adhoc - adhoc_4c0df13e.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 220.4 s
total steps: 298

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short cap is left of center and the longer pen is right of center, with both lying diagonally. I’ll bring each open gripper over its respective object and align the jaws across it before descending.

move_to

left_x0.4000left_y-0.1500left_z0.1500left_yaw-0.4500right_x0.4000right_y0.1800right_z0.1500right_yaw0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3805, -0.0216, -0.0246, 0.9998, -0.0189, 0.7918, 0.6102, -0.3767, -0.0219, -0.0128, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0019 right_z=0.1841 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.4991, -1.4154, 10.3453, 1.8046, 0.022, 0.0952, -0.0366, -0.5402, -1.2239, 9.894, 1.7705, -0.0317, -0.0708, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.40,"left_y":-0.15,"left_z":0.15,"left_yaw":-0.45,"right_x":0.40,"right_y":0.18,"right_z":0.15,"right_yaw":0.65},"note":"The short cap is left of center and the longer pen is right of center, with both lying diagonally. I’ll bring each open gripper over its respective object and align the jaws across it before descending."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteIn the wrist views the cap sits slightly left of the left jaw column and the pen slightly right of the right jaw column. I’ll make small sideways and forward corrections while lowering both open grippers to a closer inspection height.

move_to

left_x0.4150left_y-0.1200left_z0.0650right_x0.4150right_y0.1400right_z0.0650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3199, 1.4231, 0.7837, -0.0246, 0.0669, 0.0212, 0.9998, 0.2848, 1.4845, 0.844, -0.0154, -0.2729, -0.1787, 0.9993] state[eef_state]: left_x=0.3844 left_y=-0.136 left_z=0.1234 left_yaw=-0.399 left_pitch=-0.0915 left_roll=-0.0166 left_gripper=0.9998 right_x=0.3887 right_y=0.1671 right_z=0.1304 right_yaw=0.6038 right_pitch=-0.0695 right_roll=0.0195 right_gripper=0.9993 state[joint_eff]: [-0.3077, -5.9966, 10.0034, 1.9267, 0.1636, 0.2564, -0.0171, 0.6222, -6.3111, 9.0735, 1.8974, -0.2564, -0.0171, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.12,"left_z":0.065,"right_x":0.415,"right_y":0.14,"right_z":0.065},"note":"In the wrist views the cap sits slightly left of the left jaw column and the pen slightly right of the right jaw column. I’ll make small sideways and forward corrections while lowering both open grippers to a closer inspection height."})

tool

executing move_to over 5 steps (0.5s)

step 20

assistant

agent noteBoth objects now run close to their respective jaw columns in the wrist cameras. I’ll lower the open jaws to table level so they can close around the cap and pen rather than above them.

move_to

left_z0.0000right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2417, 1.644, 0.7391, 0.16, 0.1043, 0.049, 0.9998, 0.1822, 1.6909, 0.7753, 0.1646, -0.3309, -0.2283, 0.9993] state[eef_state]: left_x=0.4029 left_y=-0.1146 left_z=0.0533 left_yaw=-0.3687 left_pitch=-0.1692 left_roll=-0.0278 left_gripper=0.9998 right_x=0.4039 right_y=0.1364 right_z=0.0547 right_yaw=0.5792 right_pitch=-0.1441 right_roll=0.0491 right_gripper=0.9993 state[joint_eff]: [0.4034, -7.4325, 6.0103, 1.9658, 0.0708, 0.149, -0.0171, -0.5675, -7.6513, 5.5726, 1.956, -0.3492, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.0,"right_z":0.0},"note":"Both objects now run close to their respective jaw columns in the wrist cameras. I’ll lower the open jaws to table level so they can close around the cap and pen rather than above them."})

tool

executing move_to over 4 steps (0.4s)

step 24

assistant

agent noteThe last downward command barely changed the reported height, so I won’t force a deeper descent without checking contact. The cap and pen appear between their jaw pairs; I’ll close both grippers and use the settled openings to see whether either object is actually 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]: [-0.2359, 1.6657, 0.7353, 0.2207, 0.1127, 0.0544, 0.9997, 0.178, 1.7077, 0.7738, 0.2214, -0.3531, -0.2447, 0.9993] state[eef_state]: left_x=0.4103 left_y=-0.1154 left_z=0.0543 left_yaw=-0.3723 left_pitch=-0.1336 left_roll=-0.0247 left_gripper=0.9997 right_x=0.4103 right_y=0.1395 right_z=0.0583 right_yaw=0.6 right_pitch=-0.1024 right_roll=0.0344 right_gripper=0.9993 state[joint_eff]: [-0.1983, -8.1026, 6.2427, 1.9023, 0.2466, 0.1343, -0.0171, -0.6085, -7.706, 5.6547, 1.8779, -0.2564, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The last downward command barely changed the reported height, so I won’t force a deeper descent without checking contact. The cap and pen appear between their jaw pairs; I’ll close both grippers and use the settled openings to see whether either object is actually captured."})

tool

executing move_to over 10 steps (1.0s)

step 34

assistant

agent noteBoth grippers closed almost completely, which means neither picked up its object. I’ll reopen, move each grasp point about two centimeters farther forward, and add forward tool pitch before trying to reach the tabletop again.

move_to

left_gripper1.0000right_gripper1.0000left_x0.4300right_x0.4300left_z0.1200right_z0.1200left_pitch0.2500right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2359, 1.6657, 0.7353, 0.2131, 0.1089, 0.0532, 0.0083, 0.178, 1.7077, 0.7738, 0.2169, -0.3527, -0.2512, 0.0092] state[eef_state]: left_x=0.4093 left_y=-0.1145 left_z=0.0528 left_yaw=-0.3686 left_pitch=-0.1415 left_roll=-0.0241 left_gripper=0.0083 right_x=0.4097 right_y=0.1393 right_z=0.0574 right_yaw=0.6033 right_pitch=-0.1066 right_roll=0.031 right_gripper=0.0092 state[joint_eff]: [-0.1026, -7.3504, 5.9009, 1.6728, 0.1148, 0.0024, 0.5495, -0.1709, -7.5009, 5.8462, 1.663, -0.1734, 0.0366, 0.7985] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"right_gripper":1,"left_x":0.43,"right_x":0.43,"left_z":0.12,"right_z":0.12,"left_pitch":0.25,"right_pitch":0.25},"note":"Both grippers closed almost completely, which means neither picked up its object. I’ll reopen, move each grasp point about two centimeters farther forward, and add forward tool pitch before trying to reach the tabletop again."})

tool

executing move_to over 14 steps (1.4s)

step 48

assistant

agent noteThe right wrist camera still shows the pen nearly on the jaw centerline; the left view is less clear. I’ll test a low approach with the right gripper first and check whether its grasp point actually reaches pen height.

move_to

right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2089, 1.6463, 0.6018, 0.6205, 0.1398, 0.0162, 0.9966, 0.1368, 1.7065, 0.6746, 0.5972, -0.4641, -0.16, 0.9962] state[eef_state]: left_x=0.4245 left_y=-0.1115 left_z=0.0929 left_yaw=-0.3477 left_pitch=0.151 left_roll=-0.0323 left_gripper=0.9966 right_x=0.4246 right_y=0.1419 right_z=0.0982 right_yaw=0.61 right_pitch=0.1716 right_roll=0.0424 right_gripper=0.9962 state[joint_eff]: [0.4308, -8.8547, 5.5316, 2.2149, 0.2369, 0.0269, -0.0415, -1.2376, -8.9231, 5.2581, 2.044, -0.1636, 0.2369, -0.1587] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.01,"right_pitch":0.25},"note":"The right wrist camera still shows the pen nearly on the jaw centerline; the left view is less clear. I’ll test a low approach with the right gripper first and check whether its grasp point actually reaches pen height."})

tool

executing move_to over 7 steps (0.7s)

step 55

assistant

agent noteForward pitch let the right grasp point reach about 6 mm above the table, and the pen is visible between its fingertips. I’ll close on the pen while lowering the left, still-open gripper with the same pitch for the cap.

move_to

right_gripper0.0000left_z-0.0100left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2077, 1.6485, 0.5972, 0.6159, 0.1383, 0.0162, 0.9977, 0.131, 2.1914, 0.606, 1.2476, -0.4763, -0.1574, 0.9968] state[eef_state]: left_x=0.4229 left_y=-0.1103 left_z=0.0891 left_yaw=-0.3451 left_pitch=0.1395 left_roll=-0.0333 left_gripper=0.9977 right_x=0.4295 right_y=0.1419 right_z=0.0059 right_yaw=0.6231 right_pitch=0.2595 right_roll=0.0031 right_gripper=0.9968 state[joint_eff]: [-0.2667, -7.1043, 5.8462, 1.8291, -0.0073, -0.0562, 0.1099, -0.4855, -5.9966, 2.3043, 0.5397, -0.2613, 0.4225, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0,"left_z":-0.01,"left_pitch":0.25},"note":"Forward pitch let the right grasp point reach about 6 mm above the table, and the pen is visible between its fingertips. I’ll close on the pen while lowering the left, still-open gripper with the same pitch for the cap."})

tool

executing move_to over 10 steps (1.0s)

step 65

assistant

agent noteThe right gripper again closed empty, and the left wrist view mainly shows a tabletop seam rather than the cap. I’ll clear the objects with both arms so the overhead camera can show their actual positions before another attempt.

move_to

left_x0.2950left_y0.0000left_z0.1800left_pitch0.0000left_yaw0.0000right_x0.3300right_y0.0400right_z0.1800right_pitch0.0000right_yaw0.0000right_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]: [-0.2077, 2.1925, 0.5121, 1.3724, 0.1356, 0.0231, 0.9979, 0.131, 2.1983, 0.6075, 1.2877, -0.4797, -0.1616, 0.0103] state[eef_state]: left_x=0.4268 left_y=-0.1107 left_z=0.0024 left_yaw=-0.3502 left_pitch=0.2656 left_roll=-0.0076 left_gripper=0.9979 right_x=0.4318 right_y=0.1428 right_z=0.0121 right_yaw=0.6331 right_pitch=0.2906 right_roll=-0.0173 right_gripper=0.0103 state[joint_eff]: [0.1709, -6.2701, 2.4137, 0.7888, 0.0659, -0.3199, 0.0073, -0.3487, -9.5111, 2.7692, 1.4286, -0.0464, 0.0464, 0.8474] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_pitch":0,"left_yaw":0,"right_x":0.33,"right_y":0.04,"right_z":0.18,"right_pitch":0,"right_yaw":0,"right_gripper":1},"note":"The right gripper again closed empty, and the left wrist view mainly shows a tabletop seam rather than the cap. I’ll clear the objects with both arms so the overhead camera can show their actual positions before another attempt."})

tool

executing move_to over 12 steps (1.2s)

step 77

assistant

agent noteWith the arms clear, the cap is still at the left of center and the pen at the right. The first left approach overshot the cap radially, so I’ll return the left gripper to a shorter reach and align it over the cap before descending.

move_to

left_x0.3800left_y-0.1050left_z0.1150left_pitch0.2500left_yaw-0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0364, 0.8192, 0.5488, -0.2161, -0.0189, -0.0288, 0.9979, 0.1982, 1.0145, 0.6132, -0.0963, 0.102, 0.038, 0.9953] state[eef_state]: left_x=0.3102 left_y=-0.0044 left_z=0.1821 left_yaw=-0.0159 left_pitch=0.0843 left_roll=-0.0067 left_gripper=0.9979 right_x=0.3418 right_y=0.0539 right_z=0.1786 right_yaw=0.0845 right_pitch=0.0637 right_roll=-0.0158 right_gripper=0.9953 state[joint_eff]: [0.2256, -1.4974, 9.7573, 1.7558, 0.0073, -0.0659, -0.0073, 0.4034, -3.5077, 9.1692, 1.8242, 0.1392, 0.1783, -0.1587] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.105,"left_z":0.115,"left_pitch":0.25,"left_yaw":-0.45},"note":"With the arms clear, the cap is still at the left of center and the pen at the right. The first left approach overshot the cap radially, so I’ll return the left gripper to a shorter reach and align it over the cap before descending."})

tool

executing move_to over 9 steps (0.9s)

step 86

assistant

agent noteThe cap is now visible just ahead of the left fingertips, slightly right of the jaw center. I’ll advance a few centimeters, make a small sideways correction, and lower the pitched gripper to cap height.

move_to

left_x0.4000left_y-0.1150left_z-0.0050left_pitch0.2500left_yaw-0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1513, 1.4258, 0.4015, 0.5533, 0.2184, 0.0486, 0.9979, 0.1982, 1.0183, 0.6128, -0.123, 0.1001, 0.0364, 0.9962] state[eef_state]: left_x=0.3672 left_y=-0.0911 left_z=0.0852 left_yaw=-0.3731 left_pitch=0.1115 left_roll=-0.0449 left_gripper=0.9979 right_x=0.3388 right_y=0.0537 right_z=0.1714 right_yaw=0.0871 right_pitch=0.0329 right_roll=-0.0197 right_gripper=0.9962 state[joint_eff]: [-0.3077, -6.106, 7.1863, 2.1465, 0.1832, 0.2466, -0.0122, -0.3214, -3.1658, 7.0769, 1.9805, 0.0562, -0.0659, 0.0806] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.115,"left_z":-0.005,"left_pitch":0.25,"left_yaw":-0.45},"note":"The cap is now visible just ahead of the left fingertips, slightly right of the jaw center. I’ll advance a few centimeters, make a small sideways correction, and lower the pitched gripper to cap height."})

tool

executing move_to over 6 steps (0.6s)

step 92

assistant

agent noteThe left grasp point has reached tabletop height, but the cap sits roughly two centimeters to the right of the jaw center in the wrist view. I’ll shift the open jaws toward it before closing to avoid squeezing it out sideways.

move_to

left_y-0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1642, 2.1334, 0.4236, 1.3529, 0.2535, 0.0551, 0.9979, 0.1982, 1.0237, 0.6128, -0.128, 0.0967, 0.0368, 0.9963] state[eef_state]: left_x=0.4002 left_y=-0.1076 left_z=0.0003 left_yaw=-0.4242 left_pitch=0.2257 left_roll=-0.0252 left_gripper=0.9979 right_x=0.3384 right_y=0.0542 right_z=0.1686 right_yaw=0.0899 right_pitch=0.0225 right_roll=-0.0188 right_gripper=0.9963 state[joint_eff]: [-0.5128, -6.7897, 2.0855, 0.3639, 0.3443, -0.1929, -0.0171, -0.3214, -3.2752, 7.0496, 1.8095, 0.022, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.13},"note":"The left grasp point has reached tabletop height, but the cap sits roughly two centimeters to the right of the jaw center in the wrist view. I’ll shift the open jaws toward it before closing to avoid squeezing it out sideways."})

tool

executing move_to over 2 steps (0.2s)

step 94

assistant

agent noteThe small sideways move brought the cap closer to center without displacing it, but it remains right of the jaws. I’ll continue the same correction with the jaws open until the cap is near the closing line.

move_to

left_y-0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2096, 2.1662, 0.4385, 1.4048, 0.2157, 0.0418, 0.9979, 0.1982, 1.0241, 0.6128, -0.1268, 0.0963, 0.0368, 0.9963] state[eef_state]: left_x=0.4031 left_y=-0.1207 left_z=0.0024 left_yaw=-0.4315 left_pitch=0.2556 left_roll=-0.0173 left_gripper=0.9979 right_x=0.3386 right_y=0.0543 right_z=0.1687 right_yaw=0.0902 right_pitch=0.0232 right_roll=-0.0185 right_gripper=0.9963 state[joint_eff]: [-0.4855, -9.6615, 2.2632, 1.8046, 0.1392, -0.1294, -0.0171, -0.1162, -2.9744, 7.3231, 1.7411, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.16},"note":"The small sideways move brought the cap closer to center without displacing it, but it remains right of the jaws. I’ll continue the same correction with the jaws open until the cap is near the closing line."})

tool

executing move_to over 4 steps (0.4s)

step 98

assistant

agent noteThe cap now crosses the left jaw centerline at table height. I’ll close the left gripper and check its settled opening before lifting.

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]: [-0.2493, 2.1536, 0.4385, 1.3819, 0.1799, 0.0273, 0.9979, 0.1982, 1.0252, 0.6128, -0.131, 0.0963, 0.0368, 0.9963] state[eef_state]: left_x=0.4002 left_y=-0.1308 left_z=0.0018 left_yaw=-0.4315 left_pitch=0.2431 left_roll=-0.0219 left_gripper=0.9979 right_x=0.3381 right_y=0.0542 right_z=0.1675 right_yaw=0.0902 right_pitch=0.0179 right_roll=-0.0191 right_gripper=0.9963 state[joint_eff]: [0.0205, -6.8171, 2.8376, 2.0147, -0.022, -0.0611, -0.0122, -0.3214, -2.988, 7.1043, 1.7607, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now crosses the left jaw centerline at table height. I’ll close the left gripper and check its settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteThe left gripper settled at an opening of about 5 mm, consistent with holding the cap rather than closing empty. I’ll lift it clear and check whether the cap moves with the jaws.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 2.1544, 0.4385, 1.3811, 0.1799, 0.0261, 0.0561, 0.1982, 1.026, 0.6128, -0.1341, 0.0963, 0.0368, 0.9963] state[eef_state]: left_x=0.4001 left_y=-0.1308 left_z=0.0013 left_yaw=-0.4308 left_pitch=0.2415 left_roll=-0.0233 left_gripper=0.0561 right_x=0.3378 right_y=0.0542 right_z=0.1666 right_yaw=0.0902 right_pitch=0.0141 right_roll=-0.0195 right_gripper=0.9963 state[joint_eff]: [-0.0752, -8.0479, 2.2769, 1.8877, 0.0171, 0.0024, 1.4823, -0.212, -2.8786, 7.0359, 1.79, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.12},"note":"The left gripper settled at an opening of about 5 mm, consistent with holding the cap rather than closing empty. I’ll lift it clear and check whether the cap moves with the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 116

assistant

agent noteThe cap is no longer visible on the table after the lift, and the left gripper remains partly open, so it appears secured. I’ll hold it high while bringing the right gripper over the pen at a shorter reach than the two earlier empty grasps.

move_to

left_z0.1700right_x0.3800right_y0.1050right_z0.1050right_yaw0.5500right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.5669, 0.4732, 0.7689, 0.1795, 0.0238, 0.0688, 0.1982, 1.0267, 0.6128, -0.1463, 0.0963, 0.0368, 0.9963] state[eef_state]: left_x=0.3964 left_y=-0.1298 left_z=0.1083 left_yaw=-0.4296 left_pitch=0.2513 left_roll=-0.0236 left_gripper=0.0688 right_x=0.3362 right_y=0.0539 right_z=0.1638 right_yaw=0.0902 right_pitch=0.0012 right_roll=-0.0209 right_gripper=0.9963 state[joint_eff]: [-0.212, -6.8855, 8.4991, 1.79, -0.022, -0.0171, 1.033, -0.3624, -2.988, 7.0906, 1.8828, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.17,"right_x":0.38,"right_y":0.105,"right_z":0.105,"right_yaw":0.55,"right_pitch":0.25},"note":"The cap is no longer visible on the table after the lift, and the left gripper remains partly open, so it appears secured. I’ll hold it high while bringing the right gripper over the pen at a shorter reach than the two earlier empty grasps."})

tool

executing move_to over 9 steps (0.9s)

step 125

assistant

agent noteThe pen is now nearly centered on the right wrist camera’s jaw column, with its shaft extending back toward the fingertips. I’ll lower the pitched, open gripper to table height without changing its sideways alignment.

move_to

right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3857, 0.5667, 0.4507, 0.1795, 0.0235, 0.0688, 0.0681, 1.4944, 0.4145, 0.6197, -0.3737, -0.1577, 0.9963] state[eef_state]: left_x=0.3907 left_y=-0.1283 left_z=0.1459 left_yaw=-0.4276 left_pitch=0.2085 left_roll=-0.0319 left_gripper=0.0688 right_x=0.3731 right_y=0.0937 right_z=0.0834 right_yaw=0.4623 right_pitch=0.132 right_roll=0.0195 right_gripper=0.9963 state[joint_eff]: [-0.253, -6.7761, 9.7983, 2.0537, -0.022, -0.0659, 1.0379, -0.4171, -5.4496, 5.2991, 1.917, -0.2711, -0.1441, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.01,"right_pitch":0.25},"note":"The pen is now nearly centered on the right wrist camera’s jaw column, with its shaft extending back toward the fingertips. I’ll lower the pitched, open gripper to table height without changing its sideways alignment."})

tool

executing move_to over 7 steps (0.7s)

step 132

assistant

agent noteThe right arm stopped about 4 cm above the table at this shorter reach, so closing now would miss the pen. I’ll advance the open gripper a few centimeters with slightly more forward pitch, which should let it descend to the pen.

move_to

right_x0.4050right_y0.0950right_z-0.0100right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3888, 0.5694, 0.4343, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8577, -0.3931, -0.1608, 0.9963] state[eef_state]: left_x=0.39 left_y=-0.1282 left_z=0.1422 left_yaw=-0.4275 left_pitch=0.192 left_roll=-0.0347 left_gripper=0.0688 right_x=0.3654 right_y=0.0938 right_z=0.0437 right_yaw=0.4726 right_pitch=0.1207 right_roll=0.0311 right_gripper=0.9963 state[joint_eff]: [-0.2667, -5.5726, 6.147, 1.9805, -0.0024, -0.0611, 1.0281, -0.0752, -6.5436, 5.1487, 2.1123, -0.022, 0.0952, -0.0122] 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":{"right_x":0.405,"right_y":0.095,"right_z":-0.01,"right_pitch":0.3},"note":"The right arm stopped about 4 cm above the table at this shorter reach, so closing now would miss the pen. I’ll advance the open gripper a few centimeters with slightly more forward pitch, which should let it descend to the pen."})

tool

executing move_to over 6 steps (0.6s)

step 138

assistant

agent noteThe right arm did not track that combined low, forward move, suggesting it is constrained at this pose. I’ll lift the open gripper first, then approach from above rather than forcing it along the tabletop.

move_to

right_z0.1300right_x0.4050right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3888, 0.5694, 0.4335, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8715, -0.3931, -0.1616, 0.9963] state[eef_state]: left_x=0.3899 left_y=-0.1282 left_z=0.142 left_yaw=-0.4275 left_pitch=0.1912 left_roll=-0.0349 left_gripper=0.0688 right_x=0.3669 right_y=0.0939 right_z=0.0466 right_yaw=0.4738 right_pitch=0.1333 right_roll=0.0249 right_gripper=0.9963 state[joint_eff]: [-0.0068, -5.3265, 6.4752, 1.8193, -0.0122, -0.0659, 1.033, -0.0752, -6.5573, 4.9983, 1.9463, -0.0317, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13,"right_x":0.405,"right_pitch":0.3},"note":"The right arm did not track that combined low, forward move, suggesting it is constrained at this pose. I’ll lift the open gripper first, then approach from above rather than forcing it along the tabletop."})

tool

executing move_to over 6 steps (0.6s)

step 144

assistant

agent noteFrom above, the pen is still close to the right jaw column, and the arm has reached the more extended pose successfully. I’ll descend vertically here, where the left arm’s pitched gripper was able to reach the tabletop.

move_to

right_z-0.0100right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3895, 0.569, 0.4335, 0.1795, 0.0238, 0.0688, 0.0452, 1.5604, 0.4755, 0.7898, -0.4297, -0.1272, 0.9963] state[eef_state]: left_x=0.3899 left_y=-0.1281 left_z=0.1415 left_yaw=-0.4272 left_pitch=0.1901 left_roll=-0.0349 left_gripper=0.0688 right_x=0.4018 right_y=0.0954 right_z=0.1205 right_yaw=0.4855 right_pitch=0.291 right_roll=-0.0002 right_gripper=0.9963 state[joint_eff]: [-0.1709, -5.4359, 6.5436, 1.873, 0.0024, -0.0611, 1.033, -0.8821, -7.5282, 6.9949, 1.5604, -0.1441, 0.2076, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.01,"right_pitch":0.3},"note":"From above, the pen is still close to the right jaw column, and the arm has reached the more extended pose successfully. I’ll descend vertically here, where the left arm’s pitched gripper was able to reach the tabletop."})

tool

executing move_to over 9 steps (0.9s)

step 153

assistant

agent noteThe right arm again held above the table rather than following a vertical descent at this reach. I’ll reposition to the slightly farther-forward, more centered pose where it previously reached pen height, then retry from above.

move_to

right_x0.4350right_y0.1300right_z0.1400right_yaw0.5500right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3895, 0.569, 0.4332, 0.1799, 0.0238, 0.0688, 0.0395, 1.5604, 0.482, 0.7467, -0.4313, -0.1158, 0.9963] state[eef_state]: left_x=0.3898 left_y=-0.1281 left_z=0.1414 left_yaw=-0.4275 left_pitch=0.1897 left_roll=-0.0352 left_gripper=0.0688 right_x=0.4008 right_y=0.0933 right_z=0.1136 right_yaw=0.4705 right_pitch=0.2578 right_roll=0.0277 right_gripper=0.9963 state[joint_eff]: [-0.1983, -5.4085, 6.3521, 1.8828, 0.0073, -0.0464, 1.0379, -0.4171, -7.6103, 6.8171, 1.8632, -0.188, 0.0952, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.13,"right_z":0.14,"right_yaw":0.55,"right_pitch":0.25},"note":"The right arm again held above the table rather than following a vertical descent at this reach. I’ll reposition to the slightly farther-forward, more centered pose where it previously reached pen height, then retry from above."})

tool

executing move_to over 4 steps (0.4s)

step 157

assistant

agent noteThe pen remains on the right jaw column, now just below the visible fingertip area. I’ll try the straight-down motion again from the farther-forward pose and judge it by the reported height.

move_to

right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3933, 0.5663, 0.4328, 0.1799, 0.0238, 0.0688, 0.1097, 1.7313, 0.606, 0.7414, -0.4278, -0.1204, 0.9963] state[eef_state]: left_x=0.3893 left_y=-0.128 left_z=0.1387 left_yaw=-0.4272 left_pitch=0.183 left_roll=-0.0364 left_gripper=0.0688 right_x=0.4251 right_y=0.1241 right_z=0.0911 right_yaw=0.535 right_pitch=0.2099 right_roll=0.0444 right_gripper=0.9963 state[joint_eff]: [-0.1299, -5.135, 6.5846, 1.8193, 0.0122, -0.0464, 1.0379, -0.0889, -9.347, 7.706, 2.4249, -0.1587, 0.0073, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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":{"right_z":-0.01,"right_pitch":0.25},"note":"The pen remains on the right jaw column, now just below the visible fingertip area. I’ll try the straight-down motion again from the farther-forward pose and judge it by the reported height."})

tool

executing move_to over 7 steps (0.7s)

step 164

assistant

agent noteThe right grasp point is now about 7 mm above the table, and the pen is visible slightly left of the jaw center. I’ll make a small leftward correction with the jaws open before closing on it.

move_to

right_y0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.396, 0.5613, 0.4328, 0.1799, 0.0238, 0.0688, 0.1108, 2.196, 0.5735, 1.3056, -0.4309, -0.1318, 0.9963] state[eef_state]: left_x=0.3882 left_y=-0.1277 left_z=0.1355 left_yaw=-0.427 left_pitch=0.1755 left_roll=-0.0378 left_gripper=0.0688 right_x=0.4299 right_y=0.1257 right_z=0.0067 right_yaw=0.552 right_pitch=0.2715 right_roll=0.0052 right_gripper=0.9963 state[joint_eff]: [-0.3487, -5.5863, 6.694, 1.8437, 0.0024, 0.0024, 1.033, -0.6632, -6.2427, 2.1949, 0.7497, -0.149, 0.3248, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.15},"note":"The right grasp point is now about 7 mm above the table, and the pen is visible slightly left of the jaw center. I’ll make a small leftward correction with the jaws open before closing on it."})

tool

executing move_to over 3 steps (0.3s)

step 167

assistant

agent noteThe pen is now centered between the right jaws at table height. I’ll close the right gripper and use its settled opening to confirm whether it has the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.396, 0.5598, 0.4332, 0.1799, 0.0238, 0.0688, 0.1776, 2.2227, 0.5865, 1.3514, -0.3794, -0.1246, 0.9963] state[eef_state]: left_x=0.3879 left_y=-0.1277 left_z=0.1349 left_yaw=-0.427 left_pitch=0.1743 left_roll=-0.038 left_gripper=0.0688 right_x=0.4298 right_y=0.1472 right_z=0.0079 right_yaw=0.5734 right_pitch=0.2945 right_roll=-0.0156 right_gripper=0.9963 state[joint_eff]: [0.0889, -5.2308, 6.4479, 1.8291, -0.0171, -0.0659, 1.033, 0.1983, -10.4957, 3.1111, 1.4969, -0.0317, 0.1587, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen is now centered between the right jaws at table height. I’ll close the right gripper and use its settled opening to confirm whether it has the pen."})

tool

executing move_to over 10 steps (1.0s)

step 177

assistant

agent noteThe right gripper closed empty; the pen’s shiny tip appears just to the right of the closed jaws, so it was likely pushed aside. I’ll reopen and lift slightly before realigning for a gentler, centered grasp.

move_to

right_gripper1.0000right_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1818, 2.2211, 0.5877, 1.3727, -0.3828, -0.1207, 0.0103] state[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4307 right_y=0.1499 right_z=0.0138 right_yaw=0.5814 right_pitch=0.3171 right_roll=-0.0206 right_gripper=0.0103 state[joint_eff]: [-0.1573, -5.3812, 6.5436, 1.8242, -0.0317, -0.0464, 1.0379, -0.6632, -8.6496, 2.5641, 1.6923, -0.0317, -0.0708, 0.8425] 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":{"right_gripper":1,"right_z":0.06},"note":"The right gripper closed empty; the pen’s shiny tip appears just to the right of the closed jaws, so it was likely pushed aside. I’ll reopen and lift slightly before realigning for a gentler, centered grasp."})

tool

executing move_to over 10 steps (1.0s)

step 187

assistant

agent noteWith the right jaws open, the pen is still on the table just right of their centerline, so the failed close did not pick it up. I’ll shift the gripper toward that side and back slightly, keeping it raised to avoid nudging the pen again.

move_to

right_y0.1250right_x0.4200right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1829, 2.0258, 0.5709, 1.1797, -0.3859, -0.1253, 0.9948] state[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4289 right_y=0.1506 right_z=0.0494 right_yaw=0.586 right_pitch=0.304 right_roll=-0.0186 right_gripper=0.9948 state[joint_eff]: [-0.335, -5.3949, 6.4342, 1.8046, 0.0171, -0.0513, 1.033, -0.4034, -10.5504, 3.7538, 1.6386, -0.0562, 0.0708, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.125,"right_x":0.42,"right_z":0.095},"note":"With the right jaws open, the pen is still on the table just right of their centerline, so the failed close did not pick it up. I’ll shift the gripper toward that side and back slightly, keeping it raised to avoid nudging the pen again."})

tool

executing move_to over 3 steps (0.3s)

step 190

assistant

agent noteThe pen tip now sits on the right jaw column in the raised wrist view. I’ll descend without changing the horizontal pose, then check alignment again at actual gripping height.

move_to

right_z-0.0100right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.396, 0.5571, 0.4332, 0.1799, 0.0238, 0.0688, 0.1165, 1.8431, 0.5388, 1.0134, -0.4324, -0.1425, 0.9956] state[eef_state]: left_x=0.3873 left_y=-0.1275 left_z=0.1338 left_yaw=-0.4269 left_pitch=0.1717 left_roll=-0.0385 left_gripper=0.0688 right_x=0.4225 right_y=0.1276 right_z=0.0799 right_yaw=0.5682 right_pitch=0.2951 right_roll=-0.0168 right_gripper=0.9956 state[joint_eff]: [-0.0752, -5.1214, 6.3795, 1.8144, -0.0024, -0.0464, 1.033, -0.335, -8.5812, 4.588, 1.8437, -0.2613, -0.0269, 0.0611] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.01,"right_pitch":0.3},"note":"The pen tip now sits on the right jaw column in the raised wrist view. I’ll descend without changing the horizontal pose, then check alignment again at actual gripping height."})

tool

executing move_to over 6 steps (0.6s)

step 196

assistant

agent noteAt gripping height the pen’s shaft lies slightly left of the jaw center, although its tip is nearly centered. I’ll make a roughly two-centimeter sideways correction so the shaft, not just the tip, sits between the closing jaws.

move_to

right_y0.1470

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4324, 0.1799, 0.0238, 0.0688, 0.112, 2.2543, 0.5598, 1.4353, -0.4385, -0.1627, 0.9956] state[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1309 left_yaw=-0.4267 left_pitch=0.1646 left_roll=-0.0398 left_gripper=0.0688 right_x=0.4271 right_y=0.1271 right_z=0.0074 right_yaw=0.5848 right_pitch=0.324 right_roll=-0.0506 right_gripper=0.9956 state[joint_eff]: [-0.1573, -5.4359, 6.5299, 1.8193, -0.0024, -0.0659, 1.0379, 0.2667, -6.0513, 1.9897, 0.8034, -0.0904, 0.3736, -0.0073] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.147},"note":"At gripping height the pen’s shaft lies slightly left of the jaw center, although its tip is nearly centered. I’ll make a roughly two-centimeter sideways correction so the shaft, not just the tip, sits between the closing jaws."})

tool

executing move_to over 2 steps (0.2s)

step 198

assistant

agent noteThe pen remains between the open right jaws, though its visible shaft is a little left of center. I’ll close only to a narrow pen-sized gap first, rather than applying a full squeeze that could eject it again.

