 right_gripper=0.0687 state[joint_eff]: [-0.1709, -8.9915, 9.9761, 1.7167, 0.1197, 0.0024, 1.0281, -0.4718, -12.0137, 8.5949, 0.3443, 0.5934, 0.1783, 0.5397] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.35,"right_z":0.17,"right_pitch":0,"right_roll":0,"left_z":0.17},"note":"The cap rose with the left hand, so both pieces are held. I’m moving the pen inward toward the overlap of the two arms and straightening its wrist; this will leave room to bring the cap to the pen’s exposed tip without the grippers colliding."})
tool
executing move_to over 12 steps (1.2s)
step 251
assistant
agent noteThe pen is nearer the shared workspace, with its exposed point extending ahead of the right jaws; the cap remains held in the left hand. I’m bringing the cap alongside that point at a safe lateral offset and matching both pieces’ directions before the insertion approach.
move_to
right_yaw-0.3500right_y0.3300right_z0.1800right_pitch0.0000right_roll0.0000left_x0.4500left_y-0.2700left_z0.1800left_yaw-0.3500left_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]: [-0.223, 1.5372, 1.0584, -0.3462, 0.313, 0.1802, 0.0524, 1.0588, 2.4123, 2.2616, -1.5982, 0.9234, 1.6615, 0.0706] state[eef_state]: left_x=0.3963 left_y=-0.142 left_z=0.1415 left_yaw=-0.6017 left_pitch=-0.2066 left_roll=-0.0967 left_gripper=0.0524 right_x=0.3336 right_y=0.3133 right_z=0.1369 right_yaw=-0.581 right_pitch=-0.0793 right_roll=-0.1063 right_gripper=0.0706 state[joint_eff]: [-0.0479, -8.9504, 10.4684, 1.6239, 0.0904, -0.0366, 1.033, 0.0068, -12.2735, 8.4171, 0.2125, 0.9353, 0.2613, 0.4811] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":-0.35,"right_y":0.33,"right_z":0.18,"right_pitch":0,"right_roll":0,"left_x":0.45,"left_y":-0.27,"left_z":0.18,"left_yaw":-0.35,"left_pitch":0,"left_roll":0},"note":"The pen is nearer the shared workspace, with its exposed point extending ahead of the right jaws; the cap remains held in the left hand. I’m bringing the cap alongside that point at a safe lateral offset and matching both pieces’ directions before the insertion approach."})
tool
executing move_to over 12 steps (1.2s)
step 263
assistant
agent noteThe arms crowded each other before reaching the intended alignment, and both hands stopped short with increased joint effort. I’m separating them and raising both pieces rather than forcing the cap toward the pen through a collision.
move_to
left_x0.3700left_y-0.1300left_z0.1900right_x0.2900right_y0.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5465, 1.726, 1.2526, -0.3233, -0.1917, -0.0875, 0.0524, 1.0004, 2.2345, 1.8751, -1.3434, 0.9459, 1.4742, 0.0736] state[eef_state]: left_x=0.4265 left_y=-0.2158 left_z=0.1406 left_yaw=-0.345 left_pitch=-0.2113 left_roll=0.0828 left_gripper=0.0524 right_x=0.339 right_y=0.2697 right_z=0.1183 right_yaw=-0.5339 right_pitch=-0.0726 right_roll=-0.211 right_gripper=0.0736 state[joint_eff]: [-6.0923, -4.506, 11.5897, 3.558, -0.2955, -0.8181, 1.0232, 7.4735, -19.7128, 9.6068, 1.7509, 0.9841, -1.3993, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.13,"left_z":0.19,"right_x":0.29,"right_y":0.2,"right_z":0.2},"note":"The arms crowded each other before reaching the intended alignment, and both hands stopped short with increased joint effort. I’m separating them and raising both pieces rather than forcing the cap toward the pen through a collision."})
tool
executing move_to over 8 steps (0.8s)
step 271
assistant
agent noteBoth pieces are still held and the joint loads have returned toward normal, but their exposed ends are side by side rather than aligned. I’m shifting only the pen inward a few centimeters while the cap hand stays still, then I’ll reassess their spacing before any insertion motion.
move_to
right_x0.3000right_y0.2900right_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]: [-0.5392, 1.6161, 1.169, -0.3256, -0.202, -0.0956, 0.0524, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.0758] state[eef_state]: left_x=0.4088 left_y=-0.1991 left_z=0.1543 left_yaw=-0.3257 left_pitch=-0.1859 left_roll=0.0791 left_gripper=0.0524 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.0758 state[joint_eff]: [-1.0462, -9.0325, 7.0359, 1.453, -0.022, 0.0708, 1.0281, -0.8274, -13.3675, 6.3111, 0.1294, 0.6813, -0.0562, 0.2125] 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":{"right_x":0.3,"right_y":0.29,"right_z":0.18},"note":"Both pieces are still held and the joint loads have returned toward normal, but their exposed ends are side by side rather than aligned. I’m shifting only the pen inward a few centimeters while the cap hand stays still, then I’ll reassess their spacing before any insertion motion."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteThe pen hand was blocked from moving inward while the cap hand occupied the central approach corridor. I’m temporarily moving the cap hand back to its own side, then shifting the pen toward the shared center before attempting to reunite them.
move_to
left_x0.3200left_y-0.0300left_z0.2000right_x0.3000right_y0.3000right_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]: [-0.5392, 1.6161, 1.169, -0.326, -0.2024, -0.0959, 0.0576, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.078] state[eef_state]: left_x=0.4087 left_y=-0.199 left_z=0.1543 left_yaw=-0.3251 left_pitch=-0.1862 left_roll=0.0792 left_gripper=0.0576 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.078 state[joint_eff]: [-0.8684, -9.0462, 6.9812, 1.453, -0.0806, 0.0611, 1.033, -1.0598, -13.3402, 6.147, 0.1441, 0.5885, -0.0757, 0.2076] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.03,"left_z":0.2,"right_x":0.3,"right_y":0.3,"right_z":0.18},"note":"The pen hand was blocked from moving inward while the cap hand occupied the central approach corridor. I’m temporarily moving the cap hand back to its own side, then shifting the pen toward the shared center before attempting to reunite them."})
tool
executing move_to over 16 steps (1.6s)
step 292
assistant
agent noteThe cap hand is clear, and the pen hand has started moving inward again. I’m giving the pen more height and a less oblique wrist angle to gain clearance and expose its point to the cap’s approach.
move_to
right_x0.3000right_y0.3500right_z0.2200right_yaw-0.3200right_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]: [-0.0227, 1.0973, 0.9321, -0.6003, 0.1356, 0.223, 0.0576, 1.0435, 2.2044, 1.9503, -1.5677, 0.8936, 1.5139, 0.0794] state[eef_state]: left_x=0.3274 left_y=-0.0277 left_z=0.1962 left_yaw=-0.2727 left_pitch=-0.1893 left_roll=0.0761 left_gripper=0.0576 right_x=0.3088 right_y=0.2638 right_z=0.1464 right_yaw=-0.5328 right_pitch=-0.1207 right_roll=-0.2981 right_gripper=0.0794 state[joint_eff]: [0.1573, -4.3009, 7.1179, 1.6337, 0.0659, 0.1441, 1.0232, 0.7726, -10.4, 8.0205, -0.1343, 0.6081, 0.1099, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.35,"right_z":0.22,"right_yaw":-0.32,"right_pitch":0},"note":"The cap hand is clear, and the pen hand has started moving inward again. I’m giving the pen more height and a less oblique wrist angle to gain clearance and expose its point to the cap’s approach."})
tool
executing move_to over 8 steps (0.8s)
step 300
assistant
agent noteThe pen is now farther inward and elevated, with its tip pointing nearly forward. I’m carrying the cap above the pen-hand workspace first, keeping height and horizontal separation so the arms do not repeat the earlier collision.
move_to
left_x0.4300left_y-0.2200left_z0.2400left_yaw-0.3200left_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]: [-0.0223, 1.1011, 0.931, -0.622, 0.1356, 0.2264, 0.0619, 1.1305, 2.2528, 2.1494, -1.5932, 0.9741, 1.3369, 0.0808] state[eef_state]: left_x=0.3238 left_y=-0.0275 left_z=0.1907 left_yaw=-0.2756 left_pitch=-0.2153 left_roll=0.0718 left_gripper=0.0619 right_x=0.3057 right_y=0.3145 right_z=0.1836 right_yaw=-0.3293 right_pitch=-0.0627 right_roll=-0.3186 right_gripper=0.0808 state[joint_eff]: [-0.2803, -3.6581, 6.9128, 1.7411, -0.0024, -0.0806, 1.033, 0.335, -11.3299, 7.6923, 0.3297, 0.9841, 0.1441, 0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.22,"left_z":0.24,"left_yaw":-0.32,"left_pitch":0,"left_roll":0},"note":"The pen is now farther inward and elevated, with its tip pointing nearly forward. I’m carrying the cap above the pen-hand workspace first, keeping height and horizontal separation so the arms do not repeat the earlier collision."})
tool
executing move_to over 18 steps (1.8s)
step 318
assistant
agent noteThe two arm bodies again interfere when both hands approach the center in midair, even though the fingertips are separated. I’m withdrawing the cap hand and will lay the pen down where the cap hand can reach its exposed end without the other arm occupying that space.
move_to
left_x0.2900left_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]: [-0.5068, 1.5635, 1.2835, -0.4591, -0.2306, -0.1154, 0.0619, 1.0744, 2.2585, 2.1109, -1.6348, 0.9245, 1.3602, 0.0824] state[eef_state]: left_x=0.414 left_y=-0.1795 left_z=0.203 left_yaw=-0.2597 left_pitch=-0.1478 left_roll=0.0758 left_gripper=0.0619 right_x=0.312 right_y=0.2875 right_z=0.167 right_yaw=-0.4126 right_pitch=-0.1156 right_roll=-0.3809 right_gripper=0.0824 state[joint_eff]: [-3.7265, -5.5453, 11.0974, 2.8498, 0.3101, -0.2613, 1.0281, 3.9863, -13.3949, 6.5026, 0.7106, 1.0037, -0.4176, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18},"note":"The two arm bodies again interfere when both hands approach the center in midair, even though the fingertips are separated. I’m withdrawing the cap hand and will lay the pen down where the cap hand can reach its exposed end without the other arm occupying that space."})
tool
executing move_to over 16 steps (1.6s)
step 334
assistant
agent noteThe cap hand is now out of the way. I’m lowering the held pen near the table center with its point directed into the left arm’s reach, so the cap can be brought over it after the right hand withdraws.
move_to
right_x0.3500right_y0.3500right_z0.0150right_yaw-0.3200right_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]: [0.1139, 0.9321, 0.765, -0.5701, 0.1841, 0.252, 0.0654, 1.0664, 2.2509, 2.0319, -1.5787, 0.9081, 1.3338, 0.0832] state[eef_state]: left_x=0.2961 left_y=0.0049 left_z=0.1787 left_yaw=-0.1915 left_pitch=-0.1544 left_roll=0.0734 left_gripper=0.0654 right_x=0.311 right_y=0.2826 right_z=0.1487 right_yaw=-0.4129 right_pitch=-0.1382 right_roll=-0.4155 right_gripper=0.0832 state[joint_eff]: [0.1436, -2.5778, 6.8718, 1.6874, 0.1783, 0.1978, 1.0281, -0.294, -14.065, 5.4222, -0.0317, 0.5934, -0.0464, 0.0708] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.35,"right_z":0.015,"right_yaw":-0.32,"right_pitch":0,"right_roll":0},"note":"The cap hand is now out of the way. I’m lowering the held pen near the table center with its point directed into the left arm’s reach, so the cap can be brought over it after the right hand withdraws."})
tool
executing move_to over 9 steps (0.9s)
step 343
assistant
agent noteThe pen is at tabletop height in the left arm’s reachable central area, and its point still extends forward from the right jaws. I’m releasing it gently before removing the right hand, so the pen stays in place for capping.
move_to
right_gripper1.0000right_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]: [0.115, 0.9375, 0.7643, -0.5911, 0.1875, 0.2596, 0.0654, 1.0756, 2.339, 1.6283, -0.725, 0.947, 1.2583, 0.0839] state[eef_state]: left_x=0.2928 left_y=0.0043 left_z=0.1732 left_yaw=-0.1988 left_pitch=-0.1798 left_roll=0.0685 left_gripper=0.0654 right_x=0.3375 right_y=0.3308 right_z=0.016 right_yaw=-0.3264 right_pitch=-0.0619 right_roll=-0.1199 right_gripper=0.0839 state[joint_eff]: [-0.1573, -2.5231, 6.9128, 1.7802, 0.0073, -0.1245, 1.0281, 0.335, -11.7675, 5.6684, 0.7692, 0.7937, -0.0171, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.01},"note":"The pen is at tabletop height in the left arm’s reachable central area, and its point still extends forward from the right jaws. I’m releasing it gently before removing the right hand, so the pen stays in place for capping."})
tool
executing move_to over 10 steps (1.0s)
step 353
assistant
agent noteThe right jaws are open and the pen is resting on the table; it shifted slightly as it was released. I’m clearing the right arm to reveal the pen’s exact position and leave a collision-free approach for the capped left hand.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1154, 0.9379, 0.7643, -0.5961, 0.1875, 0.26, 0.0654, 1.0775, 2.3592, 1.618, -0.6983, 0.9691, 1.2629, 0.9948] state[eef_state]: left_x=0.292 left_y=0.0043 left_z=0.1723 left_yaw=-0.199 left_pitch=-0.1849 left_roll=0.0671 left_gripper=0.0654 right_x=0.3385 right_y=0.3296 right_z=0.0085 right_yaw=-0.3303 right_pitch=-0.0406 right_roll=-0.1236 right_gripper=0.9948 state[joint_eff]: [-0.0752, -2.0991, 6.9675, 1.58, 0.0122, -0.0659, 1.0281, -0.4171, -13.3538, 5.8188, 0.3736, 0.2418, -0.0659, -0.0513] approver: 1 step(s) modified (delta_clamped). 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":0.29,"right_y":0,"right_z":0.18,"right_yaw":0},"note":"The right jaws are open and the pen is resting on the table; it shifted slightly as it was released. I’m clearing the right arm to reveal the pen’s exact position and leave a collision-free approach for the capped left hand."})
tool
executing move_to over 28 steps (2.8s)
step 381
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1154, 0.9436, 0.7635, -0.6025, 0.1875, 0.26, 0.0654, 0.086, 0.8135, 0.5896, -0.4091, 0.1955, -0.009, 0.9957] state[eef_state]: left_x=0.2911 left_y=0.0042 left_z=0.1693 left_yaw=-0.1997 left_pitch=-0.1972 left_roll=0.063 left_gripper=0.0654 right_x=0.2888 right_y=-0.0059 right_z=0.1641 right_yaw=-0.0806 right_pitch=-0.0641 right_roll=-0.1231 right_gripper=0.9957 state[joint_eff]: [-0.1983, -2.3863, 7.0632, 1.6337, 0.0611, -0.0757, 1.033, -0.2393, -2.3043, 9.9761, 1.7802, 0.0024, -0.0464, 0.0855] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [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 · 10.88 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, 0.7937, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3779, -0.0204, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0017 right_z=0.1838 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -1.5248, 10.4137, 1.7705, -0.0269, 0.1099, -0.0366, -0.5949, -1.3197, 9.7846, 1.8144, -0.0464, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd770873b44ac9beabe99c60a8fa3d495d5ac79eaa1daf0a2e9a8bcc66e94c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb06cc61232d5acd490bca4a012c8f62806c72fa86124ccc98f20d52d6c5258d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c226150f632d7d032d5f269a6ea24231009f169deb5f551ba42cd530309c6f4",
      "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 · 4.8 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0a65156cc643f7d7016ab42db0324c87d0b70d3e1e72f83363",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC26WiqmGOeEruNt4LSEOr-LKgJChFLRj9Zk5p-D9Ni8S-emriCwX3wqpI-jZocau-fcT62wenF0gLosBUYypS52fXE5VDlUE9V_kvrStIafPLBZjIzGiXUs0T_V3_VrotC06fYUBEnKin0EgSmn41k0ykCh4gRKTZOO0yTo_pY4tg1JNG7SabHSXEH4vtc3M4ztg5orZQZKzPdIvqLzHteLATQ511_ZDbhWngB2Qfti8_L5sUkxh9mGbWfbGvSUkaafNQIXYnhfebXbRMjYmzy4RPkbUUywE0VBzBzKHKDyCJ5WgJ5hcG8JYgPV-HyQPr0fHuiettu9iG6avNsF9wjwRibVA39gpcN6vv92qjWPkGfy1YPFZnyXBGgSy2C-XTt66LLPgrR6A-yJ2ZttdAaWU5g9d1zrKsVxXLctjc9uko7nzF-ERWyUs4tKaBIT__51wEJuqtdh7L1LOFVMG1Xn4eFNkj1Tin8SFcT_txhT-gnA32ncqLejNKbvqC9jEs-awZiT-73K7ySG8tQ8mQ5vmfiOltbhknhleAQdUCOiKX6UVwueIGhg_rBJmtLwPAd5iKbnCeqbabJClFKEBDs_VqGXzcIzSKD2w3e04CK6Wx9n_PLYjk8i6NkyXvA5wZy4iXb-9wSOwtpSU_2vAeKUkuZ20zhAHwtwjYAxfqMzup9EVJChBODSc7h2oD_HN8C3SUdj6iso-PBANGX7qhPQhevAWNQPhq_1HficCDNQ4YtMf6CoOJQHr5WUDK0YOJxG5udPW0y9G2dmTc4-o5eaps_TMWp--Iocks_YSpfBBlTDqKWqcZNC1ACpERIyfuqMlFDFEgSLgFMuwdzLx_PdUcFbQJLQEQP94BITKlLNxtBVdNnggsu_J0utdxlF7rCoghA22fEJyBt-6DM8c4r2Jtq9fE7A5NyE_nM_WaDftePTTkOaAERtEfxh_Kmjfxs3ixLFruIdZX4LhFghal3Ui_K-9ChQZ9tCUD2-d2r-cn9RMPuN3F2tuKu9Z4vZ8pokKFqG2B3hD_S82nX5oVMRCx4wnj_jHfHbE6SeCjzmlwmqA4hlmwn9daMGoRPK5nRV9Mhxa8bqIQyq6o8YiSeqtvnuIPLpOewA-Sbtc0pKI35hf0TkpQ2YAakkrpTpVAqwpONiw0vWAhnmKQ6CD0f7nbjdhk5w98kpNJeRVvxZ8-2osw0Q-x9JLH1cFzstfnXc_INLVy0tYE8s347EWRMIa_8hlvcm2fonffckuKQNuXm8CAGViZvv0UZolEYDEOxINpbTWnEP0RF2oSxyPDvEBI77ompnOIW4Kts_4QXU-WE_EZiDprrBXvbALDMzqufyOdbRd9nfA5YFYtkbgy3IO_XPpZTVZzWuJkOplqsXDY3anxdZGxTGlCwGzGl-KNpFKZaxp96hFWX9rnW77o_2j3jlc_xDuMgqt6Db6ovSRslcajAuLNRYZAcDa7xfTIWSkz-bqLdzE-pHJiEZnqjK1Q9Pxczi8SRtLluy90n6DMS0FXtuQJ-ep7kThzqOmLDVbVyFP7Zhf9BSoGAam-ENIZs3GYkAAaIsCbbmHGdyF4FjrfMdynGD8QCi3jgP6h3GahqQLzHRGrcIH5j1_jBqLfsJXb61lOMc_1aAxIjlkUBFYxTPnoJpZBizyUAchUxacjqhC-kK4xcKAQGXxQiOyY2y2IktFNXV2rKEikWfnZMPBcubECKQOuXQR6eN5E3KA0tcD4FTvz5i2fhchpZUtrAN43xTK1f7AmQ6vnmykghBvjHsXdRgQDCvZlyGahgy7kZ7horSGIMXSKKif-2qKBwQPlh1hEjSgMZScLkijVsiNwZ3Y5dBMRAJGLX-hufDW93aYQp7QRmt99piZBJ5YF-gb1N9O0-xdFL5acXtIFfyyIS4uzybU9KVegb9mSe9-VlkbNiz7jXy9j2PrnoBEEEg3EtLwr_3cQqv1Mu6dxJ6U0707jmZ_v47ZDmPBSAGqZaY7UbhbuFr2vW-934HRlHb5gc3Exd6X_rzN8ZN6qhtUWwFUi1xmucWAmXQozumY635VQdLfGvuidlRFJd-iYFXoTdbe4XavGWYafxC1l3uW791YYEJmXNu_yu29aVnlGeX1yj2gpLSGf0Y9g8mB1CUdnza5oDLaXuXNEdBm4ZyzmBFIQeRmUDGnFgBZpGGXvxrIhNUJ48i7qB2XpCrF6CKVDCKANljIIUr1N7mzXK7HQlbf00QIAPPdmnj-Jc5RhXQsA7ecAeCT1HeFVxGPxLoCP-RN5EaVbgKYXvfe_VGopYkVFECIb7xvv1AmST8qQyxVqzRVSOgMUteOwStCc3W2TWxfinrEASq-xprWX-G9l_vV2PKIrm3Taz2qEc3SvKS8o7yJTA-crbGmNe4nq0lYz7klnmZ6uqMCbQS5BM78IrTcrsnj9T78O5PSkO5y3ntQJQPasDD2gbconJn-bGyiKSniTYd0B1Nusj1HcShAe_YQKMtvBLt2xC5FBfV4QCy4PdH85w30bjC_nqFTVmXqBHlRJ97Ag1iQjEiBcVLXsKcoPzh5QAqPdeY24yoqAoJtnzOG30uVTUCzy_3appBWD4kZzfSCvjj-dNJx73Pb4KGPVYwq3KlmPdIZMIh76RPTOEJbtGIF2WZL2IK_9wfuV-ckxeNIE5Unt1RX-KhI8bPP5Obhwz6fQX98BrZ8NYQ92hAUPNzrLUrMdgon_dDWrckJ9QRmqeq1A7fodX_2VeoGwHxzI0kA_T_UyFjHqW2zFKOyPTWICIXniUlWLYC7gk5l5YyFwn7vO-clT5JTtrdcc-eK9phRWO6p-x6Uf7YjAGoGgnOXh4WUQRG6KqE0ko6K0n7nPa7LiSTcpvcimktghCF4P5lVucYI8O_UPpGEVvq6evhq34dp43iq1LI5I4Ml5M71muzLIZ0ETx0PPn0v37lmhroy3uBIdgc9hqAj4OVmOAFVddpOr-QVCsXszmDrMRp78Ck_jHzglMIWc77sOtHTofLArAzn3fSKJhZ-PEMzSWgaTjCE5PU_ASSAk-dUVYB8TFW8f_nk5Cn4tP4HJbO5jCeNrFZ1R1yCfaxLQaP-27KvuE3jSvpFA==",
  "id": "rs_0a65156cc643f7d7016ab42db5533087d0bbed2a518507f8bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.16,\"right_z\":0.14,\"right_yaw\":0.75,\"left_x\":0.36,\"left_y\":-0.1,\"left_z\":0.14,\"left_yaw\":-0.75},\"note\":\"The short cap is on the left and the longer pen lies diagonally on the right. I’m positioning each open gripper over its object, with the jaws turned to cross each object rather than run along it.\"}",
  "call_id": "call_P4eqztc7elJ9LxaDKcPOq4EN",
  "id": "fc_0a65156cc643f7d7016ab42db95cd087d088f2cdeb694b3c91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P4eqztc7elJ9LxaDKcPOq4EN",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0067, 1.3327, 0.7029, -0.1589, 0.5339, 0.3801, 0.9998, 0.2043, 1.351, 0.7048, -0.0444, -0.4061, -0.2802, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0886 left_z=0.1153 left_yaw=-0.6655 left_pitch=-0.0881 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3507 right_y=0.1476 right_z=0.1221 right_yaw=0.6887 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -4.9983, 9.7026, 1.8877, 0.4225, 0.1978, -0.0122, 0.2803, -4.9299, 9.1692, 1.7802, -0.4322, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a65ab023f0d9860744ffc6cd14aee56a1c7d711d60d6a0540f53dc71f1b03ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dfde983e1cd5649c6947412db82e268d1b4b6d173504c2a2bbfb4bc86cfda2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7cd6f4104d747841eef22e44e4ecabe4d309047429e1ff79f317910961f421",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.849 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, 0.7937, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3779, -0.0204, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0017 right_z=0.1838 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -1.5248, 10.4137, 1.7705, -0.0269, 0.1099, -0.0366, -0.5949, -1.3197, 9.7846, 1.8144, -0.0464, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0067, 1.3327, 0.7029, -0.1589, 0.5339, 0.3801, 0.9998, 0.2043, 1.351, 0.7048, -0.0444, -0.4061, -0.2802, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0886 left_z=0.1153 left_yaw=-0.6655 left_pitch=-0.0881 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3507 right_y=0.1476 right_z=0.1221 right_yaw=0.6887 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -4.9983, 9.7026, 1.8877, 0.4225, 0.1978, -0.0122, 0.2803, -4.9299, 9.1692, 1.7802, -0.4322, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a65ab023f0d9860744ffc6cd14aee56a1c7d711d60d6a0540f53dc71f1b03ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dfde983e1cd5649c6947412db82e268d1b4b6d173504c2a2bbfb4bc86cfda2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7cd6f4104d747841eef22e44e4ecabe4d309047429e1ff79f317910961f421",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3AueTVyBJGQqiV6XXHCEyGJqtigjQlve1ZgbXlMqb07ZrzDFX73A_U3PFAOQAbvbP1lBWYI3OWLafHqHYc4S9nPKxuk5__N63NeCe0dAiWIoKiZgSUBOmw3tnGBw0xVNS08QnlSzpoP0W4a9eSnL6sCM4nUPI8DJdnzXcXYCG9VCgGnb3Xl-5xUi26JwGrStX8egNVFsO4p-pgtTj5aGWAv9DObAZp2teXbn7UEOcTHfqAndGHPPgs3TagplaqcLK0CCyTmZEJxFhoJcVzD0JkiBAOxj36SyO4Mg_50mJupnw8M83bXCKF633okzf2Ebr5Cc7x-GXT6ooRdoimS1dLgeJ1Ng0i7RaYVzwg7NpqaRZ5IkkO67IO8DdRzG4v6hnn24TgtDnziSRmd2WeYKvJgPeL_dxTLeOl1CeU-Kn1bDkqAQl-bKbwCR3vDGx8f34Vacd9jXAav8A5yUIOOASOuIxsuQSi3efz3L19c8vpbgE6nwiOkkeVN36rT-Uz7POlu63CRxOEW_tXhURljj6fEYiijbMNy_9io85HTnvPXHCLIJW7E6dDoxs6fDM3axupZMMObOuQeK3GvUnpRbjjADgArejFadtKnCxpIizGOwC8nFhPpaRP47gZBwIIAyDJG8tXe5FnwP-BcVZxdDgyH55vGBK9bDp__lzCtaN-W3AtCfvTWYR62ZSiCMsDMniZjzDXxl_4o4PCc-HXNsF7gwHnHvGCon2v0xYTNGYkuaDfrqRqszIHxsIeQg4nwnDMlSCDZUsCsakQ_gGTAt4aZnlYSc1wAAl5zPoUuLUpD73omchROz7R9_8vo-3esouJnUS0xxAvKtaLBLModofHtFLI-pF1mKEVPRVUQzCANsNrb6LSv-UIokjEcl_rcJjq81BgbuQ97X0SsELVMSEb1oxlr3SPsJ7TUVu-3G4CTREpV2Pecgf-eA7KtnyJjEF_dit2flG2EV0XESqRU0SjeWWkwq992cyQJX9Ji8s7UZCtOFhtvxb_FqcSdllToZyfhkXbjkzah4AEc8vjuJZpYfjshsL_newSfWbwcDutlaEyu_M812fDSy-S9EooFhzy-pPNq39FGA4oJUJxHU7r-dO8G_HVuxr4DwCCIkWglG9CigwABa-lqnrxZsBUyi2_KiHjdMn2m4d0TBorx6z_3dvYf5FUQjbE4m9Vy4-0iOxI3cUE2Czjj0GmzACcNZiayJDRZKvsEXMi758tcgJwYedV7TvQv8bUpEOYXt_XenUupdTo1WK1RSWj2XZv5Pq-pYaZUJzwsOBOVC_jdCeLug5EX6aR-XFOtMAHZ9G0PAVQrzuD9Y55F5znbDFuzStFV_fDqlGl1QPaxjxC2l3Ytp_0a1-F7vDUvqqGk0G4d1wRm4c1waCDqUMNKH7kS_kw70SPOYqbYlmDditVa9mTUwdKbYx8MuUnUkUGXg-O_Yq6FT4SISaAGdcsV3d7EWjLSScLAhkLcknYf-BYa_TrFZg-FdSpLCaI2rOUNKjDgc4qCfIpmLht96yIKm3085KsAUJcv_Yv6AYCg87FlqlxJnVfRLFE3eUjXX1ONXNN98j3LprdiyFPT3uK-kb05UlK9YgGl4Uia4X843WYPJTPZj4sEUQV1ezYjaWpaF8g4NhScrD8cFLiL37n5y5eaSYkOvE8y_b3jUhc_3KthDdc5O3OouU8gEoZ9b7dKiAFnRa02mcIJFp26ZaMNY3ssFlKbHRvuqDeap2wQs_-19e412sZ70JItDEeBEhq8QKqeVP6EhWHuGeUVrZL3zdK2xj-pvph3DI6_43Kl6plrAgfvW7kkvP41xgL5CRw1hRgwQKGwKgEaNHe7xGz-gGRQVxJJ1rlCjdcqVAGZ2R0vWKqyo-bUnVedlEpHn5hXaiz_SPZXSTfdRu4v5mN-aE-EZPfaIhhkLSnnFzmBlyNO9hsd5LpUJ67wvf-5hyqOKpd_ZkI2DheP5w4LA5AZDeTEpGMdQ_ykDpnfmT-3mJnMeELhL2nyDXnedUYN5FcBPyOdtJ2a8jx4kBZzkyFgZyqmhf8kOyMaFx683NqjnLDczvt0iOlxFHs_BSOzoz0XnjbiMELIW1SvPVlxF1GXPBNuCuhEFhElW_0c-egcLLSw5NQofWJC4cPOhLnpTDVkI2lrG9S-FEONynPfVa_PeI4gP_w8jHdJqlHxobLKXB50iVWCnTHm9ulCgpmxf8V7XvGRqp9QpWfU5HpR-owG2Z4EPVoypMLr4EbUD6D0uIcWUwvdhP6jEODPAs6jeXwpLakdZl9ACpZ7V_0JxVTXyvET5fCzLcG2yBd--hVpeUkYxS_Wl4kVfaiip-7LIxnM_OO7uUpIJ-Og86P6E4_vQeu9XCvBbycUiBOdcEvr-Q7JOg-jUahAv03wmE6EqOBFsJf8rtjfOWs6TMsbSpHYnchNCQeCMc1TOoBBAwoZwJ01S6ZjQ00m3w8hFVlINfSRZV_CfRfuZdU2Ofh76S8Cyx3F9NgaJ8DcVlL5IoObR0CbeaTv_mA1nJdkpO6n9QRfLIX_PcqoOKZqQTIYIGl2z5wAKbd6gYVokilGtmYE55WR_4A-pL8TZN1ljo2fZRp9kOJLutGXqYndKsmmJb2x4Je_rlBe7ai4RCwOiIY-5foOw-qme0WQIjhBY44LDmm-QwQX5uadXI7lb1b0dx4f1ykxMfPI9UxGJFi4UdRhYoEHIfux-GcrMtIwsXXYgPIN5sWAmolizAe7z23Jwih20sb9oZ2Jn_S6qEKlLJlJiN1Aqlu7vKPBBxqdl3ariDVSCA7mFomoxEJ208LAkudBP5dPqaS0GtnaZn090YOuJXmAyWrLUPAzpIcZ8Z3JcYlPFijvKQV0wXyUQVtl_f_hyRejHJP",
  "id": "rs_0a65156cc643f7d7016ab42dbca95c87d088b04e69a9493bd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.045,\"left_x\":0.375,\"left_z\":0.04},\"note\":\"Both objects are now close to the centers of their wrist views; the cap still has some space below it, and the pen runs down toward the right-hand jaws. I’m advancing slightly and lowering both grippers to check their grasp positions before closing.\"}",
  "call_id": "call_vF396Yf7cNvA5NVIxFslTucb",
  "id": "fc_0a65156cc643f7d7016ab42dbf77d487d0a7829f150f3ccc7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vF396Yf7cNvA5NVIxFslTucb",
  "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]: [-0.0067, 1.6295, 0.6235, 0.1173, 0.5297, 0.3828, 0.9998, 0.1852, 1.673, 0.6514, 0.2302, -0.4221, -0.3004, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.0881 left_z=0.0281 left_yaw=-0.6718 left_pitch=-0.1688 left_roll=-0.1236 left_gripper=0.9998 right_x=0.368 right_y=0.1462 right_z=0.0326 right_yaw=0.6985 right_pitch=-0.149 right_roll=0.0704 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.0085, 5.641, 1.707, 0.2711, -0.0855, -0.0171, -0.7453, -7.4462, 5.5043, 1.9072, -0.2466, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db59155db22810aad7a1df4b1e6099a8708741f0f10956142d76fedef10889e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1a9ee8efe737f2948659bd0f1487e3478cd9a2e0dfe5aefa4fb538a69592bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f96821f56d1410de322078f276f2fc5111f8d6a4320aba1d1cfc1db19b1ea7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 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]: [-0.0067, 1.3327, 0.7029, -0.1589, 0.5339, 0.3801, 0.9998, 0.2043, 1.351, 0.7048, -0.0444, -0.4061, -0.2802, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0886 left_z=0.1153 left_yaw=-0.6655 left_pitch=-0.0881 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3507 right_y=0.1476 right_z=0.1221 right_yaw=0.6887 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -4.9983, 9.7026, 1.8877, 0.4225, 0.1978, -0.0122, 0.2803, -4.9299, 9.1692, 1.7802, -0.4322, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0067, 1.6295, 0.6235, 0.1173, 0.5297, 0.3828, 0.9998, 0.1852, 1.673, 0.6514, 0.2302, -0.4221, -0.3004, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.0881 left_z=0.0281 left_yaw=-0.6718 left_pitch=-0.1688 left_roll=-0.1236 left_gripper=0.9998 right_x=0.368 right_y=0.1462 right_z=0.0326 right_yaw=0.6985 right_pitch=-0.149 right_roll=0.0704 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.0085, 5.641, 1.707, 0.2711, -0.0855, -0.0171, -0.7453, -7.4462, 5.5043, 1.9072, -0.2466, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db59155db22810aad7a1df4b1e6099a8708741f0f10956142d76fedef10889e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1a9ee8efe737f2948659bd0f1487e3478cd9a2e0dfe5aefa4fb538a69592bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f96821f56d1410de322078f276f2fc5111f8d6a4320aba1d1cfc1db19b1ea7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3FtDJWxpt7_f1XcOC0J8wvvYuQrwiJrv8NRTEBS2mz50Dnpxh15sHQYYbs31Da0F0aKfjhluevjSyP6K7sncxYMill3pghyTUg0_V4INtSRSZpvL06VXl-byqKEbkIc8IK_LZdKWIE_D28cqA87U1NjItZHjjWYess6AIUchdPJieKPHtJPOI-W1fhbTGxE59uQuBG4RsEfxcVYWeAituvuFYHmgEphp0xtewcsk0yhEbVcx48GLynoOylssua-SNBu3z4lj3PW9DacH6Yfw60DhXJOn0X88SpxYtkJfL6GWp-Glpep8X60G3LJuXX-xCV3lNWc-YBvxe-n2ngg3zHIGjeKA_4k_wjNE54pOmUrAjxg1jvWW4glILhcgOQ3LZyTO29nAQ-PHbnkhOylDKfZd2QKsVXGiMgVjGxzOLovl0yBbvWcyESYMpoQXEmCE_x2lyuA9-o3oJUlRuKkiRbbxQ_RaLXqOpj-oaptMjknrvfYwh5hpVK1HWeY64Q8iaIDSxJW47xLbpjJGA0R1RgbIm608pGKAcsuUMvGnllGwohZx4I-0k3sF86fiC80vXP-_J-lipL3yoIaCk5VPqg7XyIUOvB9VQWkmFHaQJ2v3_UqacA7kZy0DkhAOJP5D4rXAbPPL8ZRGTtr_8mhJVTqvrtKpQt9LTED8mIjIRFz9vok-Y8Z-8QsDFtszif7RsVNmPBC40d04z9c3o9Jqub2EQoK7C6dgEFwPtj5yhQigKq5gvJhZvMkxWdhsbwaZ81UM9jlc1Dt1aymzTCZ-Sk7d5K9PrMl-hThYyk6rwkaek1AJdSSCDuGr5qOGfryLzZNNPzstYCp24EFUgUJGFCjtgaQVulhpwNluqdYW_kRekZntIIp4pRUDunNOIJnqbIeAuKMxI0tukqkk02M1W9kTM1A9WVGBcWeZaK8wRk4Xyo2-TT6OubVARYsNBUwH3GotT_rx3YoRHqHzW4KJkhTkEPnihehvszHZonZaShYQTpTIZQX6rj-EWEOMoe0G-xuP8I0_LNzbCoxd7t_22qtlIr4gppo9J_UtdIQoJiKgHJKcX1DGBOgrjyIOrrdJ9EJ1Yn7DODwfg-UkcMkaW30R5NkxxVdBaAXFPHrIRfBlHOXy-bNI9aS0kG9L6OHdADex2YoaCaqg9wOvA_PhHy03LWrivz6QV-1Z5vBRN7x7xYh2uFka0q3xL4a4g30M_zOvGkIp1zqDgzKVpr1ewkblgkEzmOxSOowhwRo7wiU80_YgZM42nz11jorLGwh721MruTW9DWeuw-uip9HIjZjtz12TuxMA08Sy9GE5wKLa0_Tf6zXutcB6s-u9kHceWZ_GlJ1abPhP2TWMZuEL_AQ5GifRoR6xvwfWsdU5Uf4RPzXHDwEXVM3ajZFXD3ISmOrNaDX-_g6IwXVvJbDtQ3ZZVc0E-h0mI4z4-azJES19rUPXc-5fweOTXKY028UriY-Zy6l1tMDa63nZXB6qPHZUpqkWQMlAl-bFLZhW5UzeApjr9GWsm5Y4aXe76G_ugYn5UBkFurCfp4QSROKgzWBSlduRM7JiSvaB6kPqI9qy0dQtwbrQQuw5eON3a4xMTdmaIzkZBDA0x47P511w28ENuD2niCXWeAAjIhLmDOANpQnT7ybcXw6gmnYazFGc1mOG1F4wIr-aCaDvU8zDA-6AJ7ehOaIuy_VhxkwrIywnl4ACIGCBqfFeu8FtbXg06tE_ZHf_yRJ9DY6m0Hu3rhVUpgh35WcOjDrTkmQeI3VDJuEG1q-gAz2-5QZxGj4T95NtbKY3G4Puy6k6s7WaHKwop200GQugqrIMNUwvmmEWwn7DMEgRWF2uJJ4-0lC6BGk3bdtAA53UMgQ17y57iJzqmaeCGXvDR5KLTb-X-NyGpfNbn0ijyB-K903ntTKJDDPYIMqvv7nakOEpxpVu6pEzShPKpLFPbmmquCLKUOxEwIY50cUQZd1m4FyR0zx2hASlJSinompoUAViKkhiY3SC4RXh7idpGA1Yy2Yjx50fhqJppcQWqSSvK1hRMisp35exVOYI_F5s9mA4JA5LXFjGVJ7GHbM-LqDR7G91EZkBROhB5hnaa8Iv8w1rWF6BU4C9KRs2x26uTGfdIQBtyHCaxkjaTsDgZ48sO0yvUSYh2K3v3pjU6X5UtE-iKfLSGU-tJ8hiddOLdWNHPjyd6CABHh76cZ3BDXkH7MEC18n0lmH6zH731a7eGSDcgaIaM8AIRXL7LgpXyczoPXBzu1CppSF4b5dKEEbh-I9wRn6whtROoSaNq66qEOPWU_TcP4VhWep-6t9CxVTSLJ96twsu0gACiglAcmrtPFMU6AFfrsTWftwMoA0_FcL7jW_cO1yq-p-fHdf9jlIqVX19YEbMpVoTs4YHoBEEqYV3mYshol9MqZEa5puN82XGsIkT6KAECmcd9Emhxj0CNehploBzhLliwR_bFLQIi-CWkuRUntX_Q_JDJyeV6lUiZG5clKenFF-vjI3wM0VY0HHFgqywN98FW3GtD14q6Ie07iTXAB_NZjLeoupdJwsYxYySVNvJUAnadpC3EF9r4ADncA2ByFqEntV4AgZlm4-BWXKXoeL28VpnWkTLPmXUmhGZeCxQCVx8u97KfWprncR7PzUezrmlvxLAFOt3JYWzgGzaO4TvKmlyuWVfn7BAxKWXbMR9r5B7-vE7yUbpLX28x_iO52rRuqmm6Gs1k3ln1msk2I1h_BZmTncEP5AIvWK1vXkC2AGMMZJNnew6iy1-bERQVav5VpAaW99uF0rZ1QgYG-Wq0Bpzpm1TLdQIt_9RTD6kAMhN0uem5xmpLLFuzapIHPV7iBSG9LUQXgEF7KH6cXjgS01DtpuJr6sMXTDhKPY-AFVXKQqEqni0psy1MISznuCdzSrxAFJWrMlgbOv_LEKoh3MyKrm6UtdSLk-2XrRyrLh0EGzywKkW_Ev-Rz78nN3NjxsLzFZKTBrIGCbuFZZF49DhbKmjZU-Dy_aW2S",
  "id": "rs_0a65156cc643f7d7016ab42dc19ce487d0ba30f740a6ea138b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.005,\"right_x\":0.39,\"right_y\":0.125,\"right_z\":0.005},\"note\":\"Near table height, the cap is slightly left of the left jaws and the pen’s near end is slightly right of the right jaws. I’m making small sideways corrections and bringing the fingertips down to object level.\"}",
  "call_id": "call_hqU9ZIyNI8IJtmxKPDP6jla3",
  "id": "fc_0a65156cc643f7d7016ab42dc4d3b087d082007f2d34cc0a07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hqU9ZIyNI8IJtmxKPDP6jla3",
  "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]: [0.0307, 1.7931, 0.6968, 0.1967, 0.5545, 0.4046, 0.9996, 0.1162, 1.8084, 0.6769, 0.3191, -0.4576, -0.3462, 0.9988]\nstate[eef_state]: left_x=0.3831 left_y=-0.0777 left_z=0.0066 left_yaw=-0.6654 left_pitch=-0.1638 left_roll=-0.1295 left_gripper=0.9996 right_x=0.3858 right_y=0.1272 right_z=0.0066 right_yaw=0.6836 right_pitch=-0.1519 right_roll=0.0683 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -6.5573, 6.147, 1.0965, -0.0904, 0.0562, -0.022, -0.3624, -8.0205, 6.9812, 1.4237, -0.4225, 0.1099, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19937a4f6b46d4e82ca19bb00933c92cb4b3e897faa67fb26b5f481043b35946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f27a1de4f66ea5fc2152e5d4a23eec83f26147c44f25a3c5b805c992a5c1a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9a241083c9ec0bd82d338ecf8f3d5e3fdaeddaf8dd9d590ec7dd214bddc8b7",
      "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 · 5.451 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3779, -0.0204, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0017 right_z=0.1838 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -1.5248, 10.4137, 1.7705, -0.0269, 0.1099, -0.0366, -0.5949, -1.3197, 9.7846, 1.8144, -0.0464, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0067, 1.6295, 0.6235, 0.1173, 0.5297, 0.3828, 0.9998, 0.1852, 1.673, 0.6514, 0.2302, -0.4221, -0.3004, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.0881 left_z=0.0281 left_yaw=-0.6718 left_pitch=-0.1688 left_roll=-0.1236 left_gripper=0.9998 right_x=0.368 right_y=0.1462 right_z=0.0326 right_yaw=0.6985 right_pitch=-0.149 right_roll=0.0704 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.0085, 5.641, 1.707, 0.2711, -0.0855, -0.0171, -0.7453, -7.4462, 5.5043, 1.9072, -0.2466, 0.0024, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0307, 1.7931, 0.6968, 0.1967, 0.5545, 0.4046, 0.9996, 0.1162, 1.8084, 0.6769, 0.3191, -0.4576, -0.3462, 0.9988]\nstate[eef_state]: left_x=0.3831 left_y=-0.0777 left_z=0.0066 left_yaw=-0.6654 left_pitch=-0.1638 left_roll=-0.1295 left_gripper=0.9996 right_x=0.3858 right_y=0.1272 right_z=0.0066 right_yaw=0.6836 right_pitch=-0.1519 right_roll=0.0683 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -6.5573, 6.147, 1.0965, -0.0904, 0.0562, -0.022, -0.3624, -8.0205, 6.9812, 1.4237, -0.4225, 0.1099, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19937a4f6b46d4e82ca19bb00933c92cb4b3e897faa67fb26b5f481043b35946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f27a1de4f66ea5fc2152e5d4a23eec83f26147c44f25a3c5b805c992a5c1a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9a241083c9ec0bd82d338ecf8f3d5e3fdaeddaf8dd9d590ec7dd214bddc8b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Jv02hasro0e9udBR_H7ZCLMowkMRTokRutwxdA79gLIWSaHUWjpgevWDTp-EG9jaK1wBBl_7DCxN_OYuIXZ5pILzAt8Q9u0fyQPnZJQAmwNia7QTr7Ty50QvMmHtwwc0XzL2LTlrTXAghsBpMPvoPl-rA_tvb34Jjtskblxzbtk2jNpWFk5ZFP-PB59-nRYEtgcQOYCfWU8wgideEefDTIkiLSyktutwbS-SnOFqfAN1CnnXN8WJXHXdzR-g3QtAfeEYDvwlStMvTKdJEQzB9f2RlJ2AGuPk8ciI5u7X8S5rIa75TwRHL6v6Z8cTOKN9LsIrKpQ68q8OOKpnUADJmw7FHKv0P-6bgTBKqNPkz9nKnj6uklEC3wOFYZMzsv4i911fEUw6XkrDgZoxEBGZkyFTiwjU68WgTTvl-gvbKnkhUWlJCyTpNRoWv9WJTzocuGocJs51nDVB1yaoUYNUU4Dvcsm6VQC_sT5jeax8-MxLrNKEoUeD1EAXSTOMOjA2jOCgKIUk-RP-hr3Bjo0kuOYEyxY-JW-jq2h1IYU9nX-DQkyxb9wXqdiiQdxet0FkZGeJQ64nl_heNaOLc062aqzIhkP_vcp4jzLVMHQE5agN8ObM1jfflaHap5R-gZ1uyZKY_HNSo3ELRy-4jJV59uCy0gjAO4VkDotUgoDfSTa60vbiv22D-csuApRu72KBr_QCN5_43X8nSx03y7NE2YMlUJMMOtFmAmH5N892mC8znJCnNEyTtv_o40oO5T8EnpqvbNDdbnXhnMOoLNTQojtHGazJD2zQHnqi8bidPsT7Ebo9xyqANu3BECUT6ru488sU_uq9ZmgGc9pyi2sgauqbyIzPVwVfzNDxU5k06Eap8j_FFUOWaM6kLHxRrLPlgvWIi2zf9_xMH6LdZGsUFBXhZcixi1miBp1BoIbPz3KWAPbebbGpHB_A4ILlHFmJkRxDKKm3tDZ3UbxQoW3XxvXlvisV-P3LgmX8Z39PDTHSWIlRKW-T1sWBgeX8eQbhbIzaWGbyeXYnfzHSrO0bwiLbT4qgaSSDdiiO6dOwLi_q9Efn0jZSGE1tQiLmSaerEUGkAx-K0sRPNTmxIHI7ir8Jt2ZvR1PzYj2YeTh6lqcHm1I3fgNg6wwigWjm62FkQYRhuNTnSRkEa_ZaxoeCDf1cQ1ZSnmWk0KyboSByCKBHfjeLapzghL_FjuXrsACyGrjVkxBf0DYcFWmtY0J-VE2cwRSHSZD7fLCypR0KD-vYI44FZC1z7XXIO7vtXo1AkyaQ7NdiPalME61kP-8AOpfhlqFnM1NhT8OcFDPoj1CvEZ1su-sZk_4iXhHKqKlHVm6evJk_NYIwyBNVZhppnGvmRRjUze76dIgQwNAYjl01D8u5gf84fyy4Gzyd2IdKf9VtWc5i_XgzETj01A0743_HTmIFTASlvb8H38Tpkw8-i6R5pulgC0rGx_NmgvQ89Wrj-2M5mbakJFAAmroHiFiVO_NW2jJ0uIgkgQELF85pPxH7ytFGf5Al6OlFyUUIw4KfazPjRMkozRqXhvgXGWIMRdF9wDZNMfVKmNrfiCoyeKpJPNBOyvh6wZVXhEprbjOy8SqcWdtFPB6zd17qUd0uAOL35iN-shTZpjLPBuJZv5tCR1DoRsRZEIjs0zE55k6WLGvZVtElr-hhhJRxteLxrRpKredooK4r7zSXNU1EgIL4I-oOrZ6tGgx4WLssFl6GbBVQu0xr4tdlpqVypRbfb_TveZWNOJ5_hH2m0ZX36j8RcKVHJ441mQnjBq71SEAZ4d6FYRt2LJJckmjSotT5PwHAhcDmfzmNMCvXc7C7B2vnlcDoqdOJLaAfoxBHloHYw1NoAdYML3h3RWm7QXN41v-ZeNUQSC-nuqpye0f4Q4aTyrI472ruuQySKEr42FlfRdhkAO_gz3kW7TvMwg6dOGoSLuFZiU7q-ZxcB3OTd8PbolYbTWjxeVq-WUA8oYV8xKmXne5sWuJvkD4-a0AcTCoxjE4-fFUpB4VZzLqy5Rgy94UuX9aKap-hfv8RBTEAA19q2rnNxspYoQouMxrYeqbjsoEKKmWepxb1TyQ0BHfSTnNGCWQvmSuS93hHdxIHuzrkqQx65z_gSLyFywdYw1b6seSr_JqHX3Ck6gZ_3yUIsUXM1oASHD9pKLGV3f6R_ygtAk6xi_MRULHXK1BaNboz8Vh9tQKN2zfeZWDubJu39ywVl13I9qJtuMzlR_0sZwCAColrbjcf0dapDArAyzMrh2VHbyV8cef_Oyjdi9q4gIsmA0-Usgq_wH2lk_T-MJGxLnICrRXw7QQbn6aHUl_pzMd1tb-DKPQdPd6h4wgchmHoXeDr1g4eFklv5367oiO1dw5i1MnaYlIt76rEEz0U4oDWVIU_nVvsAB9rYO87L15S5-fTBI7ms3YXSpoa56NWaC1ikLdeAUH8UE7_5MIM-nTu1bdk1LKSyDycpbznB5_zZSsjc9UGmWSSJbtCraNYh8C0jvGz4OoXl9g==",
  "id": "rs_0a65156cc643f7d7016ab42dc6b66487d0815dba01ac4d83af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"At table level, the cap and the pen both enter the spaces between their respective fingertips; the right jaws are near one end of the pen. I’m closing both grippers and will check the settled jaw openings to see whether each item was captured.\"}",
  "call_id": "call_nMjKuSapKHyHzFxIB7JMa53z",
  "id": "fc_0a65156cc643f7d7016ab42dc8daa487d0b112cabd2586944f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nMjKuSapKHyHzFxIB7JMa53z",
  "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]: [0.0322, 1.8084, 0.701, 0.1982, 0.5499, 0.4019, 0.0078, 0.112, 1.8111, 0.6834, 0.3428, -0.4686, -0.3489, 0.0081]\nstate[eef_state]: left_x=0.3836 left_y=-0.0764 left_z=0.0022 left_yaw=-0.6602 left_pitch=-0.1736 left_roll=-0.1349 left_gripper=0.0078 right_x=0.3914 right_y=0.1279 right_z=0.012 right_yaw=0.6874 right_pitch=-0.1244 right_roll=0.058 right_gripper=0.0081\nstate[joint_eff]: [-0.1026, -8.9094, 4.5744, 1.2869, 0.3492, 0.022, 0.5641, 0.253, -7.4051, 4.6838, 1.0574, -0.3785, -0.0073, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c15d3db469d2db8a87baef60cf030037a9fd39306e5d5c6bbd2ed32e106164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d414561407d18938b27ed104aeedd5c499e2887aaa252bd50268977b49d583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70980031e30880d79d7f76e63134921875621478ac2f6f1dcadaeafb65987007",
      "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 · 5.374 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 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]: [-0.0067, 1.3327, 0.7029, -0.1589, 0.5339, 0.3801, 0.9998, 0.2043, 1.351, 0.7048, -0.0444, -0.4061, -0.2802, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0886 left_z=0.1153 left_yaw=-0.6655 left_pitch=-0.0881 left_roll=-0.0662 left_gripper=0.9998 right_x=0.3507 right_y=0.1476 right_z=0.1221 right_yaw=0.6887 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -4.9983, 9.7026, 1.8877, 0.4225, 0.1978, -0.0122, 0.2803, -4.9299, 9.1692, 1.7802, -0.4322, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0307, 1.7931, 0.6968, 0.1967, 0.5545, 0.4046, 0.9996, 0.1162, 1.8084, 0.6769, 0.3191, -0.4576, -0.3462, 0.9988]\nstate[eef_state]: left_x=0.3831 left_y=-0.0777 left_z=0.0066 left_yaw=-0.6654 left_pitch=-0.1638 left_roll=-0.1295 left_gripper=0.9996 right_x=0.3858 right_y=0.1272 right_z=0.0066 right_yaw=0.6836 right_pitch=-0.1519 right_roll=0.0683 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -6.5573, 6.147, 1.0965, -0.0904, 0.0562, -0.022, -0.3624, -8.0205, 6.9812, 1.4237, -0.4225, 0.1099, -0.0269]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0322, 1.8084, 0.701, 0.1982, 0.5499, 0.4019, 0.0078, 0.112, 1.8111, 0.6834, 0.3428, -0.4686, -0.3489, 0.0081]\nstate[eef_state]: left_x=0.3836 left_y=-0.0764 left_z=0.0022 left_yaw=-0.6602 left_pitch=-0.1736 left_roll=-0.1349 left_gripper=0.0078 right_x=0.3914 right_y=0.1279 right_z=0.012 right_yaw=0.6874 right_pitch=-0.1244 right_roll=0.058 right_gripper=0.0081\nstate[joint_eff]: [-0.1026, -8.9094, 4.5744, 1.2869, 0.3492, 0.022, 0.5641, 0.253, -7.4051, 4.6838, 1.0574, -0.3785, -0.0073, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c15d3db469d2db8a87baef60cf030037a9fd39306e5d5c6bbd2ed32e106164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d414561407d18938b27ed104aeedd5c499e2887aaa252bd50268977b49d583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70980031e30880d79d7f76e63134921875621478ac2f6f1dcadaeafb65987007",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3QiwomFlSXBhLpLXJbhcca0bvYC1dt8v1govqxJo93KzlaVria5rCN_R91RalwQgBbbyATX_a9o0gWjeUj5OC3LGu69ul52Lu2waDdUwFTY_LPJhqqZnRzoASpXC3JsMhOIchDLbl6OeETyEU1cFFgWgHrB16zKgHoiloF-PCKq13qJhGc5irBesPrdlN-mqQI2IYjTG7M68DPFfjjEh0nNVD-PhmN5ErSvpY4msWe-0RPWvtD5wTKAXQjt5Mrpt10qEUGn1whrnKBzvRy6OOfzIXDVTaz5meztheCENZxc_tSdZXOmG9fiurZT0eZy9eFggpfQMEh38S8u8nz1dZLTNg23hmBOET2vgKQuAR45R_6ydofU7yakyGgN3lu4NLTDSJmHNklxoaZrfmzDZr--02jKmrc4orWzEc6s131z4AMyS7wGEpXIOjyyeF0NFoIjMwFPn7KY3YnCJ_GFearyWG8W2l0nYdNnRM8bRqeRZHkJ4ffqTFyhLJ9cXhF5LQ5ac6bUcjO8dxxiWJe9AkWI5IbOAspZ08NLRRQAYBieLt31n1CiBJiFI2B7n2XpWzMq4coxXHsY_Pvc3AJE7HJrpKfD_XCgh5wt0_FJ3atknl6PJ4vsqJuAzH18TCUOYi8K5P-ADcJfcLd1Qjb6EbfoQrGm145UDgEU9jSLNY-eUu7V-KTZh0I4bgWUxtEgHT4BUySzg7yCFmB1PzJ-79hI-R1P72FSjenTA-3qGj6bvupAlOUpekVCQdytnI2ENMG4EeVFjcMe7a-lvq5XL1xFDuMoXM9jTr2OmxIlVJrIaaR-n7kStPAAT3V3jbUlcNgaQiw1V3UsT3-s6kySo7MRemjjya-UdxllXOcTuc0bf79B15WAD02xjth7gWIXTzqDUroP0vQUSmd8G9SdJUfnQK0PdVGdiAeEM_PR_LBiUE-uFzYzSLUC05eRUa9D8JXlKtr33PZ9AUyOrKoaCmoZ4MajtjslGxmFvCDUH-NJD4FZZkmCZJ8GtQTiLgN4MJBQbgDqObrzuIViLBu_FQT1xMYAaVJvN2Ljj1mcX0LcHmjiQ3b_SQe_Y3eP7LDDpb5QfXev29BdJ8oKgLyoXhpjY9qZcU-lrWE0GT314qfPIKhHeDCkQnvihFRlMoOKs9s19-mVNS3jo9cGBKmieklNVhqmrFfK9wwCEiBw0PDwWxG3h5xRX3LhveSYZcIbI_xuGrQccT_soBPP7jF1nBwADC5Iu2ZSFAV7baMLakFDQZNL7lt7wLi5IdfSh5xMooTHvyRIRoT8R3KStPHP8LdCVGdviY2WIMnzvDFL24zG6CUt25mZmAMebeL01EkNB3VjHoFnXJeB5tKjPz4brjI6uqlcizmgNaahznVSVOT4QsdLmKbt2n9kTALx9bY0UB5B4V94PS7cdAISvmVS_jVUmGa3LFrHztXsNtgIi0-uaW0uL3UxaogM-yZ0ItKIOq5rWxlIn66-hfpIYQ0YRLhcnuaAiQZl3qa-4_6mSV5J37zworZJpzL9wvQOR3_gbdBiKpK2H62xfoIl3JH8MQgZWDWvEa1POZ-8uSd6drFolXU37-e3-2nBC_O_kmH9q_Zf8Og_uzL5fCLbHXRdLrD5bdxmQAUzPn3o9Yp1u01-EcXWLgU72PoiCJ15ixfdfUTJt_7uR-DnhnfEhJ0614GRX8nXrW3LDbkCuTFGXsauWO6qPKF7e_BxgiIVIRESME4WZp1ZvGacLaeq-7mZNgKVHhuJlguBAvoK-5xhdiGOQYqWF5XftFyk5unmf10FRSFFZHu0-hK02QJ1ILExFQjqyBJyxvStoP2e1G3Bb-LwYX9vUVplfmHdNCRLA6ueCMeMNem4fHXbpPefdY5x6R-I7Y6h2XfIORbZtAQL9zKjHYfjhaWtKecqT2gvtbUJA2Rq3gKyXNfE3nU8iwvcxvriNeAfIXKi0Hk8cntiA9wfaeodg1NzL0_Y2Cq_ANooiLStjv6ldf8ILZr47yID5p3fM3tLutJn0etX8zaEsjF4z5ppiCcUD-AmBFhN2mT0f8VwK9fnPaQvS-HjMkduFC14ukCZAwPVLGAY6XNbnI_-WEH_hUle-Z6LVQ13kocW5gP78oli136CZNjrLzN5IuqtgodOMBJvJpbeYuyUpd5g1S28fuvWDLHFMFwoXDMh1iqIB0TqMDF1SORIAc8UL-dE-i3AncjGSfLPwzS0ugbMANsQQysB_9ienR_ctF0kQG8FFDu3W5s6kJYIBD8P0eA6VfDIh2t-o8pxgDhXDXWzSi-5MijIvA9On7o_uAbbxGxAcDR6Q1vVdqgNJVBGimOi6EUXfKRTTTk8zggT5ODaIhlLtpHu9-1l1VE-LbCHtWhKe5mdTfhMFE_YzJiR8E6vVuNDIhbZ2MPcf-S6Wi5vlNlnbe1kpgsGVmsqo0t9FcpfINnDeCXa2ywoF4FPMV3GngMaP4BbClHPLyBtkn8H-0-fG-AeUJ4_oWXG0hneHfdGVRoq4NHdT4mYwDsLLL9M-ZwIoW5rIcKlmSdK0yejhCOyxjjNAR8YAZfeju0EvhmcrxovwlnRabcrAHYO_2vwcTDVULSPNox-Dy2iGjXB6iRxB7nYksnI4-lLaMVx3JVCTl5_oy_ml4GiEL-EdXLvyZQzetKcaWL3bLGLne4j4L_XgowzeVsRqwgoZfLv-JKwZK2eC7cqhTwavnShK8S_V_3C7Bwap_nsF7pQGyWIpfFabKs3QWPT1hROLolhyLxqJ8iAMIcVjtdSY6UbS8un5n0sj6KVE-S51dUgdrg0H5ikragGUMiWR3MmLgfBHML1ZN33wfWOH93F1BOBifOXFBWTqqK8kRyFoAA_a1bJnhWMHELmgsGKZaI67IyFCUTdb79-sHNvWz2xR6fO_M-fNM70uQRj9OvVPUpLufCrNVbnqVMbIBvRSJdKTvXfThWZQOpDocXKCo9XTW3SM0dD3fv4GlIG975UX2tCJaXLjc-9m-V0H8gReNHACkbCnudCJnXD0YwmWbU6MZhV8NQj5a2ma9icYShQzKPWEKKvPM=",
  "id": "rs_0a65156cc643f7d7016ab42dcc2ce487d099032cdd1df65d5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.45,\"right_gripper\":0.45,\"left_y\":-0.105,\"left_x\":0.405,\"left_z\":-0.01,\"right_x\":0.41,\"right_z\":-0.01},\"note\":\"Both grippers closed almost completely, so neither has a secure grasp; the cap also shifted to the right in the left wrist view. I’m reopening partway, centering over the displaced cap, and lowering the fingertips slightly below table level to get around these thin objects.\"}",
  "call_id": "call_xZwvErggQun6cITYj2fCEXof",
  "id": "fc_0a65156cc643f7d7016ab42dcefb7087d0a8c5cdd21362733e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xZwvErggQun6cITYj2fCEXof",
  "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]: [-0.0551, 1.8816, 0.7544, 0.289, 0.5251, 0.3363, 0.4453, 0.1108, 1.911, 0.7338, 0.4255, -0.4908, -0.358, 0.4453]\nstate[eef_state]: left_x=0.4039 left_y=-0.1074 left_z=0.0022 left_yaw=-0.6869 left_pitch=-0.1336 left_roll=-0.1254 left_gripper=0.4453 right_x=0.4104 right_y=0.133 right_z=0.0035 right_yaw=0.7064 right_pitch=-0.088 right_roll=0.0452 right_gripper=0.4453\nstate[joint_eff]: [-0.4308, -5.7641, 5.9145, 1.0916, -0.1001, -0.1441, -0.2613, -0.6222, -6.0376, 5.3538, 1.1013, 0.022, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91457c9a868d8338da1d85e4f80f649d990b31caf8e4faf21b811ebe45c6f4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be817967eff968f1719993ac77d633a76901226167603fc0ed1b72783c825fab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9621f8fc768c7a1515afbd50a29a738d02138a198fb4f068deab11923b04d0a",
      "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 · 7.061 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0067, 1.6295, 0.6235, 0.1173, 0.5297, 0.3828, 0.9998, 0.1852, 1.673, 0.6514, 0.2302, -0.4221, -0.3004, 0.999]\nstate[eef_state]: left_x=0.3571 left_y=-0.0881 left_z=0.0281 left_yaw=-0.6718 left_pitch=-0.1688 left_roll=-0.1236 left_gripper=0.9998 right_x=0.368 right_y=0.1462 right_z=0.0326 right_yaw=0.6985 right_pitch=-0.149 right_roll=0.0704 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.0085, 5.641, 1.707, 0.2711, -0.0855, -0.0171, -0.7453, -7.4462, 5.5043, 1.9072, -0.2466, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0322, 1.8084, 0.701, 0.1982, 0.5499, 0.4019, 0.0078, 0.112, 1.8111, 0.6834, 0.3428, -0.4686, -0.3489, 0.0081]\nstate[eef_state]: left_x=0.3836 left_y=-0.0764 left_z=0.0022 left_yaw=-0.6602 left_pitch=-0.1736 left_roll=-0.1349 left_gripper=0.0078 right_x=0.3914 right_y=0.1279 right_z=0.012 right_yaw=0.6874 right_pitch=-0.1244 right_roll=0.058 right_gripper=0.0081\nstate[joint_eff]: [-0.1026, -8.9094, 4.5744, 1.2869, 0.3492, 0.022, 0.5641, 0.253, -7.4051, 4.6838, 1.0574, -0.3785, -0.0073, 0.5397]\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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0551, 1.8816, 0.7544, 0.289, 0.5251, 0.3363, 0.4453, 0.1108, 1.911, 0.7338, 0.4255, -0.4908, -0.358, 0.4453]\nstate[eef_state]: left_x=0.4039 left_y=-0.1074 left_z=0.0022 left_yaw=-0.6869 left_pitch=-0.1336 left_roll=-0.1254 left_gripper=0.4453 right_x=0.4104 right_y=0.133 right_z=0.0035 right_yaw=0.7064 right_pitch=-0.088 right_roll=0.0452 right_gripper=0.4453\nstate[joint_eff]: [-0.4308, -5.7641, 5.9145, 1.0916, -0.1001, -0.1441, -0.2613, -0.6222, -6.0376, 5.3538, 1.1013, 0.022, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91457c9a868d8338da1d85e4f80f649d990b31caf8e4faf21b811ebe45c6f4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be817967eff968f1719993ac77d633a76901226167603fc0ed1b72783c825fab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9621f8fc768c7a1515afbd50a29a738d02138a198fb4f068deab11923b04d0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Vj9b4cC-08AJC-8UAXSaq0TcEdmo9pgUJBVYfId0_GZvt9hZJIiJ_VcmOJKv_lS5loMb_zcLQ0dxv2ptH8jm1PZAhRxC9968ywWNuCmYXAQx03DSuRw1fpIjSkqF6a_9gcdLV3vYohlwiJfyG_1-IJzVGca-gM2068Doz88XHim4cFc3RdEh5r622xDPXZDpaOjT4zJEePLKcmppnwp95ctnlNQ0aUZqrQ36972RimGh4Ukx4Bh7TIGZV5J-AM62_BFWFm0GpN3I8TDtZo52KB8eRI-0QAn6JPJuLmTAqaURiw95Xj-2W-uUVPm_SdSPV1U_uMdPaiNuG7UK2l8PmY0D2-PSgZsjgIMK1ag2F65DNWbas7trO9UgByWgWO22-LGZE94Qm4IGJJ79wBdItQwW_0ZhzIe9cK8rZj8IxNUroq4SKzjyZyFssh7blmpGbKCv23AxjGSKMfEvAWXeugcSHj9pOA1GGva6-1c-8ZcD5dnuXsb5bsIhorsQ5jok_t1Umo9bNiJ8B3PF8NzyHjq_w3LON5Z3NnsIfqHIDPmVHAxVTv1VGy9Hl0eAn4KJi9NS93bkzudY94N2Dysx0Trh2eJOyQxVqlJVNYEOfPln4q30dnjWY4_nzdYZS5OdGpu-b0EaV2AUjtS22P2um19ZFjWkh-z305UC4--z-eDD-MUj5CkD56Nxi_YOaLMMkFqYp2VDiHRtRY5Cd4ptnmKSDwdumgr6Zx86o4GKb4FTHpKxfMP2FDnr-PFLw0_CacWa2vJfFO2GRkOethoK_cXxPdtWECuZkl8FtANP4TR7Czcyx4ame5JupupVQHNzTXTeUxeD8F30CvpnLmN8jfQYV3aslnD0gFT6sI93PUrsYDPQ-9oipaWFZUzK6AY2pd31feBE5FM8OXjipWsLPj49F_hepNP1JKB31arB6fXzQrvQgPkGDBV_GJZ3t-H8Aiz56O6t4ovo2aSR3_rVRqI6xHFKWb4JLvslaa5t0piNewmVQdHftcNwSCR5b5t54wNbe_GlYjKIZRSnTFdZhegZpCrLDIeDQgKrAepYDUi8bhHxeQ_aHpSI8C5zZfD461-i6mjyqhUhBUiDouIBpBKT_RKtWltmciar0jSm4_ZeR61Ej2wRHIT5HClHbvu1YwihqrEtXAr8M7heVg-nKKJ5oFEYpr0BqxD6HEgUMb6tV8PVo3ZhBoOrrPCFzCkRGhKvTXow7ufNXOa_G632CAoDoo7LqvEy2oygla5dkA4zgWi8Tp3l6knDOpLjs0dd65_S9_mJW54cIIlvu2lEdAwaYYbYRzNw1LftdM0b75lXeqB0FhcBDbR4NWspTW-ZOdJxe01XmpWVvW4favvo6z9nAQBC6xDmIeOg272n0ztdFTa5SQmeC7OA3Oy_fN5N9rKtq49ramypPQxj2i4dNlG_S7hrhqDnMqTER4WYH864XwjRmD_yxaybiA59rpGqMz1R7r1DpUOQ_rjlAvRx09YVCx09bbtQQCUwyL_09qpxwuVpTMdVlhJNVh80_THJO_4aHs_Vt34XWawM9z9lZ5hn9qsJGyavJ2WcC7HAAY4Ka9oWRcolD9JEMMQ-PNzfgwWxRDxk2RjjR7SYtDIbJ_yf550p7Ygddj8iBbcWeYbKYF3ImrvbPutqzMFu9BdEz96zmq62CvoLQd97tqqOfm5-1RHMumQaL_A1fcgUSsKIV2QN8ercS7UZd1majM4URLZD027CJV9gP3mD1Ri-MVtg5sHXq76KftD_2dj3NiXsRMtHBloghXljnecGujT2JKbjFOaRby3ORGyTOt1OwYcn8Oy6bkoJisyqY_3k7BxDF5IK9h_wNqb8ZksGh-SpkmZSnXzn1eQcx-62cRbk9mFQ-YnY9WNkOIr4bpNiRHwy3DnZXbo7U0tIAoAwl_atAW0L4NAd_lni022FV_eI-HAR_aUxPbPRCW0Ot53H2TLsy4LSiygg3FhHsN_zuNVjjdz0GDiLI1UGeFr4IcI6f5pbpoHZg8eeN0qdY4zCtXpqLKrR3oeHDIxPN82k8XUc3kctbOSW1_r3z8Q9wETbW6CLsrco5yJs6zfgBgJQAPcXQoVDlcxqvCsrozyWRHYLn__r9_dB1luyh9IuQt8tw9P494GBgsVETHHeoTbKPfLCYLIASSWhR5inHZo7NOhEjZ2ere-8ie0Ce_RCK0mhMDQHeV2uXG1iThGDduhb3PIWLWFAtf5JfEd89nqvyhm2ENgGdFvL4hncoQXv_2gdMvgSeAFPyduJdBfN5ftkZjwSTl9iOv8swWYJMYnI9ETgmooMZPVINvQ5LRZrfFPeTlLYGwLLDvtFJhxzDmOylDINapA9o9C26fGnOo-h6sRY659y4qMC2H1UeGKQxPpQh9Dda2SOioFCkoCy1oZl2OumypuihXAnFaPwzI0389C328ZLotSsZgAYW2zmKjBsUGfZNaCTqERn7N-vHpVEMx6tZ6RbpJrpwmcu8JLRDVa6D-3xaSkbdzR7vPAg_S4578XolJ7rityS2OrXa_6eH9PUsO1q7jTNWta6Il6MFiSCN_sGRbwgpxIsOrhg8WmqDvLJNic7uMZXJ1Jd0K7eofXUCYhR802cXswGFgj5UTOVY3tTriv0_LMXbeqbIYz22DCshUhHB0lphZBl04syLyNBtOBOAIlj5f0WUj_weIrPrBQb5WdrBxlMf4RCP5M9WI6FIW3ZCjDWOnVrpStmYQaYfVlDdip7MsB92a2SDrXpv5awJ2tPgmrOC4Q8_JtOYN02bmrN3yvCUPO38d27q_KysV1xh5MEzVdtLQ_de_m2ZM4ZjPX3h3nDuInsPol6CSqxJxt0M64wrqb7jsZVWJrQ60dh6F5PgEP848QOXgmm-0pRwS_xMKMxbU07un4FWyYDCbXqRvLhjHpuQ1pEpgu-T8Qt3315PxkcTYiLq8XIRbmTty11SbODdjhlzE4_vuMmp5KADEv6oeQWzDB_ZRDp8x9tKonsQqSiujCiY5dnjpRRqpVGSl0kYB_EySzlBZw==",
  "id": "rs_0a65156cc643f7d7016ab42dd1808087d09039f1b63f322dc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"right_y\":0.17,\"left_x\":0.425,\"right_x\":0.425},\"note\":\"The open jaws show the cap sitting just outside the left gripper’s right finger and the pen running along the right gripper’s left finger. I’m shifting the grippers sideways in opposite directions to bring each object into its jaw gap before trying to close again.\"}",
  "call_id": "call_sGm4ewWDyzTfRdVsWG3uX18C",
  "id": "fc_0a65156cc643f7d7016ab42dd50ecc87d09e27320570fe513a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sGm4ewWDyzTfRdVsWG3uX18C",
  "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]: [-0.1413, 1.9297, 0.8223, 0.3042, 0.4774, 0.2771, 0.4463, 0.2115, 1.9511, 0.794, 0.4339, -0.4442, -0.3149, 0.4458]\nstate[eef_state]: left_x=0.4183 left_y=-0.1379 left_z=0.0036 left_yaw=-0.7023 left_pitch=-0.1278 left_roll=-0.122 left_gripper=0.4463 right_x=0.4171 right_y=0.1709 right_z=0.0052 right_yaw=0.7462 right_pitch=-0.0817 right_roll=0.0378 right_gripper=0.4458\nstate[joint_eff]: [-0.294, -7.3231, 6.653, 1.4823, 0.0415, -0.105, 0.0904, -0.4308, -7.5009, 6.2154, 1.5946, 0.1392, 0.1929, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332deadc920c5b47616d77fb0b7a7aa12395b6135354d67f6a59e48bfa4b5aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9648fa00466b68ccda2ac086977c30ca5b24829182cd22de3cac2620c04df6f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebfca9ae5a9bb88b058c21f26d52d5a6aaa7300b11da9bbfd8321be9c88ecde7",
      "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 · 9.262 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0307, 1.7931, 0.6968, 0.1967, 0.5545, 0.4046, 0.9996, 0.1162, 1.8084, 0.6769, 0.3191, -0.4576, -0.3462, 0.9988]\nstate[eef_state]: left_x=0.3831 left_y=-0.0777 left_z=0.0066 left_yaw=-0.6654 left_pitch=-0.1638 left_roll=-0.1295 left_gripper=0.9996 right_x=0.3858 right_y=0.1272 right_z=0.0066 right_yaw=0.6836 right_pitch=-0.1519 right_roll=0.0683 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -6.5573, 6.147, 1.0965, -0.0904, 0.0562, -0.022, -0.3624, -8.0205, 6.9812, 1.4237, -0.4225, 0.1099, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0551, 1.8816, 0.7544, 0.289, 0.5251, 0.3363, 0.4453, 0.1108, 1.911, 0.7338, 0.4255, -0.4908, -0.358, 0.4453]\nstate[eef_state]: left_x=0.4039 left_y=-0.1074 left_z=0.0022 left_yaw=-0.6869 left_pitch=-0.1336 left_roll=-0.1254 left_gripper=0.4453 right_x=0.4104 right_y=0.133 right_z=0.0035 right_yaw=0.7064 right_pitch=-0.088 right_roll=0.0452 right_gripper=0.4453\nstate[joint_eff]: [-0.4308, -5.7641, 5.9145, 1.0916, -0.1001, -0.1441, -0.2613, -0.6222, -6.0376, 5.3538, 1.1013, 0.022, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1413, 1.9297, 0.8223, 0.3042, 0.4774, 0.2771, 0.4463, 0.2115, 1.9511, 0.794, 0.4339, -0.4442, -0.3149, 0.4458]\nstate[eef_state]: left_x=0.4183 left_y=-0.1379 left_z=0.0036 left_yaw=-0.7023 left_pitch=-0.1278 left_roll=-0.122 left_gripper=0.4463 right_x=0.4171 right_y=0.1709 right_z=0.0052 right_yaw=0.7462 right_pitch=-0.0817 right_roll=0.0378 right_gripper=0.4458\nstate[joint_eff]: [-0.294, -7.3231, 6.653, 1.4823, 0.0415, -0.105, 0.0904, -0.4308, -7.5009, 6.2154, 1.5946, 0.1392, 0.1929, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332deadc920c5b47616d77fb0b7a7aa12395b6135354d67f6a59e48bfa4b5aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9648fa00466b68ccda2ac086977c30ca5b24829182cd22de3cac2620c04df6f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebfca9ae5a9bb88b058c21f26d52d5a6aaa7300b11da9bbfd8321be9c88ecde7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3dMY32SFOiBu-OLp73-8y882UJcRmVwN8OseX9syHhsb0lx8wUdqyVMVWR56J2xw2yr3iDOFqdLmDGRflemqmvHxb8IevKkZTzPvWf7SNbdjCoyN1iJRuy7nsyKD7qMd57rjgtVuPr34zH1__9H-eARWDYpbcjgEKoKRHPllOhq2iHW11kb0n7c3spN_MhLZxycCpqi2ti--nx74fXO0rYdWG_pjoqjxMi-PRY5Dh5ocVrOdC2EMJx6S0f5DZ1OlSmjW05aptf3ZRgQWaGdQLq12bEHG7nBjOzCKyvhV9vM3pqRYETKjWfJXKfXCz2xGIGzaK9hpMAcCV0wx3YgSdRBz3AVEw_U2dsEI_kptElutfERoJ6skNwEswLOcUJpcRNd7ROQ-ilE_djyGXZyDtmsVgLU1WqNbcP5HsnA0cJUBsVrE4EN-WEppa_2k33X44sJdUUPuY_9eYKqJ_CjZRgE4XmGpwPCHGAWJzoAjXNhgsHf8atyM6V415rnYwFF4guB-Z0aoH5vf_ufvpgcjLY7qjIknEQsy_47BDDor54RDJChfiu8c-cFl7KItNP1eoS8wItlfb7cTqlzRiqpCMBtjYWvjuE9rrmgXueSXZ0RlYpYNoiRxyLY2vmq1iifXYaZVYVkGNXT6PQ4z9c0bKfARq7tIXMVk--khmG6ReY7HRo0tcALuF0rIE_DnY2iY2bA4bKYvQf3K93r5EcyM6DPBWHnrSFVGD1fG07Q13fgOpTz02dJAbEemdTUXoGEVteFMHiaN6HGUetPVZC9b37oLlRE5O0YF0J0Lqx52eZSYG1mkUZY5d-aa8-aMjwJd4xa2y68sR3HMzBM3Ncg98RQuiUFlS1N0bBDIz0Qunzpf86XAZwtfwPcrjC_Uu7HGRmYSEpNAbyWOxjTqFJvO6xo8fGbzgaioCfN8KKbuaqdyF4HQBU0WfQ84Cn-F-BB_Nk0v3fEUVvOVDm5Zh_uwpP9uKzCJwcogybkv0WgyV_8tqnrwoQXQYDpO1qJVvjLJ7QPC-FN4wNVBqcnwx8aqrwNFDqKv6jPppR8SOrv1lP0thRUN5Kjsw5_Uc-sSfPiQX9aZAw28ujM_u9BbS-w7KemOiKoVPFzjIBdgjcO0bSgNrEJ_LACiuRgNT0I8FEu8xaQpR6f-1ToWNkteKeEOIt0rIhlp7ESkTGStXXsul8NTz2DpJHZiJYCow5obGyqgipMd95HxKAc3g6yIR3n0KbCQJXSCenuXTq715oKkchrOHo8XsImC2sd_0AfXLa5kxb2nFneDkBjVbPpca5cQnO1rhOozFiUsnhcPERBowc2fI8K8OllStNutI8XGx5BpGRDB-D0HwWP3Ilxr-E410yiYJDcJogK55v0uYXJ6dIvXJyqi55dfVx16W8IlBV-s6uLoJhqCMOxNPBxXg6lVqo-P1PZXmnqhVM9lekED4dPzJtF4yX2DzHQiwyaeB9a1MxktoxBbtghgDxLAa9xVxDtfk9SYnM9QqHvxSB3yEeTfArfZDpMbJtRcO1ouv8Vo2Xfe7yF6aq6H9OsScvkwCEuenEvzYaRafi8-gQHUPujR6OX8OeRa3oFpc06GWy3ZhsWJ9rnx2FADXDz9RzcPHqNcmCl_t-NQmQdE_PaUBlTee81qVb9t7bUMsB1TcNuinK4CbdYK6qErjjFi5on_Hnimwbqm4VPRev2mjZlepWu5fpNF-665ZkIbQtIK8mq-tID6sf3faeKkDP4W_jqYoMaMAPd91SyhxyQcHibeRx8tZWMywuCoZnFqPYZar8HcyikU1k46SpGWYV0Co825TPL_KJD9hGmfrjEboY9PUPsC2NphutV4GyLqvfqHJiZ5S_e67Jk1ljvV7A2nbPuNjpvyfGbzorpXpAd-j0hWz51_BIbpDqJs6mEBAAtVOajUZu4ARZUE_lXZXz7vkn59ym2MIiEdM0RIAVs7hnyWeURIc8pRO3VfrRrJ7BvEIVaLKgiFBiALY6ZYNVipSeHssyuqeyjspr5eb3t7vZfTHxrPHw3AJfqkNOkirFo58tNkI64EdZvjb7_28PQjwRXWwFhAcBZJL4aVM1XKk2mMNek9oeTeSc7ap812HMP5pYV4YSQKTa2riraHuOImkCFSKwi0HGPlbtydw_hVSQ8kj67JwLzuQVG9j1HU20214fiHe4vd6bCI-K2_CNVXraX7KQzP9H1Y-mt50N6Lx39eji65f5sz0eH2-9vm4_52HWpEGSvMAgrksuIDfeGF_Hnm-KLplo4Tc7m3SewGKYqFPnajdbZ1Z0uFmMoPVItyPbnSa6fP650gc2kjVJvG_TNn10XsF5GbB5P_UjIIdXd6LY-HxDHkhVOtjKyLv5yMd-KdnKd9zwnIoHoz-HkobEGqRcJ0ittv_3rogq5dDzpDCD0tgHa3m1IdVgPRXARffyXTHAtw6wG_mn3TdsyNRxVY2OJaFsXXykALAgssqUGdOMhoqEsSdktHB_qNdDU9C-2K-t4MrdcM3peuAyxwh7ksCApQ==",
  "id": "rs_0a65156cc643f7d7016ab42dd7587887d09f68c12bc561b738",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.16,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.16,\"left_gripper\":1,\"right_gripper\":1},\"note\":\"The pen has rotated across the right wrist view, and the cap is no longer clearly visible between the left jaws, so the second approach disturbed them. I’m pulling both open grippers clear to relocate the objects in the overhead camera before trying a more precise grasp.\"}",
  "call_id": "call_QVjyvEn9CCUdgFr34DugnU9a",
  "id": "fc_0a65156cc643f7d7016ab42ddb75a887d0b14405ff3cc76dda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QVjyvEn9CCUdgFr34DugnU9a",
  "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]: [0.448, 1.2808, 0.9001, -0.2539, 0.7238, 0.7338, 0.9981, -0.4778, 1.2991, 0.8646, -0.1287, -0.7849, -0.8555, 0.9979]\nstate[eef_state]: left_x=0.3713 left_y=0.0526 left_z=0.2098 left_yaw=-0.5452 left_pitch=0.0878 left_roll=0.2612 left_gripper=0.9981 right_x=0.3803 right_y=-0.0523 right_z=0.2136 right_yaw=0.6131 right_pitch=0.1277 right_roll=-0.4042 right_gripper=0.9979\nstate[joint_eff]: [-1.4427, -1.4564, 5.8051, 0.8962, 0.4908, 0.1538, 0.0269, 2.2359, -2.3863, 6.2838, 0.9841, -0.2955, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3882574010e9d96c91ce49cccbab2174250ed889935103884e9e6990e012c9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8092b8e7cd5fa8d7f0d2a11a048f5bc675ac6ab20c827469b21d81c654dbc739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed3377b8234198045de9e30dd30f8f9dbda271584dbd79f8b06abf1451413d5",