move_to

right_gripper0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4332, 0.1799, 0.0238, 0.0738, 0.1474, 2.2765, 0.5686, 1.4792, -0.4068, -0.1532, 0.9956] state[eef_state]: left_x=0.3865 left_y=-0.1273 left_z=0.1311 left_yaw=-0.4267 left_pitch=0.1653 left_roll=-0.0396 left_gripper=0.0738 right_x=0.4281 right_y=0.1379 right_z=0.0096 right_yaw=0.5913 right_pitch=0.3482 right_roll=-0.0623 right_gripper=0.9956 state[joint_eff]: [-0.212, -5.3949, 6.5026, 1.7851, -0.0317, -0.0513, 1.033, 0.8821, -10.2085, 2.8103, 1.6825, -0.0659, 0.0659, -0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.035},"note":"The pen remains between the open right jaws, though its visible shaft is a little left of center. I’ll close only to a narrow pen-sized gap first, rather than applying a full squeeze that could eject it again."})

tool

executing move_to over 10 steps (1.0s)

step 208

assistant

agent noteThe right jaws have only reached about half-open so far, and the pen is still visible ahead of them; that is not a confirmed grasp. I’ll let the controlled close finish to the narrow target and check the final opening.

move_to

right_gripper0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3998, 0.5529, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4038, -0.1505, 0.5332] state[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1305 left_yaw=-0.4266 left_pitch=0.1638 left_roll=-0.0399 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5899 right_pitch=0.3493 right_roll=-0.0609 right_gripper=0.5332 state[joint_eff]: [-0.1983, -5.4632, 6.2974, 1.7949, -0.0122, -0.0611, 1.0281, -0.4034, -8.6906, 2.5641, 1.8339, -0.1343, -0.0855, 1.0232] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.035},"note":"The right jaws have only reached about half-open so far, and the pen is still visible ahead of them; that is not a confirmed grasp. I’ll let the controlled close finish to the narrow target and check the final opening."})

tool

executing move_to over 5 steps (0.5s)

step 213

assistant

agent noteThe right jaw opening has stabilized much wider than a pen’s diameter, so the grip is uncertain even though the pen is between the fingers in the camera. I’ll lift a few centimeters and check the overhead view: the pen moving with the gripper is the decisive test.

move_to

right_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.3998, 0.5526, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4042, -0.1505, 0.5328] state[eef_state]: left_x=0.3863 left_y=-0.1272 left_z=0.1303 left_yaw=-0.4266 left_pitch=0.1634 left_roll=-0.04 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5903 right_pitch=0.3494 right_roll=-0.0608 right_gripper=0.5328 state[joint_eff]: [-0.1709, -5.1897, 6.2974, 1.79, -0.0366, -0.0708, 1.0281, -0.1709, -8.9094, 2.4821, 1.8095, -0.1197, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The right jaw opening has stabilized much wider than a pen’s diameter, so the grip is uncertain even though the pen is between the fingers in the camera. I’ll lift a few centimeters and check the overhead view: the pen moving with the gripper is the decisive test."})

tool

executing move_to over 9 steps (0.9s)

step 222

assistant

agent noteAfter lifting, the pen is still visible on the table through the right wrist camera, so the wide jaw reading was not a successful pickup. I’ll clear the right arm to inspect where the pen now lies before making another, better-centered attempt.

move_to

right_gripper1.0000right_x0.3100right_y0.0200right_z0.1800right_pitch0.0000right_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]: [-0.2493, 1.4002, 0.5503, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 1.7023, 0.5793, 0.9016, -0.4042, -0.1543, 0.5343] state[eef_state]: left_x=0.3857 left_y=-0.1271 left_z=0.1292 left_yaw=-0.4265 left_pitch=0.1608 left_roll=-0.0404 left_gripper=0.0738 right_x=0.426 right_y=0.1383 right_z=0.128 right_yaw=0.5933 right_pitch=0.3544 right_roll=-0.0674 right_gripper=0.5343 state[joint_eff]: [-0.0889, -5.3949, 6.612, 1.7949, -0.0073, -0.0317, 1.0281, -0.3077, -8.4171, 7.2137, 1.7656, -0.0611, -0.0122, 0.5104] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.31,"right_y":0.02,"right_z":0.18,"right_pitch":0,"right_yaw":0},"note":"After lifting, the pen is still visible on the table through the right wrist camera, so the wide jaw reading was not a successful pickup. I’ll clear the right arm to inspect where the pen now lies before making another, better-centered attempt."})

tool

executing move_to over 12 steps (1.2s)

step 234

assistant

agent noteWith the right arm clear, the pen is still lying diagonally on the right half of the table; the cap remains held by the left hand. I’ll approach the pen again with the right jaws more closely aligned to its current angle and slightly left of the prior contact point.

move_to

right_x0.4250right_y0.1700right_z0.1050right_pitch0.2500right_yaw0.3800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4025, 0.5446, 0.4332, 0.1799, 0.0238, 0.0738, 0.141, 0.8974, 0.5762, -0.202, 0.0883, -0.0288, 0.998] state[eef_state]: left_x=0.3844 left_y=-0.1268 left_z=0.1259 left_yaw=-0.4263 left_pitch=0.1529 left_roll=-0.0419 left_gripper=0.0738 right_x=0.3186 right_y=0.0331 right_z=0.1752 right_yaw=0.0745 right_pitch=0.0366 right_roll=-0.0698 right_gripper=0.998 state[joint_eff]: [-0.1162, -5.5726, 6.6667, 1.8242, 0.0415, -0.0611, 1.0232, -0.4991, -2.5915, 9.8803, 1.9365, 0.149, 0.1783, -0.0806] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.17,"right_z":0.105,"right_pitch":0.25,"right_yaw":0.38},"note":"With the right arm clear, the pen is still lying diagonally on the right half of the table; the cap remains held by the left hand. I’ll approach the pen again with the right jaws more closely aligned to its current angle and slightly left of the prior contact point."})

tool

executing move_to over 12 steps (1.2s)

step 246

assistant

agent noteIn the right wrist view the pen is about two centimeters to the right of the jaw column. I’ll shift the open right gripper toward it while staying above the tabletop, then reassess before lowering.

move_to

right_y0.1200right_x0.4300right_z0.0900right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4044, 0.5404, 0.432, 0.1799, 0.0238, 0.0738, 0.3801, 1.6958, 0.5755, 0.6868, 0.0479, -0.057, 0.9985] state[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1231 left_yaw=-0.4261 left_pitch=0.1458 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4081 right_y=0.1578 right_z=0.0761 right_yaw=0.3628 right_pitch=0.1245 right_roll=-0.0726 right_gripper=0.9985 state[joint_eff]: [-0.0615, -5.4496, 6.5436, 1.8046, 0.0024, -0.0659, 1.0281, 0.4034, -7.1453, 7.2137, 2.2344, 0.0806, 0.0611, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.12,"right_x":0.43,"right_z":0.09,"right_pitch":0.3},"note":"In the right wrist view the pen is about two centimeters to the right of the jaw column. I’ll shift the open right gripper toward it while staying above the tabletop, then reassess before lowering."})

tool

executing move_to over 6 steps (0.6s)

step 252

assistant

agent noteThe pen moved toward the jaw column but is still right of it; its tip is near the bottom of the wrist image. I’ll finish the sideways alignment and raise slightly before the table-level descent.

move_to

right_y0.1050right_x0.4300right_z0.1200right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4044, 0.54, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5488, 0.7769, 0.0006, -0.0723, 0.9985] state[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1232 left_yaw=-0.4262 left_pitch=0.1465 left_roll=-0.043 left_gripper=0.0738 right_x=0.4132 right_y=0.144 right_z=0.0731 right_yaw=0.3589 right_pitch=0.1562 right_roll=-0.0675 right_gripper=0.9985 state[joint_eff]: [0.0889, -5.2444, 6.7624, 1.7998, -0.0024, -0.0806, 1.0281, -0.0479, -7.5829, 5.2308, 2.083, -0.0024, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.105,"right_x":0.43,"right_z":0.12,"right_pitch":0.3},"note":"The pen moved toward the jaw column but is still right of it; its tip is near the bottom of the wrist image. I’ll finish the sideways alignment and raise slightly before the table-level descent."})

tool

executing move_to over 5 steps (0.5s)

step 257

assistant

agent noteThat combined correction did not move the arm, so I won’t keep pushing the same low pose. I’ll lift well clear of the pen first and then shift sideways from above.

move_to

right_z0.1800right_y0.1050right_x0.4300right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4044, 0.5388, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5476, 0.7776, -0.0013, -0.078, 0.9985] state[eef_state]: left_x=0.383 left_y=-0.1264 left_z=0.1227 left_yaw=-0.4261 left_pitch=0.1454 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4128 right_y=0.1443 right_z=0.0729 right_yaw=0.3636 right_pitch=0.1556 right_roll=-0.0721 right_gripper=0.9985 state[joint_eff]: [-0.0479, -5.3812, 6.2701, 1.7851, -0.0269, -0.0513, 1.0281, 0.0205, -7.5419, 5.2171, 2.0684, -0.0513, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.18,"right_y":0.105,"right_x":0.43,"right_pitch":0.3},"note":"That combined correction did not move the arm, so I won’t keep pushing the same low pose. I’ll lift well clear of the pen first and then shift sideways from above."})

tool

executing move_to over 7 steps (0.7s)

step 264

assistant

agent noteThe pen has shifted toward the right arm’s base, outside the left arm’s comfortable reach while it holds the cap. I’ll put the closed right jaws just to the pen’s right at table height, aiming to slide the pen toward the center where the cap can reach it.

move_to

right_x0.3450right_y0.0450right_z-0.0100right_pitch0.5000right_yaw0.0000right_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]: [-0.2493, 1.4048, 0.5373, 0.4328, 0.1799, 0.0238, 0.0738, 0.1875, 1.4902, 0.627, 0.5594, -0.136, -0.1173, 0.9985] state[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1218 left_yaw=-0.4261 left_pitch=0.1432 left_roll=-0.0436 left_gripper=0.0738 right_x=0.4249 right_y=0.1086 right_z=0.1548 right_yaw=0.3639 right_pitch=0.2566 right_roll=-0.0731 right_gripper=0.9985 state[joint_eff]: [-0.1026, -5.2034, 6.4889, 1.8584, 0.022, -0.0171, 1.0281, -0.9641, -8.1573, 9.3744, 2.1074, 0.0317, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.345,"right_y":0.045,"right_z":-0.01,"right_pitch":0.5,"right_yaw":0,"right_gripper":0},"note":"The pen has shifted toward the right arm’s base, outside the left arm’s comfortable reach while it holds the cap. I’ll put the closed right jaws just to the pen’s right at table height, aiming to slide the pen toward the center where the cap can reach it."})

tool

executing move_to over 11 steps (1.1s)

step 275

assistant

agent noteThe right jaws are now to the pen’s right, but the reported grasp point is still about 7 cm above the table, too high to slide a thin pen. I’ll lower without changing the sideways position and see whether this pose can reach it.

move_to

right_z-0.0200right_pitch0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4052, 0.5369, 0.4332, 0.1799, 0.0238, 0.0738, 0.2848, 1.9312, 0.2337, 1.5345, 0.2569, -0.0444, 0.0102] state[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1216 left_yaw=-0.4261 left_pitch=0.1428 left_roll=-0.0437 left_gripper=0.0738 right_x=0.376 right_y=0.067 right_z=0.0696 right_yaw=0.0667 right_pitch=0.3993 right_roll=-0.0906 right_gripper=0.0102 state[joint_eff]: [-0.1573, -5.3812, 6.2427, 1.8339, -0.0317, -0.0513, 1.0281, 0.4991, -7.8427, 2.2769, 2.1612, 0.1001, 0.0659, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.02,"right_pitch":0.5},"note":"The right jaws are now to the pen’s right, but the reported grasp point is still about 7 cm above the table, too high to slide a thin pen. I’ll lower without changing the sideways position and see whether this pose can reach it."})

tool

executing move_to over 6 steps (0.6s)

step 281

assistant

agent noteThe right arm still stops about 6 cm up at this shorter reach. I’ll move to the farther-forward configuration that has reliably reached the tabletop, keeping the jaws on the pen’s right-hand side.

move_to

right_x0.4300right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4055, 0.5297, 0.4316, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2951, 1.5555, 0.2798, -0.0486, 0.011] state[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.118 left_yaw=-0.4258 left_pitch=0.1338 left_roll=-0.0453 left_gripper=0.0738 right_x=0.3896 right_y=0.072 right_z=0.0628 right_yaw=0.0597 right_pitch=0.4056 right_roll=-0.0975 right_gripper=0.011 state[joint_eff]: [-0.3077, -5.1761, 6.8444, 1.8242, -0.0269, -0.0366, 1.0281, 0.1983, -6.5846, 3.0291, 2.0147, -0.0513, -0.0073, 0.4176] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_z":-0.01,"right_pitch":0.25},"note":"The right arm still stops about 6 cm up at this shorter reach. I’ll move to the farther-forward configuration that has reliably reached the tabletop, keeping the jaws on the pen’s right-hand side."})

tool

executing move_to over 6 steps (0.6s)

step 287

assistant

agent noteThe right arm will not descend from this short-reach pose, and the pen remains on the table beyond where the left arm can bring the cap. I’ll set the cap back down near its pickup spot and park the right arm rather than continue forcing an unsuccessful assembly.

move_to

left_z0.0150left_gripper1.0000right_x0.3000right_y0.0100right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.4055, 0.5297, 0.4324, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2947, 1.5555, 0.2798, -0.0486, 0.0107] state[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.1182 left_yaw=-0.4258 left_pitch=0.1345 left_roll=-0.0452 left_gripper=0.0738 right_x=0.3895 right_y=0.0719 right_z=0.0627 right_yaw=0.0597 right_pitch=0.4052 right_roll=-0.0976 right_gripper=0.0107 state[joint_eff]: [-0.335, -5.1214, 6.1744, 1.7705, -0.0073, -0.0562, 1.0281, 0.4718, -6.5709, 2.6051, 1.9902, 0.0073, -0.0464, 0.3004] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.015,"left_gripper":1,"right_x":0.3,"right_y":0.01,"right_z":0.18,"right_gripper":1},"note":"The right arm will not descend from this short-reach pose, and the pen remains on the table beyond where the left arm can bring the cap. I’ll set the cap back down near its pickup spot and park the right arm rather than continue forcing an unsuccessful assembly."})

tool

executing move_to over 10 steps (1.0s)

step 297

assistant

agent noteI picked up the cap, but repeated right-arm grasps did not secure the pen, so I could not put the cap on it. I placed the cap back on the table and parked the right arm.

give_up

hindsightFor this rig, the right arm reached table height near x=0.43 m with forward pitch around 0.25–0.3 rad, but repeatedly stalled 4–7 cm above the table at x≈0.36–0.41 m. A wrist-camera view of a pen on the jaw column did not guarantee a grasp: the pen was pushed sideways on closing, and one close stopped with a roughly 5 cm jaw opening without lifting it. Confirm pickup by lifting and checking the overhead view.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.887, 0.3923, 0.981, 0.1799, 0.025, 0.9953, 0.0483, 0.6952, 0.152, 0.4873, 0.0639, -0.0872, 0.9948] state[eef_state]: left_x=0.3741 left_y=-0.1241 left_z=0.0035 left_yaw=-0.4252 left_pitch=0.0655 left_roll=-0.0565 left_gripper=0.9953 right_x=0.3043 right_y=0.007 right_z=0.1924 right_yaw=0.0313 right_pitch=0.501 right_roll=-0.1006 right_gripper=0.9948 state[joint_eff]: [-0.1709, -7.2, 3.0564, 1.9267, 0.0562, -0.0855, -0.0269, -0.2393, 0.0615, 10.1402, 1.7558, -0.1245, 0.0611, 0.0269] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up the cap, but repeated right-arm grasps did not secure the pen, so I could not put the cap on it. I placed the cap back on the table and parked the right arm.","hindsight":"For this rig, the right arm reached table height near x=0.43 m with forward pitch around 0.25–0.3 rad, but repeatedly stalled 4–7 cm above the table at x≈0.36–0.41 m. A wrist-camera view of a pen on the jaw column did not guarantee a grasp: the pen was pushed sideways on closing, and one close stopped with a roughly 5 cm jaw opening without lifting it. Confirm pickup by lifting and checking the overhead view."})

tool

give_up: I picked up the cap, but repeated right-arm grasps did not secure the pen, so I could not put the cap on it. I placed the cap back on the table and parked the right arm.

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 · 8.294 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, 0.7933, 0.6025, -0.3805, -0.0216, -0.0246, 0.9998, -0.0189, 0.7918, 0.6102, -0.3767, -0.0219, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0019 right_z=0.1841 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -1.4154, 10.3453, 1.8046, 0.022, 0.0952, -0.0366, -0.5402, -1.2239, 9.894, 1.7705, -0.0317, -0.0708, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ec572892251cbcda886ed16eca973025fe50effd4094549f3ee016794bb80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267b33015509552abbcb9aee980132c1be9601367ff3d52938514e8cfc8b01cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff2dc1034c10b5a2ec902c8dd0d8afd68f4bf58353150eb82f7eb2205e21c03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.465 s