      "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 · 2.72 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0322, 1.8084, 0.701, 0.1982, 0.5499, 0.4019, 0.0078, 0.112, 1.8111, 0.6834, 0.3428, -0.4686, -0.3489, 0.0081]\nstate[eef_state]: left_x=0.3836 left_y=-0.0764 left_z=0.0022 left_yaw=-0.6602 left_pitch=-0.1736 left_roll=-0.1349 left_gripper=0.0078 right_x=0.3914 right_y=0.1279 right_z=0.012 right_yaw=0.6874 right_pitch=-0.1244 right_roll=0.058 right_gripper=0.0081\nstate[joint_eff]: [-0.1026, -8.9094, 4.5744, 1.2869, 0.3492, 0.022, 0.5641, 0.253, -7.4051, 4.6838, 1.0574, -0.3785, -0.0073, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1413, 1.9297, 0.8223, 0.3042, 0.4774, 0.2771, 0.4463, 0.2115, 1.9511, 0.794, 0.4339, -0.4442, -0.3149, 0.4458]\nstate[eef_state]: left_x=0.4183 left_y=-0.1379 left_z=0.0036 left_yaw=-0.7023 left_pitch=-0.1278 left_roll=-0.122 left_gripper=0.4463 right_x=0.4171 right_y=0.1709 right_z=0.0052 right_yaw=0.7462 right_pitch=-0.0817 right_roll=0.0378 right_gripper=0.4458\nstate[joint_eff]: [-0.294, -7.3231, 6.653, 1.4823, 0.0415, -0.105, 0.0904, -0.4308, -7.5009, 6.2154, 1.5946, 0.1392, 0.1929, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.448, 1.2808, 0.9001, -0.2539, 0.7238, 0.7338, 0.9981, -0.4778, 1.2991, 0.8646, -0.1287, -0.7849, -0.8555, 0.9979]\nstate[eef_state]: left_x=0.3713 left_y=0.0526 left_z=0.2098 left_yaw=-0.5452 left_pitch=0.0878 left_roll=0.2612 left_gripper=0.9981 right_x=0.3803 right_y=-0.0523 right_z=0.2136 right_yaw=0.6131 right_pitch=0.1277 right_roll=-0.4042 right_gripper=0.9979\nstate[joint_eff]: [-1.4427, -1.4564, 5.8051, 0.8962, 0.4908, 0.1538, 0.0269, 2.2359, -2.3863, 6.2838, 0.9841, -0.2955, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3882574010e9d96c91ce49cccbab2174250ed889935103884e9e6990e012c9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8092b8e7cd5fa8d7f0d2a11a048f5bc675ac6ab20c827469b21d81c654dbc739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed3377b8234198045de9e30dd30f8f9dbda271584dbd79f8b06abf1451413d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42ddfbe7887d0b0f812d3af8e6591",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3nHKRvDWu5AHea_4mORxXDjPRTmgdNFNfSQtC2eGSEoSiPF9pQHPmhbBafR8z9i7zxSC0HemmbRkJNA7-ztCRxh2sWfzwfGL9PG_KClqYwLwPYx1I-zr_uu-O_hKnXWdJ4W62SNlOTV3vW8A3OweT0HbCV3jgOb8-IU4YaR4fNzw8zYkWEjMiVZtp9SmDZiSFhkqBFzCFSsoLxMpSTbU-9Erz2By7W-5ecghvXJ8gQUPPZeJ82mqWzbMzq1EvvmBSub_j0gt6EmgTnSAoXvAzEJChkAWnCJ9EvJaRK8paFgbC5NZAGSwsM96sO2AWnjrFcbhQpkvn2XliaDRWDFlwUI5IJZBjYzB87Qa8j2rExGkLhyY5GVpT1MVUryJ4o6gNqHJPnGaHSrUz4UhZr0K3yPPX-fDghfeDrghSGqOuB5WuBwfPoy0MwbeaWnBboGpzyamcQfk0X6Q87Q5g0rURYwoPK8nodNGK9iQxsXkezxcFPxy6b4Ml3_Rk7xZnVkIlgNJy0PjWug-E6L7pLnx4EYhkHMNpP6ludQPSmWFlcmPpftvlpW93Lot3jIDW-AcdCGkyO-cV4IvXUcozfMvftadV5eknwoS02h7J_u_AnULU-c31Du_g6LYJrNDPU4JBCJwXXovdU2LWOOTguu0xr74rI1czvaB4U1gL7w6KfeprKvxWFiV9Sf_M20uSnB4rdwSvpvQoivYgf_OUjcxvwg8t0RrKGT1wpL_cBc_dd99MsHetTRHpJ7vCShaYT4v4kzii_TNBXYSPS3NeoplF8rv3TXKcUNDUJ3qAVSpeWM4x5SOBRsH9qJ433DO9AbChEjWsKv43HUyu1DoThe8qq9wV57TpgCMq0FUe4tRIlLLU6_ozoqro6YaTELHjhcSVg0aip1BylvFgY_3a2WbzbY2Hjx7mqpR-KxlcLSMgpVchFpvAvpQugRjWybxek5mE2LAo9tOMt0U2Td4XbZ1VFoFyxmvd_D3o1LDLFx26R-W12c1kwjGieDGnYRxi4GK7-h-VHO_t77KCWJyiXU_MZ_fvE0pPRLS5n4MkoGiZpk-AAe0-zsZVmjW7W74DUwhNlgDY9NRolF1t_xrABisDO8Bdw9qQdwtKLJZMdcu0s3IRHmnPgeV9VNOd9Re_DlCMwtmApSJ15jfpIKaZYieV4jFfBo6Ah-7ICe7DOCyKPkGPqsZuAu077z4e8kvRUoxzcnz_xb5cp2rakNJz3QKRedcEZvZElld33SxZpal_y7BFD-zkgM5clhf42J-FZluAyPv2mPKA1auOfWQeW9xxmufmmvNtViAyZZ6BrrQ5_hhgwk4lxoVBUJhJuA4EI9V-gzahxC0Y3QADbHJzx1Yqrk12sMtb7IjA7RhjSOUgwj6YBiLhODAJrUiPrKbhHRxgwlfZg1-p8PZhjucw8E32VVSJJxUIMQ83GzVL-hHr8deBXPMei2mkELgYqWGRuJx6FRLwgG5eGqXNqUyDpfmiPTxZooecv8YCtz-fnu6lQYwjkENCqWE1DVkZaWOPtevviAgcJPIE6mR5xfvdrhk_KDuxxZogh3aAg6qWo_0dwWCYA8wBG1MwEaApbU_V_ySUoC8f-GlACOafJ6zXV3rqEOBEAtHk_rklAlED59hhD4rNuFJo7Ie0dYCR5gjRuT0cxN2D1Dl-e3rFYLaQN4Ule3Ftnt-qFg3QsaVq614nhJ7znBfPMYgJZEVBSQ76fu7mlTNq2GWPZCVl1VMHzc1frBw4LGd01CGqTiGsVd0CApGDuE-X9G1oN6YpBVwZj-o-WjnmChkoVSk0a9c0jef0VEmzxCh468jMOW0tuSMGNfmn9iw1XLNHPYGy-Ecff5rDXazBn-lzVDqDE6O1vzrXzf7qiVtR2_-X4nepZzzXa7jLFY9d76eExB__4Vw3ud5lNwNR5QWvl1VrWsF76a4A1AjADEpRf-UkK_HBBhDiy1Se4mjEBPfg7pEIzqafD-WeojytUMyuiCHdeIlXsMd9UKj0rSlWc7UYTAGbK2z43n_XWG9i1G7YQ3z-0WLK6EnPkd8-xaCPj7FmmzgjGCBuFomi2NsB_tzbOTaWMjCxGgWwPWXoorXgZWDgTwlp_VFjaPrbCy9bqGTrku-tlJLCEzbF5qXnHKEc7zB4cX1SdJ2oev04WV7Rkce-FYNz08a6xlwq4FbbPNV6eUN3cnsyRXbOqR3vGDubENM3xvkzrWxY=",
  "id": "rs_0a65156cc643f7d7016ab42de4289087d091e0b171b69b995f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.28,\"right_z\":0.12,\"right_yaw\":-0.7,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0},\"note\":\"With the hands clear, the pen is centered right of the cap, and both now point diagonally toward the far-right side of the table. I’m approaching the pen with the right hand near its near end, rotating the jaws across its new orientation and leaving the other hand out of the way.\"}",
  "call_id": "call_q4Cq1aODRK1iR5sHKReyo8Oa",
  "id": "fc_0a65156cc643f7d7016ab42de67bf887d09b493a7e65f1135e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q4Cq1aODRK1iR5sHKReyo8Oa",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.2001, 0.7322, 0.503, -0.2588, -0.2684, 0.1398, 0.998, 0.9573, 2.3783, 2.0537, -1.3067, 0.9646, 1.5272, 0.9982]\nstate[eef_state]: left_x=0.2927 left_y=-0.0079 left_z=0.1787 left_yaw=-0.0593 left_pitch=0.0791 left_roll=0.2594 left_gripper=0.998 right_x=0.3757 right_y=0.2877 right_z=0.103 right_yaw=-0.5988 right_pitch=-0.0481 right_roll=-0.0967 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -1.3197, 7.0085, 1.9121, -0.3443, -0.0073, -0.0171, -1.1419, -13.9145, 8.0342, 0.232, 0.8864, 0.4518, 0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec78d2bbe5a200d45e4338b312610badb28ac883fced3ae834a8ba08c9dd7fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220bec2b071dbf2a4b787d343a33641a647c4f30547b268aea3e948b09c6cc10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33abf762b7c395e0c70f2b84b131d5f386006c6fe12cfb83a68de4cdda56c57",
      "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 · 3.538 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 36 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0551, 1.8816, 0.7544, 0.289, 0.5251, 0.3363, 0.4453, 0.1108, 1.911, 0.7338, 0.4255, -0.4908, -0.358, 0.4453]\nstate[eef_state]: left_x=0.4039 left_y=-0.1074 left_z=0.0022 left_yaw=-0.6869 left_pitch=-0.1336 left_roll=-0.1254 left_gripper=0.4453 right_x=0.4104 right_y=0.133 right_z=0.0035 right_yaw=0.7064 right_pitch=-0.088 right_roll=0.0452 right_gripper=0.4453\nstate[joint_eff]: [-0.4308, -5.7641, 5.9145, 1.0916, -0.1001, -0.1441, -0.2613, -0.6222, -6.0376, 5.3538, 1.1013, 0.022, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.448, 1.2808, 0.9001, -0.2539, 0.7238, 0.7338, 0.9981, -0.4778, 1.2991, 0.8646, -0.1287, -0.7849, -0.8555, 0.9979]\nstate[eef_state]: left_x=0.3713 left_y=0.0526 left_z=0.2098 left_yaw=-0.5452 left_pitch=0.0878 left_roll=0.2612 left_gripper=0.9981 right_x=0.3803 right_y=-0.0523 right_z=0.2136 right_yaw=0.6131 right_pitch=0.1277 right_roll=-0.4042 right_gripper=0.9979\nstate[joint_eff]: [-1.4427, -1.4564, 5.8051, 0.8962, 0.4908, 0.1538, 0.0269, 2.2359, -2.3863, 6.2838, 0.9841, -0.2955, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2001, 0.7322, 0.503, -0.2588, -0.2684, 0.1398, 0.998, 0.9573, 2.3783, 2.0537, -1.3067, 0.9646, 1.5272, 0.9982]\nstate[eef_state]: left_x=0.2927 left_y=-0.0079 left_z=0.1787 left_yaw=-0.0593 left_pitch=0.0791 left_roll=0.2594 left_gripper=0.998 right_x=0.3757 right_y=0.2877 right_z=0.103 right_yaw=-0.5988 right_pitch=-0.0481 right_roll=-0.0967 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -1.3197, 7.0085, 1.9121, -0.3443, -0.0073, -0.0171, -1.1419, -13.9145, 8.0342, 0.232, 0.8864, 0.4518, 0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec78d2bbe5a200d45e4338b312610badb28ac883fced3ae834a8ba08c9dd7fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220bec2b071dbf2a4b787d343a33641a647c4f30547b268aea3e948b09c6cc10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33abf762b7c395e0c70f2b84b131d5f386006c6fe12cfb83a68de4cdda56c57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3tkEKXFOsX39ozoSHRHsNlPrzy2tWSy94jZhX24UljIGfrRrE9IhhOp2O8ojoyC6-_wX9TV1mkrBLb7bmcm-LHYn9WxpZRwSgOpCdXSwGPhFS-LHr69NzEGLsf-9_Fq-YrCuTa7Ig5SrD9tRUfNj8EKA-1JBtDkLjB1dj--dSZhE2XE8u30SROQ-VXDw50PWzPX0uW20dx8OkNAxk4Yp3rK37blBvggTTvJ4gwkpaWUrqyowtHAXtc7oaJQitcfUQY79sA-7xMV2PqO2Q_Xszn3pYDhyfxnkPZclgKWZiGLilCPt_TNaFZ3m57CymMM94Dfagc8XeyNPFqAhh7AANfj778dVLTJXpRxd4SC8GciyRSCCFqpxLRXI0SbbEoT_mOuKY0zTj7bUolpzu6dG4Vo259WWoPHcs3ojcd_O-DOu75PQBBM5q3db4hb3AwumSi8QxXUJqSxB5heRdKP4VVRPJ1KjdFNzXyYJv063Pxne6wjonPri1QqJ34KusM5L3kUu8wa5vuXThY6UJKnnEHTrAXtCFaYzaldGwAye3ptUwSYEBaO2_gi7nseKAQBBROBR7Z0OkUmrnMn7F6qhvVBNy0eKGUVnYOBiXhrwOVPGgxC686hBr5YGHC3K18YAccECqNqBZI34qjs5kYh-ICKHK-iNavlM9LvC9rLJPYcPN9y0omzTwP6V4KE99hcbQwTlH1Jkb8gaJnno9vkyLGj00yLBX5yTiZUhM-jam1jYKsmxpdHlleZTPV-ks-aVsZDLUzOlG7OA4tIV5aJBf5MQBUj8QJ49gtYRcEr24uvLXcwFjVMHqe1sqpd_xZqeWh3cQx4n81-xETtTO9K9glMrKZVPxX-gaCynFNmDLVB1pb6OUO6CXv3G4_ROIMWj1PE1wgXn6kxyvIAqACYv7fXY9qxKonkfHCgFC1Fzf6wrRbm8kWalIxb4mXKWzrLv-GU8a5DtQf6n0I53R8Br_3fjExiu0N9WWayXhrqfzUn4N3tuC5Zzvbu8kFeTCoLvioht6Tbe3Ju0MQlvGCP6YFz5E3tFG_QkA9eR3167MkMqxDPSdPCfvV9SvnZ3W4dOYNBHmPhKNljw-x6DAa7Ab5NO7RuRi-nLuSTH5RRsPD6mR5FeIRXpE5BVHUmS0wwECVh_e8TzitdA-p1onbOlgJojVJ6v7opBoGUC_u46d2IrqTEWD9uooJgU1bgquzrJjrPp8JTGON1x89B4Fm0oL1jJRvtRFA00ZWMupFwBB_WBgqv39r0BQSAhFQ2GqBxFD27mxa1m4pZZF1bsB1FyVCRMjDZvoQClyM6xBvfDYwXUpeW9xpDwXXlgcJMVcTNxvfOJuB3T0gXS_AVbfc5uIe36-OWreDRnlGrLZV2UVh9Lsq_6I5FXhiucl2ECl9H_vV5PgcLschI3EX1bRpeQAdB9oDJt2wg2X_Jw6vCgrcqYk9psv5riqAP9D935ZARrYi_UaFPNHYw3-sghgd6Fbbn2EzDE1wAo8b33QAzO4Hilgomsq2pE1xPhu-ZvdVF0_oQ32RtRvmuQeLDseePuLzlyR0IaE80ZXPMC9__PxB2gMcshFuK2c_ZcBnU084Cuk23FRUOWCGym4OMrgPcJFRVEXfNcUpnBdTSHkJAtdtiQjkyyvokccKnPbyhDXw1Ao0gKymUy6ffvQvyLtPN05_UppiUCLugMO1HIxU7g7vqTDr7rEbvkYc4odAeJ-Xv1yaY_KdKwc_eb9W0-VBd1IsT9Qkhqu_9ThOwzXNkpyZzSGE0_37xNQjCCuOxzz9vJrJtQTU0Hzmxh8xm5Nygxk6K-tcH_QMUHPxL6NiC_xaFdtupzV8-ObQvDk1zxVtJ-w8iobW9QQlv9brT2LgX3hgKw==",
  "id": "rs_0a65156cc643f7d7016ab42debab9087d0a564537b7bb9248c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.015},\"note\":\"In the right wrist view, the pen is just to the right of the jaw center and its near end still has a little space below it. I’m advancing about two centimeters, shifting right slightly, and descending beside the pen for a centered grasp.\"}",
  "call_id": "call_56mvFBxmsod5AbRfBh8SRcxE",
  "id": "fc_0a65156cc643f7d7016ab42decbfc087d096d7eaa48c584046",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_56mvFBxmsod5AbRfBh8SRcxE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2031, 0.7368, 0.5018, -0.2626, -0.2798, 0.1246, 0.998, 0.907, 2.4229, 1.8221, -1.0073, 0.9443, 1.4372, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=-0.0067 left_z=0.1764 left_yaw=-0.0448 left_pitch=0.0726 left_roll=0.2527 left_gripper=0.998 right_x=0.3859 right_y=0.2669 right_z=0.0235 right_yaw=-0.6012 right_pitch=-0.0728 right_roll=-0.1461 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.8193, -0.0024, 0.1197, -0.0122, -1.2513, -11.6171, 5.4632, 0.6129, 0.696, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1acae89addd9dcaac5498380713c92e7fe0a6f05653de349754fe8f993ab27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6990f2f2c5059ec32d9485fe3ec65b90ca44e052a27817b0fde6267c6bced60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd70bb22a3da448af99ae02e3727eb8ed8f7b6d67358c31d987867ca423bbe10",
      "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 · 2.979 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1413, 1.9297, 0.8223, 0.3042, 0.4774, 0.2771, 0.4463, 0.2115, 1.9511, 0.794, 0.4339, -0.4442, -0.3149, 0.4458]\nstate[eef_state]: left_x=0.4183 left_y=-0.1379 left_z=0.0036 left_yaw=-0.7023 left_pitch=-0.1278 left_roll=-0.122 left_gripper=0.4463 right_x=0.4171 right_y=0.1709 right_z=0.0052 right_yaw=0.7462 right_pitch=-0.0817 right_roll=0.0378 right_gripper=0.4458\nstate[joint_eff]: [-0.294, -7.3231, 6.653, 1.4823, 0.0415, -0.105, 0.0904, -0.4308, -7.5009, 6.2154, 1.5946, 0.1392, 0.1929, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2001, 0.7322, 0.503, -0.2588, -0.2684, 0.1398, 0.998, 0.9573, 2.3783, 2.0537, -1.3067, 0.9646, 1.5272, 0.9982]\nstate[eef_state]: left_x=0.2927 left_y=-0.0079 left_z=0.1787 left_yaw=-0.0593 left_pitch=0.0791 left_roll=0.2594 left_gripper=0.998 right_x=0.3757 right_y=0.2877 right_z=0.103 right_yaw=-0.5988 right_pitch=-0.0481 right_roll=-0.0967 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -1.3197, 7.0085, 1.9121, -0.3443, -0.0073, -0.0171, -1.1419, -13.9145, 8.0342, 0.232, 0.8864, 0.4518, 0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2031, 0.7368, 0.5018, -0.2626, -0.2798, 0.1246, 0.998, 0.907, 2.4229, 1.8221, -1.0073, 0.9443, 1.4372, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=-0.0067 left_z=0.1764 left_yaw=-0.0448 left_pitch=0.0726 left_roll=0.2527 left_gripper=0.998 right_x=0.3859 right_y=0.2669 right_z=0.0235 right_yaw=-0.6012 right_pitch=-0.0728 right_roll=-0.1461 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.8193, -0.0024, 0.1197, -0.0122, -1.2513, -11.6171, 5.4632, 0.6129, 0.696, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1acae89addd9dcaac5498380713c92e7fe0a6f05653de349754fe8f993ab27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6990f2f2c5059ec32d9485fe3ec65b90ca44e052a27817b0fde6267c6bced60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd70bb22a3da448af99ae02e3727eb8ed8f7b6d67358c31d987867ca423bbe10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3xkdmFP25VtFmULaawiAQZGZLXnZrvtVIEHoA1GyASPD45Kv-4N7WcrtYXGbR2RNgbRF66cvpUPiarueULnfRYHajjZzoK1oUNr9a7PTdvb0nHPIoikhr89GojAwzaSL5HN7vWn_KcLKgPDwpdPh4eo9ovsBM-mgtKdNFqNY7YZTRvZlK6UyfTFqAH1j0kJXuI-XZPrKgIy7e0cXN7Jgn7IAc7Y95jKDIhzA_N470CkDRRv9RHPkl4myBHQVjpnCKjEL7x6h5GNDbDAK9PJnaGbhlsfZsRJ9479HKygUKmE2YF4QdM41PqCSUNhGxK7fM0MCauIj-U2EVIAJTXfMqAfKcxoGKEPKNVFKxom-dxHCSXPweX2jsIZwwaN2Fl42mVVZ9mrW-WUfB75lH0AM6dQIMC5PufyGgxTYug3znuIb9_pFOz-mT5jdqoJZ9kRzJsBCTADTMSPa5d3JwZCgI5rXckQfwNEd2-kj9-4KrTqmB5u05XxeVQ--TRn8DNUEPOkAmxRcXm8X_WWkYktCGWTG5s_DUtr1RDuFeg1lFFKt6WsJcJj-2Pqq9vk2895H0pXOlLVOlpFYmSwDu2d7CvEkvA6IOrH_5ruPdbggIgRwJ8rJ-Gw3gHCeMpe7jLFl9rZdfeyfSf4Jw3Zr2mZhQI00LpDSakie-LSCREmqhMd-CkOENwkhVp-DAG57_aQyrf_FVGCsPteeEzlkj9BNOjsy9EXe5jBkLZmM0uWY5YhdZT2xMqiVWYbTgSqL-kj5cG6rOnI78pUR_L-NMHgKW9vxB2QwrAdpiU1FEufHiM31pLc96_mF8sKFKhGZnunnPtRyV6PNCn6TLMn_hd8qFwXCu9MsPkc7446sYsAWs68ToEcmRUaQ3J2zL1_4AZD_Wr5ZQO3da6mtJwrs6M-TanxllWcOn0WusLA3DP5xFfli-XpoFq-qFhJn4zR7Z4bW-5vxYzWokmiRI1ojCQe4-GJZ_KpRe4rHamC_GygVDcy3m8a-VPb7ABf7nQs_Ko1jINi_NhmB8XamGQwlW95tjmEKy3SFFA8fO4wAsbrTdEbf2S3TbwhPDjQz70Am4_W5JOKyiwDGrArJgt4a-z4iPPdCwB-sk1UyjS1yfkNTmbjiLt8AKnP2D4ez1Z9cZRsURR_g1V2yMRNqIMG59bDLmsBvJi0NzHW-ndQ7smaUFUzmuNGQyLddCbk7Li4lBNi-vvPdNdZVvsBvh2gHHxP4uy5iv5jQ_kQTClNR0-L7iEVbPW6a_MA-2SOJBmQPMnf3GN_9Tq7ipH5p0ZrkB2hJ334PKy233ZiccG5nnyzdO8Cesrtoou05A3COEqXtlXv6jsh6J3gEM6Avx_X_LHYIczlxRl2P9XV7VUEWOEIEV8v2MdY1qRDNgSY-hFyuorwSHcorau7d-TpKJzjnfljGuGtLm9Ehp1ePoK1WRV4-noMW9DOpt09K0_XCIJgoZNjdAHbandC2PyvIheACEdhaVDN7ug2J7lqogklXEidifu-EoHr6L1rPArfA_WaV8nyKQ5Mof7pb32vFvEzjzE-GBXJpvCqVX5DWUN1PDPN2UVLQdfyz48-QzHo7IFFY8osDzSeybOOG2gh7h1CwC7wQeZ4NRsxt7aZexZv8OcyxPwyG0Y8zpKaCKoapWs2lBMfOFBcAb9TdgLRHbtJ1b6nwnazFAP96lBjSlhD2nizKkfZkwfHFAIxtJNAC-LnfVi-aftGgww2HdEkDV5Fo9MoYK4z5jUomq0OGB3ch1dRrSL6TJ_t4TtZ5Bddxg71PgF--s84EnY8OVsiED5kdsE93WcW-XJ6P7JhHGBGbsXYFBgMmU8paOfrFgERHELmhtB1WuwC0sQ8Ge5yrlqda7f3RYIrx3A3GEBcxX_bdoPkfUNNKU=",
  "id": "rs_0a65156cc643f7d7016ab42def588c87d08ab07dfd93508cf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.225,\"right_z\":-0.01},\"note\":\"The lower end of the pen now reaches the fingertips, but in the wrist view it remains about one finger-width to the right of the jaw center. I’m shifting the right gripper toward it and lowering to tabletop contact before closing.\"}",
  "call_id": "call_uwyaWEh4oDv11g9Vx3nql3n4",
  "id": "fc_0a65156cc643f7d7016ab42df0a25487d0aa8d3f28123a2040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uwyaWEh4oDv11g9Vx3nql3n4",
  "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]: [-0.2035, 0.741, 0.5018, -0.2626, -0.2806, 0.1207, 0.998, 0.8692, 2.3432, 1.57, -0.7574, 0.9913, 1.3781, 0.9982]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1753 left_yaw=-0.0426 left_pitch=0.0691 left_roll=0.2504 left_gripper=0.998 right_x=0.3864 right_y=0.2338 right_z=0.0064 right_yaw=-0.6043 right_pitch=-0.0237 right_roll=-0.1212 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -0.8274, 7.0906, 1.7411, -0.1392, -0.0122, -0.0122, -1.4838, -11.1248, 4.0, 0.2564, -0.1685, -0.3834, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6901363c66eb5effea4ddf91917393bdc173b1b70e139c49a7101f76caae55b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56769d21010276e004b6b96d8f817ca303be931cda6367da30a737d25a1f9f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f2b7091cc6df757a5bb98c2984a359dc5f4cfb1c3e9c4cfd9da6ef851d843e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.742 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.448, 1.2808, 0.9001, -0.2539, 0.7238, 0.7338, 0.9981, -0.4778, 1.2991, 0.8646, -0.1287, -0.7849, -0.8555, 0.9979]\nstate[eef_state]: left_x=0.3713 left_y=0.0526 left_z=0.2098 left_yaw=-0.5452 left_pitch=0.0878 left_roll=0.2612 left_gripper=0.9981 right_x=0.3803 right_y=-0.0523 right_z=0.2136 right_yaw=0.6131 right_pitch=0.1277 right_roll=-0.4042 right_gripper=0.9979\nstate[joint_eff]: [-1.4427, -1.4564, 5.8051, 0.8962, 0.4908, 0.1538, 0.0269, 2.2359, -2.3863, 6.2838, 0.9841, -0.2955, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2031, 0.7368, 0.5018, -0.2626, -0.2798, 0.1246, 0.998, 0.907, 2.4229, 1.8221, -1.0073, 0.9443, 1.4372, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=-0.0067 left_z=0.1764 left_yaw=-0.0448 left_pitch=0.0726 left_roll=0.2527 left_gripper=0.998 right_x=0.3859 right_y=0.2669 right_z=0.0235 right_yaw=-0.6012 right_pitch=-0.0728 right_roll=-0.1461 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.8193, -0.0024, 0.1197, -0.0122, -1.2513, -11.6171, 5.4632, 0.6129, 0.696, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.741, 0.5018, -0.2626, -0.2806, 0.1207, 0.998, 0.8692, 2.3432, 1.57, -0.7574, 0.9913, 1.3781, 0.9982]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1753 left_yaw=-0.0426 left_pitch=0.0691 left_roll=0.2504 left_gripper=0.998 right_x=0.3864 right_y=0.2338 right_z=0.0064 right_yaw=-0.6043 right_pitch=-0.0237 right_roll=-0.1212 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -0.8274, 7.0906, 1.7411, -0.1392, -0.0122, -0.0122, -1.4838, -11.1248, 4.0, 0.2564, -0.1685, -0.3834, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6901363c66eb5effea4ddf91917393bdc173b1b70e139c49a7101f76caae55b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56769d21010276e004b6b96d8f817ca303be931cda6367da30a737d25a1f9f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f2b7091cc6df757a5bb98c2984a359dc5f4cfb1c3e9c4cfd9da6ef851d843e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC30v5U90GAWYWQTc6uVwzpMZavDBs9QP0mIP5izeuTCoFxKFenq25Qxqv8pm7uBNVmY-V4c3xBXwHOyKA9HdMPrCYDIJHCsGdyLy0yM2eIiOZp1eQRY3a3KvhWr_aZYMJM84rjcO6ObE8jC_sLCfsPVao75_GJOdNf0fFi7cmWe96G6jKbgvvkJQpC4QibEvGy51UpvSs1LnR0okc6SNW2Obuc0vzEZo7s_33STXUnFlCpxOadI5gyo52oiY439xKOYcQDm6przrwOHIGUzGrONCj5aDQkMEWEU8wZ3FeGt3rM9TacS0g0hSuCiTDUO7CXdtLOvrEDQLfIEMD9nMRlxKmr2_fqRj_O7UJJR-9BmKT0dhbAl5TwtPIV33ISf8eZNZN3P56XFeNrPobKhVPeOmM0WUZpi9uiXk9kyO7JfyGHJ13dKY8je1ja19_EdY0qcUJ4tI5t-26lOF7km2SoujdomymYHmrEare-LZVXo1bBh2qKWjdn1fm32MtRBkQrWrbF3otlE_pU3EJvJkJkl7J0e7sTyGf1em3zLrXAJJJq3wVJm7l4doe4WdUtyfKOoR6JH2n6OE9p6YyveQfe3o8h5J2VCno3QQ4JKpAeSBNjzuLaJzI3LfIMnSapUUi_mwLyf2bwNM30Hdnd0T9F3Rs49tFVHfMeFx6gdGoubkgdeDVxmcG8TOIX0dZA7ke4-CFqu35AwtFW0gANlJ1vlMLXqP23a4XQjBfHLQ3cb9hmR-cIqboD51rgu3DYDHw0dqpP8IuwhlZ2ADwuYb8eVdsIf27Dz6yPDhOcL3tKRnGTnnrk_g3_z6V4fozWdXahL4sgvTZT2H5EEyCgt6j9CvA9TKQ9lXwn8WDjEwNdCv28tipwv8wy0hDSiueKiEN8bDVsAb05Fl8nImG13VyLM72sDMT3lPpr_777tln0Jhso2hV4I4wXKCrnqeEf12s1cY5vsW0Cv3tS9NahQ6dCKtzH9MweXu7YD1Pi_LlpZTokX7XYUfPfAkvwAFBl3CL6bQPxLsALnrrdVUQWn46ZM16FxAIMqiki3ZpVOg-nkqAyQMwlzwF6RQcrDef12JkVEq-uyWoNwxKIrk6YFY-d5RoZtjoIoBr7qdRjjZH7cUf8VRzu3BWKRLD-i2TO_iXTUeVJI3AZ9PnlWpRRrMEknnDY_bBh27dPUQMd-ZN7eerXxBfdP77FsQz30YBVJQsTtcVNCx5Xcl-uUNg6KZCqrg4zHeil6o3fXPTJdfcMEvJyIPF8-wxuCwWR1kqpeISZKKe3xMamjmnBHqLVMZaCP_RKJBwb-yoqq1fHhIquZZcNkxJSZzjYcjD_DpsiwFFuRSzu1kcS1jg701g32lh3I6KkJlTLWX5NWktvPeBosdiREUzI-7ZkifmN7T74mX4p9DVc6ZZyfepzpRSo-7Nt5jmBEqx999QvHshOEsffeBQ_g9d9GSh8ebNsA4qaHeqjEMNz0f9GmzxM-82_BPJCxbBOPaqHo2YUSfLYAkQna0ankh9WqP09xjWq1IIYOjgx8SXMNZNWq7krMKy1SmLuKtJz3gP53h_3GVKr_67mBve3XRPOA6dkPRshQvLs8FYIj_GkQDhcRLXMRCdzhTtTpAEAnyr6aUlMppKqIxe6bZwPHuHXbPZTqynGjpa9Vemzyb5IgT1J6oWV1ubzRtTWa_bROx671pkUfUG4HNuAn_Ss=",
  "id": "rs_0a65156cc643f7d7016ab42df2fa9887d0aff359ff42eb5439",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":-0.01},\"note\":\"The pen’s near end is now centered between the right-hand fingers at table height. I’m closing on it with slight downward contact, then I’ll lift to verify that it actually follows the hand.\"}",
  "call_id": "call_yvBLjvRM8uzFmFh4M0X9eyFW",
  "id": "fc_0a65156cc643f7d7016ab42df3e98087d0a6857fe7b7dd1a86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvBLjvRM8uzFmFh4M0X9eyFW",
  "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]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8509, 2.3383, 1.5425, -0.6979, 0.9913, 1.3285, 0.0443]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3921 right_y=0.2284 right_z=0.0028 right_yaw=-0.5956 right_pitch=-0.0226 right_roll=-0.1259 right_gripper=0.0443\nstate[joint_eff]: [-0.1162, -0.9778, 7.2684, 1.7265, -0.1392, -0.0659, -0.0122, -0.7863, -11.6171, 4.0547, 0.3053, -0.0122, 0.0855, 1.0867]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7269ee2112a50513db97bb9a3c13b4edc278a95955b68dc4c9f8ccb98180d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29efe7c8da57f3f09e495f9282909111b6ac52882e417de4ea279344459edfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07b8c9713fb77f58981de0676f3528914c1cb42ebc3c70142429ffae0d77606",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.662 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2001, 0.7322, 0.503, -0.2588, -0.2684, 0.1398, 0.998, 0.9573, 2.3783, 2.0537, -1.3067, 0.9646, 1.5272, 0.9982]\nstate[eef_state]: left_x=0.2927 left_y=-0.0079 left_z=0.1787 left_yaw=-0.0593 left_pitch=0.0791 left_roll=0.2594 left_gripper=0.998 right_x=0.3757 right_y=0.2877 right_z=0.103 right_yaw=-0.5988 right_pitch=-0.0481 right_roll=-0.0967 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -1.3197, 7.0085, 1.9121, -0.3443, -0.0073, -0.0171, -1.1419, -13.9145, 8.0342, 0.232, 0.8864, 0.4518, 0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.741, 0.5018, -0.2626, -0.2806, 0.1207, 0.998, 0.8692, 2.3432, 1.57, -0.7574, 0.9913, 1.3781, 0.9982]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1753 left_yaw=-0.0426 left_pitch=0.0691 left_roll=0.2504 left_gripper=0.998 right_x=0.3864 right_y=0.2338 right_z=0.0064 right_yaw=-0.6043 right_pitch=-0.0237 right_roll=-0.1212 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -0.8274, 7.0906, 1.7411, -0.1392, -0.0122, -0.0122, -1.4838, -11.1248, 4.0, 0.2564, -0.1685, -0.3834, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8509, 2.3383, 1.5425, -0.6979, 0.9913, 1.3285, 0.0443]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3921 right_y=0.2284 right_z=0.0028 right_yaw=-0.5956 right_pitch=-0.0226 right_roll=-0.1259 right_gripper=0.0443\nstate[joint_eff]: [-0.1162, -0.9778, 7.2684, 1.7265, -0.1392, -0.0659, -0.0122, -0.7863, -11.6171, 4.0547, 0.3053, -0.0122, 0.0855, 1.0867]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7269ee2112a50513db97bb9a3c13b4edc278a95955b68dc4c9f8ccb98180d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29efe7c8da57f3f09e495f9282909111b6ac52882e417de4ea279344459edfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07b8c9713fb77f58981de0676f3528914c1cb42ebc3c70142429ffae0d77606",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC34JPwp6zS2_pLQxxgs69R-gh8F8JuD2Bdozqq4D_IQWC_AWOQt7aA12xmve6rDPsnq_NPD3KBWIaB_fidoZW1buAjXVXK5HSO3cFKsVDYDTaLpfkrA2LAJMR5RBqHZkkr5nNgP4gYKk7O507D1k_KgLcJ7zqAEMAe5sJfjrqtBy6viSChzIXZmPXFvQvN8dJNbE4Yj2xAUWgSC-F9ynBL4A2rygvcplfLRPa6_OeDT9jOE4s8dginaSYfbkgM2mChkXw8vPBycloaik1bHjPUlLdgQ4tB4ebXRoCesaA7u8rxlQ6dG83duyc7D21pghC-1p7B321GhYhyBJkddcUQF4z9A_k5b0YRWlBXSxak3Eagvs8F5OnWXigs9zgy4jangcBM8I2Pvt6ssZ89dHn6NO4TQREdFBZLvgBW6ENntlWZiVZCSPTDNsVazcCNS-9-DVpVFv77AcbeMBdQE29fkFisW8c9hpBkotg8x6y-mXXTsWztNf8_9OlNjVwPClnZ6ww77Fpighyef8XTwyKWHYKtImhoL_A3FXQZlwqXN2xytKsuDFE5HSXFxLyhyF6IlPRV6GJrRJi-vYWK3psNjz9Miv6d0Rm1eVFzefSPbunPd32tucYGg_xiLckoPrJYMPYXb6dJkmL-Sr4FDs9MwHESWItJPlDMUYDKXeonxT8ebgTk4oUouPDGWUnOfBeQrD5RBnNOzC721bM0_IaO44E3pNCUxpKYk4Gh3t-4sHXoKfulWvhb4KvsyPtWJz3tUSotUj8CMTfY4JEAcHiRqSygbSQk6tyxUXZq3GF0W6I86XGNcnemcunCB6NlOI1zhKvzdNx8fZS3vIvJGu6AEg4yElZg1M3XfeoECnWj0655Vj98durRHezLsB7CDWyOeUodm7no7HKafA5QduRqmdrvIbgqa7b_snldLbIdSNSoSF26sRP0b1lQnSSwCYe27Q08FBElc6wxB-PU60lK1-nXT2glCB1FJfDzTAX9Fzoseq1oK1OCgoF7gxS3nlLdfcySCS-jxeoAII95N7wkcIgIXXm2u5tjnz2mi9Z8FWNfx6QN94FLazvbKCakkKI_OFLUjSYh90n0CsU2rPkxmm2xTHrcs5fQpKCQX9w2FNWc0bHeoGl00F3I-FQHve3cTVt6CWTzDe1QzfyNb-mIyG7zjO2Xs0MBCZ2iBax6YZnHn1lslNIELa_dzRKZj0z1xyIhK9d36rDSQnnD7YoQy0qS4ovXiFuY805K_zxXQMiOeJ6BRJXtCI-2d-8Um6nUL9I4ugxM0Lb9ZRpqLhBZ61298pULaIab-G8jnT4aPOL5F8fL8ONDS91LCAVUznei5CdU0FIGDITHQP-tJPGZWyABpjOKTbB6aaQMTT4diNL4_28W8L7ssC4p9eBlQXE3yexMxJNCv7OLI-sc10tE2EIWOM47AsLSPz8ql3iYL6QFgbeGmzEwP7wLrIf01rqaTXmPhXOTKyAxrgqSMxDjS48SGkFREj8GMZ6RQTbJl0QTnfHEJ3nDe3WjI2fqDbT0j-64VTtAZU_PJz_dOl5Bg3_J4smDIVcBLxb5e6up-HiZJwMBGwR5wDs2nqC5HJLWDftqPnMcyUWzpN5S5yMSoaQ==",
  "id": "rs_0a65156cc643f7d7016ab42df7087487d082de12dc240908a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper settled at a small but nonzero opening of about 4 mm, consistent with gripping the thin pen. I’m lifting it several centimeters and checking whether the pen rises with the jaws.\"}",
  "call_id": "call_gLEmWkzkpX9CeRqW6q9ovdNq",
  "id": "fc_0a65156cc643f7d7016ab42df7c60c87d0aeebc5a3ff71dcbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gLEmWkzkpX9CeRqW6q9ovdNq",
  "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]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8539, 2.2246, 1.7374, -1.0836, 0.9638, 1.3201, 0.0476]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3859 right_y=0.2274 right_z=0.0892 right_yaw=-0.5901 right_pitch=-0.0602 right_roll=-0.2059 right_gripper=0.0476\nstate[joint_eff]: [-0.1162, -0.9504, 7.0906, 1.7314, -0.149, 0.0024, -0.0122, -0.5128, -16.294, 8.8, 0.5446, 0.7302, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51071d8e7851defddcb4225845a6badbcd50671a17418c1181035a523cf48d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae942edb92d368e9e0d96197fd6ccdbd95217127ddd9cf43735807d327201ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561d3d0b857292b40cc0d3e7819ae0b4eda0b9454d496565a6fff38e5389cb7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.837 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2031, 0.7368, 0.5018, -0.2626, -0.2798, 0.1246, 0.998, 0.907, 2.4229, 1.8221, -1.0073, 0.9443, 1.4372, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=-0.0067 left_z=0.1764 left_yaw=-0.0448 left_pitch=0.0726 left_roll=0.2527 left_gripper=0.998 right_x=0.3859 right_y=0.2669 right_z=0.0235 right_yaw=-0.6012 right_pitch=-0.0728 right_roll=-0.1461 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.8193, -0.0024, 0.1197, -0.0122, -1.2513, -11.6171, 5.4632, 0.6129, 0.696, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8509, 2.3383, 1.5425, -0.6979, 0.9913, 1.3285, 0.0443]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3921 right_y=0.2284 right_z=0.0028 right_yaw=-0.5956 right_pitch=-0.0226 right_roll=-0.1259 right_gripper=0.0443\nstate[joint_eff]: [-0.1162, -0.9778, 7.2684, 1.7265, -0.1392, -0.0659, -0.0122, -0.7863, -11.6171, 4.0547, 0.3053, -0.0122, 0.0855, 1.0867]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8539, 2.2246, 1.7374, -1.0836, 0.9638, 1.3201, 0.0476]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3859 right_y=0.2274 right_z=0.0892 right_yaw=-0.5901 right_pitch=-0.0602 right_roll=-0.2059 right_gripper=0.0476\nstate[joint_eff]: [-0.1162, -0.9504, 7.0906, 1.7314, -0.149, 0.0024, -0.0122, -0.5128, -16.294, 8.8, 0.5446, 0.7302, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51071d8e7851defddcb4225845a6badbcd50671a17418c1181035a523cf48d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae942edb92d368e9e0d96197fd6ccdbd95217127ddd9cf43735807d327201ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561d3d0b857292b40cc0d3e7819ae0b4eda0b9454d496565a6fff38e5389cb7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3-MQTzlYI1k_qd-MxRlw9m9TCpxpjoQFWSu7IkqQFo_j7ABFoQMhZtgxrr41JIbjQ3GpesBb3FVexdbEIM1vNIsdYw0UcEoFTeFID0yLj1byDMEVsrWcfaUriCTfGyjEYoJ5s7Fz3flRCu5bRrfn11e-oTSCqU3QW0SdqRAQnblKpUgY72OA8UOnl5n9bNBmqF9KgdYuELQvhj9D3V3bJYKtzcO3eeQRksf5Gyt92897uJo19Pq9wm3w3-l_voRt7RG3p7qvkY6tlTDzrr90EcsQqv8uNki5ERbE481Uu7yMSQnerWnPk6M0OAMZE2p7ujeJwEwEYmPT4NpZRXJmRaokwcZ6mISSOfy7UgQu5N5aoH5_3L-tJbDTYvMmx2FuFl5NH2d-HyQDtyQv-8PEiW_6W366TPQde5KwQnOzgO0wRgR0dYJGfO24pJNuYAIdIUb6uYub6KLSOV7sK1L7CQKUkOJD0MokgaUrvC1KHeNPQQ5a0aOACZ8VfkQ3Tg7Mp_zwIRTuHp_gBhWnhI6SKWfG2JQnBOzlH1iVPouyZ6ja3xv95HeM3OGmXU9AZxN-NCmI-Wt4_8PWDaJK-gCg0iLbfFgwJQ75cjMgBNrO5wxMiInFR4sqBM5aqe-HOn7ybPVXy0tWgJGZtghdxOOG3ZxxrCEKxISBVigeRD0TADSdhWXRCZJKsbAC7lwo2IbjGMsPMqdhY4tQANdD86C7B7fp33zFdXkwFtIxlMHK_zyTfw5NXuXUPC3ASsxUcKpgyw2QZFYxnh2qdnpwIUXRnfqamXngAA1S-vnP9hkgYd2x065PK4Ps5eSb1z4cRdCwiHVWeg90CZc0cc2W6el_-DydeueX9eiQ9oQktU0L0Gt5fsKf-NPH4oYCLNvlLuSS3rxSrJ0_m0N9-xkGk2rLf-SvwFp_FRnXz6rebb1s6rmFac6DHTecOmsdiHkgssDBDSqfocwuBEQ1m6s7VQPIDyHkA9HFUlVBmqV8W6ODDhHL4TOfg9WeFSFedl0XTz_orkZfXD1r24jyJM45q8KGNx35fgpdxyXjXHnxjgh45ndcZcvBcyGqR2VEcFo8Lyma94GZEn5dcWYnrlLVgY_-65fvH0h63z2WLpkX93gQz_xv2u9fZXrJZ5sTdZv9j3R0F3_W1vXT0gnZ5jawJpKP13jTh9HAwGQlAXWjQYdIbW_cWJTyI0A3m_Eg5w61m6KyQp6eZ_DRlUgFiRcY2WMa7EGElWv3eXbr1Oi0maq2oQ39soktRS5nTqdEsWp9HYCg1zBKgJUAWLnA3va9GDo8pp_r9uIn3p5oXTyriT2YIEWIEUMOYc9YRJs4MgQW3rsdMJfJN20V5N2upWhClJUNtp6Uj7Aqu3aFZ8YiAErGUEAW5Eq7e7NPxhugTbTRWM0blKpZZdIel0-7XxPb_DZ6Ts7sVRVYP9q2bBPuOIRJfVsbGsVlD_4qfgYV9e3rajmfIcoo14wKX-dGwybBU14XpB-SvKV8TDAqBLlHqZDvetKgB8Cz7NpNA2QHd6r76zzUwpjSqOdUc3JBB4DsOF7i5l1l70yc63sIv9dwsadTWPCMx29CkWnGMlfDPdy1z8jKuwdX-UEUoOSFSiIs29hLkBX6vVGapLmN0OpxZwAo76HJzRPS-CYjdgxLJF1Qm1gKcpvsl9xBFfm1pDrWN8YpUxmIBuI3JVEI5-zM4ledkGyFEla6K1MI2nFoVi9X6BPgKuGu4TNYSvN866D89zyD2fPIUwlk77oeScaTQSccb2UtT87XJOc51UqMn7GAIttVO7w6k-OpBX65RmatZgmnf4Wga32YbgZeRMSw6rrKd1hTveFRKMxzDv-NY4_G2y9OTwssjRW5TXJ0PxjYJLuuvFhbFe5hi_Ahw2z8A8OUMIzjdJf04KCzVtTzNyeEd8ssgL6qzcI332j9vfHBLPfcHYR-U2_96eHP34iah_0bfQtZGSuA-XWzmCZGc7WkKfn-sZAQLULYUTIP1yv3waijo3hzQku8mOvRjBBgDiP3l04-MG2Odjw6XebPKi-AmfteaWxeYhJr4sSdN0AbX7M54wO-tL6k8eSXn2KuYzWula7iqis2IqA3iei1m9hmnTbcwh9roKCe8yk9M2YgPR0GGF28shoIesBkPIG7NIdrpc5rlnBoNCzjdVtfM1wv4dFXecodp8SshsnGWPPaUnwopzFtu8ukdYCi33U8MA6IVIiZD0kQVSTFgzQq2RFweQdKhY6Q7ToE2bn8PqkCNa1cY6A6hDOsTuKtI2IZdxEW7dSbQySA7GoAmoi6-ohoBFWuKjgwLHOeYIifKZK22E2EEIgnkcY8TMD3e-6UCU_vJexw_2366DTb9raXz9zSCtuev3-5CWDcLCAbvfw0mqydHP2QJrDaiCah1XA6e8Er86OUDWxL25TWWAUQwly8Lzdm3BXfcjWCwuzjgW0HKo-XI98FwxNS0EpJwOL24B3y8Y7IM85WHB1pgL_Y3-G6Xg-3rtD2ZmkzoENA1dS9E2ciNh1tyinAikCQPhEl3EZHcsyv-oX6ur81fHnjY9ZgmQqp3DBWitpxLUxHAKoJEGG0T0sBV7a-7IaWAfm8ZcjDRCSHW-O4FQr_xcL4_efHsFBPJbIDzv7dDfgU2Dm_1DpjO4y1Y3kqWMuTLB6OMUo1mcGKxhwZ5jopzTjPSeL_auy1prGtSVpOqmwTgYaRIZPxu_bIBc5b90BjyJZxae09GXab9syVEWlMyqBfUN69tZ6wvo3hbd-3NmCd_62FPKLZq0LBH8bhLFSTOBR7N7dD3q9Yq6IVYty5jcL2-yASAgldHb",
  "id": "rs_0a65156cc643f7d7016ab42dfa6dc887d0bf305b301dd6ea35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.11,\"left_yaw\":-0.65,\"left_pitch\":0,\"left_roll\":0,\"right_z\":0.15},\"note\":\"The pen rose with the right hand and remains held; the cap is still on the table to the left. I’m keeping the pen raised while bringing the open left gripper above the cap, with its jaws crossing the cap’s diagonal axis.\"}",
  "call_id": "call_HB7xlFgTPdShgIGS9WyFBKN9",
  "id": "fc_0a65156cc643f7d7016ab42dfe02e087d080f8f78c2d1c5e6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HB7xlFgTPdShgIGS9WyFBKN9",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2958, 1.3865, 0.5873, 0.1158, 0.2253, 0.1516, 0.998, 0.8593, 2.2066, 1.8778, -1.327, 0.9226, 1.3037, 0.0476]\nstate[eef_state]: left_x=0.3467 left_y=-0.1432 left_z=0.0849 left_yaw=-0.5792 left_pitch=-0.093 left_roll=-0.0146 left_gripper=0.998 right_x=0.3735 right_y=0.223 right_z=0.1262 right_yaw=-0.5849 right_pitch=-0.1139 right_roll=-0.2985 right_gripper=0.0476\nstate[joint_eff]: [-0.4855, -5.9829, 9.0325, 1.8974, 0.3541, 0.2613, -0.0122, -0.5265, -13.2581, 9.2376, 0.6422, 0.8132, 0.1392, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c816e12336c37730408260405de2657ffeb6ef87e122f6fa02efc643b642a02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eeb685b0c23403982b09f42191709428a06a0ad48de41605b7585bf8fbea5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3259992505aa8dd91a2d6c300a8ac48318f9ea2fe731714c0cc9c928a0c18d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.472 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.741, 0.5018, -0.2626, -0.2806, 0.1207, 0.998, 0.8692, 2.3432, 1.57, -0.7574, 0.9913, 1.3781, 0.9982]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1753 left_yaw=-0.0426 left_pitch=0.0691 left_roll=0.2504 left_gripper=0.998 right_x=0.3864 right_y=0.2338 right_z=0.0064 right_yaw=-0.6043 right_pitch=-0.0237 right_roll=-0.1212 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -0.8274, 7.0906, 1.7411, -0.1392, -0.0122, -0.0122, -1.4838, -11.1248, 4.0, 0.2564, -0.1685, -0.3834, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8539, 2.2246, 1.7374, -1.0836, 0.9638, 1.3201, 0.0476]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3859 right_y=0.2274 right_z=0.0892 right_yaw=-0.5901 right_pitch=-0.0602 right_roll=-0.2059 right_gripper=0.0476\nstate[joint_eff]: [-0.1162, -0.9504, 7.0906, 1.7314, -0.149, 0.0024, -0.0122, -0.5128, -16.294, 8.8, 0.5446, 0.7302, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2958, 1.3865, 0.5873, 0.1158, 0.2253, 0.1516, 0.998, 0.8593, 2.2066, 1.8778, -1.327, 0.9226, 1.3037, 0.0476]\nstate[eef_state]: left_x=0.3467 left_y=-0.1432 left_z=0.0849 left_yaw=-0.5792 left_pitch=-0.093 left_roll=-0.0146 left_gripper=0.998 right_x=0.3735 right_y=0.223 right_z=0.1262 right_yaw=-0.5849 right_pitch=-0.1139 right_roll=-0.2985 right_gripper=0.0476\nstate[joint_eff]: [-0.4855, -5.9829, 9.0325, 1.8974, 0.3541, 0.2613, -0.0122, -0.5265, -13.2581, 9.2376, 0.6422, 0.8132, 0.1392, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c816e12336c37730408260405de2657ffeb6ef87e122f6fa02efc643b642a02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eeb685b0c23403982b09f42191709428a06a0ad48de41605b7585bf8fbea5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3259992505aa8dd91a2d6c300a8ac48318f9ea2fe731714c0cc9c928a0c18d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4D6ovt4--tKMCHfiD4S64o-xUIjPq56BHhMkvoyzrLfXMmAT_2OMHFyiiiTYOGZE9oO9mVZ-d_z9GWprgfQmc2TSJN1AGlOna42tZjxATNkh9zUxuyA6zd8wJzeTzlsU44WmW7d0f_IVcp3rDaRRo_FWwblc0apvt_nRiHpjHHNDwI8cCxH1PA-KctBSsU4jWA6KluyXT-ATnVbumER8zsLubiucgOl-10tJ_yQaYYiE01gSRhR7ed6Jk3RhKqFyFC-I1oEr11pM0PkZWiXRAVYMyDCygMZy4gQjzzy-H-CdE-uK8wSEFXExw-Nb29-ZvzqAIIuy1m4V_DMGinGTz_d0EmA34gve6ELTyIw1bZVuL4Y7VWCiGNX30OyHHQfHGwOmtnj0boE3nzCTLvHamcMsqE2oWJ7RBEFprB7wJmzZg9YlmyE_A4rM8KthsLCqw1YCJ4s0hWlG9ePhaPq-3cmMNFRCIbY7gmrQ_uAfLsq5HE8jIoJDgcGGGmx20m9UzonJoPVQ-GPi_KxY8Lqj5MJPRRstPUZfJlt6p8XuwT3qz0WpSY2rPcLpfdot50OHwqnRLUsDZ3iCJ_mKVa3qYwlrL9aYAi2oa3rAyTn0assskP1qin_kpFZ0JTA-vA6IkTlfNgnkSS3UZ72riEoyjF51_zn8bAspdp5Rh-sv92fnMFvzMOfmFw3UGWsCKRbzvAaPhTwgXQoDiEHlp2PPqSIdU-kmpJhbUYjhXqyeG9kOgeR8GxI2eVZHA5Bb3dKqPMemINVnJ0SEkrXYOJKUheS-v67mZ01V31CPafduQQPR5AbCqBGW8cZYmW64SiIgRxcibGZ9e8eGnJmKPYRXxqJr2pOaknzD8uPhzDU3TSlQ86hGfr_jcGKGxjx_483zflRu127ZXsPs9WUB88evwWNj9PmbvAGjfxV1snU2wmovT07ZbueaTiVFZ7orLqHyaDF-DVRiE3myRChs0dbjvISBaC2jd7SMNLVgzoNjOYpRTTIuVs00c3nzp2EUg7S8o9KdYvUuuIdjnChzlId14BFsDH3_7iEQB1rWlylO8CrqHbjJwEERgZxrvJzuobCkXQIGLHoiD4y4yICNghuemWYQQ24JqSICks4swoCJGQJ0mtlH6kWC5erGXEtbB8-tlAVd6YnFlL58LEmZ3yHc-a91cVhngpwdQAoLMNFzCsAJ257M7btR6iEVu4x_Gh7IRS8Nmc8ta2ipAWh91rtQXDrGRbwc8ErRzU05ynalHY5KG30peOKsmKrly09hEzqdTAkviRITfvMqNHn0fOJ0_O1XFPkzKPpJTX8oigPER-jTAB6SkT1Nd3zsz_iq4WaD7iJNy_l1_5iXl1fvYUnIupxmb2JEMYX-enB7Wrixjx2tJoJKyJzbMB0nzLaAF4u-e84KbdOVDCTLFJ8IlFUKFC-szMDndfMkY2o0znKIQ_SjMP-sIrWrIzFcEbKS5WOhrE42YRXK89EMaPGeix57eCcBIRiUe7KtLKYF4RmVhSQzh5Brm79nn3Y9yhag5ywQVRKcg-yJMfE17zOpRIuuogW_UatbYN0n5JQ2jdqo4YERGThbdb58DoDD9jCD5tNBTM3vfHAYsWkkgQ0MqjMWE1hFlzRLTcqZnJ8E1bisQ-oc7Gh86Kc3v8Bs6z327m4ACKv-llm8BZ01By--fLfxurKQKjRzA2KNkCTdlnU2A76Uo31Iug6d-dEQMUoI1luyTA2ZP3bSnnyJqKRy2ebcJLE6BXbqXy297ORzbeEEcvfD8mWmnFaBg9PBi8SEUqaA_konAwZbX1-DB3tK7BEDqY0xXhN4uNTbnm-FQNNqJFHIQtc5RwLSuSGLrxEIByT6sa-8qQbwFZjDq7b45svTYbZg==",
  "id": "rs_0a65156cc643f7d7016ab42e0131e887d086b6cf55678cc7f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.115,\"left_z\":0.01},\"note\":\"The cap appears just left of the left jaw center, with its near end close to the fingertips. I’m shifting the left hand slightly toward it, advancing a little, and descending to table level before closing.\"}",
  "call_id": "call_Cg4HoJxNfugUKB2AwMciO9nR",
  "id": "fc_0a65156cc643f7d7016ab42e0275f487d0be0b3f28ef47d955",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cg4HoJxNfugUKB2AwMciO9nR",
  "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]: [-0.1623, 1.7542, 0.5831, 0.3981, 0.2974, 0.2207, 0.998, 0.8597, 2.2078, 1.8751, -1.3354, 0.9035, 1.3003, 0.0525]\nstate[eef_state]: left_x=0.377 left_y=-0.1105 left_z=0.0025 left_yaw=-0.5468 left_pitch=-0.1614 left_roll=-0.0365 left_gripper=0.998 right_x=0.3704 right_y=0.2228 right_z=0.1226 right_yaw=-0.5857 right_pitch=-0.1348 right_roll=-0.311 right_gripper=0.0525\nstate[joint_eff]: [0.4034, -6.0239, 5.8598, 1.199, 0.3346, 0.0659, -0.0122, -0.3624, -11.6581, 5.7504, 0.1587, 0.6129, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd116fe2f26a6651c993f3696e77a63ce4392dc300ab177ad182893106b354a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7064e707b3603531b429bda08080a4f2f0acedfa62db3ccf99c81c72772c5c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab74a43cfe6b86b1dc381a10b5b78c2135b86a16fe73b0301757bb2e86cf5a13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 6.758 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8509, 2.3383, 1.5425, -0.6979, 0.9913, 1.3285, 0.0443]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3921 right_y=0.2284 right_z=0.0028 right_yaw=-0.5956 right_pitch=-0.0226 right_roll=-0.1259 right_gripper=0.0443\nstate[joint_eff]: [-0.1162, -0.9778, 7.2684, 1.7265, -0.1392, -0.0659, -0.0122, -0.7863, -11.6171, 4.0547, 0.3053, -0.0122, 0.0855, 1.0867]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2958, 1.3865, 0.5873, 0.1158, 0.2253, 0.1516, 0.998, 0.8593, 2.2066, 1.8778, -1.327, 0.9226, 1.3037, 0.0476]\nstate[eef_state]: left_x=0.3467 left_y=-0.1432 left_z=0.0849 left_yaw=-0.5792 left_pitch=-0.093 left_roll=-0.0146 left_gripper=0.998 right_x=0.3735 right_y=0.223 right_z=0.1262 right_yaw=-0.5849 right_pitch=-0.1139 right_roll=-0.2985 right_gripper=0.0476\nstate[joint_eff]: [-0.4855, -5.9829, 9.0325, 1.8974, 0.3541, 0.2613, -0.0122, -0.5265, -13.2581, 9.2376, 0.6422, 0.8132, 0.1392, 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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1623, 1.7542, 0.5831, 0.3981, 0.2974, 0.2207, 0.998, 0.8597, 2.2078, 1.8751, -1.3354, 0.9035, 1.3003, 0.0525]\nstate[eef_state]: left_x=0.377 left_y=-0.1105 left_z=0.0025 left_yaw=-0.5468 left_pitch=-0.1614 left_roll=-0.0365 left_gripper=0.998 right_x=0.3704 right_y=0.2228 right_z=0.1226 right_yaw=-0.5857 right_pitch=-0.1348 right_roll=-0.311 right_gripper=0.0525\nstate[joint_eff]: [0.4034, -6.0239, 5.8598, 1.199, 0.3346, 0.0659, -0.0122, -0.3624, -11.6581, 5.7504, 0.1587, 0.6129, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd116fe2f26a6651c993f3696e77a63ce4392dc300ab177ad182893106b354a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7064e707b3603531b429bda08080a4f2f0acedfa62db3ccf99c81c72772c5c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab74a43cfe6b86b1dc381a10b5b78c2135b86a16fe73b0301757bb2e86cf5a13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4GVLlmi66udV8enJoqnIxQdDxM2onoTW4eoJC-IZBSs8qG6EKe3y9wxSaPD2u-fC5z7o_2aEzvvg5HU08c_jfKz5BZD25BLdHUlMAEbsjB2ka-8pdGYh-dkQ6YU-YryTlWz93UqGzg9OCc88fRMXrG6TuXlu14M6655YPLzxlS3chLUvh0daxMASbcRq37rxvfspUp_7myZE6cWEjGD9PHphE5Kn2kooAMVoHLOQAkc2udJ-WaUy68Z_VazVS1kJ8UOGSh4DB7FI_8A-Su9_8tWLznWb58VWAxjQF151BM1NU8ilzn7EbcXWxkRPm48TQnTHc4wID_hEAPeA09oroPXXk5-DBhNtNL60pOuyYHB7bKx35_TFSOOaY6ZNyzWHoJgflxIYxr9WQXT7hsTxs2mdSDdIS0d4kjGvAh0sD5VaoS8_JQu_Pgac8ArnTv3k7Jazi3PBn8rjm6-N9AzUGo3Iv7d9zKr3BOUVL0m1AOy2auEXhRWHXzEYJUpb84ZrFojXEvZ5TRY-C2eBfyhu1XkEhNbt66JTRfrko80YV8XeXtgh2Y4Z2W8ESrFxqQc2tHcDTAlsNjg_yQFfzPyKZcuVanf5M1UMfULOFBw-KA__QZCejNdHrJmatcD7PykDGY6nm4NNNCRkcc5XWV0-kYjA9Yj9tKTzYUbwxF0ZmM-g2--DogmSzSXMV6g2iE9q_UIQMgn91MqXl3f-AGLKmIFOmXZMyeBNMkLc5HAo9wpuxtI3BnRGiiXIsjKU0GRTdDpjkAMqf3uRWE2MAsLeo9KOLzcJ9rbl4Z4c__eaMDyiKAU9-63hibFObhE9OfFy4ClPPc0GM_NIPeebWUy70pRMOOmoVM07qeRngYBMJs5nNf9D72TJMjZ_kb8UTOTJPtH5N4EHAvtXRKezem4lW7mkaUUT1xehrxHOnYENSwZfxywrn1PHoHNwwoZmqRpHHj1HYKd7oZrXYCgwJn6sI1NcsOx-PvmGwhD3_wu7yEv3ZSPq0Cs25Jeq5aBlJTAAr48WslpIzM7WzxpNYCF2P6hcYcS3OO-kU2qmmFnydrDpLDhUJDMXOido5BLhll-EEhppTN3ggEqEaHjUQCOLS-cbP_qiAGh3Sa6UYvqJXNTyQ_IpLeuXqsD2CHu37bIbmTbYTlSFrkZ37bi8tMBBf6IYfNOARKbsX-hRwUKfWPbxfTp4T3_rRzjCyktRChldC_u_0A0a9dxKoeh94cTEZQGaqoU1wLbtDbDHefDJ_an3ctGTAfOg7tXO5E2yyli0ZT7L8KpIIBbSsTeAb4dQJWdl_QNYAPoZZPcD7t8ot1mfaZbP2eDcGShxy0ohLoIseKAlzV-rhODgZie6RaF4UjlB15Se0od-oI4NMEZLiv6tq8fUQchoWpUPsje9FRearGyLwBGiF47j4tmJzLjSXRKJQ8HU48dRLypLDIrgA6gRL_8bIeY4el8Ce2x31KYXHhDcYRl3A4_MJI-A5PwsShmA==",
  "id": "rs_0a65156cc643f7d7016ab42e046d7087d090636e76b8c14973",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":-0.01},\"note\":\"The cap now runs through the center of the open left jaws, and the left fingertips are at the tabletop. I’m closing around its near end with a light downward press, then I’ll lift to confirm it is held.\"}",
  "call_id": "call_PuyFcVxTKAvJtW9QOEIA4a7R",
  "id": "fc_0a65156cc643f7d7016ab42e054d4c87d09b4031b561c46d8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PuyFcVxTKAvJtW9QOEIA4a7R",
  "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]: [-0.1509, 1.7805, 0.5907, 0.4793, 0.3267, 0.2379, 0.0089, 0.8597, 2.2078, 1.8751, -1.3354, 0.8848, 1.2987, 0.0525]\nstate[eef_state]: left_x=0.3893 left_y=-0.1129 left_z=0.0104 left_yaw=-0.5655 left_pitch=-0.0959 left_roll=-0.0172 left_gripper=0.0089 right_x=0.3686 right_y=0.224 right_z=0.12 right_yaw=-0.5864 right_pitch=-0.1535 right_roll=-0.3098 right_gripper=0.0525\nstate[joint_eff]: [-0.3487, -6.6803, 5.4359, 1.3993, 0.1587, 0.1245, 0.6032, -0.1026, -11.7949, 5.5316, 0.1148, 0.5983, 0.0122, 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:073536bd797832178616f7652c9a12d08230357f6c220adca9d53af914cc2336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4072dde11083fe81e30d03adb193009c7e52dd767d70f1dbce261f7b7657af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8395076a03f063133d0a75e5909def65efc93597e4235d02f7d90eddc901ae6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.424 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2035, 0.7414, 0.5018, -0.2626, -0.2806, 0.1204, 0.998, 0.8539, 2.2246, 1.7374, -1.0836, 0.9638, 1.3201, 0.0476]\nstate[eef_state]: left_x=0.2926 left_y=-0.0068 left_z=0.1752 left_yaw=-0.0424 left_pitch=0.0688 left_roll=0.2501 left_gripper=0.998 right_x=0.3859 right_y=0.2274 right_z=0.0892 right_yaw=-0.5901 right_pitch=-0.0602 right_roll=-0.2059 right_gripper=0.0476\nstate[joint_eff]: [-0.1162, -0.9504, 7.0906, 1.7314, -0.149, 0.0024, -0.0122, -0.5128, -16.294, 8.8, 0.5446, 0.7302, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1623, 1.7542, 0.5831, 0.3981, 0.2974, 0.2207, 0.998, 0.8597, 2.2078, 1.8751, -1.3354, 0.9035, 1.3003, 0.0525]\nstate[eef_state]: left_x=0.377 left_y=-0.1105 left_z=0.0025 left_yaw=-0.5468 left_pitch=-0.1614 left_roll=-0.0365 left_gripper=0.998 right_x=0.3704 right_y=0.2228 right_z=0.1226 right_yaw=-0.5857 right_pitch=-0.1348 right_roll=-0.311 right_gripper=0.0525\nstate[joint_eff]: [0.4034, -6.0239, 5.8598, 1.199, 0.3346, 0.0659, -0.0122, -0.3624, -11.6581, 5.7504, 0.1587, 0.6129, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1509, 1.7805, 0.5907, 0.4793, 0.3267, 0.2379, 0.0089, 0.8597, 2.2078, 1.8751, -1.3354, 0.8848, 1.2987, 0.0525]\nstate[eef_state]: left_x=0.3893 left_y=-0.1129 left_z=0.0104 left_yaw=-0.5655 left_pitch=-0.0959 left_roll=-0.0172 left_gripper=0.0089 right_x=0.3686 right_y=0.224 right_z=0.12 right_yaw=-0.5864 right_pitch=-0.1535 right_roll=-0.3098 right_gripper=0.0525\nstate[joint_eff]: [-0.3487, -6.6803, 5.4359, 1.3993, 0.1587, 0.1245, 0.6032, -0.1026, -11.7949, 5.5316, 0.1148, 0.5983, 0.0122, 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,$blob:073536bd797832178616f7652c9a12d08230357f6c220adca9d53af914cc2336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4072dde11083fe81e30d03adb193009c7e52dd767d70f1dbce261f7b7657af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8395076a03f063133d0a75e5909def65efc93597e4235d02f7d90eddc901ae6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4NIoBrjEE-1h-mmRVpMAHgICpP5jA-y-EGzUucmBRRM2FbBMHBf_LNypmsy6tnGp6yqkqhvRhatNmgLijihJl3GRbBbGPalr8vGsbC4fZcWG4SThcbCMswzHPlLQzUXt8HBhD28QxjaB6jV4aQn7tGAlA1tlW7nIwSceZo0Msyo_MEycusWp9aOBs5fhRc1mAAVUFburuoRV7_8SHZhYd2y0VHwxSO9QV4K5vLiXRS0VU_agkPYLPTJZJSHfDJCCg4MIC_AmF4srfY2KGvBVAlWW3bePo_NqBkd-hOVc2515YXVRFEPDBMBKsaZEsQILNqywPWsCw4RLOUYDfJz5X1525et5o-N9KkV-QV26hnDjQn9ZsOqOw7Ghyuhzri_231LtxmwIjQNd5fznFxuCCfHk_JTQhHeGmAvYgm5uW8ZsaFB9a8ER4dUNKb2tBc8RPwYojmNb76RD0_qQxrXLIqyyFbZaBC4WBKRqZxEvwDfV5q2i-lgMQElaBmV_-nqtYgdaPqnDkCppNdKQFHmFMdApDY88-e_4QkcCCHyNxmtFscjZ00xnHYFIUECT73iOGhKD6MJv_JoBHXKmCbR2RvCMTz4I3AcngahCSOotXG7idgGLVw0ByOt-HyFwJsm8CoMmoRcrAVVb68lbXUp1fE64wkGJRVBEVlyxI928aPT3lxDqidN7lLmQ2GrNZxeUYYR5U-zPs4bEZin-pl54w1n_TBCKz4QDUY8mrCWbI256MAGVeKOI9tjq3DtQgKap4K8UmjxyxZ4wtXXEGBXmbfp7cWEpIZqt5qBLFTgJ66IFz0HIUxjmcHyzlo4Mzg4Ld6jOvemTfi6ixvj35uGW5cGtPtlYq6C0rGF2LLUYhE2vjQxh3Poc12kInnB-8I_MNPs1kNgk2wSRWgTVCEz00X5OsWQh9-Az9WwcC8P2U-IKXzCrjh_XkoR2jXvM_dCBHx75HOMWt8MMxcTBWgU9vJz2qrfUpKzCktTX3XvZ5z_GxfKqPRtbKBuiHm5qpE9M2SBZnZIRskzjA_y2gZeJvxDxs2rSqNBD9StTSWi9MozQ6YwnmTLqR6e7XafWaLLKrwa_PDe0N4t2CKpL1w0MjQmuzpdq3TTMrrRHJvKY2MaQSp9vp-6-qfbMetpzfe3LeABzLjUCoE8DQwRuM7WYY84r7FJOxQEnwQ_8L4S2eFyrHVZbHKmpp45xCgeRH7KfZDu0Uaus_VtHag2Vk4Vfw6BLDNNC4jy7KI2SFHR1uZ_oOV8JNIs8vgj2p-WxyMCGdTwy5UiMxCnVc-HMqPQS2HEYv4GbDAapV9sTeSDs37MccuS_PtTs3TRRTVeuPG9dDkl3FMjbSgzJVamGTxVYjJcYCGEEWIs4bJaCAK4N-n68F4kvIFhAXFXainEpgFGuqpVGlPZVsRjTTjTwIc6aBJFqcveZIW11I1s0yYA_7ZpuJX5Cv-26mIkZ9WlX93p4Ijw-f3KHvl5bGDm1sNtW5NnqACRbCV5yaqXdbutXfMvuP8hYh8jR086lAK-6xWrchbzp--jAC-ftYBD3-XZqUCMmGp7bt1daXoIZuHpsflrpkgPPvk6-qFx2m-HXI07xQWHfk_neQ1Ol71cwQwv4YTFrfN5y7YUym4acbLpVfiQP5h_ozB0TnYuQNODXN15cklw2d40elOMp8h6lASpZZPIZcCTSkVosQUE_xMnAw2l9E-BXuxeZsNoxzWDp01Uk1EgS7h-ft15m4h8NVGuiZCzc386yBUzlV2O4gPnOT0oSMHm7WGQq4te2JLJFu52VpVIXvzD0YpAfKrC7yWn35z_bWmsYVTuFL9xEjGHNBA0qPq_7IYFDE-IBW5QXjTHwC4Uh5wGzN8Jr_wXtPTavchqYpdt4dKibkU7oJrkaCT0j4kgRK9N60onJEsDqvPGSPnEzE2OuQOLrVlBuCp1NPcJbL3sC_94zDygchNLWnHTEHYy4Ve5PNFRisANG9643M63tEtTeAKuSZmjD_7RQbSj3Hu4dmk5VpCYJiJfkQny5dyDi_7tQBCiXTbqIoP6-lsJzn2slGUE4cGC278x1FJP9XQP8IZCwLvNAAF8OXik1BNzlE4Rd3cl1raMgwPqIsk29_bQZNK2PmxL1jsokzaS6Be_e2i0m0YUNi4FzbzfSIbFNKPIwCXvHYsFityIFq1wwWycmQxjfiCMSSGNKz4XAzPm4CWLUnwboJP_vP9P81kDB21E4d8P8wKZTxIpATHsJIWrEF1P6AhiYVACsGgvHuTEBuYzvtFyV8_i4daHkAeT7KYU_1i6zCoNhxPQqakeEOp50EJbMmbkdQgYtCB7dhPtG1gfhglTqdd3djKVnNRSeN5mkBD7QFr3zQ79PWpEcsvWtpUFtJdwy6jvDDSppUdURxIefTdFY_aQRyVEpkxD_q-U-F5MHPO7QF3CAyBt8UQCmDMghgiDyUn3pbP9kpIDPWIz0VaoaA5DK23RWLa94i4LetpPqm0xQB9vTTmhKiRmFhJ1FocQqz_aT58Jl9G4eNJm4VW0dM3Xo-GiuHfbGHTFZ5dxVKkQUeg4o4HxxV9OsArjIvjoAxCs2LHow==",
  "id": "rs_0a65156cc643f7d7016ab42e0a263c87d0927c33080556875d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.45,\"left_x\":0.42,\"left_z\":-0.015},\"note\":\"The left jaws again closed completely, and the cap moved forward in the wrist view, so it was pushed rather than gripped. I’m reopening just enough for the cap and advancing to its new position at tabletop height for one careful retry.\"}",
  "call_id": "call_vXsUKJGQ7kENbXqzDE5ka0QH",
  "id": "fc_0a65156cc643f7d7016ab42e0ca6c887d094cd83745c202036",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vXsUKJGQ7kENbXqzDE5ka0QH",
  "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]: [-0.1432, 1.9305, 0.6846, 0.5819, 0.3397, 0.2413, 0.4451, 0.8589, 2.2078, 1.8744, -1.3354, 0.8696, 1.2964, 0.0525]\nstate[eef_state]: left_x=0.4221 left_y=-0.1167 left_z=0.0004 left_yaw=-0.569 left_pitch=-0.05 left_roll=-0.0029 left_gripper=0.4451 right_x=0.3673 right_y=0.2245 right_z=0.1178 right_yaw=-0.5873 right_pitch=-0.169 right_roll=-0.3104 right_gripper=0.0525\nstate[joint_eff]: [0.3214, -6.2154, 5.1624, 1.0623, 0.0317, 0.0562, -0.1441, -0.212, -11.5897, 5.7778, 0.0806, 0.5934, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03c3365dfa9158d25764fd3fff5dc081936d4e8b8bad884a978ebcfc848e53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8f928abaa9c3760cf419bcb9ecde2abce859a68caa52e6fa9603a10a05994b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cf3d91ac6c86a05bb902a3ef3ef347ed712980f11541bf00607a6580f24775",
      "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 · 8.649 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2958, 1.3865, 0.5873, 0.1158, 0.2253, 0.1516, 0.998, 0.8593, 2.2066, 1.8778, -1.327, 0.9226, 1.3037, 0.0476]\nstate[eef_state]: left_x=0.3467 left_y=-0.1432 left_z=0.0849 left_yaw=-0.5792 left_pitch=-0.093 left_roll=-0.0146 left_gripper=0.998 right_x=0.3735 right_y=0.223 right_z=0.1262 right_yaw=-0.5849 right_pitch=-0.1139 right_roll=-0.2985 right_gripper=0.0476\nstate[joint_eff]: [-0.4855, -5.9829, 9.0325, 1.8974, 0.3541, 0.2613, -0.0122, -0.5265, -13.2581, 9.2376, 0.6422, 0.8132, 0.1392, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1509, 1.7805, 0.5907, 0.4793, 0.3267, 0.2379, 0.0089, 0.8597, 2.2078, 1.8751, -1.3354, 0.8848, 1.2987, 0.0525]\nstate[eef_state]: left_x=0.3893 left_y=-0.1129 left_z=0.0104 left_yaw=-0.5655 left_pitch=-0.0959 left_roll=-0.0172 left_gripper=0.0089 right_x=0.3686 right_y=0.224 right_z=0.12 right_yaw=-0.5864 right_pitch=-0.1535 right_roll=-0.3098 right_gripper=0.0525\nstate[joint_eff]: [-0.3487, -6.6803, 5.4359, 1.3993, 0.1587, 0.1245, 0.6032, -0.1026, -11.7949, 5.5316, 0.1148, 0.5983, 0.0122, 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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1432, 1.9305, 0.6846, 0.5819, 0.3397, 0.2413, 0.4451, 0.8589, 2.2078, 1.8744, -1.3354, 0.8696, 1.2964, 0.0525]\nstate[eef_state]: left_x=0.4221 left_y=-0.1167 left_z=0.0004 left_yaw=-0.569 left_pitch=-0.05 left_roll=-0.0029 left_gripper=0.4451 right_x=0.3673 right_y=0.2245 right_z=0.1178 right_yaw=-0.5873 right_pitch=-0.169 right_roll=-0.3104 right_gripper=0.0525\nstate[joint_eff]: [0.3214, -6.2154, 5.1624, 1.0623, 0.0317, 0.0562, -0.1441, -0.212, -11.5897, 5.7778, 0.0806, 0.5934, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03c3365dfa9158d25764fd3fff5dc081936d4e8b8bad884a978ebcfc848e53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8f928abaa9c3760cf419bcb9ecde2abce859a68caa52e6fa9603a10a05994b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cf3d91ac6c86a05bb902a3ef3ef347ed712980f11541bf00607a6580f24775",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4Ql_RGc1uyn93roKFv1124Jh1BHYA2TiuPY72gPMTicXVOiQobAhmqKb5bU7Yc6UkvHSUcmAR5MAqv9_DmAsEITWlh9NAZ34EmttsE_0M7Q8qRZoVKJJm0J_PnBgXMpphL9g60SUl5F6n7WmSX37tEEqdQGiSiYVOXmEUM2b8iGvwInN7QWClfLmIaIebcdJfQN4Wa5hOKhlouwk1hIMZOfXpgxnd7htkl7WoMowFxMNAD0JjMJ-o7tHbgrKAmnRg5S-4Oq3zgNXCJjmSEknyuXS8O6XfUyMbIaA51JG0n-LC4_N-dmAgf5X9RHhN7iLsXOGdQHJRmrnOoCAgKM0XuwAwsAp5s8JjdP9AwSltKPnuwIRoB6-Y7jHfMgWT-zwuCkSz2pv31ZHg9IW9OJCdKXyMAK6LVReSZhFQXvsznBebrIfPjiKMPDJOSyvQ77o5oZb4PH7i3T5zYU1ktaPAj8CjKQ9gGvAs-XKwIxLGJ-8iY_BZZb3lMO1wTIa_m4e-l7HqrbPTcp7S_9Tlkx8xV_K3IAGSbEmQgIvv9HPpASjOYN9UyhaQnAs_7ltIIPhV7Tq-E3X1nVJhyoRm-fRGOXLrjSbhlYjHU4eFlvae9-d6ykd5AN-Csl18_-y0mpDsQJgAxGomElDMcLNu7lVdwJa8cafwRGYXQTbQwLb5tS7kFnCK46ZTVXNME8hUnMqZ2dD7Rucb4QeVQKfZkI7vyVRtAd-xlVndvFZ4fPszC2D8yWGURW3xWNaABAh4ZoPGTQBpj0K3fzBpQMBd-xBi6rhOmMIlE1aXqr4yve1kbDrakcpt3XE-WJThDVJse4rqLlOhBsRlavSmlsdt3eA98wnseV466Wc90qYLLiRyQ9Zl880m5BU_lyc9OuPDTaCO-NhxDqSJ-vRkWQmL4A8KeFe6BlEYIy_7hwFt9D5ELYweWbIIGOGQv-l9_EUAEUdMnAwV7ui7nsRR9kDOyIySW0HD6auMX36C4o21IOFCMWwOOdX0wCHQJWin6GIryfSVTDIWkgxPhwqMlpMOlTaokWAOd6i4Sxd2y5i8Lt7f0u97zoL_15YuS-aglwzI2pMxAMa_gIGhiKsyjFUxNWS2jwgbfzz6iuLZgPDtt3TT0GCO4_w41S33B1TJtqAvEQ3fTDQmiR1bFLL9X6csDaTJ-m6sqYUOPf0RXy9dkqfyLW7fvdMvtT-Whw-7HTD7Xq5Avtsb-A9cTBJfsqZpbekPLpU0XL79GnLC7zWLFZYWGGWdF3ehtac0zS3IfLHX-Z8_Ra0JMFQbGABPeUWHa_P2lTDmt7E-Ja4eHZqVYsYclJXLUk9iML2xQU4W_aN0UdRG0R9lqKh0WmIKzCG8NdQzVuEO49RtTdYJkchbk95_eiyvRTEz9X_JL27ZqOOy0I5symxw61fRG9Inusr0wyXKtt_iFtIe3tdGZXX4GX4lz-OLFnOozO4gLsB3gddxrMRLLlZx7FYLveKxB8ylpcjOLV6lEEZ1-JkVd7yo_I_zzxnRe-3gHrxK6T-TSpVPawKJh9ExbbiPhUelAXVJny1xuQJeyYx_i-hw32Bhy38UXRrL-cVI7TTu4xKSTiSB4-ozZ-oTZ8_hDIC7L2XxwNUl7rG3nTRoEQit5KVEtCC8dDfs=",
  "id": "rs_0a65156cc643f7d7016ab42e0f1b0487d08afc8facf021fc7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the small forward move, the cap is no longer clearly ahead of the left fingertips, which is where I expect it if it is between the jaws. I’m closing once at this new position and will use the jaw opening and a lift to test the grasp.\"}",
  "call_id": "call_HO9aEnRIONga8a51E9SmE4lB",
  "id": "fc_0a65156cc643f7d7016ab42e0fbe0487d09abacab65abc0929",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HO9aEnRIONga8a51E9SmE4lB",
  "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]: [-0.1436, 1.9423, 0.6918, 0.5949, 0.3405, 0.2371, 0.0077, 0.8589, 2.2078, 1.8744, -1.335, 0.8581, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.4252 left_y=-0.1175 left_z=0.0003 left_yaw=-0.5675 left_pitch=-0.0422 left_roll=-0.0033 left_gripper=0.0077 right_x=0.3662 right_y=0.2253 right_z=0.1163 right_yaw=-0.5879 right_pitch=-0.1804 right_roll=-0.3089 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -9.5111, 3.9316, 1.5116, 0.1099, 0.0171, 0.6081, -0.2803, -11.7675, 5.5863, 0.1343, 0.5104, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c784e68a1a31c66afdfd0dd95e1a9b2e543ec5d50cb0e943d4c29b54a47786b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68a541d8645fa89862c51a68a24326630ec2188e6b918f5a59031bfe34144a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7effc83f00ed2e56d32e287d47482de3edd5f732123ee570b7eca958a7d1bb67",
      "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 · 3.758 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1623, 1.7542, 0.5831, 0.3981, 0.2974, 0.2207, 0.998, 0.8597, 2.2078, 1.8751, -1.3354, 0.9035, 1.3003, 0.0525]\nstate[eef_state]: left_x=0.377 left_y=-0.1105 left_z=0.0025 left_yaw=-0.5468 left_pitch=-0.1614 left_roll=-0.0365 left_gripper=0.998 right_x=0.3704 right_y=0.2228 right_z=0.1226 right_yaw=-0.5857 right_pitch=-0.1348 right_roll=-0.311 right_gripper=0.0525\nstate[joint_eff]: [0.4034, -6.0239, 5.8598, 1.199, 0.3346, 0.0659, -0.0122, -0.3624, -11.6581, 5.7504, 0.1587, 0.6129, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1432, 1.9305, 0.6846, 0.5819, 0.3397, 0.2413, 0.4451, 0.8589, 2.2078, 1.8744, -1.3354, 0.8696, 1.2964, 0.0525]\nstate[eef_state]: left_x=0.4221 left_y=-0.1167 left_z=0.0004 left_yaw=-0.569 left_pitch=-0.05 left_roll=-0.0029 left_gripper=0.4451 right_x=0.3673 right_y=0.2245 right_z=0.1178 right_yaw=-0.5873 right_pitch=-0.169 right_roll=-0.3104 right_gripper=0.0525\nstate[joint_eff]: [0.3214, -6.2154, 5.1624, 1.0623, 0.0317, 0.0562, -0.1441, -0.212, -11.5897, 5.7778, 0.0806, 0.5934, -0.0024, 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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1436, 1.9423, 0.6918, 0.5949, 0.3405, 0.2371, 0.0077, 0.8589, 2.2078, 1.8744, -1.335, 0.8581, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.4252 left_y=-0.1175 left_z=0.0003 left_yaw=-0.5675 left_pitch=-0.0422 left_roll=-0.0033 left_gripper=0.0077 right_x=0.3662 right_y=0.2253 right_z=0.1163 right_yaw=-0.5879 right_pitch=-0.1804 right_roll=-0.3089 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -9.5111, 3.9316, 1.5116, 0.1099, 0.0171, 0.6081, -0.2803, -11.7675, 5.5863, 0.1343, 0.5104, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c784e68a1a31c66afdfd0dd95e1a9b2e543ec5d50cb0e943d4c29b54a47786b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68a541d8645fa89862c51a68a24326630ec2188e6b918f5a59031bfe34144a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7effc83f00ed2e56d32e287d47482de3edd5f732123ee570b7eca958a7d1bb67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4ZhYGy-xlJKdl67UUiCe07VagMPnsInQkR_fEA_DO-9kjxgaqw69Ymo_WqfP6yJ4iZS44F--m917l6YndKMOk3WV35r9z3n_B-RvMoeJxdw-pFuYI7ZPxwFKW-HpQl6p6CSA6I8j5yOgRrtwZ2eXkUKkKwASCu2NRx58wVnNrbp8Qr8jcEBOJ--pEU_jVouljwgbu-_skdN2GBigRPsfAlDPtGw92pMw0p3-G2bVOZRntyIHL7zKUZdrwi9ygrVEX6qNGbJm8EeSYNOQEoJFwhiEzhDrPgTLw7monG9MlYRMG6s9wd-jbb9y9ZZf1dkTsPcn40cJlx8nrkkHTO9KIcGJZfGHjEKGA-2D2tmvSQ4pQMMmOktAJqqjca5eS8ldOrqEuF_VnIp1CMK029DuEF2PSd-TVb0Ep5WGlwRdLyRj8evD_wpQ5r66DbUlE8jmJXJEiGngnclpKPXN5j1-p-a5rFftWVgxhw0Aqo5bTt4iCYnt_aRTJR-LA8LsF6CzWcvtatIIzXUTzsK2a2Gf5ig3dDa4Y502d4Ogbi8T1EfaXCrTESol5WK64R583pTJSCHKnA3HGgRbW9lZsaxPtpxcDlqD55Qqkfqf5-hme-W-cRTcMZrcid0T6CiLaDw7Qk1v_UVhP0nYwsmmEgv4muCJl8YWeOLcEMV62grsuSEU_wTmchVteBD-ZXTgayo40SWJbZmZn14LKfvBNbg9dEXzV7KwqIcIe630PBTF6G7qoXV6QFIQhJws7cxoeBgLqyzgD2kqHXCO4qlwoRKRRcYqqon9gUSxOz8iIfwBxYudbu9K8odaHdnpv6s6BL6PAmNazHKBlCD_dKAVyHZMJid8yd5JgD4Q1KRbBbjVM6L1ylcc7BVEHuQmolyMroKoTRoUYEwezw4FNoO7nxn2pPzGuqdnS8oXIO7KgBjTOYgitY1i5bXlkHtD14QdFSEty6w9BJD6r1cfDH9dPRU5EZr3JNXY9yndCgZKZxiH2ZuC-dWhqDsLkBxlNyeAxk3aULKdbwlk10jsR-sRYVo1D8m2-pGDcvm5bjltpob9PPKrSP2NJPRan0YWkKzczkbRCWfkvnq7wExhdQFKjSqosO8vgYErvodn66c5f5ni7v5mDLmKL5m9is1inqB4hXAMptkvcBx35dMgU1YfrmZ27ell4pGFAKr2psHqg8uNVbJCNPj-fDAX8Kno671iO1ELZ_PFtKCbc-EI3-AqRjor5mU6GguA9aPHI91VRCJ2xods-VgnvifOL9BoFQJ7S5JlI6oiKaK1rHe8mjZCh5hGzR4U1KCoKgbClsA_-RSdvMjrKLaUV_SLBgmyHEe7_0LTEqt1SsNtZhlCj0p6hqKAM1SDWXPsa7cIa3wlNWgqmklJEakA8Q3FxeXUcNuglShmV88RLLNRgwDwMQUJ_39Ng2kUee3gPZ9-9LR5rjj6goO00rE33Di9C665IuhsncMumsICGe15WhsA9dqCQowY0uEn22g3efSukYc8LPZSZwsJ1Uzr-J9FVrcJk_h8pogYC1FNTsnrytZM1DYjOJ3V7AzUEJCvbI-jPzqW57CVqn7-S_YnhYJLsd4Y5ETfJ19NTxw9hp774teE0Qzyz-Nn4z0BckbtRz8Ez1TMJQyXMQR3Non2VZR-t23XfkRSNp3qyHM6pc7s5hb_omgSmJ_dIT9OsFoXLhZ3GiD9Qn-yyLb5BSBWWwdzD6BepZ3yOSfaw5PZULQozHQvIQjXK8hVwl6otOezrA-7k6iklc7rwDT_592_gzu6UHAzAn5hpnc0UjPmRaDRl0JTcpHuqKKie9JeMzhxA8QU3DjWaYFoKN1y7KHeGRF8ADktN4YygLKz4REn7LHehS0dwX_mlDI8nXqKyjnxsx7Ce2eFVt8zXRTPQKMKjxuero8ov99EDER6dvVmmHWoTodRcsB2XS3AcbmeudqWmKg7ESB3R1AxNTGqZFIWkD17XpFgWrPs5NGUnFZzRUxfRoqLIwHoCFIWQsYYh0acddZHQyJ1FlVSuHR9PhLTs683S7bjdf4_qJmLViIIyzJ89LrAPARFRLP2WTMHwcYEF6CeiUEb5TrPLKXcHVYbYcWSEOn6wYrYEEh9pr9g0EQZSLb3zH9z9akAEO33bCMv6Ftt_2fidK-9ukJT5ZYQ3Iv2taoCHmQoOZSApDn3pIU51cRx9NuV4do4qklz1n6ApYHplVG6yzsD7wXS_dH21RfVIpK1L-Ecn1OdvCnbwuAPzLLTTnk_VcFq9L1pf8D4LMIgFjQDP7lNyIqNZyCco6zAltnWFurFMZ5ubx6LsQRuMnw5O8OxGZQYzqN0uMd5kS35vCsKg5R3RC0NA5mzkcjYgbbRUpfLJWuyMSnh-nKmbkpI_6ra8eovpObhRa4gWV-YRExZMXyroAPnDVx4uLPIUXfHHO9nlFod6QQ3_WXyWe5VeHic2KsRKdGQ==",
  "id": "rs_0a65156cc643f7d7016ab42e16125887d0bc965d226633dd49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.42,\"left_y\":-0.17,\"left_x\":0.435,\"left_z\":-0.01},\"note\":\"The cap is visible beside the left gripper’s right finger, not in its closed jaws; it was displaced sideways again. I’m reopening and moving the hand rightward toward the cap’s new position, keeping the fingers at table height.\"}",
  "call_id": "call_Rmmrhjp8sfdTI5IK7ymguufN",
  "id": "fc_0a65156cc643f7d7016ab42e1885c887d0b59cb65ee77a6ce4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rmmrhjp8sfdTI5IK7ymguufN",