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

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab430e5577087d0803cdee8fa861ae0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDsp4LTuO1-EY_W4yF-fmjTXqQDN56x3KUW3rVxvfJUUM2N8TEQa9FDdFSVmwG9T3cqMP-7wK2-zaM0mY7a7Bu-w2Dp_iuyQ13khK1N7cBcDLpiFsZFP4UFCn9NWqxRC6tARpxl-_oBUi1xEtvUnkzIaPEH1Jvjl-Tp8_eMR9862C7Ql3k3PZ6s7oCt6ufxLG2zle7GbCSv_BMD7OPNbgURlFdBfnwmhaRq6YpkKpHzz6Cy0Kj_ipVSa7zkMTUT1yTMGyBQCN4Lnild1v_YVRe2Y2E-yiyoxKpSJrE4WJa9OwEd_vXlobAFB0ENIj3ufVqIbRks-5L6KD7yb-5eg_GyVzE39VDPnNFaM6jHuyDhafBM56QHSIdW7luaJFmZ6_fMsg5GcYWCM9sMdaF_R7OQgkucaXyjBh-nkq6-jKKuA-9Nu78hqwZwY7EV5WEnrsHF31SZPi7vD0soe7_824RbrVrZGN3Nv_A-Hz-X2PT03GpPzBjOgt3iGOz_NPDsTYNa2e0IGBbZte3oAGiE1ZPrP-IJQCBZP6sCbRICaV1aeJI4yaZ3MQklFnYM2b5YeCL0XfxFXmW_2VBzcrqBrGH4fG8YN6kSyF2WYIVUPqQN_zJjbK-vllQbvPjq4Z7_8cqg1OESAZOiSMZIgj-WvqRzs98Wof90F_FS9TTQ-kQrOTam5OvpYDc4ofJm0woZL-frDq77g0J9XxM-VJtJNb2cq6jps5oKx6QUmm4SRGGYD6fchUKQJxUtkk2GhA5nM6xZ_a7CA-ZJKK_vuStvJmn2IAt0OifmpOOpS9sMCVX9ZKgA-GnRaufyyCL-815GokNFWy2B4TJK8yF68Sg-E7zBKiaX5Ei-58u_1amTyVnoQe20c69kGEHLpQ2cL0IPhTLRZEOwTRadVxmvsfZAAh_A4rS_BHxTcA1lIWr88P5s2Z8NoCEUbGiTxqwJgOj3i2DlravOmbyrH4ktAbzoODfs1UItCZ3KbO9bBfnRGR-C24_6gWW5IjUlQqae-RDtlSK3tKNeleYWfbSrnOgnUNzfWdKzlVfS3mXg0fkPMZwbLIX6IB0cb688T92XLavyCLizqfiYWD3JmxEPHm8dopwp7CmeRP3FIYHyJeEXa516svj_t4sIUY3CPuxHg_uQvedCXoOE7CwW0Sv84fTZEPkY18X8wR5nGyoDCdok7rZcZ7-a7r82xSVB993x0O7-fjIY1SOQ84QcrYL5tnAjr9rc_O-4umMnBFuCoCCXmOOzUpNVnphNeCkWW8KAfs7H_GuxaNBS_RNxrZGu2CaHqp82zWiY5fXlOvAr33JJTlNs2qxqOlx7PLvNWwIvU00kCxcp0dtR7r8kUGupE3tTD3YhgehZ76fV1dlIGt0_nnfvxhC9qalXaNCji0dvGDANnqv4ahdLwIl3BmtD6E3xVOGl0OmbqYYzNONg-g4rMGnHZnhwWIMyDQ-L6q2aCsG6s4SpG-sRn10ys3n8GnJAf3Rmc8Cek0BZfiJGvgTstotNrfQA1i31EVfOk0kR7DPtE53D_8yI3aOEFX4rmGKTkSjf_pcBgR-xVlVcB1dDBcP_HTo=",
  "id": "rs_0a7858731287a50b016ab430eb019087d0a615989486a60026",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.15,\"left_z\":0.15,\"left_yaw\":-0.45,\"right_x\":0.40,\"right_y\":0.18,\"right_z\":0.15,\"right_yaw\":0.65},\"note\":\"The short cap is left of center and the longer pen is right of center, with both lying diagonally. I’ll bring each open gripper over its respective object and align the jaws across it before descending.\"}",
  "call_id": "call_X6FQhLtFaqK7CFxqBvgGSj56",
  "id": "fc_0a7858731287a50b016ab430eba98887d0bd6539f1e73fe5b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X6FQhLtFaqK7CFxqBvgGSj56",
  "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]: [-0.3199, 1.4231, 0.7837, -0.0246, 0.0669, 0.0212, 0.9998, 0.2848, 1.4845, 0.844, -0.0154, -0.2729, -0.1787, 0.9993]\nstate[eef_state]: left_x=0.3844 left_y=-0.136 left_z=0.1234 left_yaw=-0.399 left_pitch=-0.0915 left_roll=-0.0166 left_gripper=0.9998 right_x=0.3887 right_y=0.1671 right_z=0.1304 right_yaw=0.6038 right_pitch=-0.0695 right_roll=0.0195 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -5.9966, 10.0034, 1.9267, 0.1636, 0.2564, -0.0171, 0.6222, -6.3111, 9.0735, 1.8974, -0.2564, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195877ee25e5ee93cf1f26d16a9b90b8fc28f96be95e9d215728735b559a6111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a4c04a0c596f46876c5fb94002557d1f8bf7aeec5485dc73f5060bc94eb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900229a9fbe958e81f1816d24ae6d4d0dbeae245f4fef2c76c0b5cc271822538",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 4.033 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, 0.7933, 0.6025, -0.3805, -0.0216, -0.0246, 0.9998, -0.0189, 0.7918, 0.6102, -0.3767, -0.0219, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0019 right_z=0.1841 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -1.4154, 10.3453, 1.8046, 0.022, 0.0952, -0.0366, -0.5402, -1.2239, 9.894, 1.7705, -0.0317, -0.0708, -0.0904]",
      "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]: [-0.3199, 1.4231, 0.7837, -0.0246, 0.0669, 0.0212, 0.9998, 0.2848, 1.4845, 0.844, -0.0154, -0.2729, -0.1787, 0.9993]\nstate[eef_state]: left_x=0.3844 left_y=-0.136 left_z=0.1234 left_yaw=-0.399 left_pitch=-0.0915 left_roll=-0.0166 left_gripper=0.9998 right_x=0.3887 right_y=0.1671 right_z=0.1304 right_yaw=0.6038 right_pitch=-0.0695 right_roll=0.0195 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -5.9966, 10.0034, 1.9267, 0.1636, 0.2564, -0.0171, 0.6222, -6.3111, 9.0735, 1.8974, -0.2564, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195877ee25e5ee93cf1f26d16a9b90b8fc28f96be95e9d215728735b559a6111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a4c04a0c596f46876c5fb94002557d1f8bf7aeec5485dc73f5060bc94eb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900229a9fbe958e81f1816d24ae6d4d0dbeae245f4fef2c76c0b5cc271822538",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDzQfrS6f_HYBOH0EkspRUusgGFsCqo0c9PSZ3aU7BCAqZGBd1vWeUEHpJ3eHBT238-sqoTDbm1AtIyTYbZi-NufihhKJwyZt-NYjel5u3R8MTPRzHnWmqKESr_PUkj8YCXEy5C4IUM1SgYBH2Ye1PhQpXrYTBLsXIK1gyHEKOrjkDOEzjwQcJto6LSEbEsM7sRmxp8KQxqDlCaFMRXFEUXGfCKb9RQgn2hObNE_OTat4sEuY9yKaJoE-cdH3RuoSQYjy7mYUzdrocTXJoTJeLtaLigRM6nirpkRCD7QIcvQJe0cixY-Uh0tuEUIFMgelLP3XG9L1ZV5iR1fK4_FE2Sx2sOtDhJanqer6ZEw9ssZ5DAeW7TVenXek-hBJDqqTj1Z4T5q7n1L4w_KBg5ES1FgcbaH5P0Ols_mhQ-jypyG6YcAi2-1A4HcyAPT3p8aCDwQZ7hhrfOMfJvV4Np6wao3MLHKmbwtpQ0VDGxAHR0Hzs_BKXT7Z5lQ1IMtUp2O4mxRPXkT7U6j4N0zN72cip02pE8XIwzH5OPSH-N7B4ETpKl7_ERkAQsDz8aEqVxdxdSbqgrCNGPZwjS_S0xLTtO2Jbb5sVx7UXxQg4GpIj15v0I4l8AWV9lQjYQaBx1iAfVyrEiuhJvxTb3SAJ5ASjQEiY4-P2G0mUm-yNtMy-akswckMUdmSHcoDg3dv9SjHHVHbloNRR5_YJvKaI5iVdICNgGmQMFKK646o74zX1WAV62G2qRv_-U3zJBV-hqayQo8rkMOrVkYg-TCy4WNbEVLtibIwb9-gkQD8VCSqK5GKaK6bW38rGjn4eKu-OT6b66kxc8pqaa3MXXv4pG9ysoaepRHcJK5MWhBZK_iTrcdq9i6VAheZO_lLAzjg706bvBrUfPkQZRSnCqdTEQRQLai3P_UZFwuy7bTqXseUyQHYNhOTyCgQNGdDgwmIrW5ZDqdT110gxUu4hcwulny67fp_IkglTRMBOH09eM1v1fO4nrZCdsMJxqUcR5dwKCC3b1YU0eJjCHY-oaPfzGetEYVxKz-8f9PcoEz1wfGpSMPhHZwvw47FQxaaOptdEDBVUrQ4rOtzamoGsqIzYye0p9oIv3oAUuY74OCeZiag0qXDQxCntcWB4Hi6TheWWK-Y-8mBa0djoH4jQV_AI5_xI2K2FXHgh_P_k6r82n4DW-nBSSINytRaBdbvQNDAhVACOlXPWKocbHZ_6Scr7tUyFhP-nMMUTT1B5_W2ZX95F6N5ZlEuFtHDaRsahE42uZpN2sNiV3Nbga6p2LPBpbNDtF1lBe2-BbxPvu39x5JOPpM90FEsZQFrWvkrGmzqjJU8VCPL1XYXRmbjAHgQmzqU3SceosFYGRB8krRgdECvnNE9Ml0ZMm53m72xW3fTYcMoZrctw-IJEe0VeslOE5HMIq9bjCeAJt1yff63Hqx3ErPGACEawitq0cvBAv2-rTttizvL7iKC7q8j4vdS-Brl_OlrCjgGjaneNDU-JixDBvTqCZ48WnMvxmVEFNc2xMhWXXh66aoukkLWMAMYIwzkHV78LapnyQsIsafH2ABnwRFWagTPxAMEhNUxoZgpqOuXFiBqGIfoB_yW1ESu91HmHAGoU3qm-R9byTzCdC9ai0IapbYYoRhzZefsVAByCMP9JdZwu0cQJqXsbbFcsZnL-Qor6TcmsVsFCea9T17ZO4TS4SUQ9ZkMZDKP5-ViSztz952YdnnM9uKowBb5wlnyvK92nOb1vvLOx6jBHZqXHc46-4c_zXVowO57iGkXdxg4z9wd57InVjCg9ql4RaCfVxVSQp7Lju7DkpLj5OVoLu23-AVIiD9FxK_WiWly2wC4YmziMhKAC-6wu_PRpIqwR9FeCQkAtofZwkU1WuMfdmnGLt_ZrBcbhPQXA9M8vnQDNNQHixr6b_YMKx_XQkwfL09xeMCNjJRAoeWLUyq0-7xdW5PCQZmYMgs-O90fKNjsr-H8T1E6czWh6OEWTSRZAf1mLyFZTmC-zbRYjDo0_7aOl1dcKRgkmBABpVFBWCLw0jiwP4cMT_c8dSaNHfH_fhSiJP1vNspmftvcJTAFtx6AM2diOvZc66bXYVFo811_wWv9eABaVUa_OPkHZHPXrLHkSN1udBtfR_qRZ8s3fvlQ300Dm4U62kKY-wu8w3zjE7lug5WuzzAlxJxdOX5VO8a2ljzVz3P6BCEvoEh7rg4DBs6OULA6xA2CygPefCPLGip0xAmaDLsDyFxcgjbB_y1WhV-i1muRcc-9kKRA2f2fstpOFqsBoTnp46Jp2hFIHnBMlIjJIJtEv5HmY-m0CaI7Y5rZ-kwJQwFl5bo3BcgqlpNysPWAhcNIox0KA603rzVB_5x4Hq7wYAU97ceOy6pf1A2_JCKdLAv5snmV8UfjGWKCpu2c4n83YYqVZullNOUsG5RxXWmu1tlhiQ1G_i4ybkm7-KQlGRGj0rrCR8VZeRYkVgJBLIt5HKOEFgTP_upHLNOXuyEmRA_gRqdv1aRiFwPb9yQJCTdfM35InaL_Xf1ewbPQSCM5neJM2wKjQ5k_eoHzPtMGGUopEZMjFxFPySWyU34WBc2o9glLNIh_YhGHYrouv4_bF7xMMmFiJfZk2eATtLq80Rc6QIaGx2vOJpS6ca_P9u2Pv3FB8MKVt-p9PcUepcJAPXOIV0sj35zsKO9D0PAu_ZyFsdjtVvHAiaI-ve7rZlxnnddEE8KKTHVXk2XtgxgFdkGlYcAjwf4HzWTOxDv_np5aRESVYwNVNUgfqNiEnqXbPycsVt67a1AkN9VSXyG293e6Y62yjcMdrMAQQAMx2oQDUmG_nZ-_fxHg-DeqFia2G2l__ny6e6OoJiZ95uCE2VsAMK0mSh5RXG6RHFIDRfJodY9xWQFsvwPAt0-7koe58BnZUKW-RJYur5MuS8KjyxzX6qlQjhlamR5H5_Jf9nPCrOjtYqunGKW771vGtHIqArU-aTcgDBjOTPRvYmzCLluh4npPeHdfKa5Nq66oaRHb4aga61l30uyOcY939bPLhzOQlHnJHfeXCB1eUUn4MyX0XRsDQtjA5i4U7xILIR5TkIe2ECxOAf_JaeoZvIDF4SJ0ua6efWidZFEfKOj69PEnYm47HQREa3Ma_vSdtwwomFCNtnLg==",
  "id": "rs_0a7858731287a50b016ab430ef3ab887d0a22a56384507a33a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.12,\"left_z\":0.065,\"right_x\":0.415,\"right_y\":0.14,\"right_z\":0.065},\"note\":\"In the wrist views the cap sits slightly left of the left jaw column and the pen slightly right of the right jaw column. I’ll make small sideways and forward corrections while lowering both open grippers to a closer inspection height.\"}",
  "call_id": "call_i5DUuphZkOVa6tduXRhH7VDp",
  "id": "fc_0a7858731287a50b016ab430f2bb3c87d0beb85079cfc9111d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i5DUuphZkOVa6tduXRhH7VDp",
  "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]: [-0.2417, 1.644, 0.7391, 0.16, 0.1043, 0.049, 0.9998, 0.1822, 1.6909, 0.7753, 0.1646, -0.3309, -0.2283, 0.9993]\nstate[eef_state]: left_x=0.4029 left_y=-0.1146 left_z=0.0533 left_yaw=-0.3687 left_pitch=-0.1692 left_roll=-0.0278 left_gripper=0.9998 right_x=0.4039 right_y=0.1364 right_z=0.0547 right_yaw=0.5792 right_pitch=-0.1441 right_roll=0.0491 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.4325, 6.0103, 1.9658, 0.0708, 0.149, -0.0171, -0.5675, -7.6513, 5.5726, 1.956, -0.3492, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97142bdfe46519cdfda7301a14acf96fdfff8bfa3f4f0a879ebbabcbf1b6cdfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933ec0e7ab114f592d3d65841ab4b672eb29ee7bcf8ee8dc6c47fb1d9c7edeca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae1fe9804e4ef22352f26f484aab7d600a503e5318b61dddd16b48aa9be0659",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 5.345 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]: [-0.3199, 1.4231, 0.7837, -0.0246, 0.0669, 0.0212, 0.9998, 0.2848, 1.4845, 0.844, -0.0154, -0.2729, -0.1787, 0.9993]\nstate[eef_state]: left_x=0.3844 left_y=-0.136 left_z=0.1234 left_yaw=-0.399 left_pitch=-0.0915 left_roll=-0.0166 left_gripper=0.9998 right_x=0.3887 right_y=0.1671 right_z=0.1304 right_yaw=0.6038 right_pitch=-0.0695 right_roll=0.0195 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -5.9966, 10.0034, 1.9267, 0.1636, 0.2564, -0.0171, 0.6222, -6.3111, 9.0735, 1.8974, -0.2564, -0.0171, -0.0122]",
      "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]: [-0.2417, 1.644, 0.7391, 0.16, 0.1043, 0.049, 0.9998, 0.1822, 1.6909, 0.7753, 0.1646, -0.3309, -0.2283, 0.9993]\nstate[eef_state]: left_x=0.4029 left_y=-0.1146 left_z=0.0533 left_yaw=-0.3687 left_pitch=-0.1692 left_roll=-0.0278 left_gripper=0.9998 right_x=0.4039 right_y=0.1364 right_z=0.0547 right_yaw=0.5792 right_pitch=-0.1441 right_roll=0.0491 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.4325, 6.0103, 1.9658, 0.0708, 0.149, -0.0171, -0.5675, -7.6513, 5.5726, 1.956, -0.3492, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97142bdfe46519cdfda7301a14acf96fdfff8bfa3f4f0a879ebbabcbf1b6cdfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933ec0e7ab114f592d3d65841ab4b672eb29ee7bcf8ee8dc6c47fb1d9c7edeca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae1fe9804e4ef22352f26f484aab7d600a503e5318b61dddd16b48aa9be0659",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD41HKav1ay0FpO8kutgCxbwwlPfCuu_P5aIJyGwuvYv6Lp47_fB3xW48LYoW9KbUbNMd03YLF8-ta-h0jkdLGHxdpqfKvYTH0nObvNkUGH0JZgSb_lYkd6zkZouT-odTIw1gnQP7LhrkfMb5CBNgwEhjtHQpRyXNtYDpxk3RDJ5nZMJZevkg7ltgd6hRzUP9TWBR_As-GYbVwS9AwyCXUPUSy7tc6ny1FqdJTS_ZMonz-x6cUn3ACwJLkgtcV-HKQeZuahJDp4yJieKuGn7ofDs9v3vt8RGBaac2hJKXCQxcHSP-pK7FYoGK-px33yaH60TXVTVoI3y6VMIZK2RhuejwAI9sFuWz2cIVswYHKKhiS2P3vFB0dpwtQGERVX0lYo2XxLtDsM0Bd-Ta2PRcbh1gUleAk-KIwGF2_rnPU5M5JDgdjPnBp9o-1BrGxGvDPvNil9mR0sTIJo5lVS_yOrnNK23xyj_yFRzH2FFB-8L9UzjA4R08cDiRGmqMe4mRsY-r7HW9gBqiRZMjpt-w-QAQ1m2ajCAMv21Kw_tvYvnHzIKIrdFF3Mqh1mcKuRcdYeh4q9D8JHvUcS-YxUqp58bdBgidlC3cfwvGNamWTTPQLkcXbbRFASc14XIGyKaXTswmwxB2a5HbU7kaHHP3Q3jlnJko0HyvxOt_vAtPSWmj6eob30pEc3uYfbUGE5HckBqVNASbpQWkFfOy1rsExspyGb0W9ZKWHP6rbrAZdSno_NeBnk8u-meXImCPv8P1dC4Rkku-kGU9kwPQBs8gIKHSws211Vwsrf6dEjw0MqyBUImEYzEoAgRswzMfqcBuR5OjnYTb3rM65LLdAE1AIQjCYy90Nie1oY7K_VHWWNvumWAmq6SVZI7J7_oCO5_gj30W6QbqnjGj7q-xemp56XhzNbz_qQlt9ZT2TT9h5_z_-e_XgjrP22l3EX5LHjPjNn_X4oE_nPaZexyaY_Sgjf3152DVJxlaHOXSLkjn7mtITj5xnFQFgLO8W9rC10DvFBbDSXW37BZGV3Rd-tviVy135gWz1oAtJmTd5SLG2lwDeGB_48Z425maSjqx5f5IeottcuoX6rhAcVdGkELhhY8-uwkccW3oPfd0Gn8dhOqjXzAednwehZZThR5zdq4puVCEnaEAOdZJsFAUO6aJa_aN1l7nvYbaM8metrBEbAlk0dSMeSeQttoVqfPzyWZabBV4dlPwL6pRj1HVrBpOj9X9e7hMajLpxAbBuaiqovbx62eKg734JJrT_LxKuID_cOThNDL88aJdsK7OCfMCXHmEuv4q7kS5CEelyU0XSYs0PwBmxqjgqOMX3czjWrSz-89S1ylrnXKonRrlkEyfpi54LtvNMDigZrEKHjjAV5usnsVP-UhwBmJUQrC6ohyC-naBV24eYHevIqETmxoGN4eCbp7XSRotQw6zrOfZC0sOngu-rXyVy5s_XM604FqWDw4UBeFB5j_r---yUbTPXpemu68Igi35fgqpVWY6EtNcImG4KkYXutx9DBajuTNqD0jeVbDknJoDB0gF8EJ72_s3Ase-1BrlmA6qn9lbH925DDBNOY9d4vRwAnejEDqF93u-TkwDMs4FyXkjj0FyGJx53wGLWx_K8qw1zQ1YyONtSERE2FF5HyL9D-1GnB1IXTfMDWzH7MHbTRPEipVyi_QwJWc7FuOQwGDXYUOaoPUqHe8LbegZ_CzcZ-X8Mdw4xXt_TdwFI0p_u0ttGIUv07yWdUG90NN0T1eQSMSgSjrsLtwhj3Ds3rVyijw1uPcTxJAsU6M9Y-JR3T74TpmLNdGcPtgkmQ0Dlsa9pDlmH7tZOJgaYqbKgq28oSJ40FzJfjlmWoLBrDwnjPriJnUnM8DfzHlUwE6MndSdqMM5RwJU0z0-ghWVYFd50gbIwD_JzI-WFKoFK3SH2FsbB81Z32eruU2D7x9-NYaoO1HCuUFzPJkt9c9mFvsu9DgqlB-DcQu9ksZcfROoCEdNCt2Z9Y2ea4lPje4FxMmfg9PLl5GV_kOc8euokOCb2fJBKy7xWACIKeznMrTk1i14Vpl29XkBxKeDS5knI1F0XFW8QLpemiFfcJCoYQ9z72ZzIwqm3_Nbd_MPKLXPnhG7AgYGvglyviUnn0FqRifvxdcVpqrQhjjempBVj2s6-d3DJNlfmpRlCGIDcsPCt-N9spXOrU8A==",
  "id": "rs_0a7858731287a50b016ab430f53d4487d0b523d2605b7dbc36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"right_z\":0.0},\"note\":\"Both objects now run close to their respective jaw columns in the wrist cameras. I’ll lower the open jaws to table level so they can close around the cap and pen rather than above them.\"}",
  "call_id": "call_AcquTxkSRO9ABByzYUXy2oLm",
  "id": "fc_0a7858731287a50b016ab430f72c5087d0b874ee40a14a4a4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AcquTxkSRO9ABByzYUXy2oLm",
  "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]: [-0.2359, 1.6657, 0.7353, 0.2207, 0.1127, 0.0544, 0.9997, 0.178, 1.7077, 0.7738, 0.2214, -0.3531, -0.2447, 0.9993]\nstate[eef_state]: left_x=0.4103 left_y=-0.1154 left_z=0.0543 left_yaw=-0.3723 left_pitch=-0.1336 left_roll=-0.0247 left_gripper=0.9997 right_x=0.4103 right_y=0.1395 right_z=0.0583 right_yaw=0.6 right_pitch=-0.1024 right_roll=0.0344 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.1026, 6.2427, 1.9023, 0.2466, 0.1343, -0.0171, -0.6085, -7.706, 5.6547, 1.8779, -0.2564, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd55452f1fa5fa69c4adf718cf18cf846b8a027afe3054dc7723f49e7b38f55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c6a427d7a08fd8aedff4662443dc7d45df7a60b77a9681b138bad22e051eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea12f35ea2763de6af1fed5a768d3fef2e7b0cf0f551f6419f028bd4dea2ad6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.912 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, 0.7933, 0.6025, -0.3805, -0.0216, -0.0246, 0.9998, -0.0189, 0.7918, 0.6102, -0.3767, -0.0219, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1794 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0019 right_z=0.1841 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -1.4154, 10.3453, 1.8046, 0.022, 0.0952, -0.0366, -0.5402, -1.2239, 9.894, 1.7705, -0.0317, -0.0708, -0.0904]",
      "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]: [-0.2417, 1.644, 0.7391, 0.16, 0.1043, 0.049, 0.9998, 0.1822, 1.6909, 0.7753, 0.1646, -0.3309, -0.2283, 0.9993]\nstate[eef_state]: left_x=0.4029 left_y=-0.1146 left_z=0.0533 left_yaw=-0.3687 left_pitch=-0.1692 left_roll=-0.0278 left_gripper=0.9998 right_x=0.4039 right_y=0.1364 right_z=0.0547 right_yaw=0.5792 right_pitch=-0.1441 right_roll=0.0491 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.4325, 6.0103, 1.9658, 0.0708, 0.149, -0.0171, -0.5675, -7.6513, 5.5726, 1.956, -0.3492, -0.1099, -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]: [-0.2359, 1.6657, 0.7353, 0.2207, 0.1127, 0.0544, 0.9997, 0.178, 1.7077, 0.7738, 0.2214, -0.3531, -0.2447, 0.9993]\nstate[eef_state]: left_x=0.4103 left_y=-0.1154 left_z=0.0543 left_yaw=-0.3723 left_pitch=-0.1336 left_roll=-0.0247 left_gripper=0.9997 right_x=0.4103 right_y=0.1395 right_z=0.0583 right_yaw=0.6 right_pitch=-0.1024 right_roll=0.0344 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.1026, 6.2427, 1.9023, 0.2466, 0.1343, -0.0171, -0.6085, -7.706, 5.6547, 1.8779, -0.2564, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd55452f1fa5fa69c4adf718cf18cf846b8a027afe3054dc7723f49e7b38f55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c6a427d7a08fd8aedff4662443dc7d45df7a60b77a9681b138bad22e051eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea12f35ea2763de6af1fed5a768d3fef2e7b0cf0f551f6419f028bd4dea2ad6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab430f998d087d09b2b2d59a59eb179",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The last downward command barely changed the reported height, so I won’t force a deeper descent without checking contact. The cap and pen appear between their jaw pairs; I’ll close both grippers and use the settled openings to see whether either object is actually captured.\"}",
  "call_id": "call_Et02HUbuPd9DPB50dbS4iEXj",
  "id": "fc_0a7858731287a50b016ab430fcf4fc87d0945185f337362a7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Et02HUbuPd9DPB50dbS4iEXj",
  "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]: [-0.2359, 1.6657, 0.7353, 0.2131, 0.1089, 0.0532, 0.0083, 0.178, 1.7077, 0.7738, 0.2169, -0.3527, -0.2512, 0.0092]\nstate[eef_state]: left_x=0.4093 left_y=-0.1145 left_z=0.0528 left_yaw=-0.3686 left_pitch=-0.1415 left_roll=-0.0241 left_gripper=0.0083 right_x=0.4097 right_y=0.1393 right_z=0.0574 right_yaw=0.6033 right_pitch=-0.1066 right_roll=0.031 right_gripper=0.0092\nstate[joint_eff]: [-0.1026, -7.3504, 5.9009, 1.6728, 0.1148, 0.0024, 0.5495, -0.1709, -7.5009, 5.8462, 1.663, -0.1734, 0.0366, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9787652ac52422cdc7fbf8dd599478b3bc33c4c86a3dfe80309be9252e774589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae086c6446c2beecca38a513f89506765128f6793aa83d137463d0c2f8e93077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be749ee804742b9a17f3b8b608aa91b11463102fb2b452ab4761b86391dec84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 4.082 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]: [-0.3199, 1.4231, 0.7837, -0.0246, 0.0669, 0.0212, 0.9998, 0.2848, 1.4845, 0.844, -0.0154, -0.2729, -0.1787, 0.9993]\nstate[eef_state]: left_x=0.3844 left_y=-0.136 left_z=0.1234 left_yaw=-0.399 left_pitch=-0.0915 left_roll=-0.0166 left_gripper=0.9998 right_x=0.3887 right_y=0.1671 right_z=0.1304 right_yaw=0.6038 right_pitch=-0.0695 right_roll=0.0195 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -5.9966, 10.0034, 1.9267, 0.1636, 0.2564, -0.0171, 0.6222, -6.3111, 9.0735, 1.8974, -0.2564, -0.0171, -0.0122]",
      "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]: [-0.2359, 1.6657, 0.7353, 0.2207, 0.1127, 0.0544, 0.9997, 0.178, 1.7077, 0.7738, 0.2214, -0.3531, -0.2447, 0.9993]\nstate[eef_state]: left_x=0.4103 left_y=-0.1154 left_z=0.0543 left_yaw=-0.3723 left_pitch=-0.1336 left_roll=-0.0247 left_gripper=0.9997 right_x=0.4103 right_y=0.1395 right_z=0.0583 right_yaw=0.6 right_pitch=-0.1024 right_roll=0.0344 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.1026, 6.2427, 1.9023, 0.2466, 0.1343, -0.0171, -0.6085, -7.706, 5.6547, 1.8779, -0.2564, -0.1099, -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 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]: [-0.2359, 1.6657, 0.7353, 0.2131, 0.1089, 0.0532, 0.0083, 0.178, 1.7077, 0.7738, 0.2169, -0.3527, -0.2512, 0.0092]\nstate[eef_state]: left_x=0.4093 left_y=-0.1145 left_z=0.0528 left_yaw=-0.3686 left_pitch=-0.1415 left_roll=-0.0241 left_gripper=0.0083 right_x=0.4097 right_y=0.1393 right_z=0.0574 right_yaw=0.6033 right_pitch=-0.1066 right_roll=0.031 right_gripper=0.0092\nstate[joint_eff]: [-0.1026, -7.3504, 5.9009, 1.6728, 0.1148, 0.0024, 0.5495, -0.1709, -7.5009, 5.8462, 1.663, -0.1734, 0.0366, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9787652ac52422cdc7fbf8dd599478b3bc33c4c86a3dfe80309be9252e774589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae086c6446c2beecca38a513f89506765128f6793aa83d137463d0c2f8e93077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be749ee804742b9a17f3b8b608aa91b11463102fb2b452ab4761b86391dec84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDECtgkSfG1hXSV12nxT25NdPHmfpEXbQ83qsm_rQRjs51nfByu_48q5DcelMtIbI9H0VlrnPQxZ4vVZqEB7VihcdO-kcH1Z8n58cReg-yXpUnVS6PAmXAmVRbJllZbwEfax-1CcNcVadWpSy85hBCoIM-FETvSVvaoPCZfbtGBULF433axMByALm88TpTm7kYXoKXmSb-oZv8OG8DMu68Oz5gbSgz5sfFGW2CGTo7EVnnBvqrAUMF-Qx89klhMKDNPotp2rEByp0P5YjsVnRPEg8YFwcDQ6iNKZVbiTaTplOL4RDNu186Benie-crhl8SPEpJ9JzK_jO8Vb4zpWeKCBN9xGND0YVMTymEX1M3eG_Y4t0iyxaJig9zU1_NB0lzjI2qJTsLoWslretCkGYrdcx587LmLAnBNNAwpDH6ufmcftA5GBGKjilEJLIfcz8gISe4q4XsUC8xwjG0nLUdIcJelQmVofWWU-pz0v1qYoy6Ex57WHMyD97F0sDFcgQttLTZjgwVPNA2mWqDeFDeEsu--IfjeF-VMCs5DARhg3tdDnPEcXvLb7P1BSnxFOnComeEuIX1b8jMop9TIxHZWsneALElDp2kPtuTGfIt0EGbIb8ECb1bwVripuQYM-ZLh2lWGltPu1cfbDNpAmVcJOEOqs0JzVB01zxLLRlXNUZK2F5k5BJKMdEscHsd2jETjzvsUHW1kCM6FOjPoh485GfjMtb_LmerYHLr3XV1jsYJC4tWMkqBVB4wM-Tr_KSiM2oyllWiiaS2cDBsjOT-8vht_UHx0dHNIuqlvUULr9kd9iWD9tVTEccGxJCwGB-coenreNlMfzMTQNeE4vdhTMgKoOaSOjKgOrhFajPS0lO_AeWH99s2Vk-wPwQlBtScBS6MJpO5hyGSZ1rETz-GOoUAARlbmNVi_0Z3WFH0Pg0_w0VRseL-J0CT9JRSL0bR29VTS4dDidGGXcKO7zGGVbOEHnLwqAw4OrktFnokM9siseocSJDiaL-Ro4YCE8X89hYJMDHI36gPJrfdJlbEKhdSTMUFKrW5LpoS_v5ORAwTNYyoyOKBMIg7RiR6tIXsEAzNQnbYFhQxFu3S07ziZMYL-x6Mk7Csv2nsRYz6ywvySzAxaUl2GMU2BOcWeiu4lLIxBdaTKA1q20r-iGiCiSCPSjPNfrTTjDNZn2QPP2hUSFcG2TCq16VvZviSlKWsuHsE5B3e3eQj4laK7P8VBlYiLupOiws08Iql20oNM6Cj3YfFUUn1t4QQbk0Hm6oyd0612fvP9SHC_EtMlYS40RmB7C00BID87bSHKfKwbYlUDdrtysJ9GIJ6v2VV7zboCQOqjM0WHHx_EAcpR4ndvPEMBvvJhVJAwIds3_j6OS3XtBgkKTBCExeT6kNZyDyQVHbqqzMxuIUq5nZSn2HPYghkQQYGBQYEuuafvj7rtRCS64yRgnHixGaECL695NqP50EjH_I1-ffR1pneHtRNVfDim3j_QFMmQs2hPhhi5EhzDUNVNup7xVSJeVPbbL-o0SXjJjoOfMHcy_U-k53-KQ504O9yMjVmCPB7DK9t-4FIQVv8vzOHCoHt-phTS-RUtqSHPYLcG3Y-s4FALKkcRHOR2Pl9TJgovYmeg5Zpx0904Cq32bh9cvj4o1b4OkT7YMUnHcorKGCvOR5U0u7AhE5XzWHdGyrc-dWh7LuXIr_CCG9PUknkJRiwCk5HIton-eJ05ghBvWgT1VjIkM2J2DkC54GkIqThoqHfseyAV0O4tbYjaNf8lcAyfAEEJ7N3SequYPGiarKfmoioPlfby3_Knxwv2jPImvdYb-dmGuQvs4GYQDFpXqrmCNwrdDwe4LA0HECI4-5lHEyxi31w-b6cEfVse5mHD-bzPAdHUfB1Zgaw-e_GmotDVK-nCnwnpiD_uQ5GRlZGQ4I8nuuAShtdoV4vla3dMdhDuMrB4115LnQW8bSLWTS4Sh6lnJ_oiNxPFxpiEBKsEFALNwosethdTysvPSqEPoo7fc6W_xctjYszEpQCYzw7cB2BtU9YURIyhSJa5eWss3wUKat-Nb0IA3ny_6XnXdeNGlAV43mQVif1Ykb48QfnIyJMdR-I0FwSkPU85v1rgCEcleDq3vBwGZ1LFz44FpkQxzXwzfZLbOmUR4JJvj3EJvS3zAWCxdEyzmCv7eJWGHzVMVBNh8jQzfQYo7Vfweel5jTQDwcxB_KsqcbGEUlhqjGkeCrSfQZiUnc093vlo6iuAfs0H4wBKVOLj314lcPImJG6XXRg9WYtYeKIO27AaAHMEaeeUOoJ-A0Km-4CqI5QKzhEMj_ww1CQXZ6SpqseHuiJlBB2k=",
  "id": "rs_0a7858731287a50b016ab430ffcc9c87d0a53509503bc567bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1,\"left_x\":0.43,\"right_x\":0.43,\"left_z\":0.12,\"right_z\":0.12,\"left_pitch\":0.25,\"right_pitch\":0.25},\"note\":\"Both grippers closed almost completely, which means neither picked up its object. I’ll reopen, move each grasp point about two centimeters farther forward, and add forward tool pitch before trying to reach the tabletop again.\"}",
  "call_id": "call_UEEJP7tvRc4bjl7oXpZyFoFt",
  "id": "fc_0a7858731287a50b016ab43101a2f087d0941d0a75f46e8b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UEEJP7tvRc4bjl7oXpZyFoFt",
  "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]: [-0.2089, 1.6463, 0.6018, 0.6205, 0.1398, 0.0162, 0.9966, 0.1368, 1.7065, 0.6746, 0.5972, -0.4641, -0.16, 0.9962]\nstate[eef_state]: left_x=0.4245 left_y=-0.1115 left_z=0.0929 left_yaw=-0.3477 left_pitch=0.151 left_roll=-0.0323 left_gripper=0.9966 right_x=0.4246 right_y=0.1419 right_z=0.0982 right_yaw=0.61 right_pitch=0.1716 right_roll=0.0424 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -8.8547, 5.5316, 2.2149, 0.2369, 0.0269, -0.0415, -1.2376, -8.9231, 5.2581, 2.044, -0.1636, 0.2369, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f1435f231afd33c72c55d338e6acecc453c8111b80a23cb79edf7fc905aae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e297fdb526aad5f638af546c5bb0e359ba560d798f1f630f64fb8b0655fe77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2954fed9f75a53877e2ca67cefb0859d886c3440364d1a9e35ee29decb06d212",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.089 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]: [-0.2417, 1.644, 0.7391, 0.16, 0.1043, 0.049, 0.9998, 0.1822, 1.6909, 0.7753, 0.1646, -0.3309, -0.2283, 0.9993]\nstate[eef_state]: left_x=0.4029 left_y=-0.1146 left_z=0.0533 left_yaw=-0.3687 left_pitch=-0.1692 left_roll=-0.0278 left_gripper=0.9998 right_x=0.4039 right_y=0.1364 right_z=0.0547 right_yaw=0.5792 right_pitch=-0.1441 right_roll=0.0491 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.4325, 6.0103, 1.9658, 0.0708, 0.149, -0.0171, -0.5675, -7.6513, 5.5726, 1.956, -0.3492, -0.1099, -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]: [-0.2359, 1.6657, 0.7353, 0.2131, 0.1089, 0.0532, 0.0083, 0.178, 1.7077, 0.7738, 0.2169, -0.3527, -0.2512, 0.0092]\nstate[eef_state]: left_x=0.4093 left_y=-0.1145 left_z=0.0528 left_yaw=-0.3686 left_pitch=-0.1415 left_roll=-0.0241 left_gripper=0.0083 right_x=0.4097 right_y=0.1393 right_z=0.0574 right_yaw=0.6033 right_pitch=-0.1066 right_roll=0.031 right_gripper=0.0092\nstate[joint_eff]: [-0.1026, -7.3504, 5.9009, 1.6728, 0.1148, 0.0024, 0.5495, -0.1709, -7.5009, 5.8462, 1.663, -0.1734, 0.0366, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2089, 1.6463, 0.6018, 0.6205, 0.1398, 0.0162, 0.9966, 0.1368, 1.7065, 0.6746, 0.5972, -0.4641, -0.16, 0.9962]\nstate[eef_state]: left_x=0.4245 left_y=-0.1115 left_z=0.0929 left_yaw=-0.3477 left_pitch=0.151 left_roll=-0.0323 left_gripper=0.9966 right_x=0.4246 right_y=0.1419 right_z=0.0982 right_yaw=0.61 right_pitch=0.1716 right_roll=0.0424 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -8.8547, 5.5316, 2.2149, 0.2369, 0.0269, -0.0415, -1.2376, -8.9231, 5.2581, 2.044, -0.1636, 0.2369, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f1435f231afd33c72c55d338e6acecc453c8111b80a23cb79edf7fc905aae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e297fdb526aad5f638af546c5bb0e359ba560d798f1f630f64fb8b0655fe77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2954fed9f75a53877e2ca67cefb0859d886c3440364d1a9e35ee29decb06d212",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEIK04jCwclknP_yhtmhVB3CrnA_DT97o25epfBv8jWYIEeEOFbWN-OHSPToBsCxK3StMnAKuKhldx0c0h5zhivUdRZ4ErEgw0zRoGhfOePpZIjoQ7Ie1eOuYqz0ZxaB-Ua9cgloOFSSGsTL6mVhIvoGFoAWjoqlypkk5tr_4c9ga7xhZwjD3_3LHWw1oc20B60CAzz-7_09NobsO9wG3MiPNxJ8l0p2YbAnljNhWHTixFHw9iUJ5pu6O7WkUZD9bG3_B3w4WTvAgwjcWWaOS3h7vhm9bg-vmBqBAKct-uKQs9cXpbxYsnP8xcuKdZw_V7Qbymv5nBHVnDovNh3K6TSVumFUx-swseNNu1dSbCKbPG0qY2ZS_EazVfqbx54ClhXBbeji9raSTdjG56X0fiKx_439HzUwUWMgY4HSySDOJE-m5SQpLXaimqNsIpRCKZA5ngST8wZvgH6-yf1z_DN_irNUwemVM7vw5zkq4ro32Oq4znU3HTtIDOSXa5UcGdW5SCOU9v_JmCr8RsMcnTx92SCUV2tlhbLdUObvSceMygrj5325GRikjF_Kazk4F28ddQ5G_9ZM-O2CPlmUJ5NL55FFQae7908ROCDPyQhKJOwc07fGANgx-Uj2cliXGSSDQbS_AHswSNSvGVpf1iHwNTqlp3zeVuZ5ahJWSSYc3qF3bBsqLFdpjK9cHEjnQrqBgeJxUi9-Gmc1k7--3Qqv-hA7rR-bdR3Knm5pksrIM9oEQ2POspGCrUA0SN4KsoH5ruAREamkKiziTg8c9iFWqK-x8KWxZOF9cRKmaB6zZASPftn_QP0v-YUJLu_Gd7X6jJqi5PtycYe2xYjRlQowI_qSnvuxSqo7_tPBa36mOMrv4cgeMJyTfv0amQoANOoeEwra3wzdTZzwEeOk9db3pFAw2uMFNo28mRrtRygQNBAM6v9HeVGD5YtnnouBrpaMvpxs28jH6WZxzsLI2n1iZyAS8c21QAkWUdEI3ORMOm9ddP2g8hMZWB-aOVh_xGIhRyJmffTKstkFdUXjRkIkJZmo3joSJ8Kqpu7StLGc0DyeBIIvXqj04utzD2jsEgjkvgjpYNjFWn5JSGDgbX0jgAJaSAeBvVQigZ-d0okRPJlzXiO57Iip0ceI5dJooxbMoGjLWFn006rMy1hnDZDakWpMvfDpIPm7crSkoex0PvoyWUs8cnkzWzd3hjnmXlmpaMLCn_k-JtWeVn5XHTAI_S2c4JiGRm5kDHeigN5pHvbaYjOwZvw9JJoHFxLX9tlsCLTJnidh53Xj9wIQiqp2sfnbLkCedWW14PKE1qhadAuOODXj5nBLHqXic_gU37VbsGCui_I1P0Bvc_DFZvrP8P_vpTu3Ib56-HDgvmnmq1SptAUHPu1s2gfpHEhLwCYPoylbUdrawQHEAylY4ELKllp6-_1eBo5Xit4N4GWWe9SQJzA1SH7Wb-bB-15_WhqUW8UciSlrUg5Ja4w5HyKovafbMygs5W_fiSu6KRKrSLsN5jv9ParOEl8smsvdb2ombxsRDKgTUEe8SgtY9Pue1T--ErNJdmA00_oNRK0wevrLNvU5Db_K6B0_Hn7F2XPLf8Xf3qKnVpZQkwf9uKCFMHYdkuwTiJngF8rbA4zthCdAg4wx-zVXTZde_TD6nfmKN9MV_dunnEUmvdPY52HzwBtDIU5_GNbhk9DrR4-fA-euZjans5CUreZqG6dceBGhnRpVrA4vj-3NsfHhC656W2T1ihsSs1mVd-g9AggKOwsu_ArDtkiAOXhMkg_9UpEiV4X36NChQrQad5SzktdlHCO_bJBU_ChKZHH9QLGWgLVJKGOaZflWwsa7J_OETU6FF-CHBe_DPhoE9KVZijXPWJvTJ4V1qxjT-MGZBEwt3Lo59lwZlY4r1-PWdymfjDAgMnXuDjJKKakGmPbd2Osig1iSPLhT6eVq_cSVyKJu2k9acpTM7Q0e4DtZ-1FtScQJx6Qwk2RF2q-mAuajPs2bgq_arc8krOPJZjudzfs0vQbvCdtkKn-vYepiCqKeJFSC40Pi9zRRs8HRa9zHX-HtK5Mpe2xB17PyVZWvtOJU5Lsdxhy6w5HGlSnBmKcDiVCHmrAu8e-Mlcnyn8SZWgJmwpFK5uWLS1u03x3kciTwb1poijG66ozbK5PVf2bOXhkfDIcga5hIOpEkt7gEc-P6K3FfM9quhfYuurc5NGuPTql5IPjvIQwmHQ2AT59XoDUH_gMJFlx9hQocYM0hWuzlw==",
  "id": "rs_0a7858731287a50b016ab43104ea4c87d0a39de04d58d1185b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.25},\"note\":\"The right wrist camera still shows the pen nearly on the jaw centerline; the left view is less clear. I’ll test a low approach with the right gripper first and check whether its grasp point actually reaches pen height.\"}",
  "call_id": "call_tDihLfwhWzijYjPw4FWCQe3n",
  "id": "fc_0a7858731287a50b016ab431072fb087d094a0d5cd696667d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tDihLfwhWzijYjPw4FWCQe3n",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2077, 1.6485, 0.5972, 0.6159, 0.1383, 0.0162, 0.9977, 0.131, 2.1914, 0.606, 1.2476, -0.4763, -0.1574, 0.9968]\nstate[eef_state]: left_x=0.4229 left_y=-0.1103 left_z=0.0891 left_yaw=-0.3451 left_pitch=0.1395 left_roll=-0.0333 left_gripper=0.9977 right_x=0.4295 right_y=0.1419 right_z=0.0059 right_yaw=0.6231 right_pitch=0.2595 right_roll=0.0031 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -7.1043, 5.8462, 1.8291, -0.0073, -0.0562, 0.1099, -0.4855, -5.9966, 2.3043, 0.5397, -0.2613, 0.4225, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddda2b73139c5ef68e891d80b03e743f2b1ab97dd540fad4a166816afb091721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d957543269dda9c3b4488e0aed27026ca3f6e0c56746c55a617b515646021f80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64b317997fb08dcb67575796bcc43d7d2cc15865598a084442cf559c42b975e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 9.311 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]: [-0.2359, 1.6657, 0.7353, 0.2207, 0.1127, 0.0544, 0.9997, 0.178, 1.7077, 0.7738, 0.2214, -0.3531, -0.2447, 0.9993]\nstate[eef_state]: left_x=0.4103 left_y=-0.1154 left_z=0.0543 left_yaw=-0.3723 left_pitch=-0.1336 left_roll=-0.0247 left_gripper=0.9997 right_x=0.4103 right_y=0.1395 right_z=0.0583 right_yaw=0.6 right_pitch=-0.1024 right_roll=0.0344 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.1026, 6.2427, 1.9023, 0.2466, 0.1343, -0.0171, -0.6085, -7.706, 5.6547, 1.8779, -0.2564, -0.1099, -0.0122]\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]: [-0.2089, 1.6463, 0.6018, 0.6205, 0.1398, 0.0162, 0.9966, 0.1368, 1.7065, 0.6746, 0.5972, -0.4641, -0.16, 0.9962]\nstate[eef_state]: left_x=0.4245 left_y=-0.1115 left_z=0.0929 left_yaw=-0.3477 left_pitch=0.151 left_roll=-0.0323 left_gripper=0.9966 right_x=0.4246 right_y=0.1419 right_z=0.0982 right_yaw=0.61 right_pitch=0.1716 right_roll=0.0424 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -8.8547, 5.5316, 2.2149, 0.2369, 0.0269, -0.0415, -1.2376, -8.9231, 5.2581, 2.044, -0.1636, 0.2369, -0.1587]",
      "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]: [-0.2077, 1.6485, 0.5972, 0.6159, 0.1383, 0.0162, 0.9977, 0.131, 2.1914, 0.606, 1.2476, -0.4763, -0.1574, 0.9968]\nstate[eef_state]: left_x=0.4229 left_y=-0.1103 left_z=0.0891 left_yaw=-0.3451 left_pitch=0.1395 left_roll=-0.0333 left_gripper=0.9977 right_x=0.4295 right_y=0.1419 right_z=0.0059 right_yaw=0.6231 right_pitch=0.2595 right_roll=0.0031 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -7.1043, 5.8462, 1.8291, -0.0073, -0.0562, 0.1099, -0.4855, -5.9966, 2.3043, 0.5397, -0.2613, 0.4225, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddda2b73139c5ef68e891d80b03e743f2b1ab97dd540fad4a166816afb091721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d957543269dda9c3b4488e0aed27026ca3f6e0c56746c55a617b515646021f80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64b317997fb08dcb67575796bcc43d7d2cc15865598a084442cf559c42b975e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab43109a72887d0a3e5e20deb6ec39e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_z\":-0.01,\"left_pitch\":0.25},\"note\":\"Forward pitch let the right grasp point reach about 6 mm above the table, and the pen is visible between its fingertips. I’ll close on the pen while lowering the left, still-open gripper with the same pitch for the cap.\"}",
  "call_id": "call_utGa9VNT9lhRgYejWXxIpPPk",
  "id": "fc_0a7858731287a50b016ab4310bd3dc87d08ff80b39dbe15fb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_utGa9VNT9lhRgYejWXxIpPPk",
  "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]: [-0.2077, 2.1925, 0.5121, 1.3724, 0.1356, 0.0231, 0.9979, 0.131, 2.1983, 0.6075, 1.2877, -0.4797, -0.1616, 0.0103]\nstate[eef_state]: left_x=0.4268 left_y=-0.1107 left_z=0.0024 left_yaw=-0.3502 left_pitch=0.2656 left_roll=-0.0076 left_gripper=0.9979 right_x=0.4318 right_y=0.1428 right_z=0.0121 right_yaw=0.6331 right_pitch=0.2906 right_roll=-0.0173 right_gripper=0.0103\nstate[joint_eff]: [0.1709, -6.2701, 2.4137, 0.7888, 0.0659, -0.3199, 0.0073, -0.3487, -9.5111, 2.7692, 1.4286, -0.0464, 0.0464, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6b4a4df8cb90d08da306e28aaa2a78d7c986f9814277f5547b4f015abe261d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b050b8f7a45491a25fede5017c09b36a5d6912963afb621fa2a02d3ea1767f83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cc5b2fcf66555f327d3e3b5839225d6f15bfb0ff696c211a0758ff714b86c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 9.229 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]: [-0.2359, 1.6657, 0.7353, 0.2131, 0.1089, 0.0532, 0.0083, 0.178, 1.7077, 0.7738, 0.2169, -0.3527, -0.2512, 0.0092]\nstate[eef_state]: left_x=0.4093 left_y=-0.1145 left_z=0.0528 left_yaw=-0.3686 left_pitch=-0.1415 left_roll=-0.0241 left_gripper=0.0083 right_x=0.4097 right_y=0.1393 right_z=0.0574 right_yaw=0.6033 right_pitch=-0.1066 right_roll=0.031 right_gripper=0.0092\nstate[joint_eff]: [-0.1026, -7.3504, 5.9009, 1.6728, 0.1148, 0.0024, 0.5495, -0.1709, -7.5009, 5.8462, 1.663, -0.1734, 0.0366, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2077, 1.6485, 0.5972, 0.6159, 0.1383, 0.0162, 0.9977, 0.131, 2.1914, 0.606, 1.2476, -0.4763, -0.1574, 0.9968]\nstate[eef_state]: left_x=0.4229 left_y=-0.1103 left_z=0.0891 left_yaw=-0.3451 left_pitch=0.1395 left_roll=-0.0333 left_gripper=0.9977 right_x=0.4295 right_y=0.1419 right_z=0.0059 right_yaw=0.6231 right_pitch=0.2595 right_roll=0.0031 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -7.1043, 5.8462, 1.8291, -0.0073, -0.0562, 0.1099, -0.4855, -5.9966, 2.3043, 0.5397, -0.2613, 0.4225, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2077, 2.1925, 0.5121, 1.3724, 0.1356, 0.0231, 0.9979, 0.131, 2.1983, 0.6075, 1.2877, -0.4797, -0.1616, 0.0103]\nstate[eef_state]: left_x=0.4268 left_y=-0.1107 left_z=0.0024 left_yaw=-0.3502 left_pitch=0.2656 left_roll=-0.0076 left_gripper=0.9979 right_x=0.4318 right_y=0.1428 right_z=0.0121 right_yaw=0.6331 right_pitch=0.2906 right_roll=-0.0173 right_gripper=0.0103\nstate[joint_eff]: [0.1709, -6.2701, 2.4137, 0.7888, 0.0659, -0.3199, 0.0073, -0.3487, -9.5111, 2.7692, 1.4286, -0.0464, 0.0464, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6b4a4df8cb90d08da306e28aaa2a78d7c986f9814277f5547b4f015abe261d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b050b8f7a45491a25fede5017c09b36a5d6912963afb621fa2a02d3ea1767f83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cc5b2fcf66555f327d3e3b5839225d6f15bfb0ff696c211a0758ff714b86c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab4310f460087d08b0894b632f23d42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_yaw\":0,\"right_x\":0.33,\"right_y\":0.04,\"right_z\":0.18,\"right_pitch\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The right gripper again closed empty, and the left wrist view mainly shows a tabletop seam rather than the cap. I’ll clear the objects with both arms so the overhead camera can show their actual positions before another attempt.\"}",
  "call_id": "call_XRMsq7eXn1v1X14WtAhuyChx",
  "id": "fc_0a7858731287a50b016ab4311593f887d09dce4525b584d918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XRMsq7eXn1v1X14WtAhuyChx",
  "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]: [-0.0364, 0.8192, 0.5488, -0.2161, -0.0189, -0.0288, 0.9979, 0.1982, 1.0145, 0.6132, -0.0963, 0.102, 0.038, 0.9953]\nstate[eef_state]: left_x=0.3102 left_y=-0.0044 left_z=0.1821 left_yaw=-0.0159 left_pitch=0.0843 left_roll=-0.0067 left_gripper=0.9979 right_x=0.3418 right_y=0.0539 right_z=0.1786 right_yaw=0.0845 right_pitch=0.0637 right_roll=-0.0158 right_gripper=0.9953\nstate[joint_eff]: [0.2256, -1.4974, 9.7573, 1.7558, 0.0073, -0.0659, -0.0073, 0.4034, -3.5077, 9.1692, 1.8242, 0.1392, 0.1783, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3dfa1df0ca55815681d7a10bdb43f7aa5ba07aebb0c2ad8ea606db1638a58c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9470eeab58616774605803467de9bb05193c7ddcb6c25a9d40c82e2d070fb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a447f2af0f2ddb4ed5c3112c1079d2b99ba234fce475132e0b292c3ffeb3e8c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.914 s