  "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]: [-0.2867, 2.0064, 0.7532, 0.6563, 0.2409, 0.1581, 0.4158, 0.8589, 2.2078, 1.8744, -1.335, 0.8509, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.435 left_y=-0.1684 left_z=0.0017 left_yaw=-0.5853 left_pitch=-0.0074 left_roll=0.0066 left_gripper=0.4158 right_x=0.3655 right_y=0.2258 right_z=0.1153 right_yaw=-0.5885 right_pitch=-0.1875 right_roll=-0.308 right_gripper=0.0525\nstate[joint_eff]: [-0.3761, -6.7624, 5.8188, 1.4676, 0.1685, 0.0659, -0.0806, -0.212, -11.7949, 5.7778, 0.0952, 0.4518, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf0786873464434ac9e0432b538a13b37e291fa74cd8574c9d1aef612016bec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0598499af8ba689a5a27bba5997fcaa3cf2609a61fc5f98389d540d669087b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4cf47353f12ce8a0e507e7c78b85a4efdc3e0e72bfc3d6ac6b286fee61142ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.808 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1509, 1.7805, 0.5907, 0.4793, 0.3267, 0.2379, 0.0089, 0.8597, 2.2078, 1.8751, -1.3354, 0.8848, 1.2987, 0.0525]\nstate[eef_state]: left_x=0.3893 left_y=-0.1129 left_z=0.0104 left_yaw=-0.5655 left_pitch=-0.0959 left_roll=-0.0172 left_gripper=0.0089 right_x=0.3686 right_y=0.224 right_z=0.12 right_yaw=-0.5864 right_pitch=-0.1535 right_roll=-0.3098 right_gripper=0.0525\nstate[joint_eff]: [-0.3487, -6.6803, 5.4359, 1.3993, 0.1587, 0.1245, 0.6032, -0.1026, -11.7949, 5.5316, 0.1148, 0.5983, 0.0122, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1436, 1.9423, 0.6918, 0.5949, 0.3405, 0.2371, 0.0077, 0.8589, 2.2078, 1.8744, -1.335, 0.8581, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.4252 left_y=-0.1175 left_z=0.0003 left_yaw=-0.5675 left_pitch=-0.0422 left_roll=-0.0033 left_gripper=0.0077 right_x=0.3662 right_y=0.2253 right_z=0.1163 right_yaw=-0.5879 right_pitch=-0.1804 right_roll=-0.3089 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -9.5111, 3.9316, 1.5116, 0.1099, 0.0171, 0.6081, -0.2803, -11.7675, 5.5863, 0.1343, 0.5104, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 2.0064, 0.7532, 0.6563, 0.2409, 0.1581, 0.4158, 0.8589, 2.2078, 1.8744, -1.335, 0.8509, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.435 left_y=-0.1684 left_z=0.0017 left_yaw=-0.5853 left_pitch=-0.0074 left_roll=0.0066 left_gripper=0.4158 right_x=0.3655 right_y=0.2258 right_z=0.1153 right_yaw=-0.5885 right_pitch=-0.1875 right_roll=-0.308 right_gripper=0.0525\nstate[joint_eff]: [-0.3761, -6.7624, 5.8188, 1.4676, 0.1685, 0.0659, -0.0806, -0.212, -11.7949, 5.7778, 0.0952, 0.4518, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf0786873464434ac9e0432b538a13b37e291fa74cd8574c9d1aef612016bec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0598499af8ba689a5a27bba5997fcaa3cf2609a61fc5f98389d540d669087b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4cf47353f12ce8a0e507e7c78b85a4efdc3e0e72bfc3d6ac6b286fee61142ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4dv-W1H5nh839p_ggABi2G2Tq1f4vPnVAvCn46jOwBIqJopccBZNqsPBHrSOn9Zz6qTID_3DUTG7LHLNKQuCagraFJSGWkyd4QnOOKwfjEXxKadfR5r_gWRpoHYNU9Gz5mU3dnTe3LuGr3QMpPmrqKQ7362iqSZGw9fndVoQ3194BQRrO_uaHs5t_XhryQKHso4VN8pIXJznWKQlt9xNPU3ARPCYqTW-LcnwfyA2AqGj_1kY2jpRUY0Bl_QUXpsLCb4K9LOgJTYzgt8aGKZi8sgZcWoJV3UR0OTpLvVHXvAFRWKJ_sc5EmsrFPPRp1VGhU1Ow0IFGYw3Wf9D4zallRc-nBh-w1ARuLUpGPIWd2A36p2wcVtf-AFeDCkeifnglODsmQGijEjfnJY8jkZoeWdfVuw-9IK0vxbgh4sNjsZIKgV4fZWcrBO34APuuyBrzlqvEmjGd88123l3Pzor7w6K7efU1IabIHXFbzc4PqRCeUStipQQmHUfOv4HaZuo60ONACPQlhKaQusDmvgBzYQucckkwXUpagMbRWCiuLChuB4bohsQRzn18d5iQeAs_AHfRl3vpd6go5m3xpD8XvoPhWbpiMa7XynguMAdpj8eO3hlMJG5b7Z_qpJudE0GPvQTzUfUF97UEn2N2V12RU1VJcLOlPgtc8Iv95mUE__7AdTjDTPcAZdBCNdvRVvBU2jGnOblNIiEWl6sKmTrFqlM_lKSjn9Xi7jMBiFrQJY_wqV1LmV8I0zXAFwfVdAfb2OcUjwrcDm_dK1AtQilybZdpp2BPx3uJEz5-2YeVuCbPnhynvFmyhpom9riW_wbHsWpktGO4v3pMOtl_d35Rbg-p_H310ad9LNCXYBmOWpYDgQsfPWDSGmY0zIaxqou_WaGzQNft7EdOGD71eLUxSqt2a2wkK7vykxd8s0Fz84XiU40YIZtYoNLR4PzL8c-oS5U3A8R8fm3P_MvnG76qwyHi4HNSiEEgW5Uw8UomeRac_vhLj2r0zTj1vgvBHKjQ6Cdr4xr1W7xUVSRwRPrUcrbFw4KpCNzwJhF_NvUXal1kUbFi0IdqG6anGtjwkZCI1ZwnNHFs_I8lJX1N1K1eycbVBdgl3ZWjbKLcuaRqc1MXfn7ehQ5WGn6n1bsXLVthgcBpYBJnKD4Hdo3CSBQuzRdjNiHU3YuwKyiXEGt-4O6-93B9zvD9s1a1nncqvSWV5Mxf9A3raceUUS4Zox0SlIRLdhINPDD0VCrHildTYyAu6ipH3-bhIg9930Qtl3aUcuu8Eke2zY_T_1YYRpNTkXYsweS89WnnhLW2dn6cTOJtWp5KqqriRcO4fJKlrqOOTzJlQvBfPVd4fiDQ3p2tMgdUTYKC8chttwAZV7maypp_699vSIQy8JwpUdsVyEzbjipSUIy-2IJp2ZbJO5zTLFEnRGQT_fgFhGeNc5rknCr2BtSDqEJHK_e0Krf9cfjkqDNAptZaQiUyX33PweeZ3i7xNuf5UYXKUn7iJXpx-u2AAC0woTz27KCHgB1UO-BF1BHl2fCkwOBp5It1aSz0dbviu6hUFtCatDiKDuwau7IuK8kKDl1ca9jXhs2ASzHa63bJYDh-U3MpxV8jGXhVjUpg-oONOu5CPWFCzgTc317Pjt07aCzZdgs1bdWSQroRMmTR9QFkNUUzzM2hrqJKRI9FKu567in1meGx_RMwybiGJn00cAwRfFe9VJbu51eAI8s5od2wByrUJMS5X518Z1gjs_zyVJQ5cVSMSY0eXNVAe9b9tAx9hcsQdZOAPLWoKd6W-4I-K9jopO1kOHln9PsnSXjobuMV4-hFCpAVSXpyMeTAyz8DxXTioXw0A748rvYRzZGYcvhaSc5gJb0WW3fO5MaaEcno9awMYVWPKgeSS14R4bRugaGRiR-qJghOkV54XPpdT3NeFSOP9QI3dmlwgJcjSsTmqBJYnbHLSWWwmzAMVA_639X-H5CcvsQoMkcOR2pe10SDcXEQYFzYdVCwF9-kIUT9k9fp-fn18j4ONsCZdqLF7n8dYrDdGbELW6KuuGbliNU4EatmuCVILaSPKUK3cgFCb8y6mjCtB6gl23xESROkyfpQ1yFIVe2_vBNPeF-OGt6lUFmZksKNwQw==",
  "id": "rs_0a65156cc643f7d7016ab42e1b444c87d084927c17cf4787e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap disappeared from ahead of the left wrist camera after the sideways correction, consistent with being at the fingertip line. I’m testing one close at this location before moving the cap or pen again.\"}",
  "call_id": "call_OrhInZdwamJ743ceGly2P9nj",
  "id": "fc_0a65156cc643f7d7016ab42e1d22c087d09c2cfb60f27fed20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OrhInZdwamJ743ceGly2P9nj",
  "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]: [-0.2886, 2.0132, 0.7567, 0.6689, 0.2214, 0.1513, 0.0078, 0.8589, 2.2078, 1.8744, -1.3354, 0.8333, 1.2957, 0.0534]\nstate[eef_state]: left_x=0.4383 left_y=-0.1669 left_z=0.0019 left_yaw=-0.5673 left_pitch=-0.0017 left_roll=0.0139 left_gripper=0.0078 right_x=0.3638 right_y=0.2269 right_z=0.113 right_yaw=-0.5896 right_pitch=-0.205 right_roll=-0.3065 right_gripper=0.0534\nstate[joint_eff]: [0.1026, -9.6889, 4.3282, 1.5702, 0.2759, 0.0366, 0.6081, -0.2393, -11.535, 5.5316, 0.0806, 0.5495, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054aa3f324b2b5802cd1cef71d0ff3c873cf7ecff3a440cc332a072c9d24e00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a399bda2f0b40abdbb620421f8343253c6d5bcb4db89dc3f4b1006cabc637728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8cda06739a68af3ebe89cbee033667e44ebed8276b74e5da8c0a566f493050",
      "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 · 6.75 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1432, 1.9305, 0.6846, 0.5819, 0.3397, 0.2413, 0.4451, 0.8589, 2.2078, 1.8744, -1.3354, 0.8696, 1.2964, 0.0525]\nstate[eef_state]: left_x=0.4221 left_y=-0.1167 left_z=0.0004 left_yaw=-0.569 left_pitch=-0.05 left_roll=-0.0029 left_gripper=0.4451 right_x=0.3673 right_y=0.2245 right_z=0.1178 right_yaw=-0.5873 right_pitch=-0.169 right_roll=-0.3104 right_gripper=0.0525\nstate[joint_eff]: [0.3214, -6.2154, 5.1624, 1.0623, 0.0317, 0.0562, -0.1441, -0.212, -11.5897, 5.7778, 0.0806, 0.5934, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 2.0064, 0.7532, 0.6563, 0.2409, 0.1581, 0.4158, 0.8589, 2.2078, 1.8744, -1.335, 0.8509, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.435 left_y=-0.1684 left_z=0.0017 left_yaw=-0.5853 left_pitch=-0.0074 left_roll=0.0066 left_gripper=0.4158 right_x=0.3655 right_y=0.2258 right_z=0.1153 right_yaw=-0.5885 right_pitch=-0.1875 right_roll=-0.308 right_gripper=0.0525\nstate[joint_eff]: [-0.3761, -6.7624, 5.8188, 1.4676, 0.1685, 0.0659, -0.0806, -0.212, -11.7949, 5.7778, 0.0952, 0.4518, -0.022, 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]: [-0.2886, 2.0132, 0.7567, 0.6689, 0.2214, 0.1513, 0.0078, 0.8589, 2.2078, 1.8744, -1.3354, 0.8333, 1.2957, 0.0534]\nstate[eef_state]: left_x=0.4383 left_y=-0.1669 left_z=0.0019 left_yaw=-0.5673 left_pitch=-0.0017 left_roll=0.0139 left_gripper=0.0078 right_x=0.3638 right_y=0.2269 right_z=0.113 right_yaw=-0.5896 right_pitch=-0.205 right_roll=-0.3065 right_gripper=0.0534\nstate[joint_eff]: [0.1026, -9.6889, 4.3282, 1.5702, 0.2759, 0.0366, 0.6081, -0.2393, -11.535, 5.5316, 0.0806, 0.5495, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054aa3f324b2b5802cd1cef71d0ff3c873cf7ecff3a440cc332a072c9d24e00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a399bda2f0b40abdbb620421f8343253c6d5bcb4db89dc3f4b1006cabc637728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8cda06739a68af3ebe89cbee033667e44ebed8276b74e5da8c0a566f493050",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4h8-eUSGqEMnmnK4heOJ9K3ANWe50lb7c5TOtUmtbhIYDGoT7qZw_dBDSmaMa6QY8hnbMpWYZqC0f8xR98ceIP0g8Az2Yr1FJ5AqkToOfcd3z4UX_OL7FcreMl2bFuU4J8bgMqPJ1QOZTuIbGeYL8Rn9OisiD5hSCqgKSc4lv0qR7YX1WND-N2Y_dTy2KS0Kzcirr2mqgU7E8SJMph-q_1DtIUdJy07fflT48_OX7ETYSTAqMER9WzPL3V1G_-l70Dg3OGrpAW8kYwwg4C8nGzyJRcA7GLDWG5QjWIA1KwRcE-5Xr7HZo6Aw7Cl9A5RVmG7YhBuzL7lmmnxcr2u_K8XFz__8MeFksSorB7ZVMW3exJAIToKKuDpi0-I4E6qTJjtGjiRH_rf871qm66ADd7B1BG27Ig6HUk-ysRWDYx-wro_mK-XuRPAtuzPjoDf-SNI2t_ann9MaVLFRf300w-Ihy_NR6v4ckAAQSxFTyM8DTMZkB3MlD5BsjfoC7Q9kvoNRGJ_xgvNP8B5w91Up46CSG-LcTha9nY0up-eo1DIUShFY-MMNCGxho3HJ54_aXxOsYpjOhzhglzdQNO_05vI2e67YaScb7RqVJTiPWCQHvAztmXZ8hxxnlKb29ebujRdsKcEX5cKY74pckzTr5nALFELRsvIOxXTwjvRSeZkXf6E3QrTeqL42wIloCZWDkblUPcUrNFvgRffopLxPM6urdE_oGQF56EH-B85JmgOjTa8TPwkKaEHZJ1GDoDMBlgikWdWlMw9B19kq8Yxx6QoM4CqBeTSSlu_CEWxUjMGDQ12hxfNIaXJ4hyt8aaUGj74PIpkZyp0WwqFtRXDsDCYO19O4hQHuxiYNgj2UTTnJY9wByDHa1AilZvFpfdQQVmNduUJ2kJKy5N2oz4bqc4ta2RI5aYoGTTdbkvDuaNJt6cRnmOEjlQ_dIXuJhiCTb3hPVfki5amJGBOCGYrtY_Vko2iIN8Oy3-Whdm4FUl_NpEAxz2sbAhTXsEdWcPP7tULl2hSxaKJqhZY-_vt-dhipsRA2XAYsqpXjHIKwPXEG-lL8RlO_axgpeGn0f8AMWtNQFgcdBAUN52fRYb_-l7WJ-_C1Bq6OkjNMfp5uDP8ZMWLul686fcZOgVnzODpAWE6JYI79mwHcPEUcoDKjxvb_ZRBaBAl-36uBucw4Xcuvff90RCAXMOtaS7u9D8rruCVPNHJZu75pCM6ZQQ1JgreFRrlSt8xCMhuQL8-YYYl92jyt1GU7Lh9Hy1VOed1bjRe8zYYom_bsnoGd5GbOHGGRsHBPFljX2DHTLKPnfz9XNWVg3oPyeYg3iG9K8YIkVQSaUXGDOdUO-2SU9zOHRdG7RrRWXWcEPGUbJWtvSvOqQ=",
  "id": "rs_0a65156cc643f7d7016ab42e1fb3fc87d0abab4e6d23bd5d02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.17,\"left_gripper\":1,\"left_yaw\":0},\"note\":\"The left gripper closed empty again, and the cap is hidden under the hand in the overhead view. I’m clearing the left hand completely so I can find the cap’s actual tabletop position rather than continuing blind adjustments.\"}",
  "call_id": "call_m7rt21kxVU2o4QlWmUBnHcGI",
  "id": "fc_0a65156cc643f7d7016ab42e200afc87d090891f994de34f4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m7rt21kxVU2o4QlWmUBnHcGI",
  "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]: [-0.0536, 0.7963, 0.5129, -0.2642, -0.0322, -0.0235, 0.9968, 0.8589, 2.2078, 1.8698, -1.335, 0.8135, 1.2926, 0.0537]\nstate[eef_state]: left_x=0.2982 left_y=-0.0067 left_z=0.1616 left_yaw=-0.0251 left_pitch=0.0226 left_roll=0.0059 left_gripper=0.9968 right_x=0.3612 right_y=0.2276 right_z=0.1094 right_yaw=-0.5904 right_pitch=-0.2255 right_roll=-0.3105 right_gripper=0.0537\nstate[joint_eff]: [0.253, -1.4427, 10.1675, 1.7998, -0.1245, 0.0171, -0.0317, -0.294, -11.7402, 5.8872, 0.1636, 0.5739, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb29022584a2a6d1dc2750e0ca97d142e3ba193b4928fd8b3c6316598b1c4afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8a14c46f3b8b184d232d078ba1bba9b72c398cf4ae3d58f8202f3fedc04d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487d2dd093f47d5256b569f658b830db81c15732886c350047afc24fda816d08",
      "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 21 attempt 0 · /responses · status 200 · 4.222 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1436, 1.9423, 0.6918, 0.5949, 0.3405, 0.2371, 0.0077, 0.8589, 2.2078, 1.8744, -1.335, 0.8581, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.4252 left_y=-0.1175 left_z=0.0003 left_yaw=-0.5675 left_pitch=-0.0422 left_roll=-0.0033 left_gripper=0.0077 right_x=0.3662 right_y=0.2253 right_z=0.1163 right_yaw=-0.5879 right_pitch=-0.1804 right_roll=-0.3089 right_gripper=0.0525\nstate[joint_eff]: [-0.1162, -9.5111, 3.9316, 1.5116, 0.1099, 0.0171, 0.6081, -0.2803, -11.7675, 5.5863, 0.1343, 0.5104, -0.0269, 1.033]",
      "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]: [-0.2886, 2.0132, 0.7567, 0.6689, 0.2214, 0.1513, 0.0078, 0.8589, 2.2078, 1.8744, -1.3354, 0.8333, 1.2957, 0.0534]\nstate[eef_state]: left_x=0.4383 left_y=-0.1669 left_z=0.0019 left_yaw=-0.5673 left_pitch=-0.0017 left_roll=0.0139 left_gripper=0.0078 right_x=0.3638 right_y=0.2269 right_z=0.113 right_yaw=-0.5896 right_pitch=-0.205 right_roll=-0.3065 right_gripper=0.0534\nstate[joint_eff]: [0.1026, -9.6889, 4.3282, 1.5702, 0.2759, 0.0366, 0.6081, -0.2393, -11.535, 5.5316, 0.0806, 0.5495, -0.0562, 1.0281]",
      "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]: [-0.0536, 0.7963, 0.5129, -0.2642, -0.0322, -0.0235, 0.9968, 0.8589, 2.2078, 1.8698, -1.335, 0.8135, 1.2926, 0.0537]\nstate[eef_state]: left_x=0.2982 left_y=-0.0067 left_z=0.1616 left_yaw=-0.0251 left_pitch=0.0226 left_roll=0.0059 left_gripper=0.9968 right_x=0.3612 right_y=0.2276 right_z=0.1094 right_yaw=-0.5904 right_pitch=-0.2255 right_roll=-0.3105 right_gripper=0.0537\nstate[joint_eff]: [0.253, -1.4427, 10.1675, 1.7998, -0.1245, 0.0171, -0.0317, -0.294, -11.7402, 5.8872, 0.1636, 0.5739, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb29022584a2a6d1dc2750e0ca97d142e3ba193b4928fd8b3c6316598b1c4afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8a14c46f3b8b184d232d078ba1bba9b72c398cf4ae3d58f8202f3fedc04d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487d2dd093f47d5256b569f658b830db81c15732886c350047afc24fda816d08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4pgBocS_T5BSnl-P2IraGycuBbbx_kndVJC0TWupYxtuEUcc3VhdZu03QeNlDVrRemq5InE-TMJQJWBEpnAr_2yMw8UhbgtFuPnDVJG6jC5L9HyYvXaJWpSCcCAmkz0SilWrrAxYEK5lJE7yIs5zT7VBm5czX5Ui_o4gLVqs59z2UeuinXtw5QaIQNYqKtxUXp6PJVlwAaDfKsn00Hok7Ex7ooGD2iZwJw8zlC9pJyKCoEkHE_xF8tk1r4mkSe5XSVGuEXGRFomhKOfm1UA3JIiUmDuPHsdRXiAlXfhXQP1IfufUyi_MeMfroGJgstalAEyanusyJFoBdLsPh6CC604bzfRW2A4ivNPc5mq-giN_-t8cFXwKg69OI0mf1sGGB8HCJ9vI_7ewIFdb3Hxhb0IMrYKwhho5c-i4jcBBwWJYIbHcBUq90uHkx8462XH6JjII2xeV0tYKHlupjZ89A-6Gr48xN_XidMYY4JpuBq1xofUhZhhx5jue4-H38tY4_62wRYAruCH1lj5hp9m6LvUWtk8eroyOgkcpwhWOfSFu9CPeRY_84ivdD79FnUrf4P7a_7F8HNGVnvXvOY8uXxeefy57PpR4rPNdeqP57Ns8mMgscIE6jTxTUJrqxsjPiGNM-hmimN3MHEn50zkeZFJy37BZQRb3nnXcQbLocZjS49PD_J0y0INcccHZIprcCYqiy9b3hKIKn47epua9Hj0BGxf1ZxGGUR53BGi1LABXnMLthUpP7qakjMiNTH4e0f__XV-DX8BwGCkOJKo2lbexpuoXCZma02WVdm67X-e0z5RFLVo84lAgfMM3Z0VkC-uBBf3DjqcwL7FzBadp6Sxjd2JkzadXfutCZ9GbSOyEhG302Ff5R0oMB8S_gxDeYec_x5XMNEKbHB1S1t-UdA2dp_jA4m6QKwGnsRvmV3A25wAFY_-hsSZvWK4Zji4mw4aPnQwJuP7k3tsdynQX4nnmmz77aP6E0zVMWDnVS14ZpPrqExPcq4GyIR8cTMFGaVlxNStqjvqj1TNMw4tA0w0TRlmc0VzpTY6jQoLrDAzDhZeFuEkk4K9HaJAagAcZIaGt3q8BzcjdsXRE2P2LMmfv8yuJd6LQ0ET3A3BxYYJrAwVZiCiGgurvfWeAvataacO_tkZIh0nMhEL1nTBleZy3jsz5FmkZdvIuK1geWgV31GszHgp7BEdD_LLruQrwkIE58yGp4ryLIEgYc5vCnqebI34amKGsvRdqIOzhoK5vMOWVqsZCPxh8RlknofShHZatnkokSKIiX92SiJoOMlJvOlFpQn8F21ZSlKaUHmbbQACztpBXLopGdYJuVa901XbpAVb-GbwPx84GOh-zj071PY423mRG3BTJCSvCd33_p93Fsy_MHEaD3lOx9TACWpyM1GP0fi4vlnBIc_bUGM3Jf3hqxx8LRBIv7G2Ho0SHCMqDCWBETh1QgRYoKNWItSXvd7kqCc7bmWOYGPrjGSnYsdyFMWjfJY9Fse32vWWhFpsQXrTOcaL8dXYxK7H50WcxGw8UBHR6hnfNbgnqgkjWS05VHQ67ruoLmQhAwbtHyXnqup578GbioBaBrnp5FpiAr2JJW09zZ6LXY4glNbqonSw8wknqadDT7SaBsQHBBqP0y4Eao-kegAP1YyxTUK2eFbZnVjSid_XA8o4I2IVlTYg_G_w88HM_sUBROFiIyCo-jEr1kH5iEZLVChSoXHfDhIHE6IjlWxVztmRqW7k9whgVVVnil92redgFapDsUboDDGFjYnS5-_D22ieGeoOkShcz4mZArGRFM7NYf6Wq5hzijXMjKTSCf_zvhFP4xpjU2jG0ON-XvFp_U3yB854wiUgctlrZ4KWjsYki5BZMvfSUBNGgFS5HEs3gR9Imwn-Hrgf7JT6Xy-ri1F9FUz5eGlFzABOxEmbLAh-5u2KZMt5b5hrfUV68_wBTcalnzDJAdBPou5-8nusBridDgQgY2G5lL7pHqTqYwLSoARG4wS38wHGKasgQYXdJUjFyTDtNo1tNZAPs_Onfj-GjrxeKJsuqUNRP1t2541x7AfntqHrGey1hj-X4cC9pQa2m2sm_Ov-sfSK-kvITTcUmtN0_Ps0YEms5dTOuaFOf6jfaye7K-Ts5Sccz1e7hBnxs-dl58CPVYhjRsMTKYESwyZ6Lhr1qIhb24xoRQVMu4C2xMRnntmrxDXBnUAt56YortYR3T7xXBVxTpptMqzAQl2LxzsbD-n2Ws8rCyPf1ArtqXdOYg4Lwj82lq6LuTjKsk82DtI8VdyJEi-xWao8asx8Q5Taswq3SP99l1EfRZIs4OqBmSz0SVAlL_q9c4RLffPKh5i5T_ggpxOcn2RGQJfsJOt50cACmvideVCaqm6WXpV_MlBP9cJ_gdKCJGwDExKD568mDtrhUTynFHldix9o02y76-BnqIxKbWUgKwq5HWSJpAH26kVoE6u-w21OojFjv7eqCl2p14gzZmniEcA34BJ49TrCH1xXpDf-vpU_7tzXM_NCBkAmRnhoKkuEqz59IcdR6IAYcgL4xNf9gCHUAWAejI13rby2prq9inKDzwwMZasw9zqvedEju6dJW5WVK4AWmb0Q8DucgeT5BNRGxnmfHRh2DowqK_XzrYkXVK-zoET7xGEDrphze7clnMvIJPW2QsVEBV9OMhZVUvYemJN_3sTPvXJnEA1_lVuNY1v8M0JdvdRw-0cF3LwMe3-jIy9sQnFtuP1YTDnDJXBdQj1TJ5kqr7Sss7OS4Vh6GgPm1mlCcqL2TSuYbYsDLJRweUcHCs5FjDmN_7I7tDhgTsYNmRVi0ychE6mmCl68C9NOn560EQ7UptnRhFx0fwK3SAQMx617mJkx7bofB6o4tGmM_HjGDLazQ9zAsa3gbl2AlRgmUpuPFqXmR1tqZjzXFpKDVDt8cBtS6Q05-gVmyjebSe2WYS8kifrNbVPosu6FoYXfi4kCxHCgjxQ9-Ge9C6BDiH8sJXmbbNZg99ic2QkIPT2XXfSbNsOTdfFawIDBlPNyTrVBgd6UEZPVu8-9G3AFCb-0RpgiBgd15C7lPdsS9ldbkysuJgcF7pilojHt3JGPy_8oJasNDjoixrWT4l2baJMBltrqfrYwWgKI18EkCkCyPB-sEmdEb-VbOPWPfZRzGOCRvc4dsqw0Nnp3Rs5anICofUKwsQjsrwio64MJyURrmQt7gryvVxNCIFwruEQ9ZuNJr9vzJc3b98748XZ3rg_Hv7W5Hru4apH9W5dRleHsP3TiUUGBjVVj_1ZwEOonxs1gq-BeZr1aYgkxpkdYZQF851A-5mohDXYlHQ5ly54bFdd_oQfSIEM4VmeLTSMXzOKTjkfp1uj2hfsZEfOLEEenom4NWf4CE9FgESPv2W0XRA8RKIUfDLhPDYyy--WbDqksMRFOuYySkmwB146oFidaTZ7ESB72UXQDXPGGFotPICcX0v2-fCKXviUSP3sXkyDNka8r61bFjg1vs_TIE1V0mruLhMIod9TULiBnLwIc95VOirlyzeCeNViBt5cz2KJYklxpbr_ivsy0nim0scbGR1RdG9YyGksH_Rc3uAbBn2CgYvCy-7BRjeCwuUE9Kv52K2LIhTTEv0CofGDUDHhbmVaybNMeq7fzI3V1hZu1bEhWwuTWWtkJcGKsKwrvG06uryyJ7J0P3sT7jul2r9k5ALNhXOfv0072b2tlAFlB-wuvvbCoTW3fw==",
  "id": "rs_0a65156cc643f7d7016ab42e23eff487d0abedf9ba1b35c5de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.075,\"left_z\":0.11,\"left_yaw\":-1.4},\"note\":\"With the hand clear, the cap is visible in the left wrist camera at the right side of the workspace and now lies almost crosswise. I’m approaching from above with the jaws rotated across that new direction, leaving the pen held safely in the right hand.\"}",
  "call_id": "call_bcLo3tJC4SipmIhr8ZxIGTg6",
  "id": "fc_0a65156cc643f7d7016ab42e2834c487d0be34fc03345fbaff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bcLo3tJC4SipmIhr8ZxIGTg6",
  "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]: [0.2249, 1.8477, 1.206, -0.765, 0.952, 1.253, 0.9977, 0.8589, 2.2082, 1.8641, -1.3357, 0.799, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3748 left_y=-0.0582 left_z=0.0973 left_yaw=-1.1782 left_pitch=-0.0414 left_roll=-0.0878 left_gripper=0.9977 right_x=0.3588 right_y=0.2276 right_z=0.1061 right_yaw=-0.5931 right_pitch=-0.2407 right_roll=-0.3158 right_gripper=0.0538\nstate[joint_eff]: [-0.7316, -10.2769, 6.3248, 0.1197, 0.5983, 0.3541, 0.0855, -0.3214, -11.7265, 6.065, 0.2466, 0.4664, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cf24fa0262fb0b12bdd72275f5109db4a3a47f06ab0f53411506db28e981df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a71fe9599ec3a3b49539b43fefffe60e1f8325bbef34873b58b239ca2f58c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bfc925866e0c5ad3cfec0b46a6b2239cb2cef3e5ca47b489ee6570bcb3e045",
      "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 · 5.511 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 2.0064, 0.7532, 0.6563, 0.2409, 0.1581, 0.4158, 0.8589, 2.2078, 1.8744, -1.335, 0.8509, 1.2961, 0.0525]\nstate[eef_state]: left_x=0.435 left_y=-0.1684 left_z=0.0017 left_yaw=-0.5853 left_pitch=-0.0074 left_roll=0.0066 left_gripper=0.4158 right_x=0.3655 right_y=0.2258 right_z=0.1153 right_yaw=-0.5885 right_pitch=-0.1875 right_roll=-0.308 right_gripper=0.0525\nstate[joint_eff]: [-0.3761, -6.7624, 5.8188, 1.4676, 0.1685, 0.0659, -0.0806, -0.212, -11.7949, 5.7778, 0.0952, 0.4518, -0.022, 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]: [-0.0536, 0.7963, 0.5129, -0.2642, -0.0322, -0.0235, 0.9968, 0.8589, 2.2078, 1.8698, -1.335, 0.8135, 1.2926, 0.0537]\nstate[eef_state]: left_x=0.2982 left_y=-0.0067 left_z=0.1616 left_yaw=-0.0251 left_pitch=0.0226 left_roll=0.0059 left_gripper=0.9968 right_x=0.3612 right_y=0.2276 right_z=0.1094 right_yaw=-0.5904 right_pitch=-0.2255 right_roll=-0.3105 right_gripper=0.0537\nstate[joint_eff]: [0.253, -1.4427, 10.1675, 1.7998, -0.1245, 0.0171, -0.0317, -0.294, -11.7402, 5.8872, 0.1636, 0.5739, -0.0366, 1.0281]",
      "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]: [0.2249, 1.8477, 1.206, -0.765, 0.952, 1.253, 0.9977, 0.8589, 2.2082, 1.8641, -1.3357, 0.799, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3748 left_y=-0.0582 left_z=0.0973 left_yaw=-1.1782 left_pitch=-0.0414 left_roll=-0.0878 left_gripper=0.9977 right_x=0.3588 right_y=0.2276 right_z=0.1061 right_yaw=-0.5931 right_pitch=-0.2407 right_roll=-0.3158 right_gripper=0.0538\nstate[joint_eff]: [-0.7316, -10.2769, 6.3248, 0.1197, 0.5983, 0.3541, 0.0855, -0.3214, -11.7265, 6.065, 0.2466, 0.4664, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cf24fa0262fb0b12bdd72275f5109db4a3a47f06ab0f53411506db28e981df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a71fe9599ec3a3b49539b43fefffe60e1f8325bbef34873b58b239ca2f58c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bfc925866e0c5ad3cfec0b46a6b2239cb2cef3e5ca47b489ee6570bcb3e045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4u9NQmbssr9A2XQnDZl1b22KvvSuOjrETDDJniW_eW459CBuI_6zWyJH2VMPhQ9jb0KvyRayaZxP4IOssqSgqW7hEkWngf9CBp5wc4ohs84IRw-xCgkhZEBlc-GRWLQrRGtpab1vzXdWsB96q3FRF-2wju1Q8ua8xYu5PA-JHHyz3ZjKEmeQ3oE6Bhf0jBXBUzBVNXrus8i7PWJh4AFGewthkCfBtTDT0gq_Bb2OSSYSbR2O5CM9ZYTl8UyJ7qUj9C-ieXwcfA04mPnY5BMSKmrSCoDpHke0045DXpTc7glVdoyioY83l5YGOClF_4aV2jJ_xU9EI4pfxRKEvv1bVIBcExM6q9FW0PlShxyqGNwRyuHnktDTRC813AQvIGYBYttFs_FYLqil-T4WDJLzt-m0X7Xbgyp8rwHFjgeNF7fN7QKyKMn9LR3RpqeRH8lDJq0EN8XawOx4v64s5jn5diYAKeC_5GxkyUwwIGqd5nV0cyzQiCWZdC0oWiCYOcZLy1bXdY23kk8re2ahN7FipKyFp3F90PnmaQuQQSueM2jc-3QcDAWw2lVlKc64uT4-lILNNZQOqqauKF-KZ15_R7t6k4oICmGm0kTnAe6JFRnRxdpeuSl7-7zXWHRMnpDuW1sg8yGeSKWTcXxn31WxX0mzpCG_jsj8iZmBAZ4LCaWvKbv5XrK0XxQBctLdPR7_ZT0Zpgf2B_D2vUiFZ2oZAQDaFukwinAEHLjCeFObYaa224_vssICNnIRMHt5QYKaRkNlRdOtG-NS2uLCE6HqssTTb9tmiX3E-I4oxcZq1Ikmg6RuRedZuL89_hj0k0Ny9KkkZ3Jk9TG919QwIopLytTy4EgaiptpLdvMYT1FF7nrHIxnlF1YFoJJ4DqvyNdhOkRvMaM6rCBqJARtmh1IolTkhh6kxKN-bMBDn8E96yQpk_9cni8VlQAs9Zv7YSVatQRNK_bssPKS7pL6yTv_KO8SknUAN8eRK1W9EkXH05hcGKoPv7LOuNa3sqLkhQwfP2IvzO0TFs-ozlpNqRxZxKlWNCuhV8AdPqivihSbr2Ht3LIm2zhzaiYIDeIbTxVlgMSmip3dSKKcW59C9UxnhLwokUskHlWDm0lzdij-ODlzt7fubboAn5u2kbDNdU677lq6rTZJjfhLmyP6x2Bj4Z4ppGaO16DgUR4OTha8ziyabv6f-EO0xJo1qBrDLmHSjv-JuGqyNMIf0IzAgxaEP-xFcSk9xJKV-LTE2cKiGj4Pe7pNLgd-lYxIlkBNtayJCaKRdMzfOafBJRawtIlkxxGNA_CVRAKOsPe-x-LbP13TMjBe3wKE0_D8-OW6mHIsKl3zVRE_gvaeysaAAKTSj8aKs400tK3_lKlgtZ60WxsKpU9vrBWCZdF_DPFJDrEMaiKogb0BOnGSYmD_i60b0kTcxuAszEyR_7pAAHIzZybwassWyF-gG9CD-JxvhYoL74HUQS9Kqt0GKFw7lAsEcfiJZSOT2GAY7UXAYL-m2Flby9CMwpepne8mIUUwwuPSf9GFdnS8I7htgOAo_2NHdpJYUG8-yr8w83PX1-LpcDMvortgQSP6nrGKP9w4aNjP7dEvA9YliDHmQ07curvDfd_7mGtjWiAwdh-b2VFQ-ZUpJrni4e2Ca0Satpkb6SRh6RD3cUOhI32BinvsANCEsVsv9UmuKmR9NLnp2ZRB0HdRMQ-JZ8iuAjcs7HCbS2nROrsb5bSVYQVjW-p1M06GoLEnyFY8zC1dBG7hR5fw6NuFpe--y3QCpIeLyunvzxUFjgdaf24fwu2liUfxEzJOKooFqAqsjZTXyGh7ia4wUTUDLNOxCe6omlxVposPoLPtneaY-9PGyQvNDnyo5MFHkxIg==",
  "id": "rs_0a65156cc643f7d7016ab42e2bbe3887d09df1e4fb4cfc07d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.06,\"left_z\":0.015,\"left_yaw\":-1.4},\"note\":\"The cap is now nearly vertical and centered in the left wrist view, but it is still well ahead of the fingertips. I’m advancing to the cap and descending slowly, without closing until it is at the jaw line.\"}",
  "call_id": "call_HeMXqrYn6gqyNNCaskKc5XX1",
  "id": "fc_0a65156cc643f7d7016ab42e2d76b887d09ca58f120b67588a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HeMXqrYn6gqyNNCaskKc5XX1",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2237, 1.9198, 1.2423, -0.799, 0.9463, 1.3163, 0.9979, 0.8589, 2.2082, 1.8641, -1.3342, 0.7841, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3771 left_y=-0.0575 left_z=0.0808 left_yaw=-1.2159 left_pitch=-0.0544 left_roll=-0.1044 left_gripper=0.9979 right_x=0.3575 right_y=0.2289 right_z=0.1042 right_yaw=-0.5939 right_pitch=-0.2552 right_roll=-0.3124 right_gripper=0.0538\nstate[joint_eff]: [-0.1162, -9.2923, 5.5043, 0.652, 0.5641, -0.1001, 0.0024, -0.0615, -11.6991, 5.7915, 0.0659, 0.5397, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6ee5e88f532205deb77e24d7450ca55200ec5a8f4012b208304905e3f998da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39247471725684fe496e5e69f6e5f9c83bd9d299c34a5f42345e96c833e4581d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0cb40d2b635c9b65791e44fb63cb79388658876e0026528016077a312e8bda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.29 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]: [-0.2886, 2.0132, 0.7567, 0.6689, 0.2214, 0.1513, 0.0078, 0.8589, 2.2078, 1.8744, -1.3354, 0.8333, 1.2957, 0.0534]\nstate[eef_state]: left_x=0.4383 left_y=-0.1669 left_z=0.0019 left_yaw=-0.5673 left_pitch=-0.0017 left_roll=0.0139 left_gripper=0.0078 right_x=0.3638 right_y=0.2269 right_z=0.113 right_yaw=-0.5896 right_pitch=-0.205 right_roll=-0.3065 right_gripper=0.0534\nstate[joint_eff]: [0.1026, -9.6889, 4.3282, 1.5702, 0.2759, 0.0366, 0.6081, -0.2393, -11.535, 5.5316, 0.0806, 0.5495, -0.0562, 1.0281]",
      "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]: [0.2249, 1.8477, 1.206, -0.765, 0.952, 1.253, 0.9977, 0.8589, 2.2082, 1.8641, -1.3357, 0.799, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3748 left_y=-0.0582 left_z=0.0973 left_yaw=-1.1782 left_pitch=-0.0414 left_roll=-0.0878 left_gripper=0.9977 right_x=0.3588 right_y=0.2276 right_z=0.1061 right_yaw=-0.5931 right_pitch=-0.2407 right_roll=-0.3158 right_gripper=0.0538\nstate[joint_eff]: [-0.7316, -10.2769, 6.3248, 0.1197, 0.5983, 0.3541, 0.0855, -0.3214, -11.7265, 6.065, 0.2466, 0.4664, -0.0024, 1.033]",
      "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]: [0.2237, 1.9198, 1.2423, -0.799, 0.9463, 1.3163, 0.9979, 0.8589, 2.2082, 1.8641, -1.3342, 0.7841, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3771 left_y=-0.0575 left_z=0.0808 left_yaw=-1.2159 left_pitch=-0.0544 left_roll=-0.1044 left_gripper=0.9979 right_x=0.3575 right_y=0.2289 right_z=0.1042 right_yaw=-0.5939 right_pitch=-0.2552 right_roll=-0.3124 right_gripper=0.0538\nstate[joint_eff]: [-0.1162, -9.2923, 5.5043, 0.652, 0.5641, -0.1001, 0.0024, -0.0615, -11.6991, 5.7915, 0.0659, 0.5397, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6ee5e88f532205deb77e24d7450ca55200ec5a8f4012b208304905e3f998da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39247471725684fe496e5e69f6e5f9c83bd9d299c34a5f42345e96c833e4581d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0cb40d2b635c9b65791e44fb63cb79388658876e0026528016077a312e8bda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC408D9sm7-poJ_PUrQ0V76QF6pI1wko-DmpIOWle60wIDjPZbpy2ZCgFIZ9hhN66WT9IwoIUNILWbaoRqXVygJewJugL1r8TiRXTJ0IC9L7NR4Mgqd8obiAoCMZInMksjmFqbfNHPNmIyY2MjngPP7H814VzxwvcQLlx6wUjIlWqR7emBtxEUY4XAZyrlEwF12bu6OMwCE1byMoYO-5APhhCcA7iSrQZxAdzte_sB0lPg3AqXux5GplJTbpk3MCUGnntoqzDVvE1cDk9XRLsCY4UFDHCO0DwifbrOWLzwKTMi3B4b5nG9Hwn8qmNWTHFKPJVR9DuCGhAkCPQoGEj8NBKe7wHG1-3teNQObQIre_IJEavNVM1AZPgwPHseuZ9fVPRLkJi_f32O8Btaqs47fJuaCMyuZK9Mvv8DerCYPT6iyG21ZGOkMSf5mUswOJi2xpWOeJtAAeliwx5BOr3S6M52xPUiP8IrqlglSplUlgVYLW7dY0NS4M9xESHgMO53qSLRI83EnoWepD6zRFQ8KTf_GVgGii0m6-60VoqJzahNtl-L9kgSVGUbBm11YcoYxnfmcCtd4tLlFTZviYYEMqOomZMzhdKrYosWP3sqLcHPUnLP_Btl9tgg_YIGwbbKKWQ5kkMcFoF1OAlAi_0w9wk2lgK61dPaKUctYAZZ3nLd3SKx0pKDApyrKwhueabirEta57MEYibRd3REtogKdxz1sjMt3ftdr8Y4U2BO4TFhqsczGWFBHsCsW2jd2owB0OB3KjLctJa9SJFIbIPiD0x4Y9XlbaoWykqOFGRJNZTziGbTtb-CED1XFdVvO7Wl0RNucA_pLat8Clh22Uo7D9uyS_5XJKIZmqepqEdnpm1uoeNU7R10kJyx9pnymLP2AIoeoRZoUbMvCo8Ih5l6z8ZwuW-Oqs4aTJ1fg29g38-HzsmUOc8gHlbyAQ6pqZMI8vbZn6FsOCN5eB72NkmQ4WhXlJdUt4bUC6lnvmpYgRHrf9H3N_cOClg5YO3DLWrqhQYvZn0eC0vSxeSjqxR_L5FqUrns1eeKfa6G0YJUOeBaTnpNPR9aCuH1It7LBCLH--ntN2C9fmWyKvRpSOn5e0X7_4AmOZ8TuvJ6xi7xlaRsDuJ2qFK9GkhoymgdggTmuNbUV4f_qQ3Za7fT_V4BbLFwOOK5su0URJ1MOLtiKQWKQ6uVg80-NQs9mjB76cmcWZveIVoSMvTr2Y9dX9RI-AeXH-_GZVoXZ0Uoe-jcdMXeqXVUg5Yn3WPOhkxLv6hA76epdAbDUFUrQeVAYMXY3IgLhdaFeIJpa5SkAcdI5wWvrckvjzuP5rGCKgmdRCItqZd_qx_CAO3WneBd6_pkBKqCz5KUzCs-ieCeoUYldkagOH385OSggcAvXvw0dGBi5f9ArIu89_jl4NMYE5FHPBXRwtvatDhaMrf4VLQMBE-swOCBi4ds6OMElcdaFCPcHgc7HXTbPOwpKpfCAKddAAXExbEvW12pGAhtgr6mnEHGg0aMUlTN2CkbVb6V6dXVu5cvo6YqWTEf8k74TVaqh-_jcyHnDzN9V5ilYpM_g5SCh4RrZdVz8tu3yLqqYM3KVP71WBTBWBQAV-Ylj3Fp9uGeCQ_F02KJqluF_1qmjiDVMvv1qsGdVDwMwAnIbou67xYb68We2MMRRNpsPzA4-JTV98G-jWnt8Hc56ymiId207JokfVN8odgU57IpWgoTnPHoFxTRVpBXx5z7TA9I6c8gshUk5msDOGwFNFjW1TYHnPFgpUxaA26zH3UU1ubSSiBsXi5ZtLO4YQG7t94PWYLYYx0UHDXH8_nF-nxLw3YlDKpa0Q682MGflSH8E5Tvnemto8OHb4LILrmNkx4UGtXxYyTS1WvCeZIvGgHTkBwSYIcquIfQT44OKLa1gUcObTumfHb_c7pRGeJQFvbdTp7opsL1Rh1z-tA01mYFqhKS-BBwVljfE5oCcEdK6UbrBSVw-gUoCoUFjmwPq13er6MsfFF3m4kCaCSQ6sN_yMMRCbchDHZvLI-pthO-cbutGaafzVnLlGqDLHMBZ1nacC4OWbQS0U_ATnGvdnvHokd37DSKr11GgIOoIxTaGhYE7ByoxnemXqIWzm5VfQUvkol21F779Ju7gJIFzElcBytYt_Az2cl9WUf7YHWbMAQaSrg4v_8m1WDvbBOzFlPAUuxg==",
  "id": "rs_0a65156cc643f7d7016ab42e309fbc87d0959ad1a47659c340",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.005,\"left_yaw\":-1.1},\"note\":\"The left arm stopped short of the forward-and-low target at this large wrist rotation, while the cap is still ahead in the camera. I’m easing the rotation and lowering mostly in place, which should bring the cap toward the fingertip line without forcing an unreachable pose.\"}",
  "call_id": "call_KyTfksc8OBKQJ6ASkFg5tpix",
  "id": "fc_0a65156cc643f7d7016ab42e33156487d0992d7015735489da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KyTfksc8OBKQJ6ASkFg5tpix",