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

message 23 changed as sent

message 31 changed as sent

message 35 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]: [-0.2089, 1.6463, 0.6018, 0.6205, 0.1398, 0.0162, 0.9966, 0.1368, 1.7065, 0.6746, 0.5972, -0.4641, -0.16, 0.9962]\nstate[eef_state]: left_x=0.4245 left_y=-0.1115 left_z=0.0929 left_yaw=-0.3477 left_pitch=0.151 left_roll=-0.0323 left_gripper=0.9966 right_x=0.4246 right_y=0.1419 right_z=0.0982 right_yaw=0.61 right_pitch=0.1716 right_roll=0.0424 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -8.8547, 5.5316, 2.2149, 0.2369, 0.0269, -0.0415, -1.2376, -8.9231, 5.2581, 2.044, -0.1636, 0.2369, -0.1587]",
      "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]: [-0.2077, 2.1925, 0.5121, 1.3724, 0.1356, 0.0231, 0.9979, 0.131, 2.1983, 0.6075, 1.2877, -0.4797, -0.1616, 0.0103]\nstate[eef_state]: left_x=0.4268 left_y=-0.1107 left_z=0.0024 left_yaw=-0.3502 left_pitch=0.2656 left_roll=-0.0076 left_gripper=0.9979 right_x=0.4318 right_y=0.1428 right_z=0.0121 right_yaw=0.6331 right_pitch=0.2906 right_roll=-0.0173 right_gripper=0.0103\nstate[joint_eff]: [0.1709, -6.2701, 2.4137, 0.7888, 0.0659, -0.3199, 0.0073, -0.3487, -9.5111, 2.7692, 1.4286, -0.0464, 0.0464, 0.8474]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 0.8192, 0.5488, -0.2161, -0.0189, -0.0288, 0.9979, 0.1982, 1.0145, 0.6132, -0.0963, 0.102, 0.038, 0.9953]\nstate[eef_state]: left_x=0.3102 left_y=-0.0044 left_z=0.1821 left_yaw=-0.0159 left_pitch=0.0843 left_roll=-0.0067 left_gripper=0.9979 right_x=0.3418 right_y=0.0539 right_z=0.1786 right_yaw=0.0845 right_pitch=0.0637 right_roll=-0.0158 right_gripper=0.9953\nstate[joint_eff]: [0.2256, -1.4974, 9.7573, 1.7558, 0.0073, -0.0659, -0.0073, 0.4034, -3.5077, 9.1692, 1.8242, 0.1392, 0.1783, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3dfa1df0ca55815681d7a10bdb43f7aa5ba07aebb0c2ad8ea606db1638a58c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9470eeab58616774605803467de9bb05193c7ddcb6c25a9d40c82e2d070fb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a447f2af0f2ddb4ed5c3112c1079d2b99ba234fce475132e0b292c3ffeb3e8c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0a7858731287a50b016ab431194d4887d0bca7792bbbaf8f73",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEhj6Ms47TmFWBBKyxYJAFf2a_KUmgZWxdL_nd-KxCvCghelSbtg3USR6nI9TA_44bK6VAhLgeecRVZy-Yr3XnSbW9MqfhGI0pZf5M32poR5L_7qF-L7eXrusmitcFnlYatbz7fOMl2b4oomC8dTMCuMN46ibwuHYU5CYPppr0atn2fSM-y8F8S1hJh57NqFEN8Py8Pj7WKNjRngD_0IpOoc53sa_JZW1w-WsprUc0qgt7W_FgMK6elBv3QaiJRTvVw6mIxNcoN8gXfx8cnS1HttP-1gbdBw2LrhR0ZP6ceqO3WgDX3WiD5BS8v4VUBU9Q8YcH5qaGgdwMfPWqPQda8hMJJXjDRiJVyKnaldWSF84jXiDVTQUAqG84SAqdoviglMX0cEfEj7CPgH6yXYndgMNPlzmSd2QMvQQScqTmRSimh6rmuZZgjs0GY_11QVlV5LhwZmrEio5Q_LmeDUFpctkrmgUYD-_pzPmIR6M48r8akOm3TTG1_5nZ2YV8wMpJ9WAChRi-OcRF55dAQBmEUD29GNV3tAWNjExrUgcT-llvc4SbrDgEdHdxIKfvYGZGb5OlOrv7CH-WPqEXchLtcmvVP0zVL2IvznQFdkRfPE7o-op9gDUwRVpwRRIU8HHSHgxFOfieASzyR16L6rRZcY-4AjYLJgkx7KZ4ZKhYtPeVa2NlLHGgu5D-_r8Qh51hfHZJM_FAVygJoX-xNuQKDPTXc8h0H2OZiQRI2bzFgdqh0MQybbiPG0bFmTGqrr91FHYAn0qxnczG-VJvoRf0Rgkx182jiXk4YWD5VCZIcuwNLs22yplLGdU7xQQXn4P40sMPAmMKGysNxoLQHviRAlWEFFtdKE3y_qllPNsz_qfxsBNz2DW-ppQNgsFNQEhuJvNBVG73QWAedA8JNA1Fsk5nm4CuYFZTvu8vyElGFAiut6O0JVOSJVHsKNgzGylBTSJSgK66MHo46Dqn6n3CsKDQnBnAivQxZvcKzit4MLUlhHOfd6ML_O6e6L32JU99Zwayau-lkeCufbhtd-7ip8IImqkf2SLBs5nMNwOq4gt3SDc3NoLKYA2eif9tIrA4JrBAcj4AteTEhbCA7RSLm-UmvsIq5vIDUbkh_1uJA35bDq_vwLBg7ALL66DQQ3Gbxv-1SfPVz2yaVZJYfriHwl5AZe1YmC06UQf8uVk2YCKrSVCSBdPll_k_p8bLRDYpdpFgX09V08IoXgLBOXh8KmNk3teluY13K0nvBqKcXtugGVuxl_7hLtBR0bvilRDxvxYMKvjtdAN3UYB2MmCaeCHOia8n3JhsS1O1cut1j4lxeIbr8yiQ_kEbTOoMT1thRDWhfnGqzEB2DYEQ_UbtitFM_ufEKAwh1u3f1yWX9tfBultpcynAYnLxQ-BzGCkktfIhHw84vaOh437P69HtSrajs5Z8xVZmB-44mFQyU_FL0IGVcGOoG57PtR2HOrmmwxxY35A8bakx0NaS4hOaoERw6oIPAAKiEVjRWH1EPv3h0zmRjvNGNeWz1tEjwwGEBlxiVBphPXehzkqs8ReXc3nNRr4kw-sarS7SxBVpCvNIoUFNUb4JUVpnzbhrWHFHXq3zyCiNFZmMu8Au_-9jbSNszo5RNN8E23v9L5bBK8FfT062cUfuRm9z1XVSK9fsBXZ1zmA_k0VYHVbUYnl99zJ518BL2RdgB7DAJXlBdJw3TH_y2Rt_Ow36RJxS2mfMPTmn6yu9yW4IGrBobEFKjb5Bhhs7JD2ctiJlwiEAwWKLQy2va21oPIY5gN8vtsQbH6dbNqoQEzQmDrEYoQ66b3rog_tPPaM4LVWYkIR_beFSgHnIYUhV3t3NR4HX8-JCAFuIIA6vW5_1uU6OxREB_Z9hKonS9IbfEK4neiOOlIP0KpcpRiTXsyCC2tKA5cj-VxBfUAU2TQdaOBoiKKe8WZFkqDPp1V0k2VQY62AF0Lpi9nIzFTZxwdmpfl7ZQdx1UnOxBIHa2-I7M_s2MzzEoHR1WRuio1Ii0-P-vz1YHCJYN-dZVprNR5KgfCF1cEqc7vk3DR9WACdVoiRqFJj8UEHx2s-lg-TeiFlFe4kmbtzLcraFL-n2hSM_12j-VrZcoJXs8Y2kq9yCsg2ygGybGjRk0DWlH-JPdFwKlKiULa5o1FqyJURiqj9FD10hJRkXUklyyDrmVCFZIQYaHoJY9XdvSV3rt2nyQLXJiqd4Y9hh06zxzekQr8KpliG9b8KuKrK-X-LwfntwXvYL8a26-tgX_JsIrdpjdX0IA5QwdhmMqUD4-rVh_31CmanU2A2RWO8w2CEFN4qay8iLdZJRATq6J5mUlvBw_LIgDgATPansT7ULJmPp1r5Uc2uwkwqBIrIhHyvzidpwzr2QN4CY9QCCgtjJf8vju3u7NqWlARt4nyCHJ0TTdPdjjZcsyekMv7W4QoorROLu33z9KfFZw--KY42sA9H7FdEIn78AgudzCve6FbMLWq5l0jv_rbRED",
  "id": "rs_0a7858731287a50b016ab4311da32087d0b764b74843aff727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.105,\"left_z\":0.115,\"left_pitch\":0.25,\"left_yaw\":-0.45},\"note\":\"With the arms clear, the cap is still at the left of center and the pen at the right. The first left approach overshot the cap radially, so I’ll return the left gripper to a shorter reach and align it over the cap before descending.\"}",
  "call_id": "call_099PwJVAcMvsLc9CeKkWSiRC",
  "id": "fc_0a7858731287a50b016ab431203aac87d081da51e3a5611158",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_099PwJVAcMvsLc9CeKkWSiRC",
  "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]: [-0.1513, 1.4258, 0.4015, 0.5533, 0.2184, 0.0486, 0.9979, 0.1982, 1.0183, 0.6128, -0.123, 0.1001, 0.0364, 0.9962]\nstate[eef_state]: left_x=0.3672 left_y=-0.0911 left_z=0.0852 left_yaw=-0.3731 left_pitch=0.1115 left_roll=-0.0449 left_gripper=0.9979 right_x=0.3388 right_y=0.0537 right_z=0.1714 right_yaw=0.0871 right_pitch=0.0329 right_roll=-0.0197 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.106, 7.1863, 2.1465, 0.1832, 0.2466, -0.0122, -0.3214, -3.1658, 7.0769, 1.9805, 0.0562, -0.0659, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0a163f267105d675d37f127f363fd799661edbf0a7793ec8b72637348bc434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cfadf64bf97669f4a60f98ac209968cbff38822d4dff0035142072a481c12e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4558c5efdfd1e98ba82b6906e583f1b7fea705349f333607a93b5a377c4d68d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.017 s

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

message 27 changed as sent

message 35 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]: [-0.2077, 1.6485, 0.5972, 0.6159, 0.1383, 0.0162, 0.9977, 0.131, 2.1914, 0.606, 1.2476, -0.4763, -0.1574, 0.9968]\nstate[eef_state]: left_x=0.4229 left_y=-0.1103 left_z=0.0891 left_yaw=-0.3451 left_pitch=0.1395 left_roll=-0.0333 left_gripper=0.9977 right_x=0.4295 right_y=0.1419 right_z=0.0059 right_yaw=0.6231 right_pitch=0.2595 right_roll=0.0031 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -7.1043, 5.8462, 1.8291, -0.0073, -0.0562, 0.1099, -0.4855, -5.9966, 2.3043, 0.5397, -0.2613, 0.4225, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 0.8192, 0.5488, -0.2161, -0.0189, -0.0288, 0.9979, 0.1982, 1.0145, 0.6132, -0.0963, 0.102, 0.038, 0.9953]\nstate[eef_state]: left_x=0.3102 left_y=-0.0044 left_z=0.1821 left_yaw=-0.0159 left_pitch=0.0843 left_roll=-0.0067 left_gripper=0.9979 right_x=0.3418 right_y=0.0539 right_z=0.1786 right_yaw=0.0845 right_pitch=0.0637 right_roll=-0.0158 right_gripper=0.9953\nstate[joint_eff]: [0.2256, -1.4974, 9.7573, 1.7558, 0.0073, -0.0659, -0.0073, 0.4034, -3.5077, 9.1692, 1.8242, 0.1392, 0.1783, -0.1587]",
      "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]: [-0.1513, 1.4258, 0.4015, 0.5533, 0.2184, 0.0486, 0.9979, 0.1982, 1.0183, 0.6128, -0.123, 0.1001, 0.0364, 0.9962]\nstate[eef_state]: left_x=0.3672 left_y=-0.0911 left_z=0.0852 left_yaw=-0.3731 left_pitch=0.1115 left_roll=-0.0449 left_gripper=0.9979 right_x=0.3388 right_y=0.0537 right_z=0.1714 right_yaw=0.0871 right_pitch=0.0329 right_roll=-0.0197 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.106, 7.1863, 2.1465, 0.1832, 0.2466, -0.0122, -0.3214, -3.1658, 7.0769, 1.9805, 0.0562, -0.0659, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0a163f267105d675d37f127f363fd799661edbf0a7793ec8b72637348bc434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cfadf64bf97669f4a60f98ac209968cbff38822d4dff0035142072a481c12e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4558c5efdfd1e98ba82b6906e583f1b7fea705349f333607a93b5a377c4d68d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEmu4nu-0MZHbLu4zGzmuXsrv3Wupyf7Wse_xn8YP0adnAkKP7U255gZ1FzOfomqSDD62YJtPaqlukINZkAgQcRHUlp8p5h_XlioAdYSv5ySp3JAZpAB_BZa0IPl_VpsVHOd-qShp0Cj4lHtX7QHwan8SSK7vPwYffT5lbuakcUoYfqPxAZEl_TXoFvlgkUpx66Ogo6kA_0V1KF3EtyXWgBjeGdYU7zGELLW3ii8HXAf7VlEF4Fg61bWQHEVhtDCCkMVSqxtpN3l4jYO_gb5Q5BDMdVnMgMCdi2xKJ_dC-OCNKqxBHPpc1FdxaKOmU10yUH4hyPhVG8N7ZrGPJQ7IYL393tlfvXV04WPAVMN_J_5_2QbbrPUsmBtXm_-dGydW3LHEy2-lq2piHFalfW342UzXMg_Hr7wDFQARNG7ebUbkz4avLRORPsBAsRXDLoQxbuw2gktcTCPc4pjKie1vS_4VNi5p6lUJWOvkajSqPJH2CkhFx8n0h2Wc5ZaZmUSUOivuKDO0ZpGC1MIxwMyS7Rhl4ylaTK-ICICdejMaQwmRC-IqbFizXoK6dhPQhSHD5OUTv_E9aNBMjX0PUqzwapvZVZFQPMqaMBlJAxk9X8VX8x2qvCGpiCBsg6_Qo2pdnQHCloyXVJa3uX9BqGlvqMFBBEXSYZ9pfk0j_oojfLCMIiUdFrCN0fOlCG7nledX3XA8HToiNxHFvej63uqFawMkxIHj8mB8DWKpd6lk6hHS4Ys63yPOazZ5sAibfpyrLjrkJNNZ_6F0nxPBBpEGBBHL_7W1WDiRtrabIheLSQ4gmcIpITsU2yM7kfAPLa0dMH5bp10zL7vtnkwzJIAH-IWlXp8cRZP-1jD1V3VuPSs_mJye2GlenaAM68awGk0UVNt9i8t1pzUhm6wnYIOyrK-NFkeLu_K1vLmi97xw84VNLxBAGihqo60fDNn0CtruyuCtSsUJH7cNyqdX9KbChupDwF3z-7kTJ1xUVcOpPaqulQcUVFy6V7iOwqDfCjRIS5o0vO5tzxBF-Ye9X6cxq6SRrfuFUQ0Ex259z-S2UI7Qn-k7CFrBOs9g01I6NyKMpNAhlPTF4o44Ugao2H32v1BhlAk2muN79ZX_w60e9zDseCvTaX38uD17oy58l1PJ8hWzj-Kff2FMNzbL89PExyEv-La5ufBfHaEnkWAsY3gITaS_qspC9jGVGpaUd-knWKrQzZo1YqwE441V3qOa3mDeziHl8d6FV3CY1zv41OVTEPhGvOe4PBt3Lh7p6ED5Q5knvvD4ciItWpQEwxenePiaaLtLmOpaHJpf7sgPtVhS09EzlV1UnxIoqVadfv-KKFaUSNgqIFfPPCWvqvvdKon8w7JklDrIvhrlqBMHTpxT5P4L-Eofn6lqKvfe-6HUoiER-H3Hw18WzbP1pnkDLTLRwhoa-thaT7czXadpYTLJmpn1IYoYNRI22S_7WoYZj4RSzUSsWxzBoD8LWiQfhS_WsDgqUcXOqRhYVRPKEJLzN1DKgAjJuHrRn_R43PV6ln5wE2MMsvt9AKs8XKsGmWws5dm777Z9LrfmtuP1tJk6THdFK0840-yksBrczm4WipZcWc80QhzqI56P-9_sxq3XXlTxkkSYTanmoR3_n6Vz4W94R4SQHGjEQFTNWg9Qa_qrBnAI_Hb3qJW1ZJKRAV_a5JbY6WCgQCQCEEdqzzqL6lMhMDLxryWS_JenxQh57K8STec8Aa9bn8nB6zHt3MUdxZPLGpQbqPrFKsbXNzu5rv5Ja1WDr-jzSbaCtXox6iMRJoXg1PAHbN-MVXy9zofU49RoulLQ2IGxgEmyya5BzdNCC2LNyyP4tyhMEabhyB97S3oHn2lP3zBXQrr8xgXVdHPNcDaE2e282KdvQoPOniJDZfpM9V3VNv602CPsSURzrDR68jNMWMdazrGlboqMkieomAVTS1dBlAHYp0EHLH8UQsFQlj5Wkcz3Kg1gGW3V7XxsxXew6DRsvKJmCVXFGetEcd5MHEJ5ujW8D1-5xkJ0PmnohJtANKxVIHSKWZw2zaKV5wnIUtY69bvnpcvAm7CIuXcLMkCn5K8OcU1iXa8xRPeYMYeFdO2Iuj2lLwpL9nZnGkqlb7bFRSP_aELw==",
  "id": "rs_0a7858731287a50b016ab4312344f887d098575f903818e033",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.115,\"left_z\":-0.005,\"left_pitch\":0.25,\"left_yaw\":-0.45},\"note\":\"The cap is now visible just ahead of the left fingertips, slightly right of the jaw center. I’ll advance a few centimeters, make a small sideways correction, and lower the pitched gripper to cap height.\"}",
  "call_id": "call_2gVvXoIvgBcwRY3EsJCrduhx",
  "id": "fc_0a7858731287a50b016ab43125110087d08c90997cf1d6a1f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2gVvXoIvgBcwRY3EsJCrduhx",
  "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]: [-0.1642, 2.1334, 0.4236, 1.3529, 0.2535, 0.0551, 0.9979, 0.1982, 1.0237, 0.6128, -0.128, 0.0967, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1076 left_z=0.0003 left_yaw=-0.4242 left_pitch=0.2257 left_roll=-0.0252 left_gripper=0.9979 right_x=0.3384 right_y=0.0542 right_z=0.1686 right_yaw=0.0899 right_pitch=0.0225 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7897, 2.0855, 0.3639, 0.3443, -0.1929, -0.0171, -0.3214, -3.2752, 7.0496, 1.8095, 0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d8e9a2b07e029f19485276f57a619d9dc87339805ce87a6695a8c13dcf49cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b2aaaaf263b5f9d180435c07a569ef634ba32d750878800855c06b881e6371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b6bb02617822558bee5e7bd7d97d50cb2b0bb57321781c279975c475a66d79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.912 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]: [-0.2077, 2.1925, 0.5121, 1.3724, 0.1356, 0.0231, 0.9979, 0.131, 2.1983, 0.6075, 1.2877, -0.4797, -0.1616, 0.0103]\nstate[eef_state]: left_x=0.4268 left_y=-0.1107 left_z=0.0024 left_yaw=-0.3502 left_pitch=0.2656 left_roll=-0.0076 left_gripper=0.9979 right_x=0.4318 right_y=0.1428 right_z=0.0121 right_yaw=0.6331 right_pitch=0.2906 right_roll=-0.0173 right_gripper=0.0103\nstate[joint_eff]: [0.1709, -6.2701, 2.4137, 0.7888, 0.0659, -0.3199, 0.0073, -0.3487, -9.5111, 2.7692, 1.4286, -0.0464, 0.0464, 0.8474]",
      "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]: [-0.1513, 1.4258, 0.4015, 0.5533, 0.2184, 0.0486, 0.9979, 0.1982, 1.0183, 0.6128, -0.123, 0.1001, 0.0364, 0.9962]\nstate[eef_state]: left_x=0.3672 left_y=-0.0911 left_z=0.0852 left_yaw=-0.3731 left_pitch=0.1115 left_roll=-0.0449 left_gripper=0.9979 right_x=0.3388 right_y=0.0537 right_z=0.1714 right_yaw=0.0871 right_pitch=0.0329 right_roll=-0.0197 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.106, 7.1863, 2.1465, 0.1832, 0.2466, -0.0122, -0.3214, -3.1658, 7.0769, 1.9805, 0.0562, -0.0659, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1642, 2.1334, 0.4236, 1.3529, 0.2535, 0.0551, 0.9979, 0.1982, 1.0237, 0.6128, -0.128, 0.0967, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1076 left_z=0.0003 left_yaw=-0.4242 left_pitch=0.2257 left_roll=-0.0252 left_gripper=0.9979 right_x=0.3384 right_y=0.0542 right_z=0.1686 right_yaw=0.0899 right_pitch=0.0225 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7897, 2.0855, 0.3639, 0.3443, -0.1929, -0.0171, -0.3214, -3.2752, 7.0496, 1.8095, 0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d8e9a2b07e029f19485276f57a619d9dc87339805ce87a6695a8c13dcf49cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b2aaaaf263b5f9d180435c07a569ef634ba32d750878800855c06b881e6371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b6bb02617822558bee5e7bd7d97d50cb2b0bb57321781c279975c475a66d79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEqOgSVRpJs6oVVPRjoG-07PCZWsMJUlkIKdA-S0eiLGKQ7MaZNEIIm4HTdaJFJi-HEYgyMHT1Nv8vSHcNef9tbV616RsjYjfZ6-Y5TSHS64agig-jtzXtUNTjQUemx5uav6QjXq-flOgb5YPoifdY4jY3a2HOmQFRVzK-Jgy8BD-iHWcf9F7kC_UJJpvMzLS8YgMddb6uIxerBpelpm4GjRKa3xbbCOMkGp38Vtf8bPAXv01NT1g7f_WAO5WsbMfO0JQjxk13FkFvuiLFxQhN0pFbDr_LgF856UEHZdM9ALrZvPkEtPVgslKCBrdQ1imKPaHR-egcGvkNfSUPu6MHEn5ikuGXsaIO9XFMjBGgeKQguL5sdSoPEffogEDvnyFuVCCeTzMjKnYwBNEwfwBtg-7E0ZljrUV9gReSj9tPvcHGBsKJrPasWXJHq-8PruqqMFJDqG_eu1dB4NwpI6-CylaUbyVXs1fBVo5K9FYwT9cE-m9SFtxa-rLHlWuQDbqCsyMVOUKIyULZsDQUb9hXQQAWk2vQ4A4E1AGV9Alk4ZZI1tl6vVxn91w2yyaaJrInCsn0Mw16lEL8p3OTnMdCPdrJqQ-cA-H6gwJQ7QKnfsceJagUegV52wME6-TXHthhArlEtZaPYJWDQ7OZgZzsY3OCuHI5D7hi8aHnqui2DEOZUOS7a1hN4H6YwNQxmQhwILic8g1R1mQ-BL5hUKeXSDkMierop90jgQ_yFQZ2J1EexWwSgetu_s6tTk29wxpsha7TVrIs20Hhq9GoTM59vf62piMNGl3jKAIRKkog8rt8aEe37PzOL37u_lp7ibmqqN6762CXEs0OEtHZu6v3m-lXaXUIWOTwZ2h94VQx0NHlxx2J8KhrrYKHvvlOJfMfI9hUQlZTIcaqLQosmIB4DNRyXIrgWeG_4gWoteU7BsL3j2WoTqN5qqRCSqmGpYSFkYnk7MMZEyP91nozQoUmZEFe0pdqUsVcWd7oJlD1I8rtEHYXv95FUbe4knR-V09cutUhHLQRNy_75m8RFil_UA1GbtTnNqka8SM6MFNkoS9K8nkQDCpxLixg297BUcq2368K8weXZszXI3X5M0n0d5hjoHPWell6LWK3MmQBaiZjVBvJffz60sr09fnYS-PcanwtgHFlym4zviARIJenA3rR3QhY_V3X5dLXk-L_jy9RjCp69okT3fW4EanmaR6r3dsYj1_GRSUSsRUFOVGL-GTcM9TE6Et5vT9hRPzPeCeJGqQ0zncVHNQWDnLY5hZE8CvE3-vX1FbWWwOvMSdBhMmWsXOB2O58G8DmdXEQk0Z-SOYZ751xT31cosF0-GJVS0iKLyu5naPPh_zbbTPcb-F_SEA4-qDqG3phmCgckp-ciMwvGxQUtqyvcSD_p5G-dXpHth842acPuX1PpNMlw-rawz7R3UrS5sO4u0SlA-L88M_hnrLduhU0-6w5LuZqATf26OP0a0SEgMvUfHia6QxsiDgET1ByAy7J111vkXLoFpv-8HMTwWflCTS32ZCLKirN83Iqier_Reu6wHP2c8Dt-ltCiADKkBXcbtY3nO_U4lxlPNP4GYhgfzZO7anxPLHwbu0-Damz3RPGhQAuX49Mo-fm_uy9ubpO7rwznxYfe7FyU_ZjExL667iiGsn9mABsRKLhPBRxyTc6hCFXpcbpatM9a511S7b_GBLn_D5IpwyOKqVJhJomGSYEsg2ZY2zlN3I-C4zuhXgxs6TfwlSphdW24_146TOhXDzmgN-ridvYFrZ6zFeA0oi8TYQVFvo8FZ802iY_6rZqW2d5_9RArtsktFrJjG0den4kojQm2p3Le6BY8iMPufdnTuhQhO3EHygmy3HNpioZdJi5NJhjM_j84GmStFh4oTGuxDzYZY4i54OjmvqEjOpLc3zbcI0ClqrIN1UawctMnzd4R6Cg6dacq2UH9mgEJKOJodB0SyyV4cdcoND4jv_OomZw5nIoQX5LsvQr7mTaOGDh17JgZBmii6o4S8M8R2y5zQI4A9nLrJCWN7g5xCj9T4EvO06VWs0c541i58Rmd1OVvN6FSFem-88-hpVuY8H0nWEcm8y3N3gc0JF5Gyff1VVFkzOos2R-pEsUMDSMkkbUfmdAg0Jp-pCT4CUVTKYnDOFJfV_oVM904irFbsG90RiSAw-lcRdVBEAI0rm-E-NjKGB-BRhpY2xDBECHO7vRGos0E93yDPvkGX0BvjQhIMx_MX5mjMRHAehp0RxezPSUuTBGfuogCcCunNqlxpz_K2uLXLlpdKm1ECIIbw-GTqvGha0D2aIQyaR_KWvCgAuaDLOhHBcUUKMl0d4XNfQfLja8vTqeE7xOXUdt26iHYpLLh",
  "id": "rs_0a7858731287a50b016ab43127e7dc87d0ac37a39472bffaf5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13},\"note\":\"The left grasp point has reached tabletop height, but the cap sits roughly two centimeters to the right of the jaw center in the wrist view. I’ll shift the open jaws toward it before closing to avoid squeezing it out sideways.\"}",
  "call_id": "call_YKjq5f58NqwDt0JrfzLT78W6",
  "id": "fc_0a7858731287a50b016ab43129ef7887d08e3959db8577302b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YKjq5f58NqwDt0JrfzLT78W6",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2096, 2.1662, 0.4385, 1.4048, 0.2157, 0.0418, 0.9979, 0.1982, 1.0241, 0.6128, -0.1268, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4031 left_y=-0.1207 left_z=0.0024 left_yaw=-0.4315 left_pitch=0.2556 left_roll=-0.0173 left_gripper=0.9979 right_x=0.3386 right_y=0.0543 right_z=0.1687 right_yaw=0.0902 right_pitch=0.0232 right_roll=-0.0185 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -9.6615, 2.2632, 1.8046, 0.1392, -0.1294, -0.0171, -0.1162, -2.9744, 7.3231, 1.7411, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827c9192e1f8589193bbecb86adcc78fb7be1d5865d2226505f467daf001689a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bbdecfa9598d915d20e81bbd59ee906a6077450ad963bfeafee66acaa735dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34489cabd8b1c74518ef00fca7bbc0806f5425cab9a7ad3746c9e45f8e74e3e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.442 s