  "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]: [0.2237, 1.9198, 1.2404, -0.7933, 0.9463, 1.309, 0.9979, 0.8589, 2.2082, 1.8637, -1.3342, 0.7757, 1.2926, 0.0539]\nstate[eef_state]: left_x=0.3775 left_y=-0.0574 left_z=0.0805 left_yaw=-1.2118 left_pitch=-0.0543 left_roll=-0.1065 left_gripper=0.9979 right_x=0.3566 right_y=0.2294 right_z=0.1031 right_yaw=-0.5947 right_pitch=-0.2635 right_roll=-0.3118 right_gripper=0.0539\nstate[joint_eff]: [-0.4171, -9.306, 5.8188, 0.5739, 0.5788, -0.0024, -0.0122, -0.3624, -11.7675, 5.5726, 0.0464, 0.4322, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc30db787ab0326ff03d10edfb75e44a7be6037ce7d2af7624106bd92d7f6c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be9b0749f99855fdbcdd713d56772c5971c6029d787204600853ef5f5d10062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a80590c59596f2ac5199a244366ddda7f8c22223c9e6e28c0c736a2a873e6ee4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.056 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]: [-0.0536, 0.7963, 0.5129, -0.2642, -0.0322, -0.0235, 0.9968, 0.8589, 2.2078, 1.8698, -1.335, 0.8135, 1.2926, 0.0537]\nstate[eef_state]: left_x=0.2982 left_y=-0.0067 left_z=0.1616 left_yaw=-0.0251 left_pitch=0.0226 left_roll=0.0059 left_gripper=0.9968 right_x=0.3612 right_y=0.2276 right_z=0.1094 right_yaw=-0.5904 right_pitch=-0.2255 right_roll=-0.3105 right_gripper=0.0537\nstate[joint_eff]: [0.253, -1.4427, 10.1675, 1.7998, -0.1245, 0.0171, -0.0317, -0.294, -11.7402, 5.8872, 0.1636, 0.5739, -0.0366, 1.0281]",
      "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]: [0.2237, 1.9198, 1.2423, -0.799, 0.9463, 1.3163, 0.9979, 0.8589, 2.2082, 1.8641, -1.3342, 0.7841, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3771 left_y=-0.0575 left_z=0.0808 left_yaw=-1.2159 left_pitch=-0.0544 left_roll=-0.1044 left_gripper=0.9979 right_x=0.3575 right_y=0.2289 right_z=0.1042 right_yaw=-0.5939 right_pitch=-0.2552 right_roll=-0.3124 right_gripper=0.0538\nstate[joint_eff]: [-0.1162, -9.2923, 5.5043, 0.652, 0.5641, -0.1001, 0.0024, -0.0615, -11.6991, 5.7915, 0.0659, 0.5397, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.2237, 1.9198, 1.2404, -0.7933, 0.9463, 1.309, 0.9979, 0.8589, 2.2082, 1.8637, -1.3342, 0.7757, 1.2926, 0.0539]\nstate[eef_state]: left_x=0.3775 left_y=-0.0574 left_z=0.0805 left_yaw=-1.2118 left_pitch=-0.0543 left_roll=-0.1065 left_gripper=0.9979 right_x=0.3566 right_y=0.2294 right_z=0.1031 right_yaw=-0.5947 right_pitch=-0.2635 right_roll=-0.3118 right_gripper=0.0539\nstate[joint_eff]: [-0.4171, -9.306, 5.8188, 0.5739, 0.5788, -0.0024, -0.0122, -0.3624, -11.7675, 5.5726, 0.0464, 0.4322, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc30db787ab0326ff03d10edfb75e44a7be6037ce7d2af7624106bd92d7f6c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be9b0749f99855fdbcdd713d56772c5971c6029d787204600853ef5f5d10062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a80590c59596f2ac5199a244366ddda7f8c22223c9e6e28c0c736a2a873e6ee4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC44pYKRk77FxQXy79CUmzTZpENbjg3yexco5tIdw9a9HggFr-cPdKhGdM1MEOvH4MAqpRyKFSSjWfiRaxGRhWYgOR-A-tCS_UOo9pV230uGepiarpwhcS7IHAL_VxwKcMyn5mX5eRTd_OA9e0ep7r0EN4as0OtwlGgAxL88KYK0D4WEDPshestGOmnBshyIG8RofpPL0nSCuBGjWFFXBySNrimR7w5uwWGEtuscs6pxcG08vr_1Z9Rfv54El7J4eJ9ANhPtGkQ2BRXNYWbjkXX7yya8bZzyObiYQjzWksSmHGsMwjuKx2eFaLlZiykMHfJAyEhC8-iXAVKYonCx9dxGpj2P14_RKQfXLekipTE1J8MzQxahAuTIfcDSk-Q0eblMKleO8CKDsoTQn_iP1ydlUMKbVasyz0D1yKUbFPqYtdJFHTI31YqgQ4q4Yepb3rLXxochtm8eWDiRzjHBnC1try7R48R0um7uP9ulVPbMrKMo3BkFCO_9iKSHGXIaaM0faChg-ocxlu6-R3wt9ULrCfP900rE8p1otMG_NTUiCN7OF2ooZpKllpyqNTOOGcrtrLL43hCcAFXNReVNe5iIJwq1xQGSIpMnWzgBDkd2MlyXKfW1AbNKN-Bd1I5_hANHwud5RxjlEznedMvRqgFKI3pgyqPwHRA0dXWcALZ6-XFFrhETe8CyWO-OSwevhOAUJAHvmj3YDgL0PC3vR2wyADlMLubzYUApxb-xqu_WGHtW1h-PJJitnv68iSOBOZaVykW49GarIs9Gpekk9G5440Bj1dXAtPgshXODDu9Xz-y6Ip0blPcRKIpnMH1zfJi1kw1qAoe7ja145nkUhlksJ_G7SPzo1L6r5oRkcR1rP_nU5eOPEkc6mzAMxu-N0zNglNK-vN-1M8S740T5OJlMA5keHX_UCKr2IuhscQ_4ugZUiu6DmLKkn2P1gESzx59KegTj-dddmtvYA52G20ILxlGfBo2Ho9mlmMybVhY1eG3v08MXbLO7kfEbU19ymsea58Qq2lKWw9UcQRQHKr9lXkhvE3glGOTHAAYtSxqi8c75FGUxkUyt_iWPzib1m21yFafagfVDOXMNidRWObmEdKJkGlchCi4xPxHQcrhvYp99_ax1Kr4Mriuh_lzbXqmGGWlPheD5t8tI4pjCRpVDRFq_A4tSv4dZRTLx5__KQmWEH4xg9--xygY-RPamiP0oJKnK1mbasVzkW8hSeHnA2R3TBIocaX1EP4YF8T8SdaVK-BrWsX-krA1iRecbnK9i-lEzD7ssN-E9rOw9-41p3y8pokvjAB37m2z124CB68dluQtN7KOPYmnsvWnSvqAkC6gW2FXwESlXMTudRz9K7sDj63KTjlth8qhRoZqJBDpg6BjlR7cb99kAaPJE2VBSg0gcwN0TVN6JLTw3EGi1KazQUQ7af3gKVZ7sTgfFEatUO_zx7XdhB0XdCwQckAVcZ8Uw40fgPUsPbaP9oel_BTcjy_a9cHUM5TpXAafBBrfFd7XJ0aCtWJmUqZL67eA2Ue_0GJUD7EmATN-YyCZ-QfD_oQZayhNPnddfyiV9FmQ=",
  "id": "rs_0a65156cc643f7d7016ab42e367fb487d0afa2d268618fdfc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.17,\"left_yaw\":-0.55},\"note\":\"The left arm did not descend at all from that heavily rotated pose, so this is an arm-configuration limit rather than contact with the cap. I’m raising and unwinding the wrist before attempting a reachable descent.\"}",
  "call_id": "call_CufRGJj0iz58c3dgTxtjdeOv",
  "id": "fc_0a65156cc643f7d7016ab42e37482887d0bdbc43606e1804e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CufRGJj0iz58c3dgTxtjdeOv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1177, 1.2388, 0.8249, -0.4114, 0.6575, 0.5522, 0.9979, 0.8589, 2.2082, 1.8614, -1.3281, 0.7616, 1.2926, 0.0563]\nstate[eef_state]: left_x=0.3349 left_y=-0.0655 left_z=0.1639 left_yaw=-0.726 left_pitch=-0.0507 left_roll=-0.0182 left_gripper=0.9979 right_x=0.3555 right_y=0.2309 right_z=0.1007 right_yaw=-0.5946 right_pitch=-0.277 right_roll=-0.3061 right_gripper=0.0563\nstate[joint_eff]: [-0.4444, -3.1932, 5.641, 1.5946, 0.3101, -0.0855, -0.0073, -0.3624, -11.7675, 5.9282, -0.0073, 0.5201, -0.022, 0.5885]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8702a7916a6b341c02380c37186f4ec4a236ecb41244f2c3b90d6cdd9861fe00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a7703a90b85b0073692e38edbe855e72613c8a8c4d39f7df0847cd168747a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679dfa7df77e25fb83a7e3b6912c2c2d2378610c84a4d41f9722709b012c997d",
      "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 · 3.095 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]: [0.2249, 1.8477, 1.206, -0.765, 0.952, 1.253, 0.9977, 0.8589, 2.2082, 1.8641, -1.3357, 0.799, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3748 left_y=-0.0582 left_z=0.0973 left_yaw=-1.1782 left_pitch=-0.0414 left_roll=-0.0878 left_gripper=0.9977 right_x=0.3588 right_y=0.2276 right_z=0.1061 right_yaw=-0.5931 right_pitch=-0.2407 right_roll=-0.3158 right_gripper=0.0538\nstate[joint_eff]: [-0.7316, -10.2769, 6.3248, 0.1197, 0.5983, 0.3541, 0.0855, -0.3214, -11.7265, 6.065, 0.2466, 0.4664, -0.0024, 1.033]",
      "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]: [0.2237, 1.9198, 1.2404, -0.7933, 0.9463, 1.309, 0.9979, 0.8589, 2.2082, 1.8637, -1.3342, 0.7757, 1.2926, 0.0539]\nstate[eef_state]: left_x=0.3775 left_y=-0.0574 left_z=0.0805 left_yaw=-1.2118 left_pitch=-0.0543 left_roll=-0.1065 left_gripper=0.9979 right_x=0.3566 right_y=0.2294 right_z=0.1031 right_yaw=-0.5947 right_pitch=-0.2635 right_roll=-0.3118 right_gripper=0.0539\nstate[joint_eff]: [-0.4171, -9.306, 5.8188, 0.5739, 0.5788, -0.0024, -0.0122, -0.3624, -11.7675, 5.5726, 0.0464, 0.4322, -0.0611, 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 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]: [0.1177, 1.2388, 0.8249, -0.4114, 0.6575, 0.5522, 0.9979, 0.8589, 2.2082, 1.8614, -1.3281, 0.7616, 1.2926, 0.0563]\nstate[eef_state]: left_x=0.3349 left_y=-0.0655 left_z=0.1639 left_yaw=-0.726 left_pitch=-0.0507 left_roll=-0.0182 left_gripper=0.9979 right_x=0.3555 right_y=0.2309 right_z=0.1007 right_yaw=-0.5946 right_pitch=-0.277 right_roll=-0.3061 right_gripper=0.0563\nstate[joint_eff]: [-0.4444, -3.1932, 5.641, 1.5946, 0.3101, -0.0855, -0.0073, -0.3624, -11.7675, 5.9282, -0.0073, 0.5201, -0.022, 0.5885]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8702a7916a6b341c02380c37186f4ec4a236ecb41244f2c3b90d6cdd9861fe00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a7703a90b85b0073692e38edbe855e72613c8a8c4d39f7df0847cd168747a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679dfa7df77e25fb83a7e3b6912c2c2d2378610c84a4d41f9722709b012c997d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC478DwREKexo5SCmHN8bdAH7XItmKUCnv_acuyUlxycSFeWLw7qTYn_S2I7lDKelOWbCXMOrdffgbJPB9aD7HXFqR8AtgsOsoxn9SNbN5SI-DSgA0xR9r_YGIzgbCbW87SaUQMiDdvYN9U3JuXZjkA5TiKMSiJlgnGOQ_sLEndsf_kw4txzQv2C0vPfpQyw5rLwhEZXIMQu5PiADHYL6h-vmvIu2EygaUZVwm76khJvhbKJI9GAtOAxxzFDdYeAzCeEn7uurI2rPYa_Q4hC8vc10a2OBVfmQjJRMyZDVWPmy0FCiEEFM4bNVtl7KKZbPnfvELXkpYaFrtlVroVVKdICcdq8ABj2EphSZsXIykmBTSL5CszpBCJoBM8U7bxtR6b_tSJ27sdtSOTbveoqOP8vN8D_y57y6V6nWHirVzO_Z4FfQETvWh1WKMhmv4tNdD6z7kejlwEc-L1AA-6cy1_t2f8udUx3zgUcZSxSY-4XZiXRvCdLohM3nPSnapGtwKqj3t7qtBfzepaQJKialXJtZ42xO_zQcEneFva8MAbWgU7s_I9S0mPQokbeDXoOamDdcoCQp1Y8MpG3SiKtvAznlP8qv3claBEBBemtjqHl0Y1X7Iq5FcwC1YVo2sLqdoo5HepumrAEeWKkp1B19jaTsgBpNNYayYXAuSeFhM3R6ZWCmLJfTHSzao8Dk4DcXAV3xLMmSWi95lsZSeO6xEsN4TIdrAzrhuP1ipa3-WUfUQRiASp6H3wraRX-CRtFEH6YvsjB_Co7XKpKUC9keuvPzYEkDRrixj7Il32gowj2tPfX82Hbeu-4Hu8SwYRM7uyNmLgFDt9L0VXHv8XnDHMtsTXCChWLgQc1Fq05Fb4XQ2VHFLzowgkRnvp9l0WgfRgJIRQHpGDwE0nhodqeaD-O9FIbTtxoReRm4Mj1U4lPTrDLLEJY-4QQeWUSkJOaFjdQ_gDb5b5_ep2XzPmDZaFHwi1ZY31VmGKfAnI8wzgiUwVs7W9G8r2vFlpXm6WpZEGod99lGOMtIsNHJyxUjRbspV4qEvAGSdzHYbtupmuOUv9v0ra2ryTiQhf1EDGNeCp0Q8BnVnWbhw1zLjMpQ7zmtTO5PDqz5ZLrMDrRcFVA5LTPRFiSUB_UsOrB5Vm9zoWEpeVOPVAijf-66InMK_3Eha2bmMet2ZSGpAbotu9AiQd0ML0s2jgj6mPqplakGClIxiO3D6WLlcNzLWd3WOnMV-fHPGo9eA2ZYyyAKqUz31R9-x99MHm9XXWzs3nW1rWvdyRmslJOxG_cYb-Ug-xWzh6Umctz3uMGKk7RslAqh3OykfinKwmCCFP6rF2nITrWmWOGnaON22P9U3iVWDc8bUXvx_m9XWzgIQxRreNxyb8szOEwR0YLtZ2EnchZSjNYRzghjU--SzQZgH-4yZjiorc88c2mhQbJ7L3LCJ4TebpsWAqyTOBYDwRJGCNRmy2ze7cnmwaahM-3RmgtF3CAd9K51bxsGGWeyxia0lYrNspbbCoToFwuSgMaRWRCEZiCIVaGr1wgq7cJW-INEaPHEC1TESJqcVu34mVkzCLVLVH8nDNyFU06SahKOkvuVGTjlxswen7ThoE_jLTytYFlGNzxhRISebb_X3svd99TqABgPCK7XiMplQavt_luTQil",
  "id": "rs_0a65156cc643f7d7016ab42e399ba487d08ceba3f7d5a6547c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.065,\"left_z\":0.035,\"left_yaw\":-0.55},\"note\":\"The wrist has unwound and the cap is again visible near the center of the left camera. I’m approaching from this reachable orientation, keeping the left gripper centered while lowering toward the cap.\"}",
  "call_id": "call_r6aPwHpibKW8XO1wkvGe1ZiA",
  "id": "fc_0a65156cc643f7d7016ab42e3a9d3887d0be52dc3db90d66b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r6aPwHpibKW8XO1wkvGe1ZiA",
  "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]: [0.0334, 1.6291, 0.5537, 0.2668, 0.485, 0.3584, 0.9979, 0.8589, 2.2086, 1.8584, -1.3281, 0.7536, 1.2926, 0.0594]\nstate[eef_state]: left_x=0.3634 left_y=-0.0667 left_z=0.025 left_yaw=-0.5778 left_pitch=-0.1255 left_roll=-0.0668 left_gripper=0.9979 right_x=0.3542 right_y=0.231 right_z=0.0989 right_yaw=-0.5962 right_pitch=-0.2853 right_roll=-0.3087 right_gripper=0.0594\nstate[joint_eff]: [-0.4034, -6.6803, 4.8752, 1.6923, 0.2369, -0.0122, -0.0122, -0.3624, -11.7128, 5.7778, 0.0562, 0.4664, -0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63246b95c726fd02db251e498e8b17adc5a7e0af097f26555c1bccc278fe543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfa4c7876404bc45c7f5f57c463d269594513ead567c403367415edb674a0ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b148edcfd7b4fbf33c141cef5d38e68971b70f1a192817fd135398588da44788",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 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]: [0.2237, 1.9198, 1.2423, -0.799, 0.9463, 1.3163, 0.9979, 0.8589, 2.2082, 1.8641, -1.3342, 0.7841, 1.2926, 0.0538]\nstate[eef_state]: left_x=0.3771 left_y=-0.0575 left_z=0.0808 left_yaw=-1.2159 left_pitch=-0.0544 left_roll=-0.1044 left_gripper=0.9979 right_x=0.3575 right_y=0.2289 right_z=0.1042 right_yaw=-0.5939 right_pitch=-0.2552 right_roll=-0.3124 right_gripper=0.0538\nstate[joint_eff]: [-0.1162, -9.2923, 5.5043, 0.652, 0.5641, -0.1001, 0.0024, -0.0615, -11.6991, 5.7915, 0.0659, 0.5397, -0.0562, 1.0281]\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]: [0.1177, 1.2388, 0.8249, -0.4114, 0.6575, 0.5522, 0.9979, 0.8589, 2.2082, 1.8614, -1.3281, 0.7616, 1.2926, 0.0563]\nstate[eef_state]: left_x=0.3349 left_y=-0.0655 left_z=0.1639 left_yaw=-0.726 left_pitch=-0.0507 left_roll=-0.0182 left_gripper=0.9979 right_x=0.3555 right_y=0.2309 right_z=0.1007 right_yaw=-0.5946 right_pitch=-0.277 right_roll=-0.3061 right_gripper=0.0563\nstate[joint_eff]: [-0.4444, -3.1932, 5.641, 1.5946, 0.3101, -0.0855, -0.0073, -0.3624, -11.7675, 5.9282, -0.0073, 0.5201, -0.022, 0.5885]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0334, 1.6291, 0.5537, 0.2668, 0.485, 0.3584, 0.9979, 0.8589, 2.2086, 1.8584, -1.3281, 0.7536, 1.2926, 0.0594]\nstate[eef_state]: left_x=0.3634 left_y=-0.0667 left_z=0.025 left_yaw=-0.5778 left_pitch=-0.1255 left_roll=-0.0668 left_gripper=0.9979 right_x=0.3542 right_y=0.231 right_z=0.0989 right_yaw=-0.5962 right_pitch=-0.2853 right_roll=-0.3087 right_gripper=0.0594\nstate[joint_eff]: [-0.4034, -6.6803, 4.8752, 1.6923, 0.2369, -0.0122, -0.0122, -0.3624, -11.7128, 5.7778, 0.0562, 0.4664, -0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63246b95c726fd02db251e498e8b17adc5a7e0af097f26555c1bccc278fe543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfa4c7876404bc45c7f5f57c463d269594513ead567c403367415edb674a0ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b148edcfd7b4fbf33c141cef5d38e68971b70f1a192817fd135398588da44788",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4_xEQyOOPyDZkv4PSJLHMU0bsnUpXnGi7uPSL8xyZhVChHrdR7sF_PPT8II5WKnHXXER4W4MY4rMYxhKGEyHaaDltfVPRXMSPxHpn88shGsaGTNp_4Lm0voWwzpzSfr_1rcqgbp5IPCE5Xpnxz_jVVzY7qqI3LO_gPHg3CziKYk0kbl8q_-FWod2AONUVsAmNMbAxvp1ioHv2mcV9FHY53gGF_fRrnDlKzx1UG9WNsXWIN3_e3-22y82TrCdWebALqU1gcPpFRTnii2342jJXgr-DuErP8JYSnEpnxjiC_-7_lGbejuZpu1DaczGz9xtwZ90_fsS8AiZp1icwVqqp-wEDIdp0yfLF8xl5Bb3wkHzIbFstYDG7773bJjeFVLZxkqS9b4ZCgaLUCxvpngQO2XcELNXJ4I85rY2tnbNyK8qSPF8_U9Ql0lAKtYZrEO0S6dMBeTXgJ6z-rsq4CZSx1ZejGphz_9S-6JpoCtUTCFhhZ6IeciyLrfTO9AZ2l0DzCxhej3uh18f_JaSk_C8QFDL5VPnKs-pUHkVSU7VBSEknaonwn2o1F-GkLHu4zNVr8Fu37DRqrgvLY8osD0Ve0FVfVvuhMr9in0UC8HowJDOOPGLxQ4VcSDMW5A9zgjg8HEgdXG1OmvAMay1_fvHrslO9Z4rUBgvLqX4rUPIYlpL9wwk4Y9PeJxCTbrkDQJO_SH3q4pOuup7Rn6ku2u55lwStlB-H3wHP52sztZh1KyhadA9Bk9aUxucZNUcbmQ5Gm8Ct_adxYxgYg-iYxT5hfGrueyMXznN6ZSlwx796kodPiS3XxKiDrUafxhEodB03Nzx1ww-f6dweSg7DXDZyXOvZKObFvNaRqs7UtN0Fhl-mjZJpXfQmFYDzy5D95O9LMJb_ABvE68omtaHdMFz6giBguUp4KFXT3YB0xJ9g90y6hYSJamgp8HR4PlnFgqGispho5AmhAj1Y3mQeBb2peSrTzBVcogBl77XjWbJDosVcXnapEPbSOUxSvN664Zd2osLpvcRi68EjyylBv2gs4WkZXuq1l3VflG3VMhfLThxVo-GlT9QfTj05TuozBkWrirLMi5uY0BetspB2_aaxf0TbqPGYHUA-io_tKHZXpXGFKRRchxv199b-egNiifEhaHKdeebrpqOr48SmookhXFqLvYQJum1vF26gCmYHCxpWUNPtpjqB40r7J5ayh8hmOCzv-A3j25EfN2MvXRCleq9MeQbCJ8Mo41-XnC0N21haOWBMZ5hrM6imIanr-hxN5JQBKJMrZUWZ_kS1RbD3n6LI1dX8SpPALDy7Prfj8pYIEOO3GH-eNDUaxf-K6_ItyIaGs9sDvYbkMeIuN_bGGKlqLeD-3LhX2VAzQYORuxeahD7rKFww6A8AOiFqK_OvDIyHXAfBqFjBygkqHNdPvrrUo3nR4nxAmNbWrK8GIrn2jvvdIHvy4Zz8PPqgdwljj56lgH0OpcVM-sg1lm_8UKV-3_JXAriwi8OFhsYEXpOc2Pko5T65DSxc0DEgolnSZTG8nE4TzuFJNrEIO-AmuLAnMrl9w6BuJVNtnq3qmfVOrYA2lh_DNV-nRZJa-Z4KJOwT3VGEVe4vJZpl5fxZqdsQtafSPN3tE0y7KkbPuNCZ56sQNE--9GQRTYzo6ZkyPKuSrB8FGKm9wxmYB7gb3jQ8x7huFhcHzw_v_zsjiGixmDgFM_gS2_hrdCdlodiVLZJkkDlFr9Lc3GaBymQAPY7sQ7q5zkH5fyatDfbigQZAFubpiYXxk4RTbP_3UhPNNF194xx6JLgosb_PIHi9Ipflh-s5093pDDCbIJbfgvrp0QVJKM_U7Jzu7MPp0h_5rqqR7HAggIKoft1gHKnc1dw==",
  "id": "rs_0a65156cc643f7d7016ab42e3d652c87d087ac0f3ced1f3c98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.12,\"left_z\":0.005},\"note\":\"At low height, the cap is clearly ahead and to the right of the left-hand jaw gap. I’m moving forward and right toward it before trying another close; closing from the present position would just push it again.\"}",
  "call_id": "call_VkxzUhDGy18vTitfuNWsNWcY",
  "id": "fc_0a65156cc643f7d7016ab42e3ea1d887d08c3ce510c3a98aac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VkxzUhDGy18vTitfuNWsNWcY",
  "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]: [-0.131, 1.8477, 0.6998, 0.3798, 0.3805, 0.2512, 0.9979, 0.8589, 2.2086, 1.8568, -1.3285, 0.7456, 1.2926, 0.0624]\nstate[eef_state]: left_x=0.4042 left_y=-0.1158 left_z=0.0047 left_yaw=-0.5993 left_pitch=-0.1322 left_roll=-0.0645 left_gripper=0.9979 right_x=0.3531 right_y=0.2313 right_z=0.0976 right_yaw=-0.5974 right_pitch=-0.2934 right_roll=-0.3097 right_gripper=0.0624\nstate[joint_eff]: [-0.5128, -7.159, 6.147, 1.2821, 0.1734, -0.0952, -0.0122, -0.335, -11.6034, 5.6821, 0.0806, 0.4567, -0.0269, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7478cde78cf42f21adddecf5cc5a0b8a414f54a821720a78fe36a8fa8948de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875df9f896a39705baac78602e7c21defa2c8057cc391d23eaeaa751bc8da749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f666b6ac0e207d74da6d954d876f8eac1c168723ff7481cef7c1ab2e1c894b47",
      "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 · 2.79 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 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]: [0.2237, 1.9198, 1.2404, -0.7933, 0.9463, 1.309, 0.9979, 0.8589, 2.2082, 1.8637, -1.3342, 0.7757, 1.2926, 0.0539]\nstate[eef_state]: left_x=0.3775 left_y=-0.0574 left_z=0.0805 left_yaw=-1.2118 left_pitch=-0.0543 left_roll=-0.1065 left_gripper=0.9979 right_x=0.3566 right_y=0.2294 right_z=0.1031 right_yaw=-0.5947 right_pitch=-0.2635 right_roll=-0.3118 right_gripper=0.0539\nstate[joint_eff]: [-0.4171, -9.306, 5.8188, 0.5739, 0.5788, -0.0024, -0.0122, -0.3624, -11.7675, 5.5726, 0.0464, 0.4322, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0334, 1.6291, 0.5537, 0.2668, 0.485, 0.3584, 0.9979, 0.8589, 2.2086, 1.8584, -1.3281, 0.7536, 1.2926, 0.0594]\nstate[eef_state]: left_x=0.3634 left_y=-0.0667 left_z=0.025 left_yaw=-0.5778 left_pitch=-0.1255 left_roll=-0.0668 left_gripper=0.9979 right_x=0.3542 right_y=0.231 right_z=0.0989 right_yaw=-0.5962 right_pitch=-0.2853 right_roll=-0.3087 right_gripper=0.0594\nstate[joint_eff]: [-0.4034, -6.6803, 4.8752, 1.6923, 0.2369, -0.0122, -0.0122, -0.3624, -11.7128, 5.7778, 0.0562, 0.4664, -0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8477, 0.6998, 0.3798, 0.3805, 0.2512, 0.9979, 0.8589, 2.2086, 1.8568, -1.3285, 0.7456, 1.2926, 0.0624]\nstate[eef_state]: left_x=0.4042 left_y=-0.1158 left_z=0.0047 left_yaw=-0.5993 left_pitch=-0.1322 left_roll=-0.0645 left_gripper=0.9979 right_x=0.3531 right_y=0.2313 right_z=0.0976 right_yaw=-0.5974 right_pitch=-0.2934 right_roll=-0.3097 right_gripper=0.0624\nstate[joint_eff]: [-0.5128, -7.159, 6.147, 1.2821, 0.1734, -0.0952, -0.0122, -0.335, -11.6034, 5.6821, 0.0806, 0.4567, -0.0269, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7478cde78cf42f21adddecf5cc5a0b8a414f54a821720a78fe36a8fa8948de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875df9f896a39705baac78602e7c21defa2c8057cc391d23eaeaa751bc8da749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f666b6ac0e207d74da6d954d876f8eac1c168723ff7481cef7c1ab2e1c894b47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5Da-eiTV24IHfFtixAE8Ct6NDVV0na-lvBsA8FTuKGSznSUioN2FWrA9GAh8jE3p3yMWb39JFvT9zgeEIP_rABNeJXsTTc8PXay4BbCn3CLi8QXzIA75ZItSVfcQQHV2BGVne8FrUMQ-gE0LnR0YZc7T2Bpfmj1IaNbWwnPqsrMF9Um_ozxdnwUsrxAK-VgEODFzGex0gy87tUCX8glUWdg_w3ZhmEIXVp1AG55En-A6-ZwnoPEHJSfv_b11d-LQ5BfF2PS4ITW0W5PP23Axhm9OF0f5iXZkIk18q4ZMebfVPX1xTtyYiysRkLXD_4N5NKjK5RyRVdEBPUnswSRUkK03v5stifG5gNIzQ8v2eovHXgzl_OFO6Sk6c5o7DL95gGQJAzRtTSNQ9CHYSbIXBBJfcW5oXDWLouBBjifGrtjom743mZ0Xas6tkpHZzP0r7sa2-0bvE96eFx1jE5naSqoRITDXGJNiYdeG788Vww5kPtmyCklUsXlxfhvbTdOZmINEp-xdyGt9KrG4mQYybGSUH5VQhcdyKb20fEk-HCB2kQFo894uuWPz6FzcJx9C4MmwPoKXz2bzv8fhovAlvxtNoB0CI4YxP-U3LAWpphCCnQkvXXWa9INAVEJTFUB4aVzN7dwoj1b_uphjvnkIn-7qxXSbWldgztel5HmDhR9cSafppwtjUYAW04UDvXMjnAwlcw-8FsHezxUuU2ZU_h7puculVzYHjb8oI5kdtr3VHKD5esXSvHCvJ1_FbRW0xLGkqnPyH1H5ucfYavvgPAo3B9qOE7fCJoK3HHHR21GsxyxzfvXBeN0rufco8DDjKsD6ek67k6rouWyo3M4Gx6GBAg3Pab_YDo_bOjWnQk2vDa4j9f3pWbEc3rN7hDtTYD8oAVjx_afiBl4ePS4tpyH7It2OKEMh4h3MwjcMmybEurcDJvccXnuIY-IxpZcuD0YH8IwPSsZI0Ys3QpngMhJIiNBUW6fiv_OEMcKsz0wzFTk_D90Nv-PaHTPd6snUa8n3MaImyliX_EtA2C5JSZOsHXgQk8lW5Svkd0w4i3stTui4P9tnFTCFpQhkmJ8oZ-7GnmkBoQuSQVfvo_zdNaVA3hM9dPqlurFGs4YhZV_2Nud798eRf_eI3YRFrFNd_ZP9rPz8mWxm0ziNs5Nav4HGPbdrFVee5Cv_WJgOaVzsHf2AthwC3KSXRsdGXbbp1TT8ECMhuY-FtXR4lp7GFrE5Z8huKWZbDew9jQWIPooVn6QKOQW-bXCoIauQgymf0-aTHJW-duh5nhNKadJ3Ink6IsOV3n5kCNALrv3OjxXcKNkU5Kh3jV2IMgoT_w5dBtieH7JBjjFGyxdxmLSoF8IFo5K_mygxkfBmZ5b3Np-Re_scmXRF3vz0z0jakeKKjb-i4pwCfhMXbOXuxJwriJXiO8bbUOL_ZpV9loCdUc2e6BrzIw2FPxxZkMxTp3Ck1OhXeCcbxNLZDeFwEoC7giiFbc4bWe1uuQbMjVm9myGnWSzI9xhac3d7Ir6wWx3kT2Fgg0qoYY7_0NgxeUabW8sarof_eZXqHFIRSOy0iplnf-98Gu-N6RTDfJ__JBvH8m6-qPzTO8veAT_1mkt1T0E8_uCCt184COtWolpDQrrsvPb3qD6MOhybZ3Q4fz1Tyb1NwWDx_UvrxjYReEJoYCTX6AUol3eJM-q-NcoP1OArBNDyoMqhDRicZHVLrk9ZHYWX4AxIhcxns8Hx4Cys4rX1UoJpkz1Gr7iCay4R60hCbuaCLQA456KFzlXhvQlnKkfFniXy_SXdr7oRoopvxgEFaoSwY7yUNV4L7uYidBVD-2ADJyTw0IhQfOiUIOLtkW-710b7DPrfyE5feiEUOZVFaXVOPf-arHmd2-o5WWJ8Z5tVMlRfmRFUNIyic8FbeOeqaa8lhQRgUtZCVxG9F_QjAOPHKn7RPZkQ22szdT389Mm4AhtfpUzbS1XELJlfW5",
  "id": "rs_0a65156cc643f7d7016ab42e410c3887d0acc96d0b7bedda6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.145,\"left_gripper\":0.48},\"note\":\"The cap’s near end is now at fingertip depth but sits to the right of the jaw center. I’m narrowing the jaw opening and sliding the left hand a few centimeters right to center that end before the final close.\"}",
  "call_id": "call_izoU1Ze74jm8gWNeG9HeLBNW",
  "id": "fc_0a65156cc643f7d7016ab42e42903487d09860f72b3b322e2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_izoU1Ze74jm8gWNeG9HeLBNW",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.8652, 0.7113, 0.4015, 0.318, 0.1951, 0.4843, 0.8589, 2.2082, 1.8568, -1.3277, 0.7341, 1.2926, 0.0653]\nstate[eef_state]: left_x=0.4031 left_y=-0.1424 left_z=0.0025 left_yaw=-0.6046 left_pitch=-0.1375 left_roll=-0.0615 left_gripper=0.4843 right_x=0.352 right_y=0.2323 right_z=0.0964 right_yaw=-0.5979 right_pitch=-0.3046 right_roll=-0.3072 right_gripper=0.0653\nstate[joint_eff]: [-0.4718, -8.4308, 5.3812, 1.6044, 0.2076, -0.0855, 0.0806, -0.3624, -11.6718, 5.6274, 0.0855, 0.4615, -0.0611, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2f08c100e607b7c74134e4dd060d7d838dfe63adb2551460abe54a4f4c4738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5b562dc1b33658d7cf63d362e3cdb86798814ce4fc647bdd8f99459c2766a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467f3d247242eccd8e63bed7902faf1bd1848adf1cd615487e95dc60661ae005",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 10.35 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 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]: [0.1177, 1.2388, 0.8249, -0.4114, 0.6575, 0.5522, 0.9979, 0.8589, 2.2082, 1.8614, -1.3281, 0.7616, 1.2926, 0.0563]\nstate[eef_state]: left_x=0.3349 left_y=-0.0655 left_z=0.1639 left_yaw=-0.726 left_pitch=-0.0507 left_roll=-0.0182 left_gripper=0.9979 right_x=0.3555 right_y=0.2309 right_z=0.1007 right_yaw=-0.5946 right_pitch=-0.277 right_roll=-0.3061 right_gripper=0.0563\nstate[joint_eff]: [-0.4444, -3.1932, 5.641, 1.5946, 0.3101, -0.0855, -0.0073, -0.3624, -11.7675, 5.9282, -0.0073, 0.5201, -0.022, 0.5885]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8477, 0.6998, 0.3798, 0.3805, 0.2512, 0.9979, 0.8589, 2.2086, 1.8568, -1.3285, 0.7456, 1.2926, 0.0624]\nstate[eef_state]: left_x=0.4042 left_y=-0.1158 left_z=0.0047 left_yaw=-0.5993 left_pitch=-0.1322 left_roll=-0.0645 left_gripper=0.9979 right_x=0.3531 right_y=0.2313 right_z=0.0976 right_yaw=-0.5974 right_pitch=-0.2934 right_roll=-0.3097 right_gripper=0.0624\nstate[joint_eff]: [-0.5128, -7.159, 6.147, 1.2821, 0.1734, -0.0952, -0.0122, -0.335, -11.6034, 5.6821, 0.0806, 0.4567, -0.0269, 0.8669]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.8652, 0.7113, 0.4015, 0.318, 0.1951, 0.4843, 0.8589, 2.2082, 1.8568, -1.3277, 0.7341, 1.2926, 0.0653]\nstate[eef_state]: left_x=0.4031 left_y=-0.1424 left_z=0.0025 left_yaw=-0.6046 left_pitch=-0.1375 left_roll=-0.0615 left_gripper=0.4843 right_x=0.352 right_y=0.2323 right_z=0.0964 right_yaw=-0.5979 right_pitch=-0.3046 right_roll=-0.3072 right_gripper=0.0653\nstate[joint_eff]: [-0.4718, -8.4308, 5.3812, 1.6044, 0.2076, -0.0855, 0.0806, -0.3624, -11.6718, 5.6274, 0.0855, 0.4615, -0.0611, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2f08c100e607b7c74134e4dd060d7d838dfe63adb2551460abe54a4f4c4738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5b562dc1b33658d7cf63d362e3cdb86798814ce4fc647bdd8f99459c2766a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467f3d247242eccd8e63bed7902faf1bd1848adf1cd615487e95dc60661ae005",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5GJ2DiUZ1t54Zhftrp9SIygZRtZaYSBctIQ7GUMAsdZf_MGJ5CMzL_ZReeGLnkDuh56Md5BZs05y21-PiG81JJTlwY9r724L6biHKPrPY6N-Cc1Tcgpz1aiEDVkHtDR7UJTa4NR0pHU-vEH8wVAJl64r04puz_etqI1vaCiHT_vePcj1HsVqDF3sW3WOz59rjMTSFpD6bMnO_IWDUXXlKf3D9U8WNs10d92NDZw9bTmUwVexC53aM3UscBsPOOk_On1WdyFfM8P3KbnVPVgSHyPB3QhWhOcFCWv1BB7H9f8tWoBp0khou9L560qevUHYZTtmhAZ7CBxz1MnlH4dP85caE2hF0zmh0GcpNmF4KD0QY951Y1xgHvBLLwqO-XWqQR0OPdQq3OxY1XP8mrtSdKMyjdo7CPSwSJiJxFNm0MszbNQb-WhXPljpGysiKlHLOP2Z83XJYxKcjQdbX0S-3CcjKJLj0n95kITGceGxmgU0CfX6rVVPHlf3d6IeHssVEhXYpWwBAaKyNwoL-tJ4f-6FMNaeL92W7uMyZyIzZgTSZWJow81UzZpZPNm0ud7NhCARga9ntRww-k4pcanNRY4IkoKMlFcnGhQI-87IOGknun0EIKSmL50gIT6IeU1OTKMlnRjOEqiOFCVROYqszTGXTd1POCsnNwOEo9mZx2ZKj-i3mIyqVickN2HLsTvPggBDyvt4BNpYkuBf0L0J91lIVuIyKb9GDlsa865PaCo92swy3DYeMYrzpjdRYxlSxGocSVZmKO591pbPDuL6Y31kw5VB4mzu8W2thYwxXxalbRg74T5N_USQbeDJsL14KAgNCKd_VSlEuOxfIDA2UPSj_U1RFj5HvbQAH0aFkAa7F8raw-zW4AhODgzUvMODEndrXJ53_nZN9meu51kwA1TGB1vb0ZEcPy9vSMBB5wyHooJ6NaGiSRSnh4mtrrxPesCoOolsnPaT5ZE0c2Xh7E2CPZlu5FOZvrg2pl1yXQjlKQN5xUjL9fxzCK9vuf_H7pLGviZYGjeDEWa4CsC-AtyX2uoqY0HRY47bhucNtD3eDLoYoxp0q3Bl1K6cyiCxpC4OlmzS-Bcam56nybmVBMJOMfDlMYaSEX7O_FJOX2zUqMDEO9ylMzPtNMOP_po_iNo8kVICaTOrJVk3zrmHv8Ak7TCfBciXP9GDlRBxaH2w7CU62RylmHDGOcN7uRmnkqODalwMNv0F_u2hdydxANaatFMwPwvh7Y4k2_X1S_tiZWXYbasmcx9q3IH1KbjFNwkAnJNmI9DdWA34RaG8RVoePWiixgnWOdaP1HQfuca6L_eXybSY14Q5yPXG1uP4BJxfnj-jENKhQvxfCPlrZ1kYVpSkUSDqzOS_xDPoRgc4TKaKxNqjr5BNfTkgPf-HauGK7FGg4dz-M2V51GUDSE0lIqgSR-aAEs37S6lKehJp74iKTjnPTU7i11TYrPxk5ks0dlkw5nY19kWFTjMIFP9A==",
  "id": "rs_0a65156cc643f7d7016ab42e457a0887d0b46c3c866f1d8b24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":-0.01},\"note\":\"The cap’s wider near end is now centered between the left fingers at their tips, rather than alongside a finger. I’m closing at this position and will check whether the jaws remain open around it.\"}",
  "call_id": "call_rP1hJbY4Y7E6r5FGYgfuzcAU",
  "id": "fc_0a65156cc643f7d7016ab42e45ec1887d09e12434670608780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rP1hJbY4Y7E6r5FGYgfuzcAU",
  "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]: [-0.2222, 1.8885, 0.7067, 0.458, 0.318, 0.1848, 0.047, 0.8589, 2.2082, 1.8568, -1.3273, 0.7235, 1.2926, 0.0666]\nstate[eef_state]: left_x=0.4073 left_y=-0.145 left_z=0.0015 left_yaw=-0.6015 left_pitch=-0.1112 left_roll=-0.0587 left_gripper=0.047 right_x=0.3509 right_y=0.2332 right_z=0.0951 right_yaw=-0.5985 right_pitch=-0.3151 right_roll=-0.3055 right_gripper=0.0666\nstate[joint_eff]: [0.1436, -6.106, 4.2188, 1.5604, 0.0366, 0.2222, 1.6825, -0.1709, -11.7538, 5.559, 0.0513, 0.486, -0.0513, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbcaedb6b2dc74f114e43d0a99cd8fcbc958b9e2faeca5495bc180d0c83ff2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524921538b1a8486723500259a352cf90a63b272f9604b728e7b21333385d0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253d863f57c97cca8ecc9afb1d30d79307a5d91415b8a3546553a53f710695bc",
      "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 · 10.59 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0334, 1.6291, 0.5537, 0.2668, 0.485, 0.3584, 0.9979, 0.8589, 2.2086, 1.8584, -1.3281, 0.7536, 1.2926, 0.0594]\nstate[eef_state]: left_x=0.3634 left_y=-0.0667 left_z=0.025 left_yaw=-0.5778 left_pitch=-0.1255 left_roll=-0.0668 left_gripper=0.9979 right_x=0.3542 right_y=0.231 right_z=0.0989 right_yaw=-0.5962 right_pitch=-0.2853 right_roll=-0.3087 right_gripper=0.0594\nstate[joint_eff]: [-0.4034, -6.6803, 4.8752, 1.6923, 0.2369, -0.0122, -0.0122, -0.3624, -11.7128, 5.7778, 0.0562, 0.4664, -0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.8652, 0.7113, 0.4015, 0.318, 0.1951, 0.4843, 0.8589, 2.2082, 1.8568, -1.3277, 0.7341, 1.2926, 0.0653]\nstate[eef_state]: left_x=0.4031 left_y=-0.1424 left_z=0.0025 left_yaw=-0.6046 left_pitch=-0.1375 left_roll=-0.0615 left_gripper=0.4843 right_x=0.352 right_y=0.2323 right_z=0.0964 right_yaw=-0.5979 right_pitch=-0.3046 right_roll=-0.3072 right_gripper=0.0653\nstate[joint_eff]: [-0.4718, -8.4308, 5.3812, 1.6044, 0.2076, -0.0855, 0.0806, -0.3624, -11.6718, 5.6274, 0.0855, 0.4615, -0.0611, 0.6227]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2222, 1.8885, 0.7067, 0.458, 0.318, 0.1848, 0.047, 0.8589, 2.2082, 1.8568, -1.3273, 0.7235, 1.2926, 0.0666]\nstate[eef_state]: left_x=0.4073 left_y=-0.145 left_z=0.0015 left_yaw=-0.6015 left_pitch=-0.1112 left_roll=-0.0587 left_gripper=0.047 right_x=0.3509 right_y=0.2332 right_z=0.0951 right_yaw=-0.5985 right_pitch=-0.3151 right_roll=-0.3055 right_gripper=0.0666\nstate[joint_eff]: [0.1436, -6.106, 4.2188, 1.5604, 0.0366, 0.2222, 1.6825, -0.1709, -11.7538, 5.559, 0.0513, 0.486, -0.0513, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbcaedb6b2dc74f114e43d0a99cd8fcbc958b9e2faeca5495bc180d0c83ff2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524921538b1a8486723500259a352cf90a63b272f9604b728e7b21333385d0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253d863f57c97cca8ecc9afb1d30d79307a5d91415b8a3546553a53f710695bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42e4b5ac487d08bdac59205d13526",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5RyG5NdO8vCt7WU6zf7tP6ZZA91Y6UwtHZgIgz9XJCZ7ca4vMGDaOkguvnJ7F5J0Eh1ijKd5aV6XA8hh7zmQI-KJWSaa1cfXAGT5xVDAWfHBZrnFxwlPcex26XWu4gr4uMYA1Nyw1YV95XjhmaUgq0ZcbubhnN9sGR3UTLjK6bEufTNI-vJY-imptncRtuNLs5RUha_4o6eSVLrqRnTv4haOM3RUuqHmgDmJWR8Cfuuj042WsZnw73H8-KPB0WvAtOKC075yCjbU87gdPrYoK9egUHFC9vMdHEfkyO-2NHha1ar2t2Ex7rid4y2TM2ztE8uHwL1SDSNVL52exdlhWTL6dTpKbjpyp1UtSbFUSgMYdjaCsvJRASldDU12Qn6R3KHurnkEoZOUZ0_DpNQqMTcJ54dkKuRaeagz2klPU_6b70LC4FCZEbg4uyJb22PPqYOPDphC1PCmFneGznc5BwbcUYvUX4H5JBbcnzgbybQoL4orS__vJ2VKNy-IBjGVOiOSWOuAP-CKsQJf_EDawjdP607lPhhSdrC605DIKcUEFp-Ij5PRZyaTqzerC_ULSvvZuajTNUQnrXHq8wkKyb6DQtBQ3ddsqvXfhV1TT2VD7xdEbomijjtJYkgzcrlQj7AqYvmlBt0kpuVUyAH_6Wc2-_1ImxVXwCta3U1aicHFPumFpvoCWl7jNVVPjLi2jC_DtUev-nAFBit2ErAiEdeCDcaBiVxHROcv_JEm4HF7rDejQ5OswMAwOxu6BasUAT1FnIJxIbm3NGq_ou5Ap1yUyAIYV98sn17rY5YHae0YVcRHrATZlPB44eqo0vEIfWp09-qHbU8gTRzrDL8U6FMyF5EO7mMBkAhPapLH_FsNnCofRzkBWj5kiMnYKGpkJLfQiBZFt6BJetCVW97TQgkx1CXarAjiUpHth7x-vOH-JGE2Lw98p5aDyOwpnLSxzOVOWl02g_dYdweoq_vSCdX75zqKKaDq-3luThDBZJWgVouUJjHeCVfSZcKydrgKnxaPHLPZWUl3nJrNar8dcMF5prXLq887I5nacnsTqGSLsqPrh1yrDljAfFRYM6-JaLx0AcIbs2Zx32XV9kMGLHIrwFm-D4R4nEX_T3VqiCgO6y_-ohFc2Mz9wLeW0BcfunWw0fEHTfPPFd925WB2rVeRn28jtUQVTuhzIIBtWolqYUUoEenemdZu1JQgJq1bzWXtJjb2_oExlnVoz3oVwbWAKUzNHPWp4n0kIiycopu832Z6iC_UyUvzVHmmadnph9Zp1gz6qH1Fr057AG5g9CVPMsb9LG595zwrf6bUoyutHiMQYGejVKz1p-gz5YkjXzhf0okQIeva6_tK0jc942W50K5qOy1xy6OQzqI7OUzZMrxn5JPpXoDqbh5JYo8hdyc93gXZdK99w0hhQFOV8k4XZX-6Ewk_i6BuwhzyJAoqagQ4PvXXhTu408pcInBHlwRb9dkRii7RRMMzs1B1NU396AfTjYPgnKvVSsf0PoHQS1qtiZMFHku0CkknBy6oqAdz88wqjkKnMzvdmgGjtAhzHDXqA4WZZCqCpcDu7cojPNmf1SNLIc2VEGnd1GH9l6I1y2RQAAoxxCmtNUcr24c1ltplq-1CbFh9PCjNJiuAv9fVYP6YITooDEuiVJGu7LgtmCMAyNq45G0A1oR02xMo4nDqGUjyE4q-YnNtOZLeo=",