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

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 0.8192, 0.5488, -0.2161, -0.0189, -0.0288, 0.9979, 0.1982, 1.0145, 0.6132, -0.0963, 0.102, 0.038, 0.9953]\nstate[eef_state]: left_x=0.3102 left_y=-0.0044 left_z=0.1821 left_yaw=-0.0159 left_pitch=0.0843 left_roll=-0.0067 left_gripper=0.9979 right_x=0.3418 right_y=0.0539 right_z=0.1786 right_yaw=0.0845 right_pitch=0.0637 right_roll=-0.0158 right_gripper=0.9953\nstate[joint_eff]: [0.2256, -1.4974, 9.7573, 1.7558, 0.0073, -0.0659, -0.0073, 0.4034, -3.5077, 9.1692, 1.8242, 0.1392, 0.1783, -0.1587]",
      "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]: [-0.1642, 2.1334, 0.4236, 1.3529, 0.2535, 0.0551, 0.9979, 0.1982, 1.0237, 0.6128, -0.128, 0.0967, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1076 left_z=0.0003 left_yaw=-0.4242 left_pitch=0.2257 left_roll=-0.0252 left_gripper=0.9979 right_x=0.3384 right_y=0.0542 right_z=0.1686 right_yaw=0.0899 right_pitch=0.0225 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7897, 2.0855, 0.3639, 0.3443, -0.1929, -0.0171, -0.3214, -3.2752, 7.0496, 1.8095, 0.022, -0.0464, -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 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]: [-0.2096, 2.1662, 0.4385, 1.4048, 0.2157, 0.0418, 0.9979, 0.1982, 1.0241, 0.6128, -0.1268, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4031 left_y=-0.1207 left_z=0.0024 left_yaw=-0.4315 left_pitch=0.2556 left_roll=-0.0173 left_gripper=0.9979 right_x=0.3386 right_y=0.0543 right_z=0.1687 right_yaw=0.0902 right_pitch=0.0232 right_roll=-0.0185 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -9.6615, 2.2632, 1.8046, 0.1392, -0.1294, -0.0171, -0.1162, -2.9744, 7.3231, 1.7411, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827c9192e1f8589193bbecb86adcc78fb7be1d5865d2226505f467daf001689a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bbdecfa9598d915d20e81bbd59ee906a6077450ad963bfeafee66acaa735dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34489cabd8b1c74518ef00fca7bbc0806f5425cab9a7ad3746c9e45f8e74e3e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEtZtwGOVhIjFBL-2Jj_lTT_C-zh2W69Zf3Av_0ojXuxGEvUje4-TID6PaVoObin8ESDWM_JjXJm5z-cHigJq3azO4xH4Kr73DWWiqmHvF8NQSXmNlMnALUd7Mg1uGf8hhaluaeS6z7xCM8BXXD4a21llYtPgsJ1tlE3M_8DO3JmkxrGtFyRyWuU-FJGFbqoGqnoOrsxQr-p9sts1O-1MDfUmr_ddLJiIckW0n5_JZdzaAaaCjWUmP9HusrZ4De_9MhgU3Ofx8Kd6SH38uaw9E3RdZB1XvchcdJOhX64z0Y9EdypkLyleC4HogQZC77ZdHO2tTqr2IksUJsYPTHxMt6rytdXcecF_pBLqpTGXaNB9wiyDJuJ-KrzlZZvmEmr2yKb76ShIycuqqssW5NZGEA5pAKkEH8xRl4atDCKiz7r7Ddqmsmp519ivPE8Hw5vuys9ryv6u6BVeGuh2sn_Y1i_hHwBgCxSrYF65ld1tc3kOyxwfbtmyhySos-iI_VN3PwUJpfspG7kq8PBPQtlcx5Monbgolz5iVe8RcR97UsP4wa4nNQOeJIivrJ_O4Krv8JUVlq2tSJnJrqjOybIRHCOJL0t3Mh8GaQY0ZwXUpWI5ShUsSkdIPqD_R1AS_GzHdolCM71wEASwFYj3sX7sphxSSaX2cuS3WXlVRBhjUqft6TWb3mSKBLYGkb-Ht__a_WAud01OIgGDwK0oCIjaQ1ZjEW_5iJaaY9EfoHW8u6KPXAhGbqANi3CK9zQHgRNOnO7wAocEpA-d7H1cCHIBlJGgDbR2zc_r96wTsx8apXU6Mtg0wr9TEweIgH3WKJJCHTEC1KAVz1sbXXn7Ymtlr_Z96dRAykMX5E_4oP5PjRPI1LR2oNWfrxaTQa0RUt3F0P-uNqylR2rMntc4z_GrRZbWEkqQaYqtiTClwqltnlmkGBSdSsz-cPrMc8Tgz-KbbMcThh_hFAMLFvNlOoebccfaA0mcDf_xWa1fVb53TL73MDR4nvx-6LqYBv6MQMfPlycEyzwaz3l4rWDgrJpDYUbFPNNKMMCb1aRjyf3cIPoZjG53ZtnvhBOjZiQGTNtCVJ-JW1pTwNjfJhHZoRv5fhnDWn0gXc5nb_iG8sCd1AIOXdDbrzDiwCTo830kn2XO4qD8RgoKeifz7xiM0o90-S1DmX526CIVUHu2CgpcAGDZGYfPhBgcm5C0NIK-8NNLTPiNR716JFtuk_LfDIlcrI4UipZ-W6JQwazAj1_l38ovmajpc8_HYqSba2OmwtQ0xw9ns-hQjX-WLo6JmDK7dG8mkN6cyc1uWuweFp5WTG2RkARytTEcHgIUlVhyWq44roqaiMHckvRIPdDQ17Wl0Q2a6laD2pYbhuBXH-2dz8FZBoMpvh6FqOJfflU9xivWuvQexLKhmKK-9VdGC7Fv_1-3YsKcSIohuQnTg9rDmNsNztRdPnChAac5g_X5YU_a6M7aScpcrLgJGj5FKuxOgy9iU34LX4l_n9F7XbDt8tvgeOwzej1cQbVWGcALLYGnrgGeD8wJNH0BDZfZ1-XBOCxyNeiv9XHnTYKrT-2__vfUab6Hq2i2ECGq3-dYItwH_CJM39FYjmrhEN3Ec02jS2EfchHYvhIs9VGtlMWJettKg3Xl9_sFMLrzYRyhcpnqH8UGr_JSYwVVLzkdvHbEodeAnLgJmFbJoGgzununD37AB46RU51Kq5AgTAiOOsoBkb1B0ZZ6S1oeFY4Q3Xc3J4GQ==",
  "id": "rs_0a7858731287a50b016ab4312bab2487d0b5f8fdec418f7cdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.16},\"note\":\"The small sideways move brought the cap closer to center without displacing it, but it remains right of the jaws. I’ll continue the same correction with the jaws open until the cap is near the closing line.\"}",
  "call_id": "call_Os61CP53Lq1KF51wGY4lFFf5",
  "id": "fc_0a7858731287a50b016ab4312cf08487d0834eb9ee3c1d1cc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Os61CP53Lq1KF51wGY4lFFf5",
  "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]: [-0.2493, 2.1536, 0.4385, 1.3819, 0.1799, 0.0273, 0.9979, 0.1982, 1.0252, 0.6128, -0.131, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1308 left_z=0.0018 left_yaw=-0.4315 left_pitch=0.2431 left_roll=-0.0219 left_gripper=0.9979 right_x=0.3381 right_y=0.0542 right_z=0.1675 right_yaw=0.0902 right_pitch=0.0179 right_roll=-0.0191 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -6.8171, 2.8376, 2.0147, -0.022, -0.0611, -0.0122, -0.3214, -2.988, 7.1043, 1.7607, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c98be163da8e59886efc52bd44a126ec298af679721d203f280949a4c1610b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db99d560dcf0d6ec2671a1fd58aa18ed6a8bbff02c4d1a50c48161743b155deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa998ac9d1e77b04170d112461b4741303719785e134318c4cf158275bd6c38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.034 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]: [-0.1513, 1.4258, 0.4015, 0.5533, 0.2184, 0.0486, 0.9979, 0.1982, 1.0183, 0.6128, -0.123, 0.1001, 0.0364, 0.9962]\nstate[eef_state]: left_x=0.3672 left_y=-0.0911 left_z=0.0852 left_yaw=-0.3731 left_pitch=0.1115 left_roll=-0.0449 left_gripper=0.9979 right_x=0.3388 right_y=0.0537 right_z=0.1714 right_yaw=0.0871 right_pitch=0.0329 right_roll=-0.0197 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.106, 7.1863, 2.1465, 0.1832, 0.2466, -0.0122, -0.3214, -3.1658, 7.0769, 1.9805, 0.0562, -0.0659, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2096, 2.1662, 0.4385, 1.4048, 0.2157, 0.0418, 0.9979, 0.1982, 1.0241, 0.6128, -0.1268, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4031 left_y=-0.1207 left_z=0.0024 left_yaw=-0.4315 left_pitch=0.2556 left_roll=-0.0173 left_gripper=0.9979 right_x=0.3386 right_y=0.0543 right_z=0.1687 right_yaw=0.0902 right_pitch=0.0232 right_roll=-0.0185 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -9.6615, 2.2632, 1.8046, 0.1392, -0.1294, -0.0171, -0.1162, -2.9744, 7.3231, 1.7411, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.2493, 2.1536, 0.4385, 1.3819, 0.1799, 0.0273, 0.9979, 0.1982, 1.0252, 0.6128, -0.131, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1308 left_z=0.0018 left_yaw=-0.4315 left_pitch=0.2431 left_roll=-0.0219 left_gripper=0.9979 right_x=0.3381 right_y=0.0542 right_z=0.1675 right_yaw=0.0902 right_pitch=0.0179 right_roll=-0.0191 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -6.8171, 2.8376, 2.0147, -0.022, -0.0611, -0.0122, -0.3214, -2.988, 7.1043, 1.7607, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c98be163da8e59886efc52bd44a126ec298af679721d203f280949a4c1610b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db99d560dcf0d6ec2671a1fd58aa18ed6a8bbff02c4d1a50c48161743b155deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa998ac9d1e77b04170d112461b4741303719785e134318c4cf158275bd6c38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDExguAEhfMySxTmYIfJY6nHbJSDVeP0LjuHBhTPzbx2aiaSVSA01Znkx4i5CTXr1OG5nYBRRykqwlctCdSRxfXu05WzIQkVeTzqmNBqlxC6bOPt3CC2Jl8Y2iIOoBAtoH2bSJ4aEg8_tNEyW7wjB2r1J3EX6sZOYuT3d-b7blreRYfYOWQ5bkd-qfYFOFeBhdOGuZAbSJFmz3I-a0_pltVZM8JSwHeNbi-3QHwPVhj-iPwTFOA9DG6mtXsSjD8C0tZrkwDIyYa8gkpwZj09fpaoFLcEUxSrbOFs9DbSJIgHqf8TF_QloxejtrAypPCSYN7pGzM5wIPn_NX-s3bDMMem-VZJwOFC265uUN9pkxVdiemESZYnLLuRyY5aYOE2nbViRLseV8ZHh6tRuuluu_0jv0VTUmjte1J0bHFXjjAGpuf6MPI6mQnYt4Bna21f_GisJrmoW0X-RyHLdyD6wmi-dE-6ZjPDudHXE0ptUQF612n-FoMWfXmRQwNLzxLPfnGMqxm0lnSvck3lLc5wVoGE4Ndra9N_7Hecf8nBCfxJGVvY3dS-qKGG7P8UdpcdkSv3VsGutZIco5tmdWiGfUQLakhER91fYBJ2Jn1AlGWfMVqNL_yICCltGqLLovWgpbcwoPp2Oennv4bpyAGJREiqxFxGMDZAcabZxnzucZu0qa7Io2xh1GedQ1HVlBbKrO7niyFSW4zmfvNd8DPwEMogO1sM9N-XkauCu_8W5o3pEKUIyg5B4DJ200Mf_Sa2avInDQbc66J2tX2VSE2UwQb06DmjK-n9Sc9aDv0puux05dq0WdkdnSjjyG4Ea2SVotxGnerBWHDTa_px6GaRsnGP3I2VzDYnK411d9N9x8sMiqmsXBNIQGzbjC5O7cCLnS_XZYQFPaNDnEMS04pD03G-Ke2rKtxtGwQfLvygYso9qrCrfXh7LAyuBvgDuXi9fCbeqCwWH85jrB13rFDOlB_kdeaL_RYeX7UEjW2AdVlRuxOwfT88FthjRFVI9n6ZkUYkkqDQLBllVBbIZeSMHz1xL8Uj8Ulkc5nHmaCtRNM85xjZKHME59E41JF7576fE5eua4o18rHWxKl9ZVXpWXtGLhWMZ6vg_TtEEuASz9SF56Q5yTFfzJbXSpuitYoIUxEG5CZA2jk9V43xyvUEXmc1SqVHemCxf-EgtpUK3qg55xYEqKG8pexc9HL7VvuBqTiIsxxZ7mBU4ELOpUXrt9WZVwnr8_B7Rv3NmQyMcSKh_g93Endm_QxNnZZ2HyaAjmYpQTtHwFy3_GynNPQFL2mL4DNB0_PlvoFc9oPyv0bWRGBY7Z0sNYH58cT3w8akwja2bVu2pa_Ftk2GZDX6BDsphldmkLrszgG2d5KbpRD0kUgRhcDWgUgpvX9-XSfX4JlVPAstbXW72IH2qLrddVvf_oG7dz7Y9WmgMFnqIHIy3ixlzoCcHMk8av_Rd1Z2kALaGpwthq-H0soH--TnbC8buE0yy49Fa8HhznCkSw1tLhaXF4WUbvl2O3cEA1Rs_5qFr1EqCWJCj6L3g-vWpLI_BtnorCAPGhf2hhEWv-awKNB6tb8MGvpA_P6ZoN4He4cBypLvYCODAeiltfyng2yPyX5L6-b-giL89crI_wNrlng=",
  "id": "rs_0a7858731287a50b016ab4312fbc8887d09850353800a3ce2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now crosses the left jaw centerline at table height. I’ll close the left gripper and check its settled opening before lifting.\"}",
  "call_id": "call_2ZnNfzOv6R9BO37hZ1PvuemM",
  "id": "fc_0a7858731287a50b016ab43130c7b487d082c338db066dca1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2ZnNfzOv6R9BO37hZ1PvuemM",
  "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]: [-0.2493, 2.1544, 0.4385, 1.3811, 0.1799, 0.0261, 0.0561, 0.1982, 1.026, 0.6128, -0.1341, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4001 left_y=-0.1308 left_z=0.0013 left_yaw=-0.4308 left_pitch=0.2415 left_roll=-0.0233 left_gripper=0.0561 right_x=0.3378 right_y=0.0542 right_z=0.1666 right_yaw=0.0902 right_pitch=0.0141 right_roll=-0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.0479, 2.2769, 1.8877, 0.0171, 0.0024, 1.4823, -0.212, -2.8786, 7.0359, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7efe83400855cd19fd95d03c061b74ad11ed3016fc0099e201bf1adc425e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac3b3ccf608da18683a97dbf432794df5e2d073f1b1bdf923e60896a0a536f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb48f6e93c87a4e6a8d712289ac53bb0a23afe93bd177c2bd2ce6d43c2c16ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.781 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]: [-0.1642, 2.1334, 0.4236, 1.3529, 0.2535, 0.0551, 0.9979, 0.1982, 1.0237, 0.6128, -0.128, 0.0967, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1076 left_z=0.0003 left_yaw=-0.4242 left_pitch=0.2257 left_roll=-0.0252 left_gripper=0.9979 right_x=0.3384 right_y=0.0542 right_z=0.1686 right_yaw=0.0899 right_pitch=0.0225 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7897, 2.0855, 0.3639, 0.3443, -0.1929, -0.0171, -0.3214, -3.2752, 7.0496, 1.8095, 0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2493, 2.1536, 0.4385, 1.3819, 0.1799, 0.0273, 0.9979, 0.1982, 1.0252, 0.6128, -0.131, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1308 left_z=0.0018 left_yaw=-0.4315 left_pitch=0.2431 left_roll=-0.0219 left_gripper=0.9979 right_x=0.3381 right_y=0.0542 right_z=0.1675 right_yaw=0.0902 right_pitch=0.0179 right_roll=-0.0191 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -6.8171, 2.8376, 2.0147, -0.022, -0.0611, -0.0122, -0.3214, -2.988, 7.1043, 1.7607, -0.0366, -0.0415, -0.0122]",
      "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]: [-0.2493, 2.1544, 0.4385, 1.3811, 0.1799, 0.0261, 0.0561, 0.1982, 1.026, 0.6128, -0.1341, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4001 left_y=-0.1308 left_z=0.0013 left_yaw=-0.4308 left_pitch=0.2415 left_roll=-0.0233 left_gripper=0.0561 right_x=0.3378 right_y=0.0542 right_z=0.1666 right_yaw=0.0902 right_pitch=0.0141 right_roll=-0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.0479, 2.2769, 1.8877, 0.0171, 0.0024, 1.4823, -0.212, -2.8786, 7.0359, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7efe83400855cd19fd95d03c061b74ad11ed3016fc0099e201bf1adc425e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac3b3ccf608da18683a97dbf432794df5e2d073f1b1bdf923e60896a0a536f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb48f6e93c87a4e6a8d712289ac53bb0a23afe93bd177c2bd2ce6d43c2c16ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE00lsu5lFHQKdnXiSPb0c_NKUCLVxqRUvU3tnc5sjJjEWDaBKzgjD1kPxWKMEjKUYC-elpyA-UIG2GmMYds-ww4ztYDz2yypUSKF_YnD4hmRLlkU_GbKKD_AsWWzJ7pobuHzZ5rosINvzvxUfxr2j3t0U03LJhodf5eFkT2zlIlDnlgr7cSIX37NjjStOKUp46mGHwbe3suj2iRd_E1wO7QD2yKH3130KOmw1fONdNkarASYGWdtWc9Ci2h61eF_ssE3SRMlOKqNmHiBZtrXER9mRY-qDP59hg5nfoKlvXEADSF-o5QyhpRdlfJswjp6NcSyxfWHphAJZRtA6T2GUm6MM-w1Sm8RzgsTn8g4QUuwCH-bQlXl6fjRpNtVoF63316-fcREpzUwk45cv4S1K16aKS2Z-yg8ymtHAu8u6MFg-kq2rBj36M2meH9g5EGfqYIS8shrM8llZEHVLKp-RuRuvBRmSwsxWvCGJFsxFXQWGo_xzmWXBoMu5dr-KA5xp6wyMUH9Z_ltFlQW1ufRFkG1bfW4qOTrWznewoEPkzIEAd7QyDKx0V6CUIbs2WX9vvLqBMq0eP13R5Zxh9kzjK1hNGiGDMKoIwtIf9tRQCP7wKyVVEeocyUXLnIXRJ39teiY5npFPEd90ZYs6XZNHJJWccA9CumQ4CNaPsg7bEsZQlrSIkpp1s17Wf_GLqHx_e6cnByAO8VMbkiUFNfDY2wm82IwQSYlMVGagKKRN9lpaK4x2kjnU_Y7kgr5yuX7giG08o64f2SpkBXP8018BpJM5g4RGrDVkMgPBlOH6Zw2D-TXTz5C987Ty6KEXTiOQOYxvA5mwt-OLNN_Xu-YIbIvNJZkxUTxMuxrGS-9bSEkWpT5cx5V2ZKW76Plm_T89Y-CVh1UHoq1qEqZ-4JSdAWwk9TsPRKWPVUkXcV44oTbGCn8xnQ6zGqWRW3RyntVwpFMn1GroWfeLJJjdc6xCF8fc1BwAccRX2nhxQFB45vQyYZJlz1RkrLmrZTpDouBDKqpGRaj0gcLBRH3Tha3ffZJ-ApMrU0DmioUxmNrOd90pvkap7vNrtuFTqfbDaVAPJv1Q66a455LgJZOlTQhgQzxqfeZNt76_ThLmGrvsOwjyFEf-i284_5zhlOfa2NulPw4qCeDeHTWsBwIhqS9q9SW7UzSE8-W_i4RSMh3S9GavvRlC08Bjwbqz4tXvJ_O9IDah4yp5qd17eiiSZ71TkS0UEgZWdDj2lTy2FTVcDFItl4r9vnp-j6HsxrySQvuw6BGhF-RpIWCoaJIffOSCv4Q==",
  "id": "rs_0a7858731287a50b016ab4313362e487d09b8cd3b821d461c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left gripper settled at an opening of about 5 mm, consistent with holding the cap rather than closing empty. I’ll lift it clear and check whether the cap moves with the jaws.\"}",
  "call_id": "call_ACTkiH48sxcAu72Y2oMxmB7U",
  "id": "fc_0a7858731287a50b016ab43133af3887d0997626a6a0434853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ACTkiH48sxcAu72Y2oMxmB7U",
  "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]: [-0.2493, 1.5669, 0.4732, 0.7689, 0.1795, 0.0238, 0.0688, 0.1982, 1.0267, 0.6128, -0.1463, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.3964 left_y=-0.1298 left_z=0.1083 left_yaw=-0.4296 left_pitch=0.2513 left_roll=-0.0236 left_gripper=0.0688 right_x=0.3362 right_y=0.0539 right_z=0.1638 right_yaw=0.0902 right_pitch=0.0012 right_roll=-0.0209 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.8855, 8.4991, 1.79, -0.022, -0.0171, 1.033, -0.3624, -2.988, 7.0906, 1.8828, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73b38474368ba8176bb3bc07f7680b523e0f1b14027df14c87340fd9426477c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9f1da0625373319c9f85be39e2140690b0de9539f1747c154e8dc78bb5df45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e7e0a2d1390f1c9d87eab93a950c3c1b1ebf0f6cd723a4994405d96d272e47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.173 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]: [-0.2096, 2.1662, 0.4385, 1.4048, 0.2157, 0.0418, 0.9979, 0.1982, 1.0241, 0.6128, -0.1268, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4031 left_y=-0.1207 left_z=0.0024 left_yaw=-0.4315 left_pitch=0.2556 left_roll=-0.0173 left_gripper=0.9979 right_x=0.3386 right_y=0.0543 right_z=0.1687 right_yaw=0.0902 right_pitch=0.0232 right_roll=-0.0185 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -9.6615, 2.2632, 1.8046, 0.1392, -0.1294, -0.0171, -0.1162, -2.9744, 7.3231, 1.7411, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.2493, 2.1544, 0.4385, 1.3811, 0.1799, 0.0261, 0.0561, 0.1982, 1.026, 0.6128, -0.1341, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4001 left_y=-0.1308 left_z=0.0013 left_yaw=-0.4308 left_pitch=0.2415 left_roll=-0.0233 left_gripper=0.0561 right_x=0.3378 right_y=0.0542 right_z=0.1666 right_yaw=0.0902 right_pitch=0.0141 right_roll=-0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.0479, 2.2769, 1.8877, 0.0171, 0.0024, 1.4823, -0.212, -2.8786, 7.0359, 1.79, -0.022, -0.0708, -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 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]: [-0.2493, 1.5669, 0.4732, 0.7689, 0.1795, 0.0238, 0.0688, 0.1982, 1.0267, 0.6128, -0.1463, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.3964 left_y=-0.1298 left_z=0.1083 left_yaw=-0.4296 left_pitch=0.2513 left_roll=-0.0236 left_gripper=0.0688 right_x=0.3362 right_y=0.0539 right_z=0.1638 right_yaw=0.0902 right_pitch=0.0012 right_roll=-0.0209 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.8855, 8.4991, 1.79, -0.022, -0.0171, 1.033, -0.3624, -2.988, 7.0906, 1.8828, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73b38474368ba8176bb3bc07f7680b523e0f1b14027df14c87340fd9426477c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9f1da0625373319c9f85be39e2140690b0de9539f1747c154e8dc78bb5df45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e7e0a2d1390f1c9d87eab93a950c3c1b1ebf0f6cd723a4994405d96d272e47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE4v7xh6lKDI5Tf1q_B0I4uDOZ1otRwtm7IVvXzHBd-WfVONRHdh8Isd6VqY0XiqRwkZZcCLA4Wi2xynwi3gJ46x-PmIGRmmhye0Dy2tUiw0vIOXNMJtcspu8X78NtPgj-Zt5HFFxHziF8zBQn8IwhdcmAX-uD-KXMgMPp0PPS97N0oADacie3HDokOvexi23jtCQpgIQSLUKCXS-_gp6yyinL6neaAtrvB4g3nsKxUM52U-HeVhrgaRNSjV0MSjToSiqNSAwaRKAdvgQrxwEvGEJOW4hce0v_ydkmMX5387pDLwKxDuSfFcoeZXipjxmvcJbv476uUAj5I1ApcIvDDPDyK4MFRHcZITxhhT_6AWnI1zdec2mHUJ286FIIgrA-OjaqPVhEk6utLldh1T_ojTWn2iYO1_RO6e3SgskdEeEDLKd8nbnqowdwMriXJq-pv7Xrv-64Ay-t9g8SY1WdkGQQaD1vSwhqdgFLgn_0Oh-4OV3ttBwQ839yFGZu5eed0SSBnbLwlsL3KX1qcOwz5WNG8IZVF78giOwCaOpbdbrhvkDBPFwZEwLFch_P0uCHNghhnJuloGDAncoTD7-mGsAJkEj-NfZeHCP9KaD8WPGqv0WE-ssThhxyKMTKSR6cTCImmFwlKknegc1nkK9Hzxi3tOcAsbtHMAZtPWLhoRgBY-s9tOYrZlXVXnbaEV9a8SMPA0PHjfJyw4ZAFP1tasc23rmxCUdOuqktQVWJIL2-cvvCxz1eFfmmrdHXjR12C8zXvjASNPm8j2ePlcEc8WkI31NpaR1RKrtM2DDnRJk9S2nK62J0z_Hli0jlUIFechqf_8hmd9dC3rMLawaq7MugZ0VfX1vx0tQ-iUL8JxjO075wA7RoLP9e3iPLcQWWiQ-h4n6OGz6QTtvOXS6lPhAzAoFotBhu7w-3EMM4zAdIkGpulXkZOuoeBlSJbgc8dZDUL3_y2rN2c7SZpe--6Nd8ChyBPXlidCw-UUN4TpDi3PrpK9oeEqTx2JfUUohyOfxc3T6QTZik5yaatLqjUAG02S2yojRm0kpkJnRYVZ7zGFHTvRR4zzhipyNggWZSzyZZR4jBHQGYAtMtZ3JVBQPg1C1alRSo5HQm9RdZ0qebK7EOfhqwCkAkdUnFyl-qhtU1z5CQWdKe0RBkeJQCvFNR7e7g-o7cJWVh9tmeAGh6djn34VKWdZavoxMtFyDI8KADGKbLQ2hQL27T9RcbS-10K9L_lFUj7gT9El434eCHVYEkNmRhJSrlT3nCajOJoZSgXZ-lfmXg0aRCZaPcW30hP5nKB_zOKjMjqlaReotaXXMBqjQ8_4eTs0f4W6MeYjafAWyZPZk41CftqnFE9Cb-6XKIjKvINGna-43WwB9LaWU00nsNvP6KwEI4VLvm1iaEl-Y0Psqsw7ruipL61SY1IFMhV-naVSDVwlGl5cBZCsRAuQZiItQDNCd3AGjyMM94g58Aj50dhfmzdBA4DVt_ycyEDkdg2GRrIAm_4W9wV71t2GM714IGB_BpwjuQyj9S07XMiZhnOcQSkQammwMx6BT89pglB67n_jJxtoADNB8-4vBkCZU6LoyD-vsxXJKCbL4V6bbuv_Pr4ICB1G16CeW-V3RIBMzBsnrlGK9LaniBHWuvLOWlzv28sB8oLe46h-1Zfvoug4c0pYSZSX4_yo5ibMc6ihlQMAFJ2-XA2jCVj4dYQibX9QrECrSAJqw5N6Y5ETBKbrzIxTZeNhYIa3WDEedh0Br2RP_hwzGAi8UJllu3uV9JlNAP0sCaZxRtpj66sgdMoros25Z8cbVlAKmuqWnrdI4GcJGyjFPx062Fmr4xbuyFa4GYmD8qbQ-qNfIlOf16mVvngFhZAwl7O2JAM_SWS8t1lgH1Ms2ZCLcw2s_pXqO7_1Ezmnun8keu1weLOwd3re841Y_km5uJx2WscdHODQybfWAyZe0VDOJWx44Qn-BZHT66jzKSJGKGWP0HAu1Et0W4V_grpbg==",
  "id": "rs_0a7858731287a50b016ab4313666e087d088cdc1e56b4f8b21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_x\":0.38,\"right_y\":0.105,\"right_z\":0.105,\"right_yaw\":0.55,\"right_pitch\":0.25},\"note\":\"The cap is no longer visible on the table after the lift, and the left gripper remains partly open, so it appears secured. I’ll hold it high while bringing the right gripper over the pen at a shorter reach than the two earlier empty grasps.\"}",
  "call_id": "call_TDVD0KqJOCEP67aQAITjIscC",
  "id": "fc_0a7858731287a50b016ab43137e7c087d0a03911bda8bf8074",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TDVD0KqJOCEP67aQAITjIscC",
  "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]: [-0.2493, 1.3857, 0.5667, 0.4507, 0.1795, 0.0235, 0.0688, 0.0681, 1.4944, 0.4145, 0.6197, -0.3737, -0.1577, 0.9963]\nstate[eef_state]: left_x=0.3907 left_y=-0.1283 left_z=0.1459 left_yaw=-0.4276 left_pitch=0.2085 left_roll=-0.0319 left_gripper=0.0688 right_x=0.3731 right_y=0.0937 right_z=0.0834 right_yaw=0.4623 right_pitch=0.132 right_roll=0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -6.7761, 9.7983, 2.0537, -0.022, -0.0659, 1.0379, -0.4171, -5.4496, 5.2991, 1.917, -0.2711, -0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4fcd2861c7b406f5970f122d52d18415a8f75d4a35251a517bd2bc0ef4437b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e9b8e490cd237eb1eaff1a051bdb7ad3de78b3fe62a2d17a84f5dc37489dd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b051586fabcfe6b6fbe639cf20caad11d64e83379448480eff6b931be42c6ad9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.135 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]: [-0.2493, 2.1536, 0.4385, 1.3819, 0.1799, 0.0273, 0.9979, 0.1982, 1.0252, 0.6128, -0.131, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4002 left_y=-0.1308 left_z=0.0018 left_yaw=-0.4315 left_pitch=0.2431 left_roll=-0.0219 left_gripper=0.9979 right_x=0.3381 right_y=0.0542 right_z=0.1675 right_yaw=0.0902 right_pitch=0.0179 right_roll=-0.0191 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -6.8171, 2.8376, 2.0147, -0.022, -0.0611, -0.0122, -0.3214, -2.988, 7.1043, 1.7607, -0.0366, -0.0415, -0.0122]",
      "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]: [-0.2493, 1.5669, 0.4732, 0.7689, 0.1795, 0.0238, 0.0688, 0.1982, 1.0267, 0.6128, -0.1463, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.3964 left_y=-0.1298 left_z=0.1083 left_yaw=-0.4296 left_pitch=0.2513 left_roll=-0.0236 left_gripper=0.0688 right_x=0.3362 right_y=0.0539 right_z=0.1638 right_yaw=0.0902 right_pitch=0.0012 right_roll=-0.0209 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.8855, 8.4991, 1.79, -0.022, -0.0171, 1.033, -0.3624, -2.988, 7.0906, 1.8828, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.2493, 1.3857, 0.5667, 0.4507, 0.1795, 0.0235, 0.0688, 0.0681, 1.4944, 0.4145, 0.6197, -0.3737, -0.1577, 0.9963]\nstate[eef_state]: left_x=0.3907 left_y=-0.1283 left_z=0.1459 left_yaw=-0.4276 left_pitch=0.2085 left_roll=-0.0319 left_gripper=0.0688 right_x=0.3731 right_y=0.0937 right_z=0.0834 right_yaw=0.4623 right_pitch=0.132 right_roll=0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -6.7761, 9.7983, 2.0537, -0.022, -0.0659, 1.0379, -0.4171, -5.4496, 5.2991, 1.917, -0.2711, -0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4fcd2861c7b406f5970f122d52d18415a8f75d4a35251a517bd2bc0ef4437b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e9b8e490cd237eb1eaff1a051bdb7ad3de78b3fe62a2d17a84f5dc37489dd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b051586fabcfe6b6fbe639cf20caad11d64e83379448480eff6b931be42c6ad9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE8Lw01VTgQCXWlIQOlP5ynldqNQFHAfcpOtLS0OaW1jD-Z5kGXne5iU6Pnz0ewaKGa2N_0AMgS2WmATgJfqOsN9p_rj4Xtiol1uCA5jmDgJWdEKYaTpADHIl_4mTWetcS5o1dk55-pQv5vA8rFarYInXcmfyMFKCqXH3f633zHWuuzDazzp1S9MeiennIuLNs6j_Re84N_maLPwh9Rg3g7aKGg20DP9gWlUdudQ3hPLtiN1CRS5bNCqWNgQeV_G3D7ojrQVC8O05x792qrL8e5Jx440w6UWoFn1s2uJ9JBDdZckunQe1AYPar8QZ7x7uuYRBeDZ3XBBDsi8tYhm5KfNdnD4Hk2YmenYyxQ7OHEfeZqr6oOhzDD5MDdbemR1HCEyvgb1_9etTJ_SHKe6gNb7adh5S45Un5iEBp64Y1mitUqg7wnqFsglKth1-sq5IeAdsdDzVXyZmzKnvZozH7-5Mff97OUsJ9pFNVhbNn1ZMWbAZHs8HzESncOwzq2BocR0Gw9gkF0eDSKbesBqgyuQUtyIXmiOT4_WivEiWxMTrmtPWac-nBAhbJuWodphUIXVv6PHqENoFRx37zSFjBTE4CRqJI2OfmoP5bhbYyYV1Npf5DECgdCHvZUZqTtsWHrL3CrR02UHInlD-aRu9B2c8XVYgRqexOptAoaZt39zyq-m2JGVWON4j5Ylk4O-Wn8bFTtPkyCfaKW82DG8THKRF381O87rnR3Mae7WBqIo42Hlyot5cvq8RoWM1xgwpSlCwYhs5I9H0XITwisY_F9d-QwMU1O5ScLVLKZESrMZh3gABoczsYHMJkcTPNluE-TER-bafuSzb44sN5WXbocRyCPxsC88QIISGGviBVLiu-SS2nbkGKsw_KqX_jtI8cNv_dPs9EYMIH-enGta_Dfv0Wr529M0a6NF8M6HVRHjr1Eew-Kb3pjhkCcBCLlmrHfGci-dRroa_F9bYl97Fxtms50oMYr-WOywtFwZh4Bx4lKaaTnCiKot2rnYf77fevZrH4fAiNEYoZncnppYJbstKDlPsP_Q3cgH-PgokDrq3MQ_Ti4TwvFkqElhiKkFnaLzDtJkjJwyXnmDeodmkzJWNSM0_AJgLSomu_CZiLKGdlqu8oq3QOnTKCrIzXNicsujamsIaI83TVDcNZedL8ys2z50_3ulU3jwQWb6av8EAcYp3V_-dvrk0olLdAFDkHsX7-1AoxwE25KhYAyJ7UWMJJdi6sJEyfOT84gwFz13ZRtxRpciL8_tsqjpYcOwvBa2tF9li699JC62x-udhGiCX-eoeEE-HhRXB3wEbL48LJuALucOx3yRNsc9wbDsiC_daO6BOqpabOGvMedaH_i-BigMrYjKjdckuGlEAW7QY4Bbt9vvR9nuMj9040nx0i4899H_yd7CJ4ZcyHgJ-WcfSS0tUK59t4UQ6KlMjcXqkk_dKRv7b7T53XkV40U8-VfVqS06SqW4sxKIO2yTlQKe5m3OOFLbtM61jrszcucmMcuI0ff4LY8Sv9KUO6Nz2dsiXTF-_2CWIvOiLQCunwBXlGBjfyisPnBa5sjyRqm6zuYvOI5EKUAydJweR_HUW2sUa8Fv7dU6aXP8FQoUf6VxWdQBETJ1MsaAfiLqZYmMetG2uFbPveeEtmia1iVsqEQ7FjewwxMKxM_Jo7q6Py8YGIzNSggT_qtc1Th5Sob9qXfWtYpeuKMfCn4qVX-YxJT",
  "id": "rs_0a7858731287a50b016ab4313aeed087d0a48791e2a3929985",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.25},\"note\":\"The pen is now nearly centered on the right wrist camera’s jaw column, with its shaft extending back toward the fingertips. I’ll lower the pitched, open gripper to table height without changing its sideways alignment.\"}",
  "call_id": "call_EYmq5P1EV3qhAVp3JH2oV8xR",
  "id": "fc_0a7858731287a50b016ab4313bec7c87d09ce4ab8cb12ca2a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EYmq5P1EV3qhAVp3JH2oV8xR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3888, 0.5694, 0.4343, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8577, -0.3931, -0.1608, 0.9963]\nstate[eef_state]: left_x=0.39 left_y=-0.1282 left_z=0.1422 left_yaw=-0.4275 left_pitch=0.192 left_roll=-0.0347 left_gripper=0.0688 right_x=0.3654 right_y=0.0938 right_z=0.0437 right_yaw=0.4726 right_pitch=0.1207 right_roll=0.0311 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -5.5726, 6.147, 1.9805, -0.0024, -0.0611, 1.0281, -0.0752, -6.5436, 5.1487, 2.1123, -0.022, 0.0952, -0.0122]\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,$blob:2704b45213cb40e63040d0d014342148b9ab512f7476bc46ad11c0c47835b71c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee23bd005a3e33874b2caf5dd94ea06286e625deabe347d0284d34d0fa97fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53728d845866a47fd8bb9f9e1b5ed5d90dbc97ba6a8628dc3791079871d4a375",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.411 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]: [-0.2493, 2.1544, 0.4385, 1.3811, 0.1799, 0.0261, 0.0561, 0.1982, 1.026, 0.6128, -0.1341, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.4001 left_y=-0.1308 left_z=0.0013 left_yaw=-0.4308 left_pitch=0.2415 left_roll=-0.0233 left_gripper=0.0561 right_x=0.3378 right_y=0.0542 right_z=0.1666 right_yaw=0.0902 right_pitch=0.0141 right_roll=-0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.0479, 2.2769, 1.8877, 0.0171, 0.0024, 1.4823, -0.212, -2.8786, 7.0359, 1.79, -0.022, -0.0708, -0.0122]\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]: [-0.2493, 1.3857, 0.5667, 0.4507, 0.1795, 0.0235, 0.0688, 0.0681, 1.4944, 0.4145, 0.6197, -0.3737, -0.1577, 0.9963]\nstate[eef_state]: left_x=0.3907 left_y=-0.1283 left_z=0.1459 left_yaw=-0.4276 left_pitch=0.2085 left_roll=-0.0319 left_gripper=0.0688 right_x=0.3731 right_y=0.0937 right_z=0.0834 right_yaw=0.4623 right_pitch=0.132 right_roll=0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -6.7761, 9.7983, 2.0537, -0.022, -0.0659, 1.0379, -0.4171, -5.4496, 5.2991, 1.917, -0.2711, -0.1441, -0.0073]",
      "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]: [-0.2493, 1.3888, 0.5694, 0.4343, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8577, -0.3931, -0.1608, 0.9963]\nstate[eef_state]: left_x=0.39 left_y=-0.1282 left_z=0.1422 left_yaw=-0.4275 left_pitch=0.192 left_roll=-0.0347 left_gripper=0.0688 right_x=0.3654 right_y=0.0938 right_z=0.0437 right_yaw=0.4726 right_pitch=0.1207 right_roll=0.0311 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -5.5726, 6.147, 1.9805, -0.0024, -0.0611, 1.0281, -0.0752, -6.5436, 5.1487, 2.1123, -0.022, 0.0952, -0.0122]\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,$blob:2704b45213cb40e63040d0d014342148b9ab512f7476bc46ad11c0c47835b71c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee23bd005a3e33874b2caf5dd94ea06286e625deabe347d0284d34d0fa97fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53728d845866a47fd8bb9f9e1b5ed5d90dbc97ba6a8628dc3791079871d4a375",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFAAmBGN5_j9nLLs8ycqy5ImjJtyGAjXviPjD7ou2N6z8Osu9ctgMPu8Lt43Frs242ToYXU0yq2XiOmOkYDVszbcFz8YkXQ7GOtpLst3wwMcxCKBob1G0Wb3anCy_E_h2WetUFA7J1Qa-hBlsV5eFc0l75fG_XIrH2swNXsFzbRziKlUKx--Tbm6zUMhv39nvlyF5l5oQLf9ypMic1TyCHTzh2Eaxvm3rYr8EbzOiqGIw4lUOS6bGxbUnZjmdhqW5v_LBf1ldgavqHwOq9xYmM9KrKNIcBU7-eVzdbS3UgcrCpql7Qx0_JJAtM0KtJki8VO9uCklgV4I8zhm-BfDor1TwYgmpeo3vun8G3btd8VGdldNKxGJrgTIKIhfLKKB73obS5GUGAQxHU5s7b5NPc6oG6GChAB6dceExNS21obdTAZXCQQK_RQtBn7phEBiLRVvFiHUk44JK_cKMZ55mA0AcQzqHd1IZWOhQH662tzBy_yFeA2volgpClpjBdSFPY3qzX1DJr1SuD1Nl_wz8ED7WZl5vvSsEuSy6flRhDHpVJDW__jdmrC8N3tuOL9yFdPW-ons5Nlusb5gyHs4BZTuAAvduIKL1bfWcNKHfkRCR5W3Zov7UOO7vRoukznXpI2aJNTdd2sTyvA94rpXA5j29Q5JqD9QbCkdZI7AUnJrC3xfO9ZxGWtdtj-g73BFmMegTZIwmslQNMh5upSQ_1SR_iNetLY2t6zp6cnUVMyV0DteT1_yfiXOkiOOINBSzDiCglGctNaWhkEOPE-t-s9TlTcid_xlbsmJvYQKzU1dB4JE5A0XjuUyDzNjmY3O0w6KFc1RhfdlfEh_cEfiDTfvS3dq54_xShUGL634yek1aw021vCh7G7vcNFcCqjmCvaa_Ivz0lWftox12kAy9F4NXdz_n5ZQhmQdnjkIQWRdxLM6ChzH0NhvnIh3A5OMpSp8FX2-qPf2IvzV1eGugsfLsfK2VynSd-E3aQ2-6urVgk-4kBxVOCHXQfnKR7xjh9pL6WmFDSCyX_yX6TIVrXJiaehUpMuW8ESQxauggxnGQKLajIMqG_WW7aaNbT5YfDpx6Eao5nXgMsq9Ov6VzSlbTHtuFamofPkyz-QbCbTTaopIvwQTZUQ45A6Sp31eC6t-G9kKuykUWu6Bnpre7bOSpb4d8gwdvFo61uEh8du7NK6kI7bvkppG_4s3Po86JAvz4JAcAFC7EayQxm8208ahR2OubDEQCfaud3sqHRwqhx0mkMNWYwfaJjk4fBjDRRvxMoZXwzgyTSuCZCLkmLdYZrA9mRJVp_vS8Jm_832UfmOQ5JvppND0A_SpchG5_yOhg0tEp-LSv51RrXy22fKkMdv4OfPdXsKLzRogQ6Bvypi8CXRQ50M3IGmQ8zSrYf1xkAT57NrRenAh3SjkTUzGQDLBDunvFaoBB5tNC2YNSYxB77_gOkV5h89s_iZg0wKPsLjoq5bvN2Hs6Wya_4nqrojC_8aWbaWsC5KZ9DVKVmMyAsUfEO6gvNSmaje-f0eu3obsj-v84z8OFO_Q9KaBQXlriYVrCvfa_TPVrrm4KEH3Qv3e0MQcSU072HOe-mk-FRMTK1BwrYN1VIpsErec95ST_kvZV-t6nETk55GN1lQ2gHONW_9es-S_egiyfMZH2PCTB1bhssZs57XR-sekocm-BreSh4_HN6pUjtO59Q33KgxdlPdceLysG142RTkBpfZhFZbC15NM5LWfsa5kqe6yT_Mfqg-Bj3gMeyEykkkbs0SPWBEtT1f3Nc_0M4wloVM7VxTnyw_KFUSCbkaadqW5oduM8SrSrmm03_-_Xy1zHDWYAGmYK4dHj733CRH7pnDHcrdYabKLzRR1Zoa5OTmP9TPElHFa3pfeZSPyMpNEpbuRAnQBvCr5SfVvGGTmw9F1CpoQEErHMQRjLsvTS1QrMBRa3Lc6S1WH3RJW34=",
  "id": "rs_0a7858731287a50b016ab4313e8bf087d0a316bcd96d716a6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.095,\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The right arm stopped about 4 cm above the table at this shorter reach, so closing now would miss the pen. I’ll advance the open gripper a few centimeters with slightly more forward pitch, which should let it descend to the pen.\"}",
  "call_id": "call_ip1HsgWixlFdh1X6qSFk8PPK",
  "id": "fc_0a7858731287a50b016ab4313fddc487d085380b7cd4d9b024",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ip1HsgWixlFdh1X6qSFk8PPK",
  "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]: [-0.2493, 1.3888, 0.5694, 0.4335, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8715, -0.3931, -0.1616, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1282 left_z=0.142 left_yaw=-0.4275 left_pitch=0.1912 left_roll=-0.0349 left_gripper=0.0688 right_x=0.3669 right_y=0.0939 right_z=0.0466 right_yaw=0.4738 right_pitch=0.1333 right_roll=0.0249 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.3265, 6.4752, 1.8193, -0.0122, -0.0659, 1.033, -0.0752, -6.5573, 4.9983, 1.9463, -0.0317, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e07703ecd0c4e8e07ade39e7354af0863720418e89202958ac516ce8043d28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa2e6a5bcebb51b84175ffbbc783be15a777d65bd2a6930758860cfb634c1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0acde01e1e6af781ce448630ecf45845136891decba9a7f7c50966dee30e312c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 4.48 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]: [-0.2493, 1.5669, 0.4732, 0.7689, 0.1795, 0.0238, 0.0688, 0.1982, 1.0267, 0.6128, -0.1463, 0.0963, 0.0368, 0.9963]\nstate[eef_state]: left_x=0.3964 left_y=-0.1298 left_z=0.1083 left_yaw=-0.4296 left_pitch=0.2513 left_roll=-0.0236 left_gripper=0.0688 right_x=0.3362 right_y=0.0539 right_z=0.1638 right_yaw=0.0902 right_pitch=0.0012 right_roll=-0.0209 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -6.8855, 8.4991, 1.79, -0.022, -0.0171, 1.033, -0.3624, -2.988, 7.0906, 1.8828, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.2493, 1.3888, 0.5694, 0.4343, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8577, -0.3931, -0.1608, 0.9963]\nstate[eef_state]: left_x=0.39 left_y=-0.1282 left_z=0.1422 left_yaw=-0.4275 left_pitch=0.192 left_roll=-0.0347 left_gripper=0.0688 right_x=0.3654 right_y=0.0938 right_z=0.0437 right_yaw=0.4726 right_pitch=0.1207 right_roll=0.0311 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -5.5726, 6.147, 1.9805, -0.0024, -0.0611, 1.0281, -0.0752, -6.5436, 5.1487, 2.1123, -0.022, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2493, 1.3888, 0.5694, 0.4335, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8715, -0.3931, -0.1616, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1282 left_z=0.142 left_yaw=-0.4275 left_pitch=0.1912 left_roll=-0.0349 left_gripper=0.0688 right_x=0.3669 right_y=0.0939 right_z=0.0466 right_yaw=0.4738 right_pitch=0.1333 right_roll=0.0249 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.3265, 6.4752, 1.8193, -0.0122, -0.0659, 1.033, -0.0752, -6.5573, 4.9983, 1.9463, -0.0317, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e07703ecd0c4e8e07ade39e7354af0863720418e89202958ac516ce8043d28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa2e6a5bcebb51b84175ffbbc783be15a777d65bd2a6930758860cfb634c1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0acde01e1e6af781ce448630ecf45845136891decba9a7f7c50966dee30e312c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFFHR_5XwOYuO1Bek0bkAJ8GDeHGg6JY-obhF_RLGzCIzzgZVh6lRbFd1rUJyho4Q2-zowFFhylzw87rsvxgCidaWR5vyrnZ33U98HR9ZiSO8_-lV6TYz93WviwlZZRPWntlYOzgSsk-TU6t4aiUkKTg0hwhvhBx6LQVaiBcgs1aUneXjciA7iGCAmtNW2gpoy2oV058NitMtswBCuiC5SqsZgF9rOuyjecgM8_mpqWxIW3K3R-KnaWCS_Pn6lRGykVy0u2gOBtWX0P94f7bhyP_q60fJao2LEw0ztv_gf_MmLnIQsGQWkkQY71nsH9FXoIdeJIFCIFalR65q9SRzSDm4wD4_XrBoCRnpTkFRr9-ypgAlYpItm3O6nZX6GvJ6dnvWzPd9G4HC8d0jJZwJ_C60gtTOBdahri9n7PxaetfCcWurucDFD7dzkV1liprw82uW_dvcJLdcN-kXX8nsTtu6NvHXj75jGQIHnSW4PcJccsstRbZfBweN6ThyD36veKw9rgHPJH5cK1Bn7huFuz5JahLbdGAEPL8UW4jLTNFwq-10y2Qoiu-flPzk-bn73eXKaCK_05Eqx5ZKawNsu1JK8XPDXA3AEh57rNDU4PNNlE6LfG152q0KPvOQYlheLTzkTQI15IZAXXTN_jtqtjzg5h_p4AFMrcxA2XZNJthow9rpzJznvRRwXKUofcy8KvtutmyaTbrl0JThX478SQtwnUZyMoGK2oxdi8f7Fx_j1abF-i87HH-IwQ_k4ezMRUoV_eO4ylalGs34n1yJRi6DNQEyvk_Pks_IGcBfLhI9xa_rfG7NwVMC89fYEWciHB8mEWL76zOsXPUf6ju6rJm7FALKlHxEkVYnjpcWj6Of-4srAn0mTOy6rD4HLo9y0lVhHA4fQUxCpt0iMldEhdiu0wMVL1pjo1uBMhMXzyZDz_np588eMHHP19UeaxnTBlsWn305gQd521whcCQeMhxU_fA2jqmSmzvqmUv5UqRtkTmp1vaHvo_TTjSTYsUKQMIYBPTIytoUO0S4veFpdixVyMjfR2wcro347xUpbrKnY_WAMqN2hkAyFZ17S6pUTir9pIITfKZZZfpLkihcmJrMHaJU_HVuS0J7wmeqra_gpabyeRHNRrSqrIsC-_asH6Lh_nIxpjUH5B6Fr7VZekOkWww_KOUy2dZ17xw0w-5U3jEq3Yw9-mqBq-edslY_lKVT_tpeXbtNYs3XIlKU_fhX2P-iX_oL5eGXntlrh9LSKiEILoZz7MeqLwmXKQvLvJabKwFJSKFSyCP18_sEWOfxdGZx9aWS2v-6Es3VQsf8YOl0FG1ORQ0_4lmC0aPRf_b6Tcvqg-DLGuSr-zooCp5YPAh_yFM1ilQemBoqGkvJuLHazzvMIxDsfMOiXVAy6J7sR2j24wDZJtOH9BMyUNA1jeyNG8448eC4jMqssscY_rhI0O9teX4tY82qxX19qJat5JmHx-hIsDeWYTM2QhPhwlGja9V31_J8xxhFkkxwfqvOmVhr21v3tRJ1_dpRkAtmiCLkNMkl_UT2RCUgpQdK7-cjbt29wuRpu9q2MUDn4ooNxSLNk_xvkz4EXHaaFuzpaqPO0SeNYFS2vQBs83NkdR81VrebVVXpAEe2mC-NBBjSGrrZpi8FIGBYK-3ZlEYk4lI8cXQM_u458_r6f30p0IRU7pmj-WIqDpQVQF4YdqONR3zpIMd23nyzNSvxqU73_cBqI1Jeov7TnSMflQkHpeOhPvGLY0Skj4U3r3D1pzSdaRyB4hdS4TEW0d0JR5oLJKDySR5gngPRKnWsfNj79mP3dx39Q_LD6uRw_kAM7veGtInh3uQXW-rmqZKNtQThPBvtBLmtbgIXuTrwb6pQ4ew7Guyp33pciSQXtj1fVvYDQpTiJUObRNAfAKTv7vknbDny3V7rZDbzegZXNZ8ECFqfah23XW6Vm9iNKBqAW9xvsUKKe8UyKUydQSQt3LUhiwHSFLhzHb3b6dO1Yi_-03DXcWexwhx8djBEX15JX0cD7PFsmafFlW_ss0F0kxBQxT-7stcJKfguA1XyijCP4MHTzRfQKHcSNPZLk6gAr5jnufn6DQVV0WDoVJ1rwWFYdxfwiY-oGc0wBfgAcxLH-li6pEH7kLHU66OGfEEmmY9ukKLkyRNmaytRn6qzLquvENZ5z4aADyWSCAQls9J9i_X7JXf29amueD04ZHy1YMwlfZfILVud4Axu6WpOJ82FaRymgSS8vgFC_mrhS80p1tJ7XmRJs-7rB4JkIfEwm4hVH7zBJgvmKF-9F_pn0Acqd9KXmA38s_KAvW8h6Ok12hyMPknat08jfKPVWYWhsum6lwZ5LmZwkNOSsceP7s",
  "id": "rs_0a7858731287a50b016ab43142292c87d0a658298ae0815696",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_x\":0.405,\"right_pitch\":0.3},\"note\":\"The right arm did not track that combined low, forward move, suggesting it is constrained at this pose. I’ll lift the open gripper first, then approach from above rather than forcing it along the tabletop.\"}",
  "call_id": "call_r1zLeYhUlnAkKoF4BC3pnV8x",
  "id": "fc_0a7858731287a50b016ab431445e3487d080ef89f2bc499b78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r1zLeYhUlnAkKoF4BC3pnV8x",
  "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]: [-0.2493, 1.3895, 0.569, 0.4335, 0.1795, 0.0238, 0.0688, 0.0452, 1.5604, 0.4755, 0.7898, -0.4297, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1281 left_z=0.1415 left_yaw=-0.4272 left_pitch=0.1901 left_roll=-0.0349 left_gripper=0.0688 right_x=0.4018 right_y=0.0954 right_z=0.1205 right_yaw=0.4855 right_pitch=0.291 right_roll=-0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -5.4359, 6.5436, 1.873, 0.0024, -0.0611, 1.033, -0.8821, -7.5282, 6.9949, 1.5604, -0.1441, 0.2076, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684c7ac4593508c62efbc475052ebb09b77f3b70f0e0858e5de46d0e5df4fbfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f4b90e1a1a1cb95f9883899fbd297aacce3bab67a0a5adce27bb597e915298",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2268a7065f34a3aaf53c76f2b72829e8944c33aec6466722ceceb9e29d1dba98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 6.592 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]: [-0.2493, 1.3857, 0.5667, 0.4507, 0.1795, 0.0235, 0.0688, 0.0681, 1.4944, 0.4145, 0.6197, -0.3737, -0.1577, 0.9963]\nstate[eef_state]: left_x=0.3907 left_y=-0.1283 left_z=0.1459 left_yaw=-0.4276 left_pitch=0.2085 left_roll=-0.0319 left_gripper=0.0688 right_x=0.3731 right_y=0.0937 right_z=0.0834 right_yaw=0.4623 right_pitch=0.132 right_roll=0.0195 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -6.7761, 9.7983, 2.0537, -0.022, -0.0659, 1.0379, -0.4171, -5.4496, 5.2991, 1.917, -0.2711, -0.1441, -0.0073]",
      "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]: [-0.2493, 1.3888, 0.5694, 0.4335, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8715, -0.3931, -0.1616, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1282 left_z=0.142 left_yaw=-0.4275 left_pitch=0.1912 left_roll=-0.0349 left_gripper=0.0688 right_x=0.3669 right_y=0.0939 right_z=0.0466 right_yaw=0.4738 right_pitch=0.1333 right_roll=0.0249 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.3265, 6.4752, 1.8193, -0.0122, -0.0659, 1.033, -0.0752, -6.5573, 4.9983, 1.9463, -0.0317, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2493, 1.3895, 0.569, 0.4335, 0.1795, 0.0238, 0.0688, 0.0452, 1.5604, 0.4755, 0.7898, -0.4297, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1281 left_z=0.1415 left_yaw=-0.4272 left_pitch=0.1901 left_roll=-0.0349 left_gripper=0.0688 right_x=0.4018 right_y=0.0954 right_z=0.1205 right_yaw=0.4855 right_pitch=0.291 right_roll=-0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -5.4359, 6.5436, 1.873, 0.0024, -0.0611, 1.033, -0.8821, -7.5282, 6.9949, 1.5604, -0.1441, 0.2076, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684c7ac4593508c62efbc475052ebb09b77f3b70f0e0858e5de46d0e5df4fbfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f4b90e1a1a1cb95f9883899fbd297aacce3bab67a0a5adce27bb597e915298",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2268a7065f34a3aaf53c76f2b72829e8944c33aec6466722ceceb9e29d1dba98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab43147bc4887d0929996fba40d3551",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"From above, the pen is still close to the right jaw column, and the arm has reached the more extended pose successfully. I’ll descend vertically here, where the left arm’s pitched gripper was able to reach the tabletop.\"}",
  "call_id": "call_ZV2aSH9p9vOeGJtsc0G2vnm7",
  "id": "fc_0a7858731287a50b016ab43149461087d0bf546fb432406db8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZV2aSH9p9vOeGJtsc0G2vnm7",
  "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]: [-0.2493, 1.3895, 0.569, 0.4332, 0.1799, 0.0238, 0.0688, 0.0395, 1.5604, 0.482, 0.7467, -0.4313, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.3898 left_y=-0.1281 left_z=0.1414 left_yaw=-0.4275 left_pitch=0.1897 left_roll=-0.0352 left_gripper=0.0688 right_x=0.4008 right_y=0.0933 right_z=0.1136 right_yaw=0.4705 right_pitch=0.2578 right_roll=0.0277 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.4085, 6.3521, 1.8828, 0.0073, -0.0464, 1.0379, -0.4171, -7.6103, 6.8171, 1.8632, -0.188, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc61988e4f5aa30b83c74c0221c53e7a6364d162bf7f2c98037499878279a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d76f240a2106413f55d7e571a2739d1296e976e10f057446104008dc066ba79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf63b94ab354a3e6afe8d197c7a234605a7fa821a9163147f924da65ea147fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.283 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]: [-0.2493, 1.3888, 0.5694, 0.4343, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8577, -0.3931, -0.1608, 0.9963]\nstate[eef_state]: left_x=0.39 left_y=-0.1282 left_z=0.1422 left_yaw=-0.4275 left_pitch=0.192 left_roll=-0.0347 left_gripper=0.0688 right_x=0.3654 right_y=0.0938 right_z=0.0437 right_yaw=0.4726 right_pitch=0.1207 right_roll=0.0311 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -5.5726, 6.147, 1.9805, -0.0024, -0.0611, 1.0281, -0.0752, -6.5436, 5.1487, 2.1123, -0.022, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2493, 1.3895, 0.569, 0.4335, 0.1795, 0.0238, 0.0688, 0.0452, 1.5604, 0.4755, 0.7898, -0.4297, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1281 left_z=0.1415 left_yaw=-0.4272 left_pitch=0.1901 left_roll=-0.0349 left_gripper=0.0688 right_x=0.4018 right_y=0.0954 right_z=0.1205 right_yaw=0.4855 right_pitch=0.291 right_roll=-0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -5.4359, 6.5436, 1.873, 0.0024, -0.0611, 1.033, -0.8821, -7.5282, 6.9949, 1.5604, -0.1441, 0.2076, -0.0122]\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 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]: [-0.2493, 1.3895, 0.569, 0.4332, 0.1799, 0.0238, 0.0688, 0.0395, 1.5604, 0.482, 0.7467, -0.4313, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.3898 left_y=-0.1281 left_z=0.1414 left_yaw=-0.4275 left_pitch=0.1897 left_roll=-0.0352 left_gripper=0.0688 right_x=0.4008 right_y=0.0933 right_z=0.1136 right_yaw=0.4705 right_pitch=0.2578 right_roll=0.0277 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.4085, 6.3521, 1.8828, 0.0073, -0.0464, 1.0379, -0.4171, -7.6103, 6.8171, 1.8632, -0.188, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc61988e4f5aa30b83c74c0221c53e7a6364d162bf7f2c98037499878279a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d76f240a2106413f55d7e571a2739d1296e976e10f057446104008dc066ba79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf63b94ab354a3e6afe8d197c7a234605a7fa821a9163147f924da65ea147fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab4314c939087d09e47128665e88f1f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFSwm5klaaidVLyr-FAvr-MUNBSHPfQq5WvJ8Y-4DWbXM5OKPh26Gb9JGq9g5hVRB4Ogr8iMRK8i85k6WAPSCndAe6g8xmVJV-89l4zODF4-ZAkDM5-kuAmQyF1i8ZmtazVw2folHrOPqqZHIgvYl0XEyQazYAcSQvmh623QLMuPaleh_BhnQxmw42tmpe2j1A880n_qWT0aWpLMwHC1qmFqOq-CM9TINx37QEc5zFDi5zKg0e6q8imtURS60wLWKRY95K4nItCWFuWjxnm2CLOcoUqg8akwm_D9sIBKY0cQRa4dlOsGf3xmMMlMnC9lJWjqAHutXlY1084vcr4vJ8KWDBaqPEkpMlF6ILGyB-rVCM3VQHnDXmlqJRlm1-exNFsGo94_QCZ9ehgmjitTW5-Hk5dnW4MNdw9a05ejPJ72xRPtng-HPmWP2tQlrhE14kUc5HhOuKfIr42KVFl3fEcuYA8aPyy19V9oCjahLrTtbLwIm__aQaHGotfIvByuxeFdkXOiXOT3p2tRqUht-q1qdIqtA2oIAS1NhzoEGEANDByKi_iuCkcWzpph3ngN_DA0RAIp7uI_3tY3Bwq60f_SsyoBdb1qYFytdGcMv3tNvpZ0sUnfoXEEiYvtOw0nshMhsZaL8u1qufjp6OK6XBzWlMkeowsK3BQTdP1PWW8SxyUIe9c4Whieof7aW9IFbxZwMaPym225KpEo3RPyl7vPU676j0frfpxbiN4O5lwB2s9SIevbb7NI4PVpT0Mzpz5dEVRZygxJCTmdhyw4l7AJ-pqOTZdgLPOQLuczWcBntQci_IllvcGqNNp66GAgFXQn7IY-3FszGr9g5pJ1YiBJGJJmQDzx2BJ7jZVlUSH3wcZL7i7LgLJhpZeZIA90vX2X5F8j2iaCbFvPgKoTjE-xuAOIuVowdNfFXkSCpwoRHCVa-fRDp1Rb9dOAcIG6wzSvNz98pqIJZkP6eU_QOuqvjF__tQSMCN0sFOxw35_ZWoe9q_pQ9EjRVaLYaxVJpeu_gRD-i_5PHSlX1A-JY3qHkPNxfYAIOl8MBvuo7Rcf_zKlEJ0MMLLYGreGDp6JOucx_ao4UdoBw0oiBLNqvypHqPSBbHKoZsKGLaTnn4YUad16pBjvGLtnv4bHBQc7BJaiG5PllkJBfe734kUsH3hYFmL-3qZDHtDZwe4E_dsGLJWENM9F5b7LRON0apUBXpOoW2tCA_qqq-zAun6NogLebO5vIujrFFetYd53-3jHB6Ubo6awRcygp6txb8aFyeuJt_JIH4LHqZ66rFtPwCJdEb-QqwoKtaLdQvPYVNxP_6gyZlNEyLmMGhFpAT0YG45ZPZNPffCjJUrQAKEJjA2jOvmvxPg37a--XD_KUfRbMkJ5G5zo36woBbxHCJN4THLa6Nxm3YqIy1byXt9UFzTJJBtTl6Vm1P4BE2gHh4-7HjA1PNqVrdZKHCKfO0Z6Esg",
  "id": "rs_0a7858731287a50b016ab431509d9887d08a965dd611079322",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.13,\"right_z\":0.14,\"right_yaw\":0.55,\"right_pitch\":0.25},\"note\":\"The right arm again held above the table rather than following a vertical descent at this reach. I’ll reposition to the slightly farther-forward, more centered pose where it previously reached pen height, then retry from above.\"}",
  "call_id": "call_OvjtNiuOjOJHKs5y7w5H5JHQ",
  "id": "fc_0a7858731287a50b016ab43151538887d0a4dd40c25a1ed695",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OvjtNiuOjOJHKs5y7w5H5JHQ",
  "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]: [-0.2493, 1.3933, 0.5663, 0.4328, 0.1799, 0.0238, 0.0688, 0.1097, 1.7313, 0.606, 0.7414, -0.4278, -0.1204, 0.9963]\nstate[eef_state]: left_x=0.3893 left_y=-0.128 left_z=0.1387 left_yaw=-0.4272 left_pitch=0.183 left_roll=-0.0364 left_gripper=0.0688 right_x=0.4251 right_y=0.1241 right_z=0.0911 right_yaw=0.535 right_pitch=0.2099 right_roll=0.0444 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -5.135, 6.5846, 1.8193, 0.0122, -0.0464, 1.0379, -0.0889, -9.347, 7.706, 2.4249, -0.1587, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d1746f6f9320f55c30b395947a8505d730c79eb8132c57f60a89e910062d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba65f546e559a33516ac8a40c4922ea3f6250c199c1b79fb9b66d50d84d3fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6ad8d73223712fe82e7ce9ce0b008db5b96b7c6563e0b1faf365f5b3079e15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.175 s