  "id": "rs_0a65156cc643f7d7016ab42e4fb52487d0865b42061c995753",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"right_z\":0.16},\"note\":\"Both jaws have nonzero openings, and each wrist view shows an object extending from its fingertips. I’m lifting the cap and pen above the table to verify the cap moves with the left hand and to prepare for aligning their ends.\"}",
  "call_id": "call_uB1gN8IArGulBB9E29y2L0Xl",
  "id": "fc_0a65156cc643f7d7016ab42e50b52487d08f24391ac677b1d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uB1gN8IArGulBB9E29y2L0Xl",
  "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]: [-0.223, 1.5475, 0.9874, -0.1963, 0.3134, 0.1802, 0.0524, 0.8597, 2.2101, 2.0598, -1.5929, 0.6941, 1.2667, 0.0687]\nstate[eef_state]: left_x=0.4048 left_y=-0.1439 left_z=0.1334 left_yaw=-0.5975 left_pitch=-0.1427 left_roll=-0.0714 left_gripper=0.0524 right_x=0.3395 right_y=0.2265 right_z=0.1439 right_yaw=-0.6093 right_pitch=-0.3555 right_roll=-0.3876 right_gripper=0.0687\nstate[joint_eff]: [-0.1709, -8.9915, 9.9761, 1.7167, 0.1197, 0.0024, 1.0281, -0.4718, -12.0137, 8.5949, 0.3443, 0.5934, 0.1783, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ad0e8fbc38c1c9410c3096ab1acfe4496ef979ca58ea9258ced58e21bf7fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7653c5de2b0808649a81315f51f2582995c5bd5077ca8612ca3c93c389445c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2461146901b22361037f4db936168c795a1560988c0167eb3b71ee7fb8d0ceed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.762 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.131, 1.8477, 0.6998, 0.3798, 0.3805, 0.2512, 0.9979, 0.8589, 2.2086, 1.8568, -1.3285, 0.7456, 1.2926, 0.0624]\nstate[eef_state]: left_x=0.4042 left_y=-0.1158 left_z=0.0047 left_yaw=-0.5993 left_pitch=-0.1322 left_roll=-0.0645 left_gripper=0.9979 right_x=0.3531 right_y=0.2313 right_z=0.0976 right_yaw=-0.5974 right_pitch=-0.2934 right_roll=-0.3097 right_gripper=0.0624\nstate[joint_eff]: [-0.5128, -7.159, 6.147, 1.2821, 0.1734, -0.0952, -0.0122, -0.335, -11.6034, 5.6821, 0.0806, 0.4567, -0.0269, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2222, 1.8885, 0.7067, 0.458, 0.318, 0.1848, 0.047, 0.8589, 2.2082, 1.8568, -1.3273, 0.7235, 1.2926, 0.0666]\nstate[eef_state]: left_x=0.4073 left_y=-0.145 left_z=0.0015 left_yaw=-0.6015 left_pitch=-0.1112 left_roll=-0.0587 left_gripper=0.047 right_x=0.3509 right_y=0.2332 right_z=0.0951 right_yaw=-0.5985 right_pitch=-0.3151 right_roll=-0.3055 right_gripper=0.0666\nstate[joint_eff]: [0.1436, -6.106, 4.2188, 1.5604, 0.0366, 0.2222, 1.6825, -0.1709, -11.7538, 5.559, 0.0513, 0.486, -0.0513, 0.7155]",
      "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]: [-0.223, 1.5475, 0.9874, -0.1963, 0.3134, 0.1802, 0.0524, 0.8597, 2.2101, 2.0598, -1.5929, 0.6941, 1.2667, 0.0687]\nstate[eef_state]: left_x=0.4048 left_y=-0.1439 left_z=0.1334 left_yaw=-0.5975 left_pitch=-0.1427 left_roll=-0.0714 left_gripper=0.0524 right_x=0.3395 right_y=0.2265 right_z=0.1439 right_yaw=-0.6093 right_pitch=-0.3555 right_roll=-0.3876 right_gripper=0.0687\nstate[joint_eff]: [-0.1709, -8.9915, 9.9761, 1.7167, 0.1197, 0.0024, 1.0281, -0.4718, -12.0137, 8.5949, 0.3443, 0.5934, 0.1783, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ad0e8fbc38c1c9410c3096ab1acfe4496ef979ca58ea9258ced58e21bf7fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7653c5de2b0808649a81315f51f2582995c5bd5077ca8612ca3c93c389445c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2461146901b22361037f4db936168c795a1560988c0167eb3b71ee7fb8d0ceed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42e53bbb487d0a484d4f672fd39e4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5d8aA3esXR0UNcHOLDgI5M3Duxqfj9z94rKWoH2_AVlQNj9i38deeha_m-ePiX-OezKYV8WlrELUtID6Tpnom81LQ2dP1B6YYTl5mz8Nb8A6GWYH22MRZWaJraUp2KrWzl33CJOk-AFYoDJtwZKtrLHFhn8y5L48cDPwO5DY1CsUcfbdqvfHcG_sMwr3TJyAPK_Ov3xHnb_AcKL_TPfW3yjO7HGgHJCcMfQlT4ZsMmRw5M6BBECuGHR78bXwAx8fbiAAg9EXM2TTzPmtzGR4JTbaZJrwCNDR1fDVJGRvj-uGJkQClKJhKYI1KvTbHOExICqpK055EVTojv-t6M89U0gZ2JVmYD69K3Nj3YSSApZqOzWSVsEtu7T1A6morashyha_7Wl_atKFFahDbBjOvPcxN4B2ZaE9KtNT1SKZV6d6rUZz-rz5tznLk5ceWae3Ricqh9gCVGUIWotKXXc_eQ9PaAs6tOL-_YqVWhaZh4XD49Nqnq7b_3ZK_9WhA2w07OU96GqxhGwWtxIkZqNoIusjA2ak3d9YhlUSxLi4SO8WIWL7OGIer6rinWbigudBXf5Ug2bIe6RlsLppIy2v502FXn8x8y9pqj3qrSkH9mQx_gGXxcHRZ4wDZmwwuZ44c5JMziwjisR0VBzZtiSCqBocTwFzf4Xj_IIdAXvJG6dXCXuARYeGqy6iERZznPwfrcBNeNhcvIJarO1y2T9rcwXgFeFZzvxdGlVpHuXH2HKFbRR7lp0Ld8sRDSHAMhsyV6Rqj5CjXyzQW3sAF_plYSIXuSMvTeAYdKJ8WQwqE4LZNkQWbL5MiSu5RGlGmWN_s71UbNak9x1N1ETJCL33xUZKiW1-aCODHxgryZ87aBGwYd4aq3JjpdGpZwMrqTYQl7KKqVgbF5EzHkVlQRPG0vYJmqyx2a7WzrwkrRkJTEuni37rOjhTgzIjIzYQ7B36il1pxQSaslRTU2opLFCFoGSyvwac25FDOMvYkZqrJVimsfzJK5X1OSAXD5E9rggpEjOuApUw6Dt75aNXYbPMfsIvPfqkMuFDb-dFXH_RiFnSrYXdYmqyFz8VPRxMIQ_05U0yCPf69FR7Kw_4YOZJa7NeVlAkH0iAkWea1HLiFUsVs3EGv1JuVP0Z8XKryfEvT_g_F7akkavkAk_BMO5RUISuH0nBgBCuc-5pzJAYcMEwmh-gBzHzgeVfO_Tv-IjkZZ7Oyp_3ZMap8sIdUfzkFWrpzuBFl8H9kl1XCt2E0CvEEK9Sdw_rhlKUG8Oeh9KQ77-0qTZ4Rd8NTXYUl6D6RMWBgI-nF4OKEKjXaW189QiY4nltJL4KYQTP8382VUgqS1iU6IpvPN8q4j68t7EfX-4dbItz1r82xojl2yP2iK-uNr4B17Siau3Bk70GvjZbAxQJuqV1D-aPkPiSxExRc-s1KdNbSqKis95GN1zXbtvA3TSEquqrfOdk9xdYC3-d6d-PuEcUc534duvz4kiIJOcrC_3WZT_LzoO8tWqdjpqtbt0XvHtNLFHAYVE0SQwh4GBNKgtXS6lSwxjZemmdNuLJ2extxxvVaZbVp0m2-NvF8MjBoijT9GUI-hrKMlM-tpIzYNq0d16usQB7n4w3sHxjPlg7lgq_1diIOXAWN2QR-NYIg-XiKdoMMCYeTanpSRPRJVPKmBOOkKZbGMHoBOzmC8Jsrs0KIqoarMKp9dG40ZqZlJr3KyfGJpXfu8AeCSSnrPlw4MFCL70sB0hfFiX-Ec9x6J7LJwyOjGhwfcpzCGu5bID6HTV1Cqs-kBFr9LB9bjpaFmEzvhki7y5PmfUpsRsrG7eE07gt7VtL3g0ssKvh9k6T46lLX0tq0nn9krvxysYiv9z8OXM2wbFNHQs24AQlPLXQ4ZstGW8Oy52hqcbBnI3zb9ILw4JLH2SLEvMST85zevwWALfsOn2g2v7fIZZQLOQU9CUcODnNXOtlyIRiVE4i1PmMBrcsPe9SpZ0Auooq-_pmIdnSV2QUBAGJoLq48wgxE1CBMiguSCYTdHhRH5IMLr81w1vrEczPyE60GCgkAvt5EqSXqWGwtHo1y-iv5LPgBrU3SiZ7LiAfbszeOR53E6hNDpNCIPG75vBra8cma3k7zmZAD0W-FrN2W_uaHc_i0jBaw4nPRwfV-zjLeK1Nv-E4B4EB_J391Ol8GkU4cQNYDd13A8UIMvX_U8xmvPWr9tXmONagOXsgS80uL-SuxlYfkHG2eOGc_6IUZj9RLiJzU3XGS3GvtbOmYhZ1pBZ1Fl8R13KRKa20BZNRyEMHiqPSWhCXler9isuZS7K3YfakoYRInL_-TEYhHu-ZA3Tc78uYItyXgvsPQ004zlpTKkv56_ANFJ8JnPlYfE8bhw8OZ_H_EFQf0h88h6Slf_D74LVkDtJYgE7B0pEwr-BnAAAQ6uRezgdjgS8068BdZkALxmVbNQluId52nP9gg0tTcvOhB9oQRfpbs0W7SGA4biAIO0ZsCB0fd0j6ZeOjcjTh4O8WRqblwFXdp_y5LI19TiDEAUMQgosT1BkARc27NFBsH5an-YzWMfnp228v1KXYMBV21kM8qF2gD3-9BfBR8is96dcok0X_2LRBzQS7lBkk8XjO2WZQDl4rHhg2IDvI6N-Av-TsBNF3ztoR5Q7S1mYJAUtVTjHyDcQIsZNMAbhU5KhExB9jhJjMKmaUpqyAPT1U6c-6NG2BGBKPJLMLvM_vaTxtJT2BySbXxr1DsYRztZSXOrFWnOgzNr7XSxVUXPPK_3AHgqAonKcEhceT3oD8X_gpoC48Orr7qVmHFxQE48A8mzWbrRVc5GWpXHnHZdBuHCr9O8bZiaNlRMR188oZE17w6zYxEKrT0lIKOXHnfRniy76kOX9TtBDFLVmaqBjU-zR3Bry4C0I3NGsmp6XaLO0aikRgUGbLZAwDYM0mrie4xlii1OWyWboXXko-gRHFCjiuVZEJgrKXwwpWIBWN_LtrwQ2azWREUkeNbT8YgQJzcEabkX3EzOEtMERSSB0aIw-jCWut7dwCaPKlvRcaAgt_jveIMzJQCJy7pHWCk4AVKLVGv1at500We9qbYXN3nK312d5_EKaC87LOQjy2hjEp-VnfJi3ege4pRsAoiCrdLTgkyxBE9U3W1hZTGpUVLrWojqAIg7ZBzxI0eBLA9zTk5IzJS6_aZP-0yUvNAPpOdAUjqlmEHFu5TykY9Z7jmtUxsFFpdy6bEdnkcIiZ567MFGudFMnZej5RvjIzG1wTP5tcxgJmK-jHLOSfGZUPDWxMC7k_Lu-xiP2YOuRJ2o8DTLD8yCelIyajr2AMV-gX4WAFNF",
  "id": "rs_0a65156cc643f7d7016ab42e58474487d086ad456c2cbc0a1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.35,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"left_z\":0.17},\"note\":\"The cap rose with the left hand, so both pieces are held. I’m moving the pen inward toward the overlap of the two arms and straightening its wrist; this will leave room to bring the cap to the pen’s exposed tip without the grippers colliding.\"}",
  "call_id": "call_utVpN08OaIl8LcuKAKPi8OPb",
  "id": "fc_0a65156cc643f7d7016ab42e5c5c1887d0bccf78401f807088",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_utVpN08OaIl8LcuKAKPi8OPb",
  "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]: [-0.223, 1.5372, 1.0584, -0.3462, 0.313, 0.1802, 0.0524, 1.0588, 2.4123, 2.2616, -1.5982, 0.9234, 1.6615, 0.0706]\nstate[eef_state]: left_x=0.3963 left_y=-0.142 left_z=0.1415 left_yaw=-0.6017 left_pitch=-0.2066 left_roll=-0.0967 left_gripper=0.0524 right_x=0.3336 right_y=0.3133 right_z=0.1369 right_yaw=-0.581 right_pitch=-0.0793 right_roll=-0.1063 right_gripper=0.0706\nstate[joint_eff]: [-0.0479, -8.9504, 10.4684, 1.6239, 0.0904, -0.0366, 1.033, 0.0068, -12.2735, 8.4171, 0.2125, 0.9353, 0.2613, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8edfec5ad5908979bad57b63871d2c9e467c6f774c6587ab502ca43d4801b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f495734fc96fb8490bde4cbeda8e97a3d0054b1b65e0cc7ff3df856e7d54a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c9c549fd15b196dd479dc5b01f4318085576e42ae81631216ab7b64fa4e7cf",
      "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 · 6.226 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 126 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.8652, 0.7113, 0.4015, 0.318, 0.1951, 0.4843, 0.8589, 2.2082, 1.8568, -1.3277, 0.7341, 1.2926, 0.0653]\nstate[eef_state]: left_x=0.4031 left_y=-0.1424 left_z=0.0025 left_yaw=-0.6046 left_pitch=-0.1375 left_roll=-0.0615 left_gripper=0.4843 right_x=0.352 right_y=0.2323 right_z=0.0964 right_yaw=-0.5979 right_pitch=-0.3046 right_roll=-0.3072 right_gripper=0.0653\nstate[joint_eff]: [-0.4718, -8.4308, 5.3812, 1.6044, 0.2076, -0.0855, 0.0806, -0.3624, -11.6718, 5.6274, 0.0855, 0.4615, -0.0611, 0.6227]",
      "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]: [-0.223, 1.5475, 0.9874, -0.1963, 0.3134, 0.1802, 0.0524, 0.8597, 2.2101, 2.0598, -1.5929, 0.6941, 1.2667, 0.0687]\nstate[eef_state]: left_x=0.4048 left_y=-0.1439 left_z=0.1334 left_yaw=-0.5975 left_pitch=-0.1427 left_roll=-0.0714 left_gripper=0.0524 right_x=0.3395 right_y=0.2265 right_z=0.1439 right_yaw=-0.6093 right_pitch=-0.3555 right_roll=-0.3876 right_gripper=0.0687\nstate[joint_eff]: [-0.1709, -8.9915, 9.9761, 1.7167, 0.1197, 0.0024, 1.0281, -0.4718, -12.0137, 8.5949, 0.3443, 0.5934, 0.1783, 0.5397]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.5372, 1.0584, -0.3462, 0.313, 0.1802, 0.0524, 1.0588, 2.4123, 2.2616, -1.5982, 0.9234, 1.6615, 0.0706]\nstate[eef_state]: left_x=0.3963 left_y=-0.142 left_z=0.1415 left_yaw=-0.6017 left_pitch=-0.2066 left_roll=-0.0967 left_gripper=0.0524 right_x=0.3336 right_y=0.3133 right_z=0.1369 right_yaw=-0.581 right_pitch=-0.0793 right_roll=-0.1063 right_gripper=0.0706\nstate[joint_eff]: [-0.0479, -8.9504, 10.4684, 1.6239, 0.0904, -0.0366, 1.033, 0.0068, -12.2735, 8.4171, 0.2125, 0.9353, 0.2613, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8edfec5ad5908979bad57b63871d2c9e467c6f774c6587ab502ca43d4801b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f495734fc96fb8490bde4cbeda8e97a3d0054b1b65e0cc7ff3df856e7d54a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c9c549fd15b196dd479dc5b01f4318085576e42ae81631216ab7b64fa4e7cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42e5f59d487d0a49adfd8dd895c3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":-0.35,\"right_y\":0.33,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.45,\"left_y\":-0.27,\"left_z\":0.18,\"left_yaw\":-0.35,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen is nearer the shared workspace, with its exposed point extending ahead of the right jaws; the cap remains held in the left hand. I’m bringing the cap alongside that point at a safe lateral offset and matching both pieces’ directions before the insertion approach.\"}",
  "call_id": "call_SN6Iy6ZNPgVeRGsIOW3gMgUZ",
  "id": "fc_0a65156cc643f7d7016ab42e6404bc87d08a7680aae4c8de19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SN6Iy6ZNPgVeRGsIOW3gMgUZ",
  "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]: [-0.5465, 1.726, 1.2526, -0.3233, -0.1917, -0.0875, 0.0524, 1.0004, 2.2345, 1.8751, -1.3434, 0.9459, 1.4742, 0.0736]\nstate[eef_state]: left_x=0.4265 left_y=-0.2158 left_z=0.1406 left_yaw=-0.345 left_pitch=-0.2113 left_roll=0.0828 left_gripper=0.0524 right_x=0.339 right_y=0.2697 right_z=0.1183 right_yaw=-0.5339 right_pitch=-0.0726 right_roll=-0.211 right_gripper=0.0736\nstate[joint_eff]: [-6.0923, -4.506, 11.5897, 3.558, -0.2955, -0.8181, 1.0232, 7.4735, -19.7128, 9.6068, 1.7509, 0.9841, -1.3993, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c025d5f301ec60ac0be74846080e16ae919b2c00ea562c83233ff124c530fdbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7435e1b5b74e0d98cf265124d4dfed2f997495882dcd59570dc97a8f8c30dfb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040ab4cbe6ccf47d4bec3d04a6dc31230e1f9aea50d1ee47530a646d975fdf1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 10.66 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 126 changed as sent

message 130 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2222, 1.8885, 0.7067, 0.458, 0.318, 0.1848, 0.047, 0.8589, 2.2082, 1.8568, -1.3273, 0.7235, 1.2926, 0.0666]\nstate[eef_state]: left_x=0.4073 left_y=-0.145 left_z=0.0015 left_yaw=-0.6015 left_pitch=-0.1112 left_roll=-0.0587 left_gripper=0.047 right_x=0.3509 right_y=0.2332 right_z=0.0951 right_yaw=-0.5985 right_pitch=-0.3151 right_roll=-0.3055 right_gripper=0.0666\nstate[joint_eff]: [0.1436, -6.106, 4.2188, 1.5604, 0.0366, 0.2222, 1.6825, -0.1709, -11.7538, 5.559, 0.0513, 0.486, -0.0513, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.5372, 1.0584, -0.3462, 0.313, 0.1802, 0.0524, 1.0588, 2.4123, 2.2616, -1.5982, 0.9234, 1.6615, 0.0706]\nstate[eef_state]: left_x=0.3963 left_y=-0.142 left_z=0.1415 left_yaw=-0.6017 left_pitch=-0.2066 left_roll=-0.0967 left_gripper=0.0524 right_x=0.3336 right_y=0.3133 right_z=0.1369 right_yaw=-0.581 right_pitch=-0.0793 right_roll=-0.1063 right_gripper=0.0706\nstate[joint_eff]: [-0.0479, -8.9504, 10.4684, 1.6239, 0.0904, -0.0366, 1.033, 0.0068, -12.2735, 8.4171, 0.2125, 0.9353, 0.2613, 0.4811]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5465, 1.726, 1.2526, -0.3233, -0.1917, -0.0875, 0.0524, 1.0004, 2.2345, 1.8751, -1.3434, 0.9459, 1.4742, 0.0736]\nstate[eef_state]: left_x=0.4265 left_y=-0.2158 left_z=0.1406 left_yaw=-0.345 left_pitch=-0.2113 left_roll=0.0828 left_gripper=0.0524 right_x=0.339 right_y=0.2697 right_z=0.1183 right_yaw=-0.5339 right_pitch=-0.0726 right_roll=-0.211 right_gripper=0.0736\nstate[joint_eff]: [-6.0923, -4.506, 11.5897, 3.558, -0.2955, -0.8181, 1.0232, 7.4735, -19.7128, 9.6068, 1.7509, 0.9841, -1.3993, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c025d5f301ec60ac0be74846080e16ae919b2c00ea562c83233ff124c530fdbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7435e1b5b74e0d98cf265124d4dfed2f997495882dcd59570dc97a8f8c30dfb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040ab4cbe6ccf47d4bec3d04a6dc31230e1f9aea50d1ee47530a646d975fdf1c",
      "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_0a65156cc643f7d7016ab42e679e0087d0800363671165c775",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.19,\"right_x\":0.29,\"right_y\":0.2,\"right_z\":0.2},\"note\":\"The arms crowded each other before reaching the intended alignment, and both hands stopped short with increased joint effort. I’m separating them and raising both pieces rather than forcing the cap toward the pen through a collision.\"}",
  "call_id": "call_mjS5GZCK7OP84PpzvrXzEtlt",
  "id": "fc_0a65156cc643f7d7016ab42e6b88ec87d0a41299e32c1ae551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mjS5GZCK7OP84PpzvrXzEtlt",
  "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]: [-0.5392, 1.6161, 1.169, -0.3256, -0.202, -0.0956, 0.0524, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.0758]\nstate[eef_state]: left_x=0.4088 left_y=-0.1991 left_z=0.1543 left_yaw=-0.3257 left_pitch=-0.1859 left_roll=0.0791 left_gripper=0.0524 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.0758\nstate[joint_eff]: [-1.0462, -9.0325, 7.0359, 1.453, -0.022, 0.0708, 1.0281, -0.8274, -13.3675, 6.3111, 0.1294, 0.6813, -0.0562, 0.2125]\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:67cd07caf642cdf3405fd708260287fcc7d96c417718b66e05035306d0afbdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7c2da6681f7d2d0a24f94104b2ac245bf6832d741b6fd64bc3c10dcab01585",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdb3f9d6386ed46e5f7abfaa1b8d6785d79d1953b8fe4dfa5167e34b7fb2333",
      "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 · 6.036 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 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]: [-0.223, 1.5475, 0.9874, -0.1963, 0.3134, 0.1802, 0.0524, 0.8597, 2.2101, 2.0598, -1.5929, 0.6941, 1.2667, 0.0687]\nstate[eef_state]: left_x=0.4048 left_y=-0.1439 left_z=0.1334 left_yaw=-0.5975 left_pitch=-0.1427 left_roll=-0.0714 left_gripper=0.0524 right_x=0.3395 right_y=0.2265 right_z=0.1439 right_yaw=-0.6093 right_pitch=-0.3555 right_roll=-0.3876 right_gripper=0.0687\nstate[joint_eff]: [-0.1709, -8.9915, 9.9761, 1.7167, 0.1197, 0.0024, 1.0281, -0.4718, -12.0137, 8.5949, 0.3443, 0.5934, 0.1783, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5465, 1.726, 1.2526, -0.3233, -0.1917, -0.0875, 0.0524, 1.0004, 2.2345, 1.8751, -1.3434, 0.9459, 1.4742, 0.0736]\nstate[eef_state]: left_x=0.4265 left_y=-0.2158 left_z=0.1406 left_yaw=-0.345 left_pitch=-0.2113 left_roll=0.0828 left_gripper=0.0524 right_x=0.339 right_y=0.2697 right_z=0.1183 right_yaw=-0.5339 right_pitch=-0.0726 right_roll=-0.211 right_gripper=0.0736\nstate[joint_eff]: [-6.0923, -4.506, 11.5897, 3.558, -0.2955, -0.8181, 1.0232, 7.4735, -19.7128, 9.6068, 1.7509, 0.9841, -1.3993, 0.3101]\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]: [-0.5392, 1.6161, 1.169, -0.3256, -0.202, -0.0956, 0.0524, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.0758]\nstate[eef_state]: left_x=0.4088 left_y=-0.1991 left_z=0.1543 left_yaw=-0.3257 left_pitch=-0.1859 left_roll=0.0791 left_gripper=0.0524 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.0758\nstate[joint_eff]: [-1.0462, -9.0325, 7.0359, 1.453, -0.022, 0.0708, 1.0281, -0.8274, -13.3675, 6.3111, 0.1294, 0.6813, -0.0562, 0.2125]\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,$blob:67cd07caf642cdf3405fd708260287fcc7d96c417718b66e05035306d0afbdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7c2da6681f7d2d0a24f94104b2ac245bf6832d741b6fd64bc3c10dcab01585",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdb3f9d6386ed46e5f7abfaa1b8d6785d79d1953b8fe4dfa5167e34b7fb2333",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42e70ed6087d08d810f6a10cd2b55",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC53Gsxsmgki8T40ptUYPcFMepJFsSIPmkgLHA3IUEnyA1vpx0WxC5-rzjlKGq9P1Umc60YdA5C7gsGOY9coHueSRR4c1BM7x3VLs8sLFg6wXUIHtA9WN1yKvljqMMsFL9sUjUAW8hAz1oOClM0QnSGAgYUpXUHtT522FcIheNmNlveehux6wwYtvut8mNNlP2FvrpWQlazzqrHfYRqujJYpdfuAgwBXZMhLIv4TvbWyYjbampZZvz7gb30B3ZDBJJA6Z04ysm_v1MlVOIsq-tesUirj80uheegUfmXYww652JKnx0v_cSfigndG2wkKCEcEnLcVxNk3HZNAOWXmK63Z2ncpZ9ouncWvoG6H1MyBPmceEcvH_nG8WlREBk7yAroajOOu9ghkHl-gM456p3tVjxuYRWx-gqJo_xEdUoKIjQrXAYBXEv_07iYlCzlB4gdsLjUc57BmuQAkRQklKP4JMeChaJboAkqMr7ZtBiTl8j2Nm35ucEOegOWgwZWGCllQns_aSmHLOwGEg9k5sXycOVnyUwlPcgFAFWYK00_IUda66AB4t5tDGM7Cj1__6pd-AXosPJXopg29Oy7VL_zxiCU92XTxW7mxULCT9PdFQenR0Fr_cK0d3q9A12tNz9XnC7E0jyqrwSHcr8ZtWQfTQQ5ynU-U9E90ber_To8w7_Db2h2MYl6r4brylm8pNf_iK6cbvGKfuWGmt4BxnrKewEY_sAmY4JmOibm0rGb7kaDK3AvoQq3rwpmDKHw9bFOERNC0y1grunfzv8TKkBIgpJPpPjsz4A21xW6QlbG_Xr2dJ8cgKLEEJWGFOwIVhGRasABrzdArPLPHi5qOAI5VeqZSOwTQ5AlG8E3QvGlhqWCImKejrsHIp2m-J9LkcRaHc4a8QtmWuLbUdWE8-IvOPZyicVGq0Tlg9C0LIJkV7bw0HU5Kij1jPgbUVJVgpbLFztJwe-YLp7mIhP_7VZhTLm5ITHU450mxAhX7cqY0JSK5t3FJaXT4UtgWp24-c4wpKyhusiPAPlxo4IOa23_pKrkKgEuihvbjD7ghtG8D4f8EwlYZ9qN9Eqm5lLSQZ0clDDm2DXAt8YsHStRp7vO9_O3h3ddtvDFFKjUSFeelrJ2FEdAMet49-tU3Nl_Xj9Cq1p_LhE9m8Ug6r8IRRw2Id7HM4zjsglx_C597fpzds9mXcBohTx8bq8-NjoUtiL--J6f6fd0wU9A_l-nTIvvODo-1Qs6W5bVG3VWB8cZtTCZX2r_-1bfFhJ9p2gJ_zGu5Hm13RZAO5kWW5GuU555qoaF0RqPwk_fYaUKqy_qRyYnNSrxW6cSzThsCxsfzyK2t_I-vZqSEwl4a1xFXMl5iz5iYsffbOj3zTpkGOsvLuWnBDbZPDf96eKTn1PUcUvATIq3UDLAZmroiJxw3ij5brilCECfEF7R8bf9kAbHDB3VAU6Z2ylj2sC5pNCD-O0c6kzSPBbHlFTBja88b4ie6NMhKxwqhmiRqob_tsjHoRsn6WlV0j2NfNhuVqQAJJfsQ5hhpMUufFR9gz2JRvBsYbJ0WHeZBxoElGtFz-o7P6F5iD6gvXUeqcqs3ZBj0jkYgCytz4p5GfPZF9DXYyHUHvLolZpqsVOH2HmpyIGjpwOuXv3GU59XVqBDa5qdDfXwDlVyywa_hkF__0JEYMJglTOgklb_hWDaUs4ljyk9E430LSKZxGXZQ7Yk2SPmO5bx9VAm5CpEdt7kA4wKwIw3o8rf1pLYGaRjsqrR7SWu9TtVTJwQoYQprX6QKksCuWp-yFVEWBUTi_z7tT1bDBfMmNe5PzemsG3fsC2XHd8rAykPwU6J-WbBNRlLikRz5TQBWtuaVZCgS07o8-BhQo5mN_yWl2h7uVaHs_MVFIBpWaF7jgIRXcJs6VgBQqHxoBQYXD-hhq4Zz8mY9hXtNu2NkZFw59VL1JbgbjgRRWeXmo20=",
  "id": "rs_0a65156cc643f7d7016ab42e75965087d08c77968a68b666b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.29,\"right_z\":0.18},\"note\":\"Both pieces are still held and the joint loads have returned toward normal, but their exposed ends are side by side rather than aligned. I’m shifting only the pen inward a few centimeters while the cap hand stays still, then I’ll reassess their spacing before any insertion motion.\"}",
  "call_id": "call_UT25oHHNICmLUv8SOXSLCp5A",
  "id": "fc_0a65156cc643f7d7016ab42e76ff8087d09195f71448b5a8e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UT25oHHNICmLUv8SOXSLCp5A",
  "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]: [-0.5392, 1.6161, 1.169, -0.326, -0.2024, -0.0959, 0.0576, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.078]\nstate[eef_state]: left_x=0.4087 left_y=-0.199 left_z=0.1543 left_yaw=-0.3251 left_pitch=-0.1862 left_roll=0.0792 left_gripper=0.0576 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.078\nstate[joint_eff]: [-0.8684, -9.0462, 6.9812, 1.453, -0.0806, 0.0611, 1.033, -1.0598, -13.3402, 6.147, 0.1441, 0.5885, -0.0757, 0.2076]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db7ab196efd6cbcc02ecf4a8028a23dae0197ddd3c2cbfa6cd7f8c723e4f5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e7995c8188100e0745404dd58b014e2483f313a62960105e48b8908c7b08c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e46dabeba0633c912d7c3236e8ca107807eccbd07de424a31f0a292be6656c",
      "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 · 2.881 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.223, 1.5372, 1.0584, -0.3462, 0.313, 0.1802, 0.0524, 1.0588, 2.4123, 2.2616, -1.5982, 0.9234, 1.6615, 0.0706]\nstate[eef_state]: left_x=0.3963 left_y=-0.142 left_z=0.1415 left_yaw=-0.6017 left_pitch=-0.2066 left_roll=-0.0967 left_gripper=0.0524 right_x=0.3336 right_y=0.3133 right_z=0.1369 right_yaw=-0.581 right_pitch=-0.0793 right_roll=-0.1063 right_gripper=0.0706\nstate[joint_eff]: [-0.0479, -8.9504, 10.4684, 1.6239, 0.0904, -0.0366, 1.033, 0.0068, -12.2735, 8.4171, 0.2125, 0.9353, 0.2613, 0.4811]",
      "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]: [-0.5392, 1.6161, 1.169, -0.3256, -0.202, -0.0956, 0.0524, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.0758]\nstate[eef_state]: left_x=0.4088 left_y=-0.1991 left_z=0.1543 left_yaw=-0.3257 left_pitch=-0.1859 left_roll=0.0791 left_gripper=0.0524 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.0758\nstate[joint_eff]: [-1.0462, -9.0325, 7.0359, 1.453, -0.022, 0.0708, 1.0281, -0.8274, -13.3675, 6.3111, 0.1294, 0.6813, -0.0562, 0.2125]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5392, 1.6161, 1.169, -0.326, -0.2024, -0.0959, 0.0576, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.078]\nstate[eef_state]: left_x=0.4087 left_y=-0.199 left_z=0.1543 left_yaw=-0.3251 left_pitch=-0.1862 left_roll=0.0792 left_gripper=0.0576 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.078\nstate[joint_eff]: [-0.8684, -9.0462, 6.9812, 1.453, -0.0806, 0.0611, 1.033, -1.0598, -13.3402, 6.147, 0.1441, 0.5885, -0.0757, 0.2076]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db7ab196efd6cbcc02ecf4a8028a23dae0197ddd3c2cbfa6cd7f8c723e4f5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e7995c8188100e0745404dd58b014e2483f313a62960105e48b8908c7b08c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e46dabeba0633c912d7c3236e8ca107807eccbd07de424a31f0a292be6656c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5-QDSAQch2YnrJpJkuBs6f-B6apM1wSA4IphWf6COEF4dPLJFAD_VPqymbns1SFmfZLyicEKozxa0drLLHVktV7Eur1mQc-0dgSeCagDsusmjYXPCf5NMYPEp2brxLSLSJm0ekaFPkE4q0xeN4DTLGblQbKTZHkBHo-jv6U1_HjXu8zJLBK4LchWb0IckGLvOMn8eTBqiHtJQSohewaJbBEFPz-xwYObsPh22Eo4-gMkV4HGS0SRe3Qz1mpL81PVoxds8154YnrpA71Hlsl89LgCNxRwlJfyOrxob4LPJoJvQT8s4K9I9uh_-7f_RDbWK634ocwgPW37_LZRPKl0zlNEoahzbpPGu6UxTlsmFISHmLdmYfQ9GOd4J9QUaT4d1ONucbhau5ngLP-HKpU3TZz_lzycHr-90rklJ-hwjCcq8ptdLqUGbkQ_2stjhG1YQ0AFiwWn60cbAb-Izl9-q4tHc4TilY5Dsdf0_4mLixfEpKwpZGZInsGOK_VrHbm7gb7osj0jhkRqNS0kkuIxF7K-d4hMufrPGVkKvQTPylfs81zuaiUDUNDnDcVi9j6qhN56ylSeRoT9_BYghe2mtqZC3i5bqop0L5MvVJImw7aiyIIuRXk-GIXm1BkN8Uzbfg3aJSbhAzvJq0BXoojopbadqTCUrxCVqhgoaw3OFpLgNLfYS8aMEAaZz7-0nQ64eYlzw0AIR3dQNKmBxrSTI96aIFQqXtpTHN9jWQcYZ_KL27P4W9itr-rCBvUFhWH60Ilrr7qnpnN0V4vPI4TbDogIoN8sl4LxZqpONu_AO-mPv3VGXpMGAq0CBxgbqcuRWu6aKsp2evIMZ06EV9QYXmpXOHpgRqpOOPM1mSQbjf6KSPC0COIoQlkQKlhtCFGQtzQus7uiLPrP3kRZAWtapn8uJYu5LFvfxroMo-ywKJqoTAMi90puh3bFGUOo0H4MVGFIqkFLHvNgJQAxn-976D8vJ9prfmGC9C4VsIFDjAh5Sjqua7FVuVbluf9auKS_pvTX5LWYmHf25c8nNLGapAIaqhk8f76caBlMPszEhzNPcxpAV20fVhOf8YQiBs-Zvlf-1vmMYpI-267TE0bcKewkHT8jpEO5Kk_LHksyRBgvO2396K7UtzW2GvYRj0PuqTihXYnrTd83HQGyr6E3g779C3Orzvt1oo4McVMBFa7ksk0Vr0RQJCHNC3_2rSVY6Fa7LjqU7cso5R1WzN4vk9F8YzyeX3JG7rtB9na9RvdVphNBGc2Y3WeUPaw27V62w2uWpTQQAPGGX-vVLubVbDUnkf1PjyQrKGXYme16FVsmeE1C_OCBxZQq56ftInaE3UbKgjpzwuSN1mvWlsmDMbxMhv9YElNP6xP2M_SSudPJqWKtlo3RU7aYWs7uBpuPqwFoA7SLKuOBsI3NSqfnKKnZREj1mJI2o2gWFkGRmjIrfAjKf24ahBBYTaQaMMWRo68a-NKdDzJKoE_j9Qp7hDHLwjceczk4fmMrHc0USG0wbmlGtaeS2vLqWxIMvJjv7fxjY90SVkPUV1TVRiR7U7W-V6B0fvD2eJeK5zoVJcSt9T4P5PoNhC4z7diet-Y-yvYcLZi5hAbpLBhdemqVqMrFd86cfuHT5RZP1pVAuwofM9NbTylIKWh7lNlPqhkdBw8qX6qz9R94TCSgt_zO59HfmeWjV_xb4dgS8Z2UWa7uhyL5UsMyOTLCWeEw1UoerGD4k-TP5WKFkCQZKjjRL0bTHVkAxh9D4yGcHDnaZWodoFqTOxr3zgtpq7H-o-9nG1eaeFK_n8U7iia_JUXjCu5QF89HO0d5xNHO8j2huUMfs9j355pXT8ZqlKUZIU7zj0VQT2iIQRe7wjGjOIh02kcvh261zOXf6yS7iQ_S7IJ64N4SNKD9KI-tIF8M5FMCXlVhnKPAihbtd3vyEWTmnLdVwZ-RsduNpfTskbcqsHqvIPBVik26zJqam9zpXRa7jIKpB7BEW9mcz9TlVvR-YEMtkbEUxKFxGTK3aSwxpXPCzKO9gm3tNfJpljX-kVBLvaJXomENCMw9IGIaxVKraXcaOREbrZ7P2z2SrW2q1-jCTSRZMsfHRH9uYprk1bnFqG-EWlMUvLB3TchYAXzgkABp0OCC-HmdiCUr0dRiy8IFVe1HKLOgOdLl5t2ugkak40hpW4THtrY7jQ7w69ZuGX-903TLLDpw8DKY5JIr5W21he38dZFPvEuPCakBEGK7r3-5YVaugtd9AgBTTvJMgXNj3GsjKEcAgZAoBVHD1b9Y3_gjFn5U_N0XzM5oiQ9gwRgPOoqSguOooHuTmvCQEwVdMkbg1o4P8hsIPlqWw4y8HsRpfz2X9nSx2unxP1G2OCB0NlCWIobKTOEWXvRuHWHCmYoP4lTwQCgJd6FpBgu6zbG3gMwe0OwuH0_Zf1ZRur6AYWC9ND9-vRuTGBNN_xMh9xgGbTYQAWjEfts16abYqJ_00gB6zi7Gq8sWIeFiDmBR7rBe-Er_rMPhObL7FaWmVNWz4uiWmdom18vAHSoFHg4vPwwt36_uS1ppRZ97FO316riNakHEoqj2zMmcsmLDUbE-KI75IXmKYLWUKkIB74KbW3qfNXatYBKeKM1uATlDmo2vlBhQGOM4fPKIDtXfIECxuCt51PkHQN1qXh-x6E9JByHbL_VPpvc1Tw0ZaBZMP5daWu1kk-qamDz0cuCN67jwpWtq9bdVE-NU5Znz9ab43MQbr1lrnalga7VY7pyy8K56KuKwahP-3XJ5GdG4t6mmtZDdK0s71aVF2JKAhWpI9LB2WHeQHiKT7dW4AKsXJvI4dHvTO0C7xuwzVBE9XJPgj2vAMj4NCaBbs5B7aACgJ1HW_wxP2kis8P2xjwSfLD-pngDB7QjsEPcEFE1uAZacih1rNt0LoTmZp--KjBuy4jMNpzwzu1Zl9jCnabZtVaYSni6EzIZm8xX7JtmfffbEwHIuDID0xlBvUw7TrfXRfudSfDyoGr3Njb9CqD2JEunpv4wvUodx5o6hPNc2cbtGLC9pW9GqQ-ONs9T7M=",
  "id": "rs_0a65156cc643f7d7016ab42e79dd5087d08975ce516d4984b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.03,\"left_z\":0.2,\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.18},\"note\":\"The pen hand was blocked from moving inward while the cap hand occupied the central approach corridor. I’m temporarily moving the cap hand back to its own side, then shifting the pen toward the shared center before attempting to reunite them.\"}",
  "call_id": "call_8AEEZJPs8SqkSnu2lBMzF1pU",
  "id": "fc_0a65156cc643f7d7016ab42e7d34f087d0a9fb1f0b2c3e0f0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8AEEZJPs8SqkSnu2lBMzF1pU",