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

message 72 changed as sent

message 80 changed as sent

message 85 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]: [-0.2493, 1.3888, 0.5694, 0.4335, 0.1799, 0.0238, 0.0688, 0.0612, 1.6741, 0.3401, 0.8715, -0.3931, -0.1616, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1282 left_z=0.142 left_yaw=-0.4275 left_pitch=0.1912 left_roll=-0.0349 left_gripper=0.0688 right_x=0.3669 right_y=0.0939 right_z=0.0466 right_yaw=0.4738 right_pitch=0.1333 right_roll=0.0249 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.3265, 6.4752, 1.8193, -0.0122, -0.0659, 1.033, -0.0752, -6.5573, 4.9983, 1.9463, -0.0317, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2493, 1.3895, 0.569, 0.4332, 0.1799, 0.0238, 0.0688, 0.0395, 1.5604, 0.482, 0.7467, -0.4313, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.3898 left_y=-0.1281 left_z=0.1414 left_yaw=-0.4275 left_pitch=0.1897 left_roll=-0.0352 left_gripper=0.0688 right_x=0.4008 right_y=0.0933 right_z=0.1136 right_yaw=0.4705 right_pitch=0.2578 right_roll=0.0277 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.4085, 6.3521, 1.8828, 0.0073, -0.0464, 1.0379, -0.4171, -7.6103, 6.8171, 1.8632, -0.188, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3933, 0.5663, 0.4328, 0.1799, 0.0238, 0.0688, 0.1097, 1.7313, 0.606, 0.7414, -0.4278, -0.1204, 0.9963]\nstate[eef_state]: left_x=0.3893 left_y=-0.128 left_z=0.1387 left_yaw=-0.4272 left_pitch=0.183 left_roll=-0.0364 left_gripper=0.0688 right_x=0.4251 right_y=0.1241 right_z=0.0911 right_yaw=0.535 right_pitch=0.2099 right_roll=0.0444 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -5.135, 6.5846, 1.8193, 0.0122, -0.0464, 1.0379, -0.0889, -9.347, 7.706, 2.4249, -0.1587, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d1746f6f9320f55c30b395947a8505d730c79eb8132c57f60a89e910062d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba65f546e559a33516ac8a40c4922ea3f6250c199c1b79fb9b66d50d84d3fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6ad8d73223712fe82e7ce9ce0b008db5b96b7c6563e0b1faf365f5b3079e15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFUx4eTLLpMMY_AzG2JvX6BOgoXldZ6rqROoSudrwBBhvfc7e4LHMpo8bzdh_CdojWEvcP8FYikhxeiZxwMwoE6PSOWNWJT1_NWxIFIzcSX2IIGjFvaLdmcvHTBSCUxm6QWqPqtWSbVO0rZI796gRFYtOQP8ddnlCGGpL3w2OXq9v_QsjAi4mzzJ9SbGDQW2QKjT2o8tizQUHwT7_TttNeplpynSKaJBzY6aa2FfchlHvUEKEDznmvB8aTTbHee5iYBsJad6axnVSYkLMD2p4BxmPzhTBu4tJuMTzZ3OrFACK41zvBt74Yo50EiQb3RR2C6A_fMeYc_KZGW6ydk0x9l9oDnbYexhJQyNA6dQq2mXHJHAtUib3mbWSwfm_jfOrikN0KDjYML-Z_p-0OOp8eeD6AGDWVRSt9DR36AaJRqTp9BP97y4ruEpItBS33cHGU_lQZT3W_WPNp8ToPT-jy0ueepp_CYvRGgvYYVUCf0n0x-nsJBRm1EhOg3PGWcCoes-SbaKrCT0rqBn2DteO3h10xhn1YyU5joudbgQ_G-FHO6FAKsg4igbiTpOzk37eONiPFw3Mxo9HXTzKqI991HuAI-bZk_oqyJYJjdCW9uJu0lJEG9tbo7AgfEyYrh4ou-498Nc-nLb2Qht69Yi_ioQSOZ7ISu3lW0s8wQtTx18tkSFLp-A4MRAQM1jEq3IOGIfI7wgCriLdok2sa1kB_TMRVCQcRQ8BkG3cdCnuGUKQU2R4Z6j64IZbplkKkMy8dM-_aF1c11LC-BrMGGUorCKNUtwoT2OES-lyHiG2ewfLpFU0T-fpZ291Ebqo97TGIaRjpmwRZUVnYn28AaXKGS_vM1Mr_rS2nX2x6Gnu_g2xKsAqTrrrXiNyI3ZasjT4ScHLYmHhXOd0T01fhwHfxvI2P3gOQ8sZOmHsi_9lv8EbVRHWhcPuiQBAci-NvfTn1Ii8Xe__u9nyG7gwYGKWLuWeTcA77w7CQZlYo3sFf-yWQDIBDAjvAqJvBEhzEjJdLzG0QRov24wc8O4aR4Hay9uTZSYRWi6PKUMCjCUpSI0Yey3_sn6TcLoP_BwoMJRm_s4qPTVAsB6kFr2NcB9OhU88Xhr43QP_S6Sw7S4ofJtC9by90ZqueMIyuN3Nxwj4wcdoQALa59tG1Ncski_oL48yYVNujQqYfa8KLAa3yfAf0CDXHiwXindZp3iRP2ycDB2MZm6Keo66YEUb1wBvYOa_TL9a5Df9Yu4OdaJUm7vTEJthd52WWfzpZ3TJSIK7i9E5pvAbV8RACzkht5hUPEQ6HLEWIXKzCNq8mkA2Psw8QW8An7IPjtr7Vp0UgKC-vBf__5ouTCqZlLkH70hAFBFg==",
  "id": "rs_0a7858731287a50b016ab4315362fc87d0bc8845144d99ac08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.25},\"note\":\"The pen remains on the right jaw column, now just below the visible fingertip area. I’ll try the straight-down motion again from the farther-forward pose and judge it by the reported height.\"}",
  "call_id": "call_XV4HnfkRxRv9zIYosxvafaWL",
  "id": "fc_0a7858731287a50b016ab43153d4f087d0973e3ec0c94a9ce5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XV4HnfkRxRv9zIYosxvafaWL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5613, 0.4328, 0.1799, 0.0238, 0.0688, 0.1108, 2.196, 0.5735, 1.3056, -0.4309, -0.1318, 0.9963]\nstate[eef_state]: left_x=0.3882 left_y=-0.1277 left_z=0.1355 left_yaw=-0.427 left_pitch=0.1755 left_roll=-0.0378 left_gripper=0.0688 right_x=0.4299 right_y=0.1257 right_z=0.0067 right_yaw=0.552 right_pitch=0.2715 right_roll=0.0052 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -5.5863, 6.694, 1.8437, 0.0024, 0.0024, 1.033, -0.6632, -6.2427, 2.1949, 0.7497, -0.149, 0.3248, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3c878e1fbf87420b0050f36caad63ff6bed63ebd9d44862003378f68bb9e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cbcb9a368f6a489b4aed91e3fba6ba47d1ff5f668f67f9e22294bea722fea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f268c9643b8b7bd61d61e90e377ab052128292a7f41d36636bdce19e71144751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.019 s

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

message 76 changed as sent

message 85 changed as sent

message 89 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]: [-0.2493, 1.3895, 0.569, 0.4335, 0.1795, 0.0238, 0.0688, 0.0452, 1.5604, 0.4755, 0.7898, -0.4297, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3899 left_y=-0.1281 left_z=0.1415 left_yaw=-0.4272 left_pitch=0.1901 left_roll=-0.0349 left_gripper=0.0688 right_x=0.4018 right_y=0.0954 right_z=0.1205 right_yaw=0.4855 right_pitch=0.291 right_roll=-0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -5.4359, 6.5436, 1.873, 0.0024, -0.0611, 1.033, -0.8821, -7.5282, 6.9949, 1.5604, -0.1441, 0.2076, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3933, 0.5663, 0.4328, 0.1799, 0.0238, 0.0688, 0.1097, 1.7313, 0.606, 0.7414, -0.4278, -0.1204, 0.9963]\nstate[eef_state]: left_x=0.3893 left_y=-0.128 left_z=0.1387 left_yaw=-0.4272 left_pitch=0.183 left_roll=-0.0364 left_gripper=0.0688 right_x=0.4251 right_y=0.1241 right_z=0.0911 right_yaw=0.535 right_pitch=0.2099 right_roll=0.0444 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -5.135, 6.5846, 1.8193, 0.0122, -0.0464, 1.0379, -0.0889, -9.347, 7.706, 2.4249, -0.1587, 0.0073, -0.0122]\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 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5613, 0.4328, 0.1799, 0.0238, 0.0688, 0.1108, 2.196, 0.5735, 1.3056, -0.4309, -0.1318, 0.9963]\nstate[eef_state]: left_x=0.3882 left_y=-0.1277 left_z=0.1355 left_yaw=-0.427 left_pitch=0.1755 left_roll=-0.0378 left_gripper=0.0688 right_x=0.4299 right_y=0.1257 right_z=0.0067 right_yaw=0.552 right_pitch=0.2715 right_roll=0.0052 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -5.5863, 6.694, 1.8437, 0.0024, 0.0024, 1.033, -0.6632, -6.2427, 2.1949, 0.7497, -0.149, 0.3248, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3c878e1fbf87420b0050f36caad63ff6bed63ebd9d44862003378f68bb9e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cbcb9a368f6a489b4aed91e3fba6ba47d1ff5f668f67f9e22294bea722fea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f268c9643b8b7bd61d61e90e377ab052128292a7f41d36636bdce19e71144751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFYCgw5kL6--RwfrmZMeBP9ieYsygNekdL836o1xUj1w5Y5SMdrCbltG1awmuHzhsi9zPV-SoDI3NVkNCKRyLKpJuc62jY-eRySgpq4ly2tAQgWi11VvhNzNk55YlNjLLa905mazgLf8QnIM3rDac9Gtz_7afSve1aRUroOPeHhfxJkm8018rtf9dmwd5G4UyzVTKDI3CS96d6ZMYc2JFqiIclXJeIFtHiha_6H42fettdKTzAISxQqW2FCOWKd26l2iDRiSF4adKIjOIHboCyvyOviIGhIxwgmvXH4Lr6xlTuXEPe66ipcffPko_8rT0dpEGaKeyhlQo1eMRoCzWbNPMEqYR7ng6A08p-2KgqI6iC-EOb732m9S9jkd6ykJ09yuCzfD8OsIxur5nIsvRPyGvfpqR71nLd5Yk3mAvhsN8vA3PodLdiI2HwwpAN8ZSCvy-3aUVLAyhAndMBr2VsWvevunewTIARWnNiLu5ZSMNiXBTNCBPzsHKTRXUzfLIlmzwgI_0c31jXfzSB-JfOq9w5pRivOCcipLoCE7RrXfeQdwS4d1UoP866DNR8gcI2x1XVQseC3g9huOyVSy0BVDizYf-jQYBIjmDD7-6WjLcdNIRbRLjdqPsyUDmp2jmcp5YOb7gllzgd22TWWwif0we686reUpsGqyeuFr28dRAOHiNIzTD4P8p_twdmUQ1NuMVGphk_MGj2bWF0MTXd9QLI_HX2WQxK2zcr5ps2CHsRtj7aMifroIyZ45z2uMmcf-lO6JhILeNtkfWXOJP5NhgNstS9gL-vgcsSNu4T5fVun3dqPpAMwKBD4KuppYVAVyryOBAzSNmyml4sBF9cMjStQo-hrMHFndlduQnVq0C9FqZTZHM9XOhKC4Zqz8IWPrD_A787pzt1DQpbrbxJAQ5iOhuUfE4UaiWRBw1HDL4DeDBJEPyweu5wg_91Eoha0hFlN7N31nZWHavhFX1XT9MwEY8dvKNuZ7ukdcHJCIlayBuokEAy_ci2dAsBb8aZ4YpMfWG7DWp_BkrlNRYgWqUKDHsEMDB_CvlSdGHotUWk82wgCorNUrHSQcOwrY2Sqyg4mn8TMlO-J9SvM_lmtLivnpAGuLHudAkXih2dTwj9BwHTxtFjG9fKumu4NLyvxoluWeX3MGYlO1oV08i-Xou1NiUamrBXpcqmLHLZpxbfEHbJ0UWrqjumMe_nO9wJkjApa1PYzEvR-cnMR5C_-734zIftEE14_MaVSqXPfte_-n9Hlp0tmoGwdgPL7ca7YNljm4U4jvjnG2nHYi6HV78OyEkeJc1C3dGwr-MtOny0qBRdKQMqIMGLTMXVylezNaGoF4JkowQXWosr7ihgkqLm7EnhjYjX_xRya-k4AjTfbX9oGaryzV79THw4mPh_uUEOiwogMVZP7udGf3yt-C_0k1gxyEzzv1f90_gZVkSbrBDmC5luJinPdmm0K33wC27ZFrn6AmiTFWOuwn--Jpkrq4on3sKjHe6TLioBK0dM97bbw7uzjCJyj9uhykFIReSb2bt1Ks7l7MNdsAapb0XepSVSXsF-hDpmY8bWcLk80FBMFoM6XuVAhe7ndSUYBJA7iidirCnzMfCPSrwEjpR3-0zSnjL8ok1SIJxScAM_Wl-8EtYUghc8CpiHHBegEWz1Jn89VNsy7UGBC4khIKKcMB7JowlvDkywpk0UoV2WeCxrF3zR_unFpwgnBDiuS1JyGinbuRCx3TUO53P37HAmL7Gdf_f3X05s4o1pXHhkFXa3P9ALHPiVy6PVZ-7PVw5_kMonQjVY_FvyKeEaBRA==",
  "id": "rs_0a7858731287a50b016ab43156d1d487d09664b663fd09d263",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.15},\"note\":\"The right grasp point is now about 7 mm above the table, and the pen is visible slightly left of the jaw center. I’ll make a small leftward correction with the jaws open before closing on it.\"}",
  "call_id": "call_hBH2OljTKb6cAHDvd16dlRdr",
  "id": "fc_0a7858731287a50b016ab43157d5fc87d0899ee206e2363a43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hBH2OljTKb6cAHDvd16dlRdr",
  "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]: [-0.2493, 1.396, 0.5598, 0.4332, 0.1799, 0.0238, 0.0688, 0.1776, 2.2227, 0.5865, 1.3514, -0.3794, -0.1246, 0.9963]\nstate[eef_state]: left_x=0.3879 left_y=-0.1277 left_z=0.1349 left_yaw=-0.427 left_pitch=0.1743 left_roll=-0.038 left_gripper=0.0688 right_x=0.4298 right_y=0.1472 right_z=0.0079 right_yaw=0.5734 right_pitch=0.2945 right_roll=-0.0156 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -5.2308, 6.4479, 1.8291, -0.0171, -0.0659, 1.033, 0.1983, -10.4957, 3.1111, 1.4969, -0.0317, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968474c58af150fab49f15e0b2b75c9e1028e1cc9dd72187e889936569701562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733300f0ae2a0a0b587449cb4a7b885b8aad72fcac99d6d5b0237d1039d0c915",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91d8e0c111fe6d9c3c38a0c2743755b18ac75a98e4cf6df5b4eeae87623c5b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.944 s