  "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]: [-0.0227, 1.0973, 0.9321, -0.6003, 0.1356, 0.223, 0.0576, 1.0435, 2.2044, 1.9503, -1.5677, 0.8936, 1.5139, 0.0794]\nstate[eef_state]: left_x=0.3274 left_y=-0.0277 left_z=0.1962 left_yaw=-0.2727 left_pitch=-0.1893 left_roll=0.0761 left_gripper=0.0576 right_x=0.3088 right_y=0.2638 right_z=0.1464 right_yaw=-0.5328 right_pitch=-0.1207 right_roll=-0.2981 right_gripper=0.0794\nstate[joint_eff]: [0.1573, -4.3009, 7.1179, 1.6337, 0.0659, 0.1441, 1.0232, 0.7726, -10.4, 8.0205, -0.1343, 0.6081, 0.1099, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9d0cc4ea8364c3cced52cd1eacb5615486e61b0fb6481a41142fb91ce06ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034b03b85e7d07324b7f6da0213597fda2ff10ef469574bf2123fc52396d4ae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793d1ad58556fb487d5d8faae7dd4794280a87019991bc96d830c635d7f606fe",
      "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 · 5.608 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 139 changed as sent

message 143 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5465, 1.726, 1.2526, -0.3233, -0.1917, -0.0875, 0.0524, 1.0004, 2.2345, 1.8751, -1.3434, 0.9459, 1.4742, 0.0736]\nstate[eef_state]: left_x=0.4265 left_y=-0.2158 left_z=0.1406 left_yaw=-0.345 left_pitch=-0.2113 left_roll=0.0828 left_gripper=0.0524 right_x=0.339 right_y=0.2697 right_z=0.1183 right_yaw=-0.5339 right_pitch=-0.0726 right_roll=-0.211 right_gripper=0.0736\nstate[joint_eff]: [-6.0923, -4.506, 11.5897, 3.558, -0.2955, -0.8181, 1.0232, 7.4735, -19.7128, 9.6068, 1.7509, 0.9841, -1.3993, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5392, 1.6161, 1.169, -0.326, -0.2024, -0.0959, 0.0576, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.078]\nstate[eef_state]: left_x=0.4087 left_y=-0.199 left_z=0.1543 left_yaw=-0.3251 left_pitch=-0.1862 left_roll=0.0792 left_gripper=0.0576 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.078\nstate[joint_eff]: [-0.8684, -9.0462, 6.9812, 1.453, -0.0806, 0.0611, 1.033, -1.0598, -13.3402, 6.147, 0.1441, 0.5885, -0.0757, 0.2076]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0227, 1.0973, 0.9321, -0.6003, 0.1356, 0.223, 0.0576, 1.0435, 2.2044, 1.9503, -1.5677, 0.8936, 1.5139, 0.0794]\nstate[eef_state]: left_x=0.3274 left_y=-0.0277 left_z=0.1962 left_yaw=-0.2727 left_pitch=-0.1893 left_roll=0.0761 left_gripper=0.0576 right_x=0.3088 right_y=0.2638 right_z=0.1464 right_yaw=-0.5328 right_pitch=-0.1207 right_roll=-0.2981 right_gripper=0.0794\nstate[joint_eff]: [0.1573, -4.3009, 7.1179, 1.6337, 0.0659, 0.1441, 1.0232, 0.7726, -10.4, 8.0205, -0.1343, 0.6081, 0.1099, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9d0cc4ea8364c3cced52cd1eacb5615486e61b0fb6481a41142fb91ce06ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034b03b85e7d07324b7f6da0213597fda2ff10ef469574bf2123fc52396d4ae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793d1ad58556fb487d5d8faae7dd4794280a87019991bc96d830c635d7f606fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC6CJ_BvqUH2f-CSY1Wwtn0Z0ykcwY_jHEzU7xPkEEb6cYHHoASIlL6-kJs25k2NCWSUk396mQxY6zAlI8Si3Hlx9wD_FY6z1ADBCjdBqYZTux1kgV6ZnwEJ_Y9P5oNYs5P7V59-yOcN3lWO9afj0qUsRkKF33m-dlBgmtQI9edHkBeqaqn_Na8_Lr0BGdCO9_tlIHx-RbZw7xIu_DJ7GKQHL1REY_Sthb1SpsqYLg2l-XkXiSt5kSSN0rWDCO2lLNZqekpeu2GnwL2E-gNAAqBipn4fEwdjOFez1AzeCr9cUiukug39Qay8wavjbxw7EXzJo8GRVvL4gboaIWtSIIfdoNnTftvYmwVicXJkpm5Yck3wOkdkBYLSMhAWFmTAdHaFHl_E0c4Ol5azIyYOCeUeNfiKnPlb88MunyK3e70SmbkEFAA9wTBNoydNBYUAeGFySAZ54BYKGMuhnqKRlRgjuRRjO5mHy2ieD7f02NVum1qxlDJYaDvGVTe1rpj4oeSmpjWdGw7TVUgU6HyPNEOaccyB5TIfR_I-KgbcLYci9Yb2WiYctVzPRh_IPv9tuMOPg4TNEkEwAJwlW-vgpNRDrnNv-BzMCjGbb99a1O_3XLyiHAlEPlisymbVunLXzgV7rZ9L44EqjPtVCsoW2Bv1tcGsmaAEI94px0F6xCub5AoRt6U82ZU76WGac8VOvROBjp9lRcDjsVVBSl5igTm7f40jr-fkFPif9xEG9EoVkjHadcqI6-QlsGug2CNVwbEMbuxbhIYHVaHUGc0auwFjIofuXY3d085mmB1RnIep69_GT9D_0njElMvAXmwtJLzC0I91PzcqFHdpbRfXNdch0BNaA133huQpkX3aZtpgo8rMPuldml9jQnemFhGqAbJ6_DJdBz5atExV_wZSvhGAr2k5xfnVbMkYWYWQ9vjooo2v0NeyQt-VZlji-lI6aUOc5Xru_B45HMcXPz3Jkh0l8aRfZWlGOlFou1gQ-KC8N_HopWKx55RoR4KaF6GuYZVwk-I8URdc0IkCREnh7JgyGgqq-JP40JFHkXrEdZ0gkI7OicbKGnNwGYw0W7NXr67ZiSDofzVZXV--Hqs814WFbnKjMMTNsxwJzc3yrgGl3JHNPy9QHMixwjgCRFAMWuQxzttxV0zahYAyT-Mqp43vuftuz9ekNWF1d0Pa4gvCTnGJlLWpI5qjJeynXkj3x2V6tv-kDr5MW1O8z48Ts7Dt8BnS672NyuPFlSaeiSBzidIQh9t8QCl1AGRs4kxdQRJFhQeAJ5PCCnL9Sa_aFZbldTpoUod6GMGyxmrFEdEV1cKyJ7hVWgXLZAFCSX01WQ2-1PeDhdmaDCeOnhro7Xxi2Nc9JnpU_hcssXcH3yh3XPb-pl-mUJTxlM9_rWgrnIjwLBfakGhz146gApwaNfCeJwwAi10f0tS-UnTyMw-uwHiyHv4daVNOpl2F3SNoPnubccbCKDN-WmB8pYEo1tmYjSBmFYw3jB_FQVfx9yMWN1kCCCOi174q34S9awTCTEgJdr96DPyAzlzdKHwSHF8x8S8W0fPDzbIPu8wpst3Rya_NRNeWpt7Y90Xwaio5m_B_MjsjsOJ8ZOUsByNw1mf6Y5lEU4SSFtQ9kCsLQh0qLX1dqS4FSaewnYX_wQ_j2QEt",
  "id": "rs_0a65156cc643f7d7016ab42e81164c87d09f498fbf2ab9331d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.35,\"right_z\":0.22,\"right_yaw\":-0.32,\"right_pitch\":0},\"note\":\"The cap hand is clear, and the pen hand has started moving inward again. I’m giving the pen more height and a less oblique wrist angle to gain clearance and expose its point to the cap’s approach.\"}",
  "call_id": "call_CpCUGKijTYps0if3iBilyQA0",
  "id": "fc_0a65156cc643f7d7016ab42e81ead087d0a04f81854b32f20f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CpCUGKijTYps0if3iBilyQA0",
  "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]: [-0.0223, 1.1011, 0.931, -0.622, 0.1356, 0.2264, 0.0619, 1.1305, 2.2528, 2.1494, -1.5932, 0.9741, 1.3369, 0.0808]\nstate[eef_state]: left_x=0.3238 left_y=-0.0275 left_z=0.1907 left_yaw=-0.2756 left_pitch=-0.2153 left_roll=0.0718 left_gripper=0.0619 right_x=0.3057 right_y=0.3145 right_z=0.1836 right_yaw=-0.3293 right_pitch=-0.0627 right_roll=-0.3186 right_gripper=0.0808\nstate[joint_eff]: [-0.2803, -3.6581, 6.9128, 1.7411, -0.0024, -0.0806, 1.033, 0.335, -11.3299, 7.6923, 0.3297, 0.9841, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a719359995d6e4ee3e06e397f57da6e6c56246462d008ba50bbcc0c417e61ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411d7c1a84ef091f699cb26ca89872c55cbc7ad6c2077039dd23b78675deaba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3927c8eb8e6bf62bdd6d843ad40b8f1a68f61ee3861845b1bd752ccf1f5aba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 9.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5392, 1.6161, 1.169, -0.3256, -0.202, -0.0956, 0.0524, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.0758]\nstate[eef_state]: left_x=0.4088 left_y=-0.1991 left_z=0.1543 left_yaw=-0.3257 left_pitch=-0.1859 left_roll=0.0791 left_gripper=0.0524 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.0758\nstate[joint_eff]: [-1.0462, -9.0325, 7.0359, 1.453, -0.022, 0.0708, 1.0281, -0.8274, -13.3675, 6.3111, 0.1294, 0.6813, -0.0562, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0227, 1.0973, 0.9321, -0.6003, 0.1356, 0.223, 0.0576, 1.0435, 2.2044, 1.9503, -1.5677, 0.8936, 1.5139, 0.0794]\nstate[eef_state]: left_x=0.3274 left_y=-0.0277 left_z=0.1962 left_yaw=-0.2727 left_pitch=-0.1893 left_roll=0.0761 left_gripper=0.0576 right_x=0.3088 right_y=0.2638 right_z=0.1464 right_yaw=-0.5328 right_pitch=-0.1207 right_roll=-0.2981 right_gripper=0.0794\nstate[joint_eff]: [0.1573, -4.3009, 7.1179, 1.6337, 0.0659, 0.1441, 1.0232, 0.7726, -10.4, 8.0205, -0.1343, 0.6081, 0.1099, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0223, 1.1011, 0.931, -0.622, 0.1356, 0.2264, 0.0619, 1.1305, 2.2528, 2.1494, -1.5932, 0.9741, 1.3369, 0.0808]\nstate[eef_state]: left_x=0.3238 left_y=-0.0275 left_z=0.1907 left_yaw=-0.2756 left_pitch=-0.2153 left_roll=0.0718 left_gripper=0.0619 right_x=0.3057 right_y=0.3145 right_z=0.1836 right_yaw=-0.3293 right_pitch=-0.0627 right_roll=-0.3186 right_gripper=0.0808\nstate[joint_eff]: [-0.2803, -3.6581, 6.9128, 1.7411, -0.0024, -0.0806, 1.033, 0.335, -11.3299, 7.6923, 0.3297, 0.9841, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a719359995d6e4ee3e06e397f57da6e6c56246462d008ba50bbcc0c417e61ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411d7c1a84ef091f699cb26ca89872c55cbc7ad6c2077039dd23b78675deaba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3927c8eb8e6bf62bdd6d843ad40b8f1a68f61ee3861845b1bd752ccf1f5aba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC6JoSvfBSIxST0yom2A2uCvKYWtZemUDRkDTKaok1c55hTOSrh2IYVC8O8A36JaSYgknIrbNWCFksQqr1dHtNafvoUlpjcpNgT-T5ZNWx0v_6o4nhqPInvCLiONhVTVSZLWf4VvQvYzpaD3GStD_Pfbkfvidd50BXlW2S9Q89dKmi5AZYQKXOsrTyJ4KGQUBk6wEduoKoGZCe16dc7pWPJtKuAVNspg4RCvTvpxaslmLozbxRa4YBmTvC5_btheArbOaMSOWquLilI4OSA0mT3g09lkNiUHfJKI6z_5Mze2Hr0MRjAD50Pp1O8Mow8lI5-skDM2LrxM5O6vZHTCDrsspTsVawUJIilGPAmNBQX6kaXQ1xDEdl7Dc31g47odw1N2ALGPt67VJCa5thsdhfaFley-bopt0tYz5TQQC9w42gtJX08fu_6XOg--a8fUuMsnPtE45ABHQagLkgj4LFT_kgBHok2m4RXmfkGdZAE2HojPCXKUVa267MA2cOXwJ_yeH-abb1H1FD1KD4qO9ZXAkz3gBmkhIFP3qH1-EVSuSkf3-Mu1nZ197QKdsaNW0ErSzonUh_IkFPdIuKJFr3kW-bd1nCkU2SMMBqBN5_QJPogwvx9TvUMSUpBs0Sb-F6dk3lrkMaADUUUHxWteaBZpifmXBqrBSSr1i4coY41N9DmkeZKDt3xxJSy4d3bAseIkKI0qXJqmeeqRRWOt2dZd6fDBXvituyqCxEE4u-du8z1zlg8am9x-JaBHYFetq4sxJUir8LXdjyzufmJd1Bt_fECuNm4OlZYz_LyfsdB70Kj-HSwmAfDfhSUY2qpaY-BCnQk9CCQ_wxxJADJuRoDuEcCOXPqTCaYf6qsMbTRpjOKwkNgveWOmWVMxSUdtw6a2d9etvU0tW59Cy0KjDwW_Ai6Ex6HHu-PM7Bdm2DiyOBH6VL6M6JT77K3W0QIvAmUXVONMVDFf6Tm_F5FqFVS0J5V41q_SmemnIIFuqw8nl8GO4__ieZF-vQ0QG4ML2oIRBVI6HlS3iOL-Dau3bidpdiX9rT5bRg7ToKzLNR7qjb2l9WXsLwb9TJBrTnnrwsqNbF6l1coFyQ953KpdmYx1rCQ80jeDNQnnWTWGB5VznMK7thGcLB7zCcYUzpjvptYDM9xLkUf_LCnacIk9MCebKztX8pjuTx8kk52pVK8cebbKKAMZa2sS0BT626Ow2ePOjD6OMWgKWhQqIuHlLJgw_rxkmsbsE4M93uX3iin4XOQGQ8fVsXtMJJTsN-yVTg8rQUdM6lCO8gCasAEO_ZX5uv6t618stZH5fSOBBH6HEjvqpZyA41vNf6z5A_CVxgHNeoEHXi3FQsO_gzRViudMW1qhe30q2zN0mcq04OF1vZjg26Voln9F6mWiVSetbCHIspxN6l-Q45hFStWJ9qVSmP7IV2eUqdNMagFBOXB-ysgnjFUy-NEBIPRCXfQD4PThIWvKeDjIackT-6NCt6oP_zL4ZrLiSFaYfIv7_iC21gw8P3iiQmBYwEy-dBtHDs5ifQYKFcLh2oDVXCc9zXzZRJwXU8bmmmsC7jxX_lwI0V7HQH_gVQ6L1QzOulX6EYvPck6FWfBWShwaSYjxtIMJNkPnM-OIUrXrqLmfoFLh61SEb2EeI3SSKpWJeJeqDsqW-KUQPhrbmOkT2-TX_VQPojx-ltyw_TshYsGPKZ2qkeskpBgTepyaXDGElq7X7HHYymJZgQbkr7ia17hA5w7weX4YWfO6E5mDwLnPEDKsg7Vi9-ULmWrVqPmfQE5VfWvbUi50kVbTBnPzEvKzdJMx4-EMiCzOrCxVw09HcdKlQEYtU7gTEYUTIUS7u7CjiQ0gFjmF3Enigqsz4Jw4whJudqDSYhvRRkNDtk8iKZaENoaR7E5R3y44NmreZUvcU9189LTE05RFenLRK40b7iUnoNFvMma6WzIXc86i4BcW9YXJygzqh2-ZX06lu1wpqEHihr_O3TVXDh8q3Qb0d-NzVdLkkeka-33cOS7mProWwOwdSqeHQJhKasYDKfMn1Qq4RXe6ctSedtRFnBMLdJ3jIRr-qVQGR1lOY_5cPq-PevYY-crAWTZZKFMAzlTNKP01mBFX4v9CDvJF_GOX877yLRvZMRqPL-Wt1GqRxw04RJg7-N0BMsmYXyHhNzhjIrJMb8Ljaj3Tr9aRms5qsMRlMct62oAkCkO_h8QyFz15hTy96fxD16PdJWSBNLq5zVDJB0B45Aq1Ca0-cU2GSY2KK8RdN6NjQOPoEuphb037deoWBZwivNDj8s6p9xzbeYfAoMWkFd011-9EyWYXFmMwoKXpEi4T_co1WDr1g9eNDYp1LGYt2RDMRkQJrTEDfzb5wkO6fU3q-SnZTdjfVBbRFItDeRPgzzR1J8x9ncy1YhkeY4CQTWkIEUdPpoAfqbnESlDAltJ-RY1b09eaOBwmOdcBtPQ_fXTQRi1alaWi2yTKdoH-LHhnaLzhokquonXsPDyO8QmRLa1ovBH8CBrWAr4SCXQDk0baNKhFWadYcGDYgF5gTmLkVWLPUlxZr43aPJtDzSPrNh8qGyPWwZYUTDWahkhKt8M_fQPFg3kstfnFLXvENUsP_ddf_TJmPUmGIvSBrAIxpZAePM2K_nE9EvY5a7yfEfzJErL6dpGXiuZN3njiwpgmHA1svdVkOZzS0LavL56QlK7-nvYxyvpY_l5PuZTSHYyPP00icelHfobwHFKodbDa0E7CRbSX6n04R9291iPPDdCR0ekolMFWfw==",
  "id": "rs_0a65156cc643f7d7016ab42e84dbb087d09fb7f11fb9f7478e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.24,\"left_yaw\":-0.32,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen is now farther inward and elevated, with its tip pointing nearly forward. I’m carrying the cap above the pen-hand workspace first, keeping height and horizontal separation so the arms do not repeat the earlier collision.\"}",
  "call_id": "call_JsJg6dQD0rZoxzkQSpLac4Pw",
  "id": "fc_0a65156cc643f7d7016ab42e883ef087d0a7746abd0b34e277",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JsJg6dQD0rZoxzkQSpLac4Pw",
  "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]: [-0.5068, 1.5635, 1.2835, -0.4591, -0.2306, -0.1154, 0.0619, 1.0744, 2.2585, 2.1109, -1.6348, 0.9245, 1.3602, 0.0824]\nstate[eef_state]: left_x=0.414 left_y=-0.1795 left_z=0.203 left_yaw=-0.2597 left_pitch=-0.1478 left_roll=0.0758 left_gripper=0.0619 right_x=0.312 right_y=0.2875 right_z=0.167 right_yaw=-0.4126 right_pitch=-0.1156 right_roll=-0.3809 right_gripper=0.0824\nstate[joint_eff]: [-3.7265, -5.5453, 11.0974, 2.8498, 0.3101, -0.2613, 1.0281, 3.9863, -13.3949, 6.5026, 0.7106, 1.0037, -0.4176, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a2a43ac2d42a584e7d96a00121d3b5d7b0faf988d23a83213ef2be733112d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432177e54605ae28b96c0288f4de7e7798ced69dad22edae4d54382a7e0e7bac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8961c3dc20d9f0ec4ae28cf93a912b8f2419a4ceed0e86199760e4ee4bcbfd9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.306 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5392, 1.6161, 1.169, -0.326, -0.2024, -0.0959, 0.0576, 1.0142, 2.0766, 1.7237, -1.4258, 0.9237, 1.4837, 0.078]\nstate[eef_state]: left_x=0.4087 left_y=-0.199 left_z=0.1543 left_yaw=-0.3251 left_pitch=-0.1862 left_roll=0.0792 left_gripper=0.0576 right_x=0.3078 right_y=0.2347 right_z=0.1421 right_yaw=-0.5352 right_pitch=-0.0955 right_roll=-0.2788 right_gripper=0.078\nstate[joint_eff]: [-0.8684, -9.0462, 6.9812, 1.453, -0.0806, 0.0611, 1.033, -1.0598, -13.3402, 6.147, 0.1441, 0.5885, -0.0757, 0.2076]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0223, 1.1011, 0.931, -0.622, 0.1356, 0.2264, 0.0619, 1.1305, 2.2528, 2.1494, -1.5932, 0.9741, 1.3369, 0.0808]\nstate[eef_state]: left_x=0.3238 left_y=-0.0275 left_z=0.1907 left_yaw=-0.2756 left_pitch=-0.2153 left_roll=0.0718 left_gripper=0.0619 right_x=0.3057 right_y=0.3145 right_z=0.1836 right_yaw=-0.3293 right_pitch=-0.0627 right_roll=-0.3186 right_gripper=0.0808\nstate[joint_eff]: [-0.2803, -3.6581, 6.9128, 1.7411, -0.0024, -0.0806, 1.033, 0.335, -11.3299, 7.6923, 0.3297, 0.9841, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.5635, 1.2835, -0.4591, -0.2306, -0.1154, 0.0619, 1.0744, 2.2585, 2.1109, -1.6348, 0.9245, 1.3602, 0.0824]\nstate[eef_state]: left_x=0.414 left_y=-0.1795 left_z=0.203 left_yaw=-0.2597 left_pitch=-0.1478 left_roll=0.0758 left_gripper=0.0619 right_x=0.312 right_y=0.2875 right_z=0.167 right_yaw=-0.4126 right_pitch=-0.1156 right_roll=-0.3809 right_gripper=0.0824\nstate[joint_eff]: [-3.7265, -5.5453, 11.0974, 2.8498, 0.3101, -0.2613, 1.0281, 3.9863, -13.3949, 6.5026, 0.7106, 1.0037, -0.4176, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a2a43ac2d42a584e7d96a00121d3b5d7b0faf988d23a83213ef2be733112d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432177e54605ae28b96c0288f4de7e7798ced69dad22edae4d54382a7e0e7bac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8961c3dc20d9f0ec4ae28cf93a912b8f2419a4ceed0e86199760e4ee4bcbfd9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a65156cc643f7d7016ab42e8bf93487d0a713eac04f5602b1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC6UwteLA0pGu-EU7gQXAKKUl1Ss3DGhuLuFoEIjAZHxnQsfaSrDG2xpZ-foegRW7cHdBw-1b19xnW-4LIiKGSJLEBVdLUT_OSju0zvi19mOcQoAn8ADuKNOIznXFucnu35_csjDMS9LrXqxcmIYOcv9dIXYZJRhyiBxa0W1w0qkwKMu8q0TlfVsS9eW_vxlJvq5Uwm3U2R9cT5z9iO4WiDCCLfbDs4HaBy7PZYu9HT0YcLoyAfN1IfMGsSRCPgSfuyWGT3VcLBn8MTD8hgH9r9Sdz1JlXshoHuXuAoFlsCAGoi0rgf2PCsxY3tJz5U2r9kaFBKhLONWymqaCyaV9aJ97Rm-QpKp0xNWHBfDDl8SpgUQMIqKAQM5Bp_9bMfweA67CBBlikOXWE9Si5e7lZ0oHDvCaombEKs_o0_y2l42FSmiWeG6UfiJjankUnucamkQB7FcJmlrj6S_EVQ954b2tlv-EEz07LsSRsiHT8YJl5euxsfTrppAAsEfLE9SFkFgKQgbr5O0crbklw2NSpeiLytvc5N_7TjxY7yjzmiLGOwPCKgDxbtOWzS0JvFrI8faFMkFxBoYqaHBf2k2-vbEmVKDLkZcaVPrNCE3DFtPYAgXP-3sKdPvAJgzgdUNho9Wl5tV3KOFQLLnt_a-zTeKZZYq_NiRVIKUvHJXol0cnFy0XUiFkK2u4CLQiA1hmKqtKnSsiuY8Q-Jcnz_ngy5_wpToaE6povOY3BG2lhGFJPbK6XeXqY114Y3doWWNW7QLiT8oRI6zv1ZG8sEySoJ08ByaBp6zFeq9kpbQH6wEbzqfnzuZcD03GED6ucoovuJDCQvxSMaVcAAaS4qQKl8cVsq6M081LeAQMw91Ds03ApcYYQltDYF_6DXbzp51y6z8G4BM3My5UKBJCVT1Bz8SgC80qXOuTXQmgrnpdnl-PI4vo9dfcrzkfYnp9dc2aBwFba6gqMpzcaaudFaoGBiubmj5Oou5K4VEvfTCvZt5snzffeTZshZ2WzdZgSa_UPvUsGnVCSBqlWi4OvqzhBPId9MOtBVUbvKAhBQ52qr_I22kwqx-as-0wN1DwQn3B5aHhlm-WugUtFDhmVHcCJdkhLOgGZ_MCwUkUEORAZRl4BQ1Rzu_vLxOMZtmsiWJITxrRq6dif4I_-SMIhesCeyIylYg6FzTVoEQi0ntcNOnAUOdmk8ljvzKw1SBRqbdsk7HNx9HM3TDGxUP7G5Fv3pAGgux90NQ46rvfqGtwrNgUGAS_95BvILpmt7bz5-uKFHksIbDGhAQjBC00iJjB_k_kd2MLzzjIWdcdZQit9ri6ug6lcD8ursoOwK_ot4oO0chyD1yQl7K2Ynvis3eeeN3SeGuIyJ3TI5MyiNDBwLX6i0X8QBeqJgxZK7U95yFsbqTVhQZEOGZ3EVXtDV1W-8yr3XBnTVTDqdYgGJkexBviHtwluwoZhGY7ZnklIJqDMjwr-2TVaJtf2gf89V9omVzCSIzpxifE84E6NQElTA3UQ9Qv2LgiVOgAMGMtXwiPKCbQhEwoNHARUiPme8q9ZUk8W2_fahrp5LdiCx0LxuY2Tu0o1boc30kdTYFbtOpM7hVtVW2qZLNc12Cm7FYUfRBM9MUFz6eB2-f-zxlFuhkV2zg-Qk5aXY38NVyl15eCLXRECX47AsQgRKSvJeFgZxVNVB53r7MDp6Z1e9KSuDYquzxM3KDeBPdH82JfgHrKgDySbmw1da9olOat6X7X9CLACMU1y4IcIFMyR13i9zoNhwLdkpG8gIzX5SZ1z6eVYGucbfYe4HRHk5IeOie9AE21GKph6TagLDMTLDr7m4MgeJGm1rMaKnqKRQnn89gQpu4Ed-6_-a2Ll6YDj2oGAvZ6u1XLrCfZyv7wTlKLnuTNLVh4wOtPWV7aaPtTY5cBPPbi2D4U3YxoanK9KSpkvaRpCCG8SnfWe2pGrftrav6rxMRi6U4MddRQAaqClfwmkKsnSSblDp5E68_CCae5eI64mV7vF9lB1JnFOamTtEi66y8IPI8_rtL6XD0_5BKM0Kc88cWGiFvayJ-BaiFxvtH529cl2POSzguq8czk7587zE_h8A9iUpwZ5SRSMGX7npaCtRtbidshC9EQ7wYQSPeFeyTwFdiv5JgWhI1uBheGAlHaxAcSg0Y3EE2XlqZdRZ2LaHsMtfwHSQKsV8uFflUmPwrOkmDvZALrNLvjURnqxSVHgy3jebYpM7BrttgEfEGz_-3etfFmMRNRdvv8ZrAkwbGwN5R7jbM0EK9r6fkurZdue5XvdcTXt5IfL6XGAM_nOTq_Ilnw_9E3ASCvtWMzw2WYCuix2MzsYYla5UmaGcl2OdDbc2wRVzlm8EZwuIh3OFmuyUmRHeWOHqnpDfMOs_w20kMxe3by8VSiKFlA_Wi3PQrnEIce6_WudJxBnAC7FZCqcnJJI-XeZJoYvfyKROBueztBnWlIPPSktTLEYcGZQ9ITPNOvJcno79uL7UaQ05Vfo821Bd2z9A7B9Qfnuz228rQVy-kMUW5mEps1BLitwpafM1veBWdNxtNJ4Qn",
  "id": "rs_0a65156cc643f7d7016ab42e91205087d0a5a90855b62c3bd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18},\"note\":\"The two arm bodies again interfere when both hands approach the center in midair, even though the fingertips are separated. I’m withdrawing the cap hand and will lay the pen down where the cap hand can reach its exposed end without the other arm occupying that space.\"}",
  "call_id": "call_TYCGypMpwmspmj7KBa0X1vPS",
  "id": "fc_0a65156cc643f7d7016ab42e9391e087d0876454f977f308ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TYCGypMpwmspmj7KBa0X1vPS",
  "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]: [0.1139, 0.9321, 0.765, -0.5701, 0.1841, 0.252, 0.0654, 1.0664, 2.2509, 2.0319, -1.5787, 0.9081, 1.3338, 0.0832]\nstate[eef_state]: left_x=0.2961 left_y=0.0049 left_z=0.1787 left_yaw=-0.1915 left_pitch=-0.1544 left_roll=0.0734 left_gripper=0.0654 right_x=0.311 right_y=0.2826 right_z=0.1487 right_yaw=-0.4129 right_pitch=-0.1382 right_roll=-0.4155 right_gripper=0.0832\nstate[joint_eff]: [0.1436, -2.5778, 6.8718, 1.6874, 0.1783, 0.1978, 1.0281, -0.294, -14.065, 5.4222, -0.0317, 0.5934, -0.0464, 0.0708]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbd3f3f254aa18d9d7ab9a93dc4fc82c58785ce67b3a8ee70dcadc43fc2cafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f30da9fa2fe3e0b1a999487d9ee640b89fa07d01dc390668cf08f9a57cbba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc19e09f5e17f64f23dc70a90964d1fb203391356fea14e706e23af547f99e14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.862 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0227, 1.0973, 0.9321, -0.6003, 0.1356, 0.223, 0.0576, 1.0435, 2.2044, 1.9503, -1.5677, 0.8936, 1.5139, 0.0794]\nstate[eef_state]: left_x=0.3274 left_y=-0.0277 left_z=0.1962 left_yaw=-0.2727 left_pitch=-0.1893 left_roll=0.0761 left_gripper=0.0576 right_x=0.3088 right_y=0.2638 right_z=0.1464 right_yaw=-0.5328 right_pitch=-0.1207 right_roll=-0.2981 right_gripper=0.0794\nstate[joint_eff]: [0.1573, -4.3009, 7.1179, 1.6337, 0.0659, 0.1441, 1.0232, 0.7726, -10.4, 8.0205, -0.1343, 0.6081, 0.1099, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.5635, 1.2835, -0.4591, -0.2306, -0.1154, 0.0619, 1.0744, 2.2585, 2.1109, -1.6348, 0.9245, 1.3602, 0.0824]\nstate[eef_state]: left_x=0.414 left_y=-0.1795 left_z=0.203 left_yaw=-0.2597 left_pitch=-0.1478 left_roll=0.0758 left_gripper=0.0619 right_x=0.312 right_y=0.2875 right_z=0.167 right_yaw=-0.4126 right_pitch=-0.1156 right_roll=-0.3809 right_gripper=0.0824\nstate[joint_eff]: [-3.7265, -5.5453, 11.0974, 2.8498, 0.3101, -0.2613, 1.0281, 3.9863, -13.3949, 6.5026, 0.7106, 1.0037, -0.4176, 0.149]\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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1139, 0.9321, 0.765, -0.5701, 0.1841, 0.252, 0.0654, 1.0664, 2.2509, 2.0319, -1.5787, 0.9081, 1.3338, 0.0832]\nstate[eef_state]: left_x=0.2961 left_y=0.0049 left_z=0.1787 left_yaw=-0.1915 left_pitch=-0.1544 left_roll=0.0734 left_gripper=0.0654 right_x=0.311 right_y=0.2826 right_z=0.1487 right_yaw=-0.4129 right_pitch=-0.1382 right_roll=-0.4155 right_gripper=0.0832\nstate[joint_eff]: [0.1436, -2.5778, 6.8718, 1.6874, 0.1783, 0.1978, 1.0281, -0.294, -14.065, 5.4222, -0.0317, 0.5934, -0.0464, 0.0708]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbd3f3f254aa18d9d7ab9a93dc4fc82c58785ce67b3a8ee70dcadc43fc2cafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f30da9fa2fe3e0b1a999487d9ee640b89fa07d01dc390668cf08f9a57cbba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc19e09f5e17f64f23dc70a90964d1fb203391356fea14e706e23af547f99e14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC6Zyo1189D80LRreeftKcG7qTT0iYet6TyF1vgeB1hsOzC6IUYIdAyOESdXi2WNVMyi96Hpu6Nud7xV9P_w2_CB2oRKQ9u-d9MiohDImrd-uWTZW19vglsLvR3w_C7jyln2D-UF14M2r0WNfo5KnaJ92aE06v65GiSSacY1qhQxml4jkkNuVZ9Woxj8v0PD7FtyWxm7ybTVWcc9AbMqE02PBhmbaytJlW9xoEC78QtRJ8O3oK2SefbzCRttJO872S5qwSKT6F7yGkLTBJ-egfiSdyskocEmYJuH0pgfbz5_aZiEsYBYfOZU6eHa6qklONGSC_Z0-xhMN6UkphXUvNXNacVjjRzZ9YpT-g0ceN88kBi-FiEQ9UDGmT8uM4OuqvQ0_Gfg8RueqP6TXLHMLhqMWAXqL0aDaoPsL3SXh151ugvifxcIX1PPEzLneFFodAVe-PfRnhorA_Y0AMvgQvMhnDGMiFmbRCR4OPrbwrHGKR_ItyLJyANGJW53PqkcjyXOassL4wddd2b0oTZLEdjpHmAsmlThDwJ8aQPJooWamLbyUwlzB3NGzjTiYMUFGgzjU0WwQrKalsd4UGRrKPWgEuV0udZyV1lXqn58gllfboOEjassKOdDmld76FEiLfnqg5zXiaYmXiJF23wns07k84TJ-gHgHdJ2GgbX5SzFyPlay2Lk4KNnxaU_o_i48NhqZx0hpVf1785SU5lwGgn0SU3G8bHFqPUhBwkrZqyycUO91YKVcjYoHv6CzNECjfyI8jMS1j8ktMOGVSUUIM3dl1vdy3Fqh-k0SQ1q4uA31ItDFwfKNTB45E3H9rpM4m2Y90ckOknz26Z6Vq0SjZyHfrXEyf2sfBl6qxqv5H1UTcOxO-BQAbTQiEIlULSJzz6CJAObiv81plom4YPvunqGGDIs48wLV6x3RmIPXVxjUUWHyyhyCUFsQ4eDWyR2Y4khLt_J9AAQmOtc36I9Xr31hXGQ422Tk6k9PPaAEjkHz6-ynkbmLHZyRAAZzXCT_vyLi1touqKPhRXlNWMDCFLdQXpu9NpJVnDq5_j7ofu5Vf2gtYqiqeoPxy7T4e08ja-973KQYUtit_3lnNikb7Sw8hLSgcyrK7jQT2EVdmgroIW2N7eWKzzsPNRZtTxOe4IQRU-FwWza2vXIK-RXrEkdwNPftgQKhCqVawkYaZQT22eByrM78EM9DMu1ayTmrtrW-HDbnciZXOw0Xl-lbeXdV6CnhK5gVQnzlDq__Jw3tSrplaXMq9iRyxWZVuG3DQVv1_OHyNNIhTPjXBv3U2dxS4zffO5yv1BJxTiClaYq_n0Ad5i5sTF0oX76nB3mzxBfD7zxIlD60JBNIl_OC06VNYNg01acqPxr_CMXe2vT0ZjtNdOpDR1DnBvQVEJqhuxR4ECIRS4-4x8ap_1irJF-GujyeNFYTOoNYY8sUI4kgh_VRbrRZsE70g2fq7uYyIl3ACA5KzyExZaMLaKHBMIexw==",
  "id": "rs_0a65156cc643f7d7016ab42e96f78c87d0a83684129db85303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.35,\"right_z\":0.015,\"right_yaw\":-0.32,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cap hand is now out of the way. I’m lowering the held pen near the table center with its point directed into the left arm’s reach, so the cap can be brought over it after the right hand withdraws.\"}",
  "call_id": "call_hlkVdQg0BOS7sxhnjvAeiSfg",
  "id": "fc_0a65156cc643f7d7016ab42e97dc6887d0a8d413b0e5985488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hlkVdQg0BOS7sxhnjvAeiSfg",
  "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]: [0.115, 0.9375, 0.7643, -0.5911, 0.1875, 0.2596, 0.0654, 1.0756, 2.339, 1.6283, -0.725, 0.947, 1.2583, 0.0839]\nstate[eef_state]: left_x=0.2928 left_y=0.0043 left_z=0.1732 left_yaw=-0.1988 left_pitch=-0.1798 left_roll=0.0685 left_gripper=0.0654 right_x=0.3375 right_y=0.3308 right_z=0.016 right_yaw=-0.3264 right_pitch=-0.0619 right_roll=-0.1199 right_gripper=0.0839\nstate[joint_eff]: [-0.1573, -2.5231, 6.9128, 1.7802, 0.0073, -0.1245, 1.0281, 0.335, -11.7675, 5.6684, 0.7692, 0.7937, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca6fdd0e1d737f4744e38b36bd7b1d608532e82ad8f7123fba720bcfb48bf074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e238161e7934bd4c822a7878f797614685454568a42c86cb10c13efaa6de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e322692d4cbb76597fe8b9dc3fddea36b80626824080734309e4f1120cb88e",
      "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 · 3.248 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 156 changed as sent

message 160 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0223, 1.1011, 0.931, -0.622, 0.1356, 0.2264, 0.0619, 1.1305, 2.2528, 2.1494, -1.5932, 0.9741, 1.3369, 0.0808]\nstate[eef_state]: left_x=0.3238 left_y=-0.0275 left_z=0.1907 left_yaw=-0.2756 left_pitch=-0.2153 left_roll=0.0718 left_gripper=0.0619 right_x=0.3057 right_y=0.3145 right_z=0.1836 right_yaw=-0.3293 right_pitch=-0.0627 right_roll=-0.3186 right_gripper=0.0808\nstate[joint_eff]: [-0.2803, -3.6581, 6.9128, 1.7411, -0.0024, -0.0806, 1.033, 0.335, -11.3299, 7.6923, 0.3297, 0.9841, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1139, 0.9321, 0.765, -0.5701, 0.1841, 0.252, 0.0654, 1.0664, 2.2509, 2.0319, -1.5787, 0.9081, 1.3338, 0.0832]\nstate[eef_state]: left_x=0.2961 left_y=0.0049 left_z=0.1787 left_yaw=-0.1915 left_pitch=-0.1544 left_roll=0.0734 left_gripper=0.0654 right_x=0.311 right_y=0.2826 right_z=0.1487 right_yaw=-0.4129 right_pitch=-0.1382 right_roll=-0.4155 right_gripper=0.0832\nstate[joint_eff]: [0.1436, -2.5778, 6.8718, 1.6874, 0.1783, 0.1978, 1.0281, -0.294, -14.065, 5.4222, -0.0317, 0.5934, -0.0464, 0.0708]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.115, 0.9375, 0.7643, -0.5911, 0.1875, 0.2596, 0.0654, 1.0756, 2.339, 1.6283, -0.725, 0.947, 1.2583, 0.0839]\nstate[eef_state]: left_x=0.2928 left_y=0.0043 left_z=0.1732 left_yaw=-0.1988 left_pitch=-0.1798 left_roll=0.0685 left_gripper=0.0654 right_x=0.3375 right_y=0.3308 right_z=0.016 right_yaw=-0.3264 right_pitch=-0.0619 right_roll=-0.1199 right_gripper=0.0839\nstate[joint_eff]: [-0.1573, -2.5231, 6.9128, 1.7802, 0.0073, -0.1245, 1.0281, 0.335, -11.7675, 5.6684, 0.7692, 0.7937, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca6fdd0e1d737f4744e38b36bd7b1d608532e82ad8f7123fba720bcfb48bf074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e238161e7934bd4c822a7878f797614685454568a42c86cb10c13efaa6de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e322692d4cbb76597fe8b9dc3fddea36b80626824080734309e4f1120cb88e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC6cxvicp_0vemMxvvtY_r5uQKu540VXWLWgRZ7x72JKR3-U7kFuQ4DcAW60BnvQsH_Ab3Ct7f15jYMMbdBhWoVXPN4bgjREDOYYU7goQPMdeMOJMKLLEYbIh4CAREEx8mPXxZgzg5cvpGVTqiXJII2mwU9J36tMWQElYoMvA1f3QWGkQhOwWJS6Pq8nW4hAp3WtMGb7WeU3-t4NJE3W6tWfdCABXITNiPavoxKXbrxFRKLvNiCkEa7umrEwyrv8wfbCRVBdaa2u5ZfUW6Y2A31BW_wIi9FdK1C7DcONma1GGbbOavcB9jGrNpSdOj9uDcHjnJK70kYXlOrP8aLhbzdBhi49VQdYXoc3dc8ekRkjVfFdxDLGE7B8iMLIs6D8Sx9Va3sWhosAMbgEL-xnb-cJYZc5K5pnH5N6dzGMJE3y3_AEjKAoJhxn02Fc-bnlntjHc-It7AIlR09tP2nN9LuZ0glfX5S_V6AmfC8g3gjTi_T_lf3mB3_I6IeuT-tljBWp_C45-oos5A9Cy2YzAC1x_YRlesGtaca8YSAOgU7r_oAhbCL3ZNKtx1UfEwMdIkGTGOZSsQJZ2P23HGt3eYKO_Xhlc6g79P0yKC1XS2YWEy1loK41q8qn2ZtiQSx2hlc37j-B-7JaIi7tlqBAtg2izTAWuan9eeOBKs8pEgYumOrBx0BX0T4IJ7KtAUS8iP5H8kM09KfKJzE03boAEnOOPFU3wLS87oxS3KhVIlEEcAgUlhoyyFuFXBrRGAdxQLvAaF5sAFYqLezWW4OGUxedepsN6rUhN2tJVV2XUk5-RUkvuoMGLWCmy5upw7UldIosn1LRj4dtwYHWh3wxuZem94tWtEjvqYVe6ONBjkCNW_gaOjiX6m_IRbUOpF0Q8ZgfxA37G-ITIC7BE9KymT7O_hZfVF7Xdk3IyX_Yg7ucS3gOqLFQin_RkPqsbz8IlNgLTJKOqQaBlqKqnl4OqWkjo77WOPnKGd7fmZ3QNdYq7YqD44wOt2VKIZN2M1M_HN8Zt-m81R4jb9SNSu2YVfrCahRpvpA_-xawAJ8PQ1m7oVR_Ep-8dg2eTp_ABUmH5xV_tPvLvPORUa5j841X-ltLci2CTiVvUahUHn9igyVNYvZRTzdC9IjkV3ukMeQqULUTRJPf-UBobxxZnIxr80hpG3TNkha56j0IsGDpGpP2Z_y8ElyHYyuMdGx56DBtZqo_lRynOYuaFveKMcYv3UrD5HpMYCUM3CSre9ulEu_smhlkY6w9Qa-kyimT-uvhXyNlVjtlhNqO1AB_SuOgHRV8qp5J_II4_C96GztxZa0DCi2i-l8C2QdwGZFeBiJVI-c3mmlANG-pFGiSadAZiyg67_c5H2FuVs-27EraGwchsSbUJVC-Bof18KhpI6wThLQyg9PcQPnx0Wtb7mVTe5Wxj2tNqIwIdNxcnXMGWDwoJmWNbR049dIWH2Ks44E5SeEZBRhGDCym40x9LgMfOp-fsCOdz0oKEPcjPGXDZYCYtgGuQCQ5pEF-HPRuDS9pQ2l4oAbvX0x2OTTqvXJHkUWxcLq00fygWAIGOnatKvvsR6tv4lXYQ9c70uJx633Pg0sXWLAdQ36Bufk7ig_NHuRk5iI28BZ8aUTeYooN3xhDMGTiclb5rcmMN71CFAYiPLk0gWxQnXPT6PMe8MWKe7Pexbs0gcICN5NMZtap1cmke_GPblw7kGvUipnS2BZgV3KS",
  "id": "rs_0a65156cc643f7d7016ab42e9b2f0c87d0aac486ae4d49cfdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.01},\"note\":\"The pen is at tabletop height in the left arm’s reachable central area, and its point still extends forward from the right jaws. I’m releasing it gently before removing the right hand, so the pen stays in place for capping.\"}",
  "call_id": "call_QCCdWXs6qXDQeUf0CjKykPv2",
  "id": "fc_0a65156cc643f7d7016ab42e9c072487d0afcce1943540d5c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QCCdWXs6qXDQeUf0CjKykPv2",
  "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]: [0.1154, 0.9379, 0.7643, -0.5961, 0.1875, 0.26, 0.0654, 1.0775, 2.3592, 1.618, -0.6983, 0.9691, 1.2629, 0.9948]\nstate[eef_state]: left_x=0.292 left_y=0.0043 left_z=0.1723 left_yaw=-0.199 left_pitch=-0.1849 left_roll=0.0671 left_gripper=0.0654 right_x=0.3385 right_y=0.3296 right_z=0.0085 right_yaw=-0.3303 right_pitch=-0.0406 right_roll=-0.1236 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -2.0991, 6.9675, 1.58, 0.0122, -0.0659, 1.0281, -0.4171, -13.3538, 5.8188, 0.3736, 0.2418, -0.0659, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3f5f63310494f244f970df0ae0748dff6de389d82c053e1ef9153580d9a6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ebeddb0a7360edf27fcd7bd1b38544b7627d42d14303e22cee186cb1434517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38b687b2430df6612b833ca0782af06b5e69efbdca50228a6821b31fd92ea2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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