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

message 80 changed as sent

message 89 changed as sent

message 93 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]: [-0.2493, 1.3895, 0.569, 0.4332, 0.1799, 0.0238, 0.0688, 0.0395, 1.5604, 0.482, 0.7467, -0.4313, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.3898 left_y=-0.1281 left_z=0.1414 left_yaw=-0.4275 left_pitch=0.1897 left_roll=-0.0352 left_gripper=0.0688 right_x=0.4008 right_y=0.0933 right_z=0.1136 right_yaw=0.4705 right_pitch=0.2578 right_roll=0.0277 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.4085, 6.3521, 1.8828, 0.0073, -0.0464, 1.0379, -0.4171, -7.6103, 6.8171, 1.8632, -0.188, 0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5613, 0.4328, 0.1799, 0.0238, 0.0688, 0.1108, 2.196, 0.5735, 1.3056, -0.4309, -0.1318, 0.9963]\nstate[eef_state]: left_x=0.3882 left_y=-0.1277 left_z=0.1355 left_yaw=-0.427 left_pitch=0.1755 left_roll=-0.0378 left_gripper=0.0688 right_x=0.4299 right_y=0.1257 right_z=0.0067 right_yaw=0.552 right_pitch=0.2715 right_roll=0.0052 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -5.5863, 6.694, 1.8437, 0.0024, 0.0024, 1.033, -0.6632, -6.2427, 2.1949, 0.7497, -0.149, 0.3248, -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 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5598, 0.4332, 0.1799, 0.0238, 0.0688, 0.1776, 2.2227, 0.5865, 1.3514, -0.3794, -0.1246, 0.9963]\nstate[eef_state]: left_x=0.3879 left_y=-0.1277 left_z=0.1349 left_yaw=-0.427 left_pitch=0.1743 left_roll=-0.038 left_gripper=0.0688 right_x=0.4298 right_y=0.1472 right_z=0.0079 right_yaw=0.5734 right_pitch=0.2945 right_roll=-0.0156 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -5.2308, 6.4479, 1.8291, -0.0171, -0.0659, 1.033, 0.1983, -10.4957, 3.1111, 1.4969, -0.0317, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968474c58af150fab49f15e0b2b75c9e1028e1cc9dd72187e889936569701562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733300f0ae2a0a0b587449cb4a7b885b8aad72fcac99d6d5b0237d1039d0c915",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91d8e0c111fe6d9c3c38a0c2743755b18ac75a98e4cf6df5b4eeae87623c5b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFbRrKJFXWQ4s56mc7KC4VlujKP9UOQW_ydoXTp9Bfnav96qCz3fir3gF9DL5EdU22EojWJmW8GwVHaU0f9HQxokkc3JNMlygqQJDV72Teh8TUDsTRmv-pTCmNziOQlnOvEL-4pH4uawS4nVffg-UewuZaZDAZ2GZ3KYqbdqfYJZOTsGQE1BACTyuf12wH7qntFn87iL6LSOdK6ALhjAVm99ribKKYdWfFuvz7b8He8rNC8QP2JoLycV2k8kKCxu_jHQlicqvuFY8LHSLJOjE3-fybzqYZwnm_550WO9NNJXKL-LrRmNxYuU4TzWPxuRchG9zewhIXYkmmnMYVsHF5PFB0l5Zf-xqOgWnrAe_C1JKLoGoqU3AMZFgZatOBULCrJr59zRd6c2Z4MUvwiJmLEeCQq5PO3ufLKlDnw8rdWLJ3Yy-ObL69W2JQ3MRed0fzcm2u9kXoTPa0QEhLe4qHNTe5rPSgXttZSwNBZxPRwBwUZgGCFQuo9PSKBb2_-G_AIyyoYGY2Xbb0d49zKzNDmzNgKY1tNI-zs40IC_ZIuTC8VCb4juxlJePV-yP4dyNAOHY9lW2_8vy-gQYCnJdmUgUOBh-gL4z3JGewdKIpKKVoeSa8zluM0_L3Q6K_P7T2mkYsrqhMCr9T_jO2K3_vxGhK6-hne39oEXiBlaBNLQsRiwq_Bt58EvBYq0TOkaujcZOV1t2APHTBBXmZAWOkRIp41k2JlT_RpwkEhRTiGjXbe1_-TgHKlo65qIsHKTgUkkcFsNfJOSNQZnwQTALUrUkcEyUOab6EmMrzrOLxoqJ8KQDcD6A_ayH1hJDFUx5aJB2BmXiaNbcyWKeodLOxosudj2I7x6DpHX1GYuxuLvEhqDBlIeZeIB4CO9efW9OE-4WDRU9XSDiMJkdWRZNv2B-9tD0QrStcE3t7zNn5bBHMmlfEtu2TqKDM4hd3oeL7rubNvQD8H1b3VKKI-yKs7RSfgDSXWtYk59gwzb87GCTYYzfkK3qVpxd3s9J-Ab7grPkOAluJHLz022m7AK9ISgupBoHQB7raeqd-kR7Xwo_N7-aVEbScOFu9zlYHggg0UhGQd6UyQbqUZUwxiLCNuKOoJ1AJiXHFYdrzJorCJM9zlD0a2n-p1ruobJ0_Xfm60uR4y_MSAwFqu6nDFKvvV44NH0_8899_-BYtj7hepjZEV7J1ZmGgySJuPCs4tFN54d_HdO_J0P3j5U9-4mfp97NmtKZW85sqFAVHQR_Ww1v0=",
  "id": "rs_0a7858731287a50b016ab4315a880487d08abe4f8f923d0c63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now centered between the right jaws at table height. I’ll close the right gripper and use its settled opening to confirm whether it has the pen.\"}",
  "call_id": "call_iuUzbXjfxpjK5xbk9NlpsNBu",
  "id": "fc_0a7858731287a50b016ab4315af6e087d0bbeb96c296138726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iuUzbXjfxpjK5xbk9NlpsNBu",
  "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]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1818, 2.2211, 0.5877, 1.3727, -0.3828, -0.1207, 0.0103]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4307 right_y=0.1499 right_z=0.0138 right_yaw=0.5814 right_pitch=0.3171 right_roll=-0.0206 right_gripper=0.0103\nstate[joint_eff]: [-0.1573, -5.3812, 6.5436, 1.8242, -0.0317, -0.0464, 1.0379, -0.6632, -8.6496, 2.5641, 1.6923, -0.0317, -0.0708, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103c2851ae0bcca6337a2ee23f89cca0847b98044d09f0259999cd0cc8e7e41d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb517f7c271de9b09df8da47babbb87cce4f1dafb9b3b8f2a4c4b472e775d27b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7843a7edf8ecf9ca7192930cdd794cf58fc3e173b605fbdf0ab896480b2fdf9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 4.415 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3933, 0.5663, 0.4328, 0.1799, 0.0238, 0.0688, 0.1097, 1.7313, 0.606, 0.7414, -0.4278, -0.1204, 0.9963]\nstate[eef_state]: left_x=0.3893 left_y=-0.128 left_z=0.1387 left_yaw=-0.4272 left_pitch=0.183 left_roll=-0.0364 left_gripper=0.0688 right_x=0.4251 right_y=0.1241 right_z=0.0911 right_yaw=0.535 right_pitch=0.2099 right_roll=0.0444 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -5.135, 6.5846, 1.8193, 0.0122, -0.0464, 1.0379, -0.0889, -9.347, 7.706, 2.4249, -0.1587, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5598, 0.4332, 0.1799, 0.0238, 0.0688, 0.1776, 2.2227, 0.5865, 1.3514, -0.3794, -0.1246, 0.9963]\nstate[eef_state]: left_x=0.3879 left_y=-0.1277 left_z=0.1349 left_yaw=-0.427 left_pitch=0.1743 left_roll=-0.038 left_gripper=0.0688 right_x=0.4298 right_y=0.1472 right_z=0.0079 right_yaw=0.5734 right_pitch=0.2945 right_roll=-0.0156 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -5.2308, 6.4479, 1.8291, -0.0171, -0.0659, 1.033, 0.1983, -10.4957, 3.1111, 1.4969, -0.0317, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1818, 2.2211, 0.5877, 1.3727, -0.3828, -0.1207, 0.0103]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4307 right_y=0.1499 right_z=0.0138 right_yaw=0.5814 right_pitch=0.3171 right_roll=-0.0206 right_gripper=0.0103\nstate[joint_eff]: [-0.1573, -5.3812, 6.5436, 1.8242, -0.0317, -0.0464, 1.0379, -0.6632, -8.6496, 2.5641, 1.6923, -0.0317, -0.0708, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103c2851ae0bcca6337a2ee23f89cca0847b98044d09f0259999cd0cc8e7e41d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb517f7c271de9b09df8da47babbb87cce4f1dafb9b3b8f2a4c4b472e775d27b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7843a7edf8ecf9ca7192930cdd794cf58fc3e173b605fbdf0ab896480b2fdf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0a7858731287a50b016ab4315db7c887d099b651141851d2a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.06},\"note\":\"The right gripper closed empty; the pen’s shiny tip appears just to the right of the closed jaws, so it was likely pushed aside. I’ll reopen and lift slightly before realigning for a gentler, centered grasp.\"}",
  "call_id": "call_PrbDps8Bi50cd6lk5BPKYZwR",
  "id": "fc_0a7858731287a50b016ab4315fc8b887d0bd622e3f1677e624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PrbDps8Bi50cd6lk5BPKYZwR",
  "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]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1829, 2.0258, 0.5709, 1.1797, -0.3859, -0.1253, 0.9948]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4289 right_y=0.1506 right_z=0.0494 right_yaw=0.586 right_pitch=0.304 right_roll=-0.0186 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -5.3949, 6.4342, 1.8046, 0.0171, -0.0513, 1.033, -0.4034, -10.5504, 3.7538, 1.6386, -0.0562, 0.0708, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3dd69d075d48e7767fdc240aabc027352314e5d2a85f39eaf57025806cb77e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e21de9274472498ccd09115e88444908caa4577263ab0ee0f59420fe96a16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7148564dedb2d7325c98f155b94b49735380f5d1284f22a3c492b171a3ead8e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.26 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5613, 0.4328, 0.1799, 0.0238, 0.0688, 0.1108, 2.196, 0.5735, 1.3056, -0.4309, -0.1318, 0.9963]\nstate[eef_state]: left_x=0.3882 left_y=-0.1277 left_z=0.1355 left_yaw=-0.427 left_pitch=0.1755 left_roll=-0.0378 left_gripper=0.0688 right_x=0.4299 right_y=0.1257 right_z=0.0067 right_yaw=0.552 right_pitch=0.2715 right_roll=0.0052 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -5.5863, 6.694, 1.8437, 0.0024, 0.0024, 1.033, -0.6632, -6.2427, 2.1949, 0.7497, -0.149, 0.3248, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1818, 2.2211, 0.5877, 1.3727, -0.3828, -0.1207, 0.0103]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4307 right_y=0.1499 right_z=0.0138 right_yaw=0.5814 right_pitch=0.3171 right_roll=-0.0206 right_gripper=0.0103\nstate[joint_eff]: [-0.1573, -5.3812, 6.5436, 1.8242, -0.0317, -0.0464, 1.0379, -0.6632, -8.6496, 2.5641, 1.6923, -0.0317, -0.0708, 0.8425]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1829, 2.0258, 0.5709, 1.1797, -0.3859, -0.1253, 0.9948]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4289 right_y=0.1506 right_z=0.0494 right_yaw=0.586 right_pitch=0.304 right_roll=-0.0186 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -5.3949, 6.4342, 1.8046, 0.0171, -0.0513, 1.033, -0.4034, -10.5504, 3.7538, 1.6386, -0.0562, 0.0708, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3dd69d075d48e7767fdc240aabc027352314e5d2a85f39eaf57025806cb77e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e21de9274472498ccd09115e88444908caa4577263ab0ee0f59420fe96a16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7148564dedb2d7325c98f155b94b49735380f5d1284f22a3c492b171a3ead8e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFlqtQPZQBU3VVkSqj61PcuXbrA10UQEyXxgHlfDty5Vxaxj7Pjs-lDmv83T-K-USv0MyT-DhD3iIfAnbOTQBMPLwynk5POTbUbDMTLUSGtiH6sphTRoTkd6HzN0tH2vjaJzt2xz_FJE7fbiOV1QrvIsdc8zGGvqBVmnGOmrcV2lDfqejjf78avVnmoG73mN1jC74HglG09ndcZEiTvggBekP3OpPzM4I6r4lVmkSUpTpN9-ge71un4mYOxu8CX29PwoJiIyqTCAnTeG48wakFpd8VZOLGyX7NEaSKt0ujOnn7LJzEMoy3q5aU2NlpHtViOaXPAsOmaMOKhicZ3LAJz6hTOXSvS53EoOjC5MyHciBO4vijeBbrnptr1DBCRZlQ-JFXKT-Qx3s15lTrQ7NKN4qRFdF841Gy5yiDzojJ7eBoxB0Hsuuuyk5XTv2DxAEIecyDwSghjAMjfE6UZBvajqX1II_NI612jemhR9haBULjBw5rI0yr3_fSrNx5DhyvpLDo7VFLeeBCb1DnMBuFn3_ON7MhIESeTGjt3eXg6M8Yn-Kugyu2hAOtowT6rBAT4mTcO3heUX0fCNvO00bsiPFU5fV6q5EUs3it9daVI6ny0jMls-xZFVBqTxXLhJm6zQ3E4oMZ7AGLGa8W2AEv4gdagm4kSlKeCF_D27apUuvrCZnHvoW9EGEMDHcpQ_RSU4hZLCuTYuGMfQep9xQG0i8KlVO-puEGtfPwmGhH8y7__pqEHe5R-_Yk_JgbehQ5cjrdzVaWBoO9BBOwJlZ_ZChYaw7lfCbMJl256kGN_ky4kKxweQbQI470AFCgFFK1OuhUZR7e-RLzbUR-oZ3kj4xRfqsyt6PiQHflPfNxjYEF_ugvZ-2zyn0HnanVZoTC9bmR8V0zWx3K1FP8e2MYQAlM9NmvQ46QhyAtAmpGqzCZ6A5ZSmdhgk1ERn2CLAiwuTTwC4pJra6rRbQEwzH2RM1ds9H6crjbOrAuDxpT_c-hp6qUZ13DrN88bk76JLd0A2cfYOLzYde4JI82JROa_4J094fzEi-K3YnBb5jx23po7oG-hDR4Atf9nIw3WUB6kZMz014Cc6RQyxRVby7z4tqTk7UKZdXQIxfLXQpfANkOz3DSa8kVHR_1_bE_YXAMaHG8KieqUjoK_EwXgSL_4kD4rVAWjomQZldN4pDNlYZ-L-TsxXdUM969sLMnj2hhBq04hgZGBldKMK7u0RFuwvAkE7n0_Fmt0XqNZ4R3IpZD5V6koQUtQgJM_HipmpLss4H3PJkUkqRwlmE1foDIU7UDXezPXe4WNlPiEfOXy6VAPNPAbi1YR0aUNHsvqh9NwZin_aPFz_3DIUxKKXZD22hR8HXMfjeqFe9AXzN1GIE0l57YGt5k7xzdZXUs8cl46WcltQurK2oyAHWk3DVsjrfEfshsVOPaSp9gtVzBYvOXicbW_BnjY8pWLr8K2JpRgoKOtQpkm6OWW083cNrhoiVXRXtleDX62lWr-fG2cjbAGGD8Q_4KDHx0kOpleIY_lAjgsOyhDMk5Dd_-Pnwcg0ug1L8s7nKIHQqaes_JN9LodzCyJiudqpn0uXe6XAsI4MXRjmo_Dka1vkycVtwaP-bikV6jLwldPmjNKz6qYqDvEj8Owt3iDBvYfLrtSYpRMp_j5s32ToHK-CelT5dL1u59H8rLqrLbWUlqAmS776M3_ITbIciXF2IkKi4kGrvbV26MvsFLKsc8xOTzMLzLDou7t5o-9wTWKsiAF4-59WUg982NRmAIQf4UkkglbP4mZBs__X8Lga-XcsL0az5fWkcv7rpAsBqHZaL7cfja6Tob3LYShbKamdZrwUiZ2AQ9PfyvilOsJ65SHqhTMlcgUDf-Jr0wq2m3G9SgYOOYQnF0N0qB68Dh8SkAIEt0FOytZZKM6cIIyM8qYRxVw4Cz1Bm1Xd8qdgK7tiyIc4HDPWbJflCaNvu-2vMRmc35JuizyfEhK0rU9fOuW3wPGy7dp313ouKlUEL5SLTumzxeT-D93fhi2K0oWLMe7XCqbDfK2azJKaRg1PFE_-4wlSAxsYVpsdhyllJlNsXsNeJsD4HwBTZzF3a0RpN8MOitFwp_5eTj5SF29HHLgYvoi3jSmapCVtpUjWo47s8vJCOXkehAsy_MpXVTiSS3J7D2Gv8lDYs_ZQynPF3DNO95OFGIlK-3q5cHYlCfekq5dA-T6QUsy09BcWZE8pNPApGRYVLLWvIEYqWPD5COz8EzMfkYGWjUuqJebSLyVjiOjITA7VqtCxiTro-C-AceQzsh5AnuxeUbeQ9lTzRgx9YGkm8KBphi2o_NF1gRC2cVfmWbjknbKTRtSLUmJCVUw7FO3olB31F8Ad6S0gD2rL2PClh-AbaQ1mhag7S0lNtksmd5GJDlA1MLpEkEkhN8CCOoi82-GrmYmB4ApBjNKZISkX3s_5F3fjSaQnYni2OGtpOVUitcbepnr28LXZ9NJWkPCJZpAf_Lzqk_kmlHpAV1tlKBCaE91qCgF_gFFext8yjXgnMsVmKUXMGIA7VlkocgF7CBB",
  "id": "rs_0a7858731287a50b016ab43162bc9487d087097129f6a32818",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_x\":0.42,\"right_z\":0.095},\"note\":\"With the right jaws open, the pen is still on the table just right of their centerline, so the failed close did not pick it up. I’ll shift the gripper toward that side and back slightly, keeping it raised to avoid nudging the pen again.\"}",
  "call_id": "call_uapg5fhyLI2HS6K1wTqXXeTm",
  "id": "fc_0a7858731287a50b016ab431650d8887d091abb63032368171",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uapg5fhyLI2HS6K1wTqXXeTm",
  "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]: [-0.2493, 1.396, 0.5571, 0.4332, 0.1799, 0.0238, 0.0688, 0.1165, 1.8431, 0.5388, 1.0134, -0.4324, -0.1425, 0.9956]\nstate[eef_state]: left_x=0.3873 left_y=-0.1275 left_z=0.1338 left_yaw=-0.4269 left_pitch=0.1717 left_roll=-0.0385 left_gripper=0.0688 right_x=0.4225 right_y=0.1276 right_z=0.0799 right_yaw=0.5682 right_pitch=0.2951 right_roll=-0.0168 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -5.1214, 6.3795, 1.8144, -0.0024, -0.0464, 1.033, -0.335, -8.5812, 4.588, 1.8437, -0.2613, -0.0269, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329f608c3b39ef614c7a53b10053ddf7f8d00480d75bf145b36e24ce09c7924c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9944c151e4dcfe9a3536b71e955ce5109ec6469303bb94ab50c17ae71ee26d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8819118e086689077b627a9af3587934e150b7f20851bc6c490e1afae17d4e70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 5.994 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5598, 0.4332, 0.1799, 0.0238, 0.0688, 0.1776, 2.2227, 0.5865, 1.3514, -0.3794, -0.1246, 0.9963]\nstate[eef_state]: left_x=0.3879 left_y=-0.1277 left_z=0.1349 left_yaw=-0.427 left_pitch=0.1743 left_roll=-0.038 left_gripper=0.0688 right_x=0.4298 right_y=0.1472 right_z=0.0079 right_yaw=0.5734 right_pitch=0.2945 right_roll=-0.0156 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -5.2308, 6.4479, 1.8291, -0.0171, -0.0659, 1.033, 0.1983, -10.4957, 3.1111, 1.4969, -0.0317, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1829, 2.0258, 0.5709, 1.1797, -0.3859, -0.1253, 0.9948]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4289 right_y=0.1506 right_z=0.0494 right_yaw=0.586 right_pitch=0.304 right_roll=-0.0186 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -5.3949, 6.4342, 1.8046, 0.0171, -0.0513, 1.033, -0.4034, -10.5504, 3.7538, 1.6386, -0.0562, 0.0708, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5571, 0.4332, 0.1799, 0.0238, 0.0688, 0.1165, 1.8431, 0.5388, 1.0134, -0.4324, -0.1425, 0.9956]\nstate[eef_state]: left_x=0.3873 left_y=-0.1275 left_z=0.1338 left_yaw=-0.4269 left_pitch=0.1717 left_roll=-0.0385 left_gripper=0.0688 right_x=0.4225 right_y=0.1276 right_z=0.0799 right_yaw=0.5682 right_pitch=0.2951 right_roll=-0.0168 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -5.1214, 6.3795, 1.8144, -0.0024, -0.0464, 1.033, -0.335, -8.5812, 4.588, 1.8437, -0.2613, -0.0269, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329f608c3b39ef614c7a53b10053ddf7f8d00480d75bf145b36e24ce09c7924c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9944c151e4dcfe9a3536b71e955ce5109ec6469303bb94ab50c17ae71ee26d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8819118e086689077b627a9af3587934e150b7f20851bc6c490e1afae17d4e70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFosxCiWNsfVrd6wRQIe-Ceo4qG4czl4VSuju1st-J-x1klyWHvrHnBWt-cwLUp-dIGD3FQhf1VL0XdjiiVi5___AaRGbHa9R_RlzlB4K5h8domwb0T6t6dz9i-6BsHwGSjDQaesLrnKfwb6CLBjLgTuhjn7nN5bqJSJRpMHliACa0q8UfIsR_QPH4eIza8L-F1XlYKsOwFK5fU6iqHaAIdiWeMuSRi829gxgBEOmDDu2H0Fs0vwc3qQef1GKFBgjoBgR8scQcV_p8j7LBdY9_4K3K9HjoNmawiu61JpmWgDZOa1wOtU0HFkfzlUVRoCRimXch4Xd1jvTYARIkX_OYyLir1vPRt1sBneaqL0KbHWhdks3cdJ66JV3RyIXPldtLUVCpn9cNbmZe-qvjJEboGuqHRAbI5XE5RsP1vUVDNC04i2ghFTzPGogNEQ7xcKfuUYm6G8n5Fn2u2h7il8gWFArVlS4gSw2-LAS1ubQwAyv0wUjxv_2E8wZmRKujgkKFpbXspXDPK94fgHODljWsS0iKmH3HMteiBWeQRmvuuDIvvLZC5xuhmwKspm-30R-agQJuYBVTk-mtZSKgysXLEPJ5lK86Qm0D0K5d2FevKOn6AVEVSpRbJ5siejYVDawcin_lk8SNPhJHthyiXsmkQDWdsuCfpAqxRk5p5ivJ6vfZbAoRmux6lWL_2nVroNvx5lAGTURA3eZX1OcSxBdlZbISK6gD0xk1StVeMN9WojpIhnb2WX0f5wWb6afEabB2SQBcOBNagLwF68QI-7-iaT8ZIPNgyNzbdmP0ZxTBc34eV0191sGYx6FwyjEqmjh2sv2iGi4BMrSn6EeYdGNc3f_LQ8Czan_sJqBu71zgVSuL-wql6nbAO33e1Ia8Mn9POgZqiSxVhoobeZwgX79ebMoMhD_SNq2tm5XbmaWAj9lJC2W8O5BAPuWWSI7y6eYpeyyurmex8b3GKUVVQo7jkjf_bERcp39-PFOVTlpa8HBf4CI7wkYVtotbD7M8UK4jFGXi-_Cvw-A4VctrUFfWLcC9iRncfITY4idkLZAR0Iv8m8UQ1sJJH5d5ceTBIgy9h4cwPDmp5I6Q5nNS-O4e1qdVIwoAphAZO_yyqB1SPC2ByuQtVejFex1BRHLAY1RCJzf3Ji8jQkN1RPM2cE78sDZyqZr7rVl1YzvlLcDn1qcM43k_niBqMk2hZsdUFVbQgh2KuTdwGygAmPl4CB8Wv7a6eCALYBCjyrk7Y7elDPjDknwlVpuNZ7izyyBjiazke1Mj-ghcSWx6_9SPMnyH6qsN2Qc98plcq47gbIb4kxDG7eHLnk0WQoEzz2gHk3OFKgnI5WzcNQ7fP1mukGySA1s6cG2BTnLEy8JMtX1xd4dY=",
  "id": "rs_0a7858731287a50b016ab43167566887d087974cbb7e3d8baa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The pen tip now sits on the right jaw column in the raised wrist view. I’ll descend without changing the horizontal pose, then check alignment again at actual gripping height.\"}",
  "call_id": "call_WeAfQBfH9hiGjXBnh4WF1LU1",
  "id": "fc_0a7858731287a50b016ab43167be5487d093cb1071502800ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WeAfQBfH9hiGjXBnh4WF1LU1",
  "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]: [-0.2493, 1.3991, 0.5537, 0.4324, 0.1799, 0.0238, 0.0688, 0.112, 2.2543, 0.5598, 1.4353, -0.4385, -0.1627, 0.9956]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1309 left_yaw=-0.4267 left_pitch=0.1646 left_roll=-0.0398 left_gripper=0.0688 right_x=0.4271 right_y=0.1271 right_z=0.0074 right_yaw=0.5848 right_pitch=0.324 right_roll=-0.0506 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -5.4359, 6.5299, 1.8193, -0.0024, -0.0659, 1.0379, 0.2667, -6.0513, 1.9897, 0.8034, -0.0904, 0.3736, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422569a36a6edb2254d0be424a66ebd06d4d3d8409e34062449b04f881425fdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a90ed57a215fecdd3deca111778fedbff52be1eff3d8afa9833849747bc85d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3fc34247d9aa133ceb34f426fbdaadec08505416a1066a5f050c2b3df7a3d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.676 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1818, 2.2211, 0.5877, 1.3727, -0.3828, -0.1207, 0.0103]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4307 right_y=0.1499 right_z=0.0138 right_yaw=0.5814 right_pitch=0.3171 right_roll=-0.0206 right_gripper=0.0103\nstate[joint_eff]: [-0.1573, -5.3812, 6.5436, 1.8242, -0.0317, -0.0464, 1.0379, -0.6632, -8.6496, 2.5641, 1.6923, -0.0317, -0.0708, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5571, 0.4332, 0.1799, 0.0238, 0.0688, 0.1165, 1.8431, 0.5388, 1.0134, -0.4324, -0.1425, 0.9956]\nstate[eef_state]: left_x=0.3873 left_y=-0.1275 left_z=0.1338 left_yaw=-0.4269 left_pitch=0.1717 left_roll=-0.0385 left_gripper=0.0688 right_x=0.4225 right_y=0.1276 right_z=0.0799 right_yaw=0.5682 right_pitch=0.2951 right_roll=-0.0168 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -5.1214, 6.3795, 1.8144, -0.0024, -0.0464, 1.033, -0.335, -8.5812, 4.588, 1.8437, -0.2613, -0.0269, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4324, 0.1799, 0.0238, 0.0688, 0.112, 2.2543, 0.5598, 1.4353, -0.4385, -0.1627, 0.9956]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1309 left_yaw=-0.4267 left_pitch=0.1646 left_roll=-0.0398 left_gripper=0.0688 right_x=0.4271 right_y=0.1271 right_z=0.0074 right_yaw=0.5848 right_pitch=0.324 right_roll=-0.0506 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -5.4359, 6.5299, 1.8193, -0.0024, -0.0659, 1.0379, 0.2667, -6.0513, 1.9897, 0.8034, -0.0904, 0.3736, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422569a36a6edb2254d0be424a66ebd06d4d3d8409e34062449b04f881425fdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a90ed57a215fecdd3deca111778fedbff52be1eff3d8afa9833849747bc85d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3fc34247d9aa133ceb34f426fbdaadec08505416a1066a5f050c2b3df7a3d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFua49_SUW6NHYXObt2YFGmgTonWcTYSJz3MNJTSpnd6ri1Ii7zALRMFsSa6Hf8YIWywTBqXP7o2W5nOFQrPHhvqSFKm_PG8Kx7u5KwOEXO3nDEfQIt2SaVzkgEMoQmp7Eq1m60ulqsuRpTTT9aTy4l1UH3Ns1TI9VLi-L0rcKL15ZetW4lau5LynoMo72BKa9ceAnz72ikdpVtQ4jVA2Pyn2SeJpCoAyP5LAT3tCZ0ZztKdwG71O5K3B3UVuHKH8kFNM8HXSujtkEcgkL02e2WAN6j6qvcYi1o9Mf9cTkrUmxPIIfd40jq9TqPt0uuw8PeF9AMqMtupkxOzjjI5Fz0w52FX2vK1gm91_8pH__kjfC5TBkXyfEP-FaqDAbxZ5f4QPdo_TsNLfAkH3APOvO3eVxdGkcwqIUdB8uOqFejXc0VARJrbiVQJOCVw2Z64TL3VGWultpw_E-e3Nvb_yM3s_atsiPcy6U5Xk3GX4oR4lxGIiTZzB6SmDWqZ6WoYnTpbKkjsR_dyOZXWbCX0-Fl7dR2MS-E-UNZc0I2e4b-TbGAI6pGtdxrcK6bU_S-oiI8dtkfOGN8EDy0-KSP88940Su9aTvFno1etdj058UWPscpeAmuLNXohCVFjOH-1dr8bDCs0TCLWk0bVjuLe4rKWhwJN2wqBSw7PMcogedwdzCPrzUy35053hT4aB4vwJHxyK_bieHJaK9dQKZidluhewWVuBPfqpDyqDh2uSIKCjcup_ckSR26nFH98eQUye1kUN0MHqK8m0g_ohoneKZVufVFVOLvmgorLcd_1nKnTU8Pq1nCulBWNjenH7nBOiiqYU5WqCoS2AA4UlpnYMt18qaMoIKJiE_K9pl4uW-4B71Vl-TMjG1UbAgs67nC58YlG-aVHmI-SjRDwYvBqhn73d37hbXrwWs7fQPvLpDq6noSrzgO9yW2rPHoqUCgH2TJB6eIMu_ZESixWPABiudN4L9Ct0hRpEXTmZm3yU-5-8Jp4eOXril_5RLP1ezctcvBrbWPKZ7jksFMCkmBSZn8MqBtUG6Sh6DeXy6U23ksGHF1ecdULWm04V7aIEUBBVx7Ne57xRZtRB7dgkPayxvYcQqxYrDjdLoJiHbwPKBlln93_26HkfI_rfYhmolltiYWQvk4B8gjxGvoKo_O1u7qh0OziRHbelLcH5KTyX4InC5DArtIrrZctTB-mTCEz_HdaKgkcaKM90ZqcjIzd6agEeSUwxYfrZymspbZrvExay5OVAbER-4R6JiHsMKHCDBzeDSHoEkT-Qy_UoI-QMbGJ6whzgBrkm9_Tw43nqo0xMWeV6wRxes3YYVb32G5g0bRdsT4kRaRijS_ClAli7Om-EOAs7yZ7Be0DLKc40I5zyW8IG-NWoJTcDBmDp5UJD4Uwcza1FysXbSzi-elluLUvMU40F5O31C-6dsKWgUgoTfVBifvEnGS1Gz9vlrblLDwwPBVu8YCCUZ8_8hjDtPMp4z6HI4XIzEhjO1kExYlnxrJwk-8I6FpsGSBKv1N93TFJcjiqkUA-IfBpZ5iLhXo_tjUOnRxOGMR1QSDVB68xvi6GSZ9M3X9maHmMpphca7qu1rdp_LnnBKejBRYWtOAagnfLgus5sEX0Cx98kAr5Dj1nk02CukJMQs2MGX2ORG7a9PLrc3FskEot5TMu9okbTbcF3gNcCDntgsCJiNR5S6AMcb_RKZZDRviSzBfjg1HjNIIGM6o01P-JgDkGW_sNsP7NoWFwqab5KQd6-v8H0CVudenBG6bH7Md3hIMHAolObT8jWiWwo13Misvwq-0b0sDvtUHapq_pSy-iUNdR1yEnM8tpQA56406CHg2S4bm9cRJ15hl33VsFI5lPdF8wqKD2Db2f-fwVp_l0aQYnk3Vn8NOcGhasDC1HP8DQ-r64xbCG14roNd7cGuxku6zuFZtXtMyZEAg_v-z05mTz1Z4Z3t1T8tRTN2kS7Vz7F6qp1UffGYHOm8pu93r2NnmQ-KqwIt900NYv1JNyYJno2nI0yVSRA2VWodU69w0Hqu5rG64ZJ86iOMekHIyKOnecz-sCOI2vYLudna560OUl17yPg-kJnw2VSHDsOsuERKdB4FJZctd9do-l6ITtmmhzz1AOqgjCX4yG2FQQ7U8LtNsL5sKxb76hx-P8jY7Lrg1rcIbZmirP8gp-kDnEynJkuRBT5VsDeMxuz0rafj5z6ELXYkB4tDFkbDROZogodY-Yjf4apvvqNDr_O1vNSW_gT5Ynl6FVW8OUjz94_uTgz-LURx-wAAOTrf4IpJGeEAXxQro530VbZv0TmYtRvOd3sVs7gNyi0J6u8bl-A6Nw48lo8pYZDxUzKJp5ZENpA5T3CC_85NCp_t9gZiVj5_-Slvu7pZ4cS98GqqJNHFDQ1g-gh83mPIw56bt1Sqq0TjrNSAux29jJJyR8ZLGPXHkLonctFVOFApMlsN0_7BYqx-8nOgFUQNomqmzOgmugZYP6ZwEV17JMzN0GblN3NCyvStT7k7QH_pdp2NoBDFqu5ZqvJHBjSduq-Bj5psorzweKq0OlXY98o0x9ECdqOccGsuwKCmR2xwaHqSSoK1sNkVpYlmSO5BdNIBA3Q3yjXujE6Je_e3pYitrO4ailfSaKR8fQ735DdKDdcyZc3J3e_phKYOIccKxIo--qOUErrQlT3dSbfgp9ImTsh3XIJ54T0rbWhFjDSIeuZ2MR7_AoPTpHAIsXPkTVlW7Xk87a9nps-KKC8Bky5zZf7UOUAaQn8GpHxyYzqRjV2s0937RxzGOp2kFh1JPp0LMtVKkd2jeROCBQIi1hmFZPkHjqFAiQAlneSUXSQou04LgnXvSsNbkKXO_vdt7wSrr22aDXUZiQ9jGEiSDp-VjBCkjvpDtuGuBOL-PotDCWHpdKGzz6bmII64lcdgBZM3Y2sWt_75H1phzWZAKYJy3uuyEmeC87MUgzYjLNQUEtQWZo2D-TMko2omRSr7nBs_BDVqjKN2g-k9jvH0XRu87CbxChb_LTNfeR_sywMbLIlbLVEHl5UKMKju4mIwoEjNN03wQhhw38wgBcP-fCJtiOoSEbOJ-o-iaxWgC0-aPG6vpAs1vgAdOmqZG2-60eXUpglbkRi5co-IteoqH7C6Xh-CT_R3xRjNEgCEBDPBPdgLub1i75XzIXxJYyl1zpFMlWd3uHlbR",
  "id": "rs_0a7858731287a50b016ab4316a248087d086b5bea4bdcdc2d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.147},\"note\":\"At gripping height the pen’s shaft lies slightly left of the jaw center, although its tip is nearly centered. I’ll make a roughly two-centimeter sideways correction so the shaft, not just the tip, sits between the closing jaws.\"}",
  "call_id": "call_HotXzKCvaicqfh30iyAEtQRs",
  "id": "fc_0a7858731287a50b016ab4316df17c87d087c974abc3690b3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HotXzKCvaicqfh30iyAEtQRs",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4332, 0.1799, 0.0238, 0.0738, 0.1474, 2.2765, 0.5686, 1.4792, -0.4068, -0.1532, 0.9956]\nstate[eef_state]: left_x=0.3865 left_y=-0.1273 left_z=0.1311 left_yaw=-0.4267 left_pitch=0.1653 left_roll=-0.0396 left_gripper=0.0738 right_x=0.4281 right_y=0.1379 right_z=0.0096 right_yaw=0.5913 right_pitch=0.3482 right_roll=-0.0623 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -5.3949, 6.5026, 1.7851, -0.0317, -0.0513, 1.033, 0.8821, -10.2085, 2.8103, 1.6825, -0.0659, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19d27b309405989d92ba51200ca177370984baa4af60d029787e058ff26c0f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ca13fa64d16fd6b8a175121512764e9b249bed621c34fb8cff77cf61e6afa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d9ae0d7ac771863e100281543b1768b3e5759790f837b3d45fb7f0ddefc685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.399 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5579, 0.4332, 0.1799, 0.0238, 0.0688, 0.1829, 2.0258, 0.5709, 1.1797, -0.3859, -0.1253, 0.9948]\nstate[eef_state]: left_x=0.3874 left_y=-0.1275 left_z=0.1341 left_yaw=-0.4269 left_pitch=0.1725 left_roll=-0.0383 left_gripper=0.0688 right_x=0.4289 right_y=0.1506 right_z=0.0494 right_yaw=0.586 right_pitch=0.304 right_roll=-0.0186 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -5.3949, 6.4342, 1.8046, 0.0171, -0.0513, 1.033, -0.4034, -10.5504, 3.7538, 1.6386, -0.0562, 0.0708, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4324, 0.1799, 0.0238, 0.0688, 0.112, 2.2543, 0.5598, 1.4353, -0.4385, -0.1627, 0.9956]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1309 left_yaw=-0.4267 left_pitch=0.1646 left_roll=-0.0398 left_gripper=0.0688 right_x=0.4271 right_y=0.1271 right_z=0.0074 right_yaw=0.5848 right_pitch=0.324 right_roll=-0.0506 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -5.4359, 6.5299, 1.8193, -0.0024, -0.0659, 1.0379, 0.2667, -6.0513, 1.9897, 0.8034, -0.0904, 0.3736, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4332, 0.1799, 0.0238, 0.0738, 0.1474, 2.2765, 0.5686, 1.4792, -0.4068, -0.1532, 0.9956]\nstate[eef_state]: left_x=0.3865 left_y=-0.1273 left_z=0.1311 left_yaw=-0.4267 left_pitch=0.1653 left_roll=-0.0396 left_gripper=0.0738 right_x=0.4281 right_y=0.1379 right_z=0.0096 right_yaw=0.5913 right_pitch=0.3482 right_roll=-0.0623 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -5.3949, 6.5026, 1.7851, -0.0317, -0.0513, 1.033, 0.8821, -10.2085, 2.8103, 1.6825, -0.0659, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19d27b309405989d92ba51200ca177370984baa4af60d029787e058ff26c0f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ca13fa64d16fd6b8a175121512764e9b249bed621c34fb8cff77cf61e6afa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d9ae0d7ac771863e100281543b1768b3e5759790f837b3d45fb7f0ddefc685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFy8Be9g2YBJi9G9YeZyQcwBMJnZ8Nk9DHKjgO6yL7288vMUM2_ywRRaBQpHQqLhMjHCInC3CYFrd6noseQafF-BQTnkMn3bdpNYq1jCJ1TIsRugIeOhToBf3yYbcGPKP-NRSeU6VdGCG-TnPCibOXX7LHjfFmFa5AlVc7RdbdrQrHcUxokx73V65by7NsGdDGfCmpAUHcM1teALHRcfLQyYopDVkTdqvz0m0cCNdSarEntwNEXzRypkJJFWDD6cyFM7cKNCF7O28S5pP45oWIIlAhIojU7prji89JHx7waXgvP8nL-RNWpAd0XNvOs6SlIUDraVlrUBgyi1qP1F6VnjV66EcyIiKqbiu6Uflj_Ghx6I_vxYiiBKPPtHDIX3tiO2gr7TwqKqY19Lmw5Ne23CdNjSFBrG9sh-Wh_R4kBnZi86Tt1FzAgmVy99dBFqm8RLoyyI5zQzlSAPB_-pEV2S4jFVROV3TxMUIEr76HEaJkNlDnPfo0DxXypk0UC-dzHw-YEppobMwsJswVnQ6bJLR87wR9I_LnrKQZdR_KU5jcvkonI2WebKq28x-3iQD3rKEsocMdv8BcaS-TdIqlMz1QwJiwmlcIu79czBJNpLagPCLeJsytDaHGKKr1AVVjik_AnK9Vi5AgdqQ0_7nxcHOZxOPuMpNnCsFHCtSg2oTvHb9Re0FUDAOwA2HRCLRJ86ka_49dWVE4gEicdntm0zyqnVNLYyr6ZwS-seddHNHN9OqhmNYAMLGzJcmtQbew7u09ZK7FPmj7nh0xi1fFNH5BJ_6VjupZDgeFSnDJuUpbx_cun7A9_XbaSeHHE4R_FZcEyjPohhazJrRIjWGbCdQ989aUSNl_kIP8a1se0hhkKu9AFx9owPrlDzDByGEychr58qOTovrCazp_m13xHe9G_y4wCtHM4HnNrdYfiJk1qiKlJa1qyp0rwrJgSdetpvmkQ_Armxm0W5_htu-OWhaHAXFek1P7kt-fDeb-mpa3rAYVVvyXaBKlL2gYFMH0GEBbJUe24SlhkduL8gpPXXTHj_A4p6WFIGm-rMbui_0GSkFm7-HCrB5Dt54w5NuJNDRocCN-g-KFRqT9hfaiCVPjXlMfIT_YYD7zfFk2T21vAHD6gCyNQYGXDsTFAlINVw84fS8HHmKAysBTTccmvqazU2koECUU2RU-8wbwIYkzVD-AFqRui_X8lf_-XUDdywUkXZqOJntkeBSwyb39pw9Uuz0UscJCRF4qqGjMPxcR8KTkZZi5m3usPg2NPsarFMbTSZaEr0z5hhpX8IRYyo_LZQW9pWLDXdpx6zx5ddNwGxPtU-G3lj8vKnJd2n3ryqbybjuj4tJqWg2HZ-K2t2CX2cQCTieISlrFgPCS1L55NuxwyTeltllpw22RLM9F9Afl-20ELksEOnxyt2qOqEZFevCMpewwdHtSD1eoVBNq-dTVDkQeuVwrN-LYO4ItersP1ddrTw9SM-Zb4HNcbNpmsnphaRV3hLLIw6wLzp5dCUYeV_w233NvCemv9gLtVzI33rNc-KAnDxjwNBcwcZk-NXROsjlhiWPHProM3tXrUQaE_MfTvwGDtXW6pl_-Woii9POX1FyYk4H2ObBH7TqdsYZqgIK20XG-fDFhRIqioYfiWoFwZTA1AOP-n5CyLtLQvTSNwl4oOMAdgYGAm1iNmSAmPvuNoRNigEof1jK3GF4vM8PfF-eDrhHYAZyeTl8tF1_mg-kQfd8d8AoyW0rJ1XbHJKYxgC66loa50KADVtgll91xnxqJML_3RckRn-EdFSuH9oxhdQyWrMcjfzskZpe_rj5n-OVeSGbi0UwB-mLOqVhNB4KRKDGLt9mgQAkifd-dtIL8jMV5RVdLsGQH8Ww5rOkuhBoZtQ3ke53cjWFDAZjayIrpxY3rbN5rTxZ5lYBALlBPCcW6EhZQyhuPyOD9wyi7tVaCYxrgl2TloL09Q_lvih38MR4PJrUKQhsjuD68oYBR9jUJeihU7OBJj8_KVWzTdr_MftZQYWkxL67dHPZ2150PQopD4mpOC4dDsXTIl-wYQ2PO41xbj5NxSH_45jFsNCEvb7E7pD0OiTEg5-V7iHRAQmxWpPtgFouJ8BkQC3QFYFMCK-IJyA0i127rHycZwkCxXA7kKm28JG94lyDCtK9FQRLTLgjakOjfuyeK_PD3V-MHDbEhX8nSBvPczWLK0NPztSN1Q4htRbeS9AHxeeboRWkT45WYm",
  "id": "rs_0a7858731287a50b016ab43170630887d097762d1eaf5da041",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.035},\"note\":\"The pen remains between the open right jaws, though its visible shaft is a little left of center. I’ll close only to a narrow pen-sized gap first, rather than applying a full squeeze that could eject it again.\"}",
  "call_id": "call_CztqHIRFLPRGiuQltf3kSDs2",
  "id": "fc_0a7858731287a50b016ab43172176c87d0af98e5538e08af97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CztqHIRFLPRGiuQltf3kSDs2",
  "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]: [-0.2493, 1.3998, 0.5529, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4038, -0.1505, 0.5332]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1305 left_yaw=-0.4266 left_pitch=0.1638 left_roll=-0.0399 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5899 right_pitch=0.3493 right_roll=-0.0609 right_gripper=0.5332\nstate[joint_eff]: [-0.1983, -5.4632, 6.2974, 1.7949, -0.0122, -0.0611, 1.0281, -0.4034, -8.6906, 2.5641, 1.8339, -0.1343, -0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce75ada38caea808ac0f6ccd17a4d83c90c2dbcf7262056b9f59c82678efec13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d4e08d23e6b09ca587c7c3299295d7ac1206c84716e5c5796b3271fcc638e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc57a59328162d69e434d64217ad7da33b509aecf10d22bcb95aa4748dd98453",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 3.706 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.396, 0.5571, 0.4332, 0.1799, 0.0238, 0.0688, 0.1165, 1.8431, 0.5388, 1.0134, -0.4324, -0.1425, 0.9956]\nstate[eef_state]: left_x=0.3873 left_y=-0.1275 left_z=0.1338 left_yaw=-0.4269 left_pitch=0.1717 left_roll=-0.0385 left_gripper=0.0688 right_x=0.4225 right_y=0.1276 right_z=0.0799 right_yaw=0.5682 right_pitch=0.2951 right_roll=-0.0168 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -5.1214, 6.3795, 1.8144, -0.0024, -0.0464, 1.033, -0.335, -8.5812, 4.588, 1.8437, -0.2613, -0.0269, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4332, 0.1799, 0.0238, 0.0738, 0.1474, 2.2765, 0.5686, 1.4792, -0.4068, -0.1532, 0.9956]\nstate[eef_state]: left_x=0.3865 left_y=-0.1273 left_z=0.1311 left_yaw=-0.4267 left_pitch=0.1653 left_roll=-0.0396 left_gripper=0.0738 right_x=0.4281 right_y=0.1379 right_z=0.0096 right_yaw=0.5913 right_pitch=0.3482 right_roll=-0.0623 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -5.3949, 6.5026, 1.7851, -0.0317, -0.0513, 1.033, 0.8821, -10.2085, 2.8103, 1.6825, -0.0659, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3998, 0.5529, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4038, -0.1505, 0.5332]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1305 left_yaw=-0.4266 left_pitch=0.1638 left_roll=-0.0399 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5899 right_pitch=0.3493 right_roll=-0.0609 right_gripper=0.5332\nstate[joint_eff]: [-0.1983, -5.4632, 6.2974, 1.7949, -0.0122, -0.0611, 1.0281, -0.4034, -8.6906, 2.5641, 1.8339, -0.1343, -0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce75ada38caea808ac0f6ccd17a4d83c90c2dbcf7262056b9f59c82678efec13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d4e08d23e6b09ca587c7c3299295d7ac1206c84716e5c5796b3271fcc638e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc57a59328162d69e434d64217ad7da33b509aecf10d22bcb95aa4748dd98453",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab43174f4d087d08735c234eba415e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.035},\"note\":\"The right jaws have only reached about half-open so far, and the pen is still visible ahead of them; that is not a confirmed grasp. I’ll let the controlled close finish to the narrow target and check the final opening.\"}",
  "call_id": "call_HsDuv99RC2Ev0nvgFiDkLuwv",
  "id": "fc_0a7858731287a50b016ab431763a1887d0a3ee7d0779b22c29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HsDuv99RC2Ev0nvgFiDkLuwv",
  "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]: [-0.2493, 1.3998, 0.5526, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4042, -0.1505, 0.5328]\nstate[eef_state]: left_x=0.3863 left_y=-0.1272 left_z=0.1303 left_yaw=-0.4266 left_pitch=0.1634 left_roll=-0.04 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5903 right_pitch=0.3494 right_roll=-0.0608 right_gripper=0.5328\nstate[joint_eff]: [-0.1709, -5.1897, 6.2974, 1.79, -0.0366, -0.0708, 1.0281, -0.1709, -8.9094, 2.4821, 1.8095, -0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a93a6b53f2f75ca60324335ebe27af0496ab051444929dd4b054a0b2a6aebd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c220149db35721ec5a7b7f6e3f5dff82323777b42f6718c9d0465daf38dde9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a2160273031c925becefa1c0f898b9566e0eac215fb57d4df297a16f663206",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 6.186 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4324, 0.1799, 0.0238, 0.0688, 0.112, 2.2543, 0.5598, 1.4353, -0.4385, -0.1627, 0.9956]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1309 left_yaw=-0.4267 left_pitch=0.1646 left_roll=-0.0398 left_gripper=0.0688 right_x=0.4271 right_y=0.1271 right_z=0.0074 right_yaw=0.5848 right_pitch=0.324 right_roll=-0.0506 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -5.4359, 6.5299, 1.8193, -0.0024, -0.0659, 1.0379, 0.2667, -6.0513, 1.9897, 0.8034, -0.0904, 0.3736, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3998, 0.5529, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4038, -0.1505, 0.5332]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1305 left_yaw=-0.4266 left_pitch=0.1638 left_roll=-0.0399 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5899 right_pitch=0.3493 right_roll=-0.0609 right_gripper=0.5332\nstate[joint_eff]: [-0.1983, -5.4632, 6.2974, 1.7949, -0.0122, -0.0611, 1.0281, -0.4034, -8.6906, 2.5641, 1.8339, -0.1343, -0.0855, 1.0232]",
      "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]: [-0.2493, 1.3998, 0.5526, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4042, -0.1505, 0.5328]\nstate[eef_state]: left_x=0.3863 left_y=-0.1272 left_z=0.1303 left_yaw=-0.4266 left_pitch=0.1634 left_roll=-0.04 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5903 right_pitch=0.3494 right_roll=-0.0608 right_gripper=0.5328\nstate[joint_eff]: [-0.1709, -5.1897, 6.2974, 1.79, -0.0366, -0.0708, 1.0281, -0.1709, -8.9094, 2.4821, 1.8095, -0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a93a6b53f2f75ca60324335ebe27af0496ab051444929dd4b054a0b2a6aebd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c220149db35721ec5a7b7f6e3f5dff82323777b42f6718c9d0465daf38dde9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a2160273031c925becefa1c0f898b9566e0eac215fb57d4df297a16f663206",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0a7858731287a50b016ab43178a52087d0ab0ab42870df3a32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right jaw opening has stabilized much wider than a pen’s diameter, so the grip is uncertain even though the pen is between the fingers in the camera. I’ll lift a few centimeters and check the overhead view: the pen moving with the gripper is the decisive test.\"}",
  "call_id": "call_9RkSFwzrb1albNePgekF68FN",
  "id": "fc_0a7858731287a50b016ab4317a537087d0acbfd99ad2295730",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9RkSFwzrb1albNePgekF68FN",
  "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]: [-0.2493, 1.4002, 0.5503, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 1.7023, 0.5793, 0.9016, -0.4042, -0.1543, 0.5343]\nstate[eef_state]: left_x=0.3857 left_y=-0.1271 left_z=0.1292 left_yaw=-0.4265 left_pitch=0.1608 left_roll=-0.0404 left_gripper=0.0738 right_x=0.426 right_y=0.1383 right_z=0.128 right_yaw=0.5933 right_pitch=0.3544 right_roll=-0.0674 right_gripper=0.5343\nstate[joint_eff]: [-0.0889, -5.3949, 6.612, 1.7949, -0.0073, -0.0317, 1.0281, -0.3077, -8.4171, 7.2137, 1.7656, -0.0611, -0.0122, 0.5104]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d2b39b42a0a828d1aa7d3ca82eb28d64c3385a9df4a712cd045998ea2068bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba88d971e4bf23d5b82c39c9d9c8935808ccaa9279ce57e7da9eba4f44a3fc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faea2868fb58ec4006a1f234a438b3aee584de0d060d5414cf3aac62a12ac1e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.143 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3991, 0.5537, 0.4332, 0.1799, 0.0238, 0.0738, 0.1474, 2.2765, 0.5686, 1.4792, -0.4068, -0.1532, 0.9956]\nstate[eef_state]: left_x=0.3865 left_y=-0.1273 left_z=0.1311 left_yaw=-0.4267 left_pitch=0.1653 left_roll=-0.0396 left_gripper=0.0738 right_x=0.4281 right_y=0.1379 right_z=0.0096 right_yaw=0.5913 right_pitch=0.3482 right_roll=-0.0623 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -5.3949, 6.5026, 1.7851, -0.0317, -0.0513, 1.033, 0.8821, -10.2085, 2.8103, 1.6825, -0.0659, 0.0659, -0.0171]",
      "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]: [-0.2493, 1.3998, 0.5526, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4042, -0.1505, 0.5328]\nstate[eef_state]: left_x=0.3863 left_y=-0.1272 left_z=0.1303 left_yaw=-0.4266 left_pitch=0.1634 left_roll=-0.04 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5903 right_pitch=0.3494 right_roll=-0.0608 right_gripper=0.5328\nstate[joint_eff]: [-0.1709, -5.1897, 6.2974, 1.79, -0.0366, -0.0708, 1.0281, -0.1709, -8.9094, 2.4821, 1.8095, -0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4002, 0.5503, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 1.7023, 0.5793, 0.9016, -0.4042, -0.1543, 0.5343]\nstate[eef_state]: left_x=0.3857 left_y=-0.1271 left_z=0.1292 left_yaw=-0.4265 left_pitch=0.1608 left_roll=-0.0404 left_gripper=0.0738 right_x=0.426 right_y=0.1383 right_z=0.128 right_yaw=0.5933 right_pitch=0.3544 right_roll=-0.0674 right_gripper=0.5343\nstate[joint_eff]: [-0.0889, -5.3949, 6.612, 1.7949, -0.0073, -0.0317, 1.0281, -0.3077, -8.4171, 7.2137, 1.7656, -0.0611, -0.0122, 0.5104]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d2b39b42a0a828d1aa7d3ca82eb28d64c3385a9df4a712cd045998ea2068bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba88d971e4bf23d5b82c39c9d9c8935808ccaa9279ce57e7da9eba4f44a3fc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faea2868fb58ec4006a1f234a438b3aee584de0d060d5414cf3aac62a12ac1e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab4317d5d6487d0a5e333440559ec85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.02,\"right_z\":0.18,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"After lifting, the pen is still visible on the table through the right wrist camera, so the wide jaw reading was not a successful pickup. I’ll clear the right arm to inspect where the pen now lies before making another, better-centered attempt.\"}",
  "call_id": "call_FY1eZ7pMZkbOoHO01R8n15M3",
  "id": "fc_0a7858731287a50b016ab43180e70087d088ff00a3b01d2bdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FY1eZ7pMZkbOoHO01R8n15M3",
  "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]: [-0.2493, 1.4025, 0.5446, 0.4332, 0.1799, 0.0238, 0.0738, 0.141, 0.8974, 0.5762, -0.202, 0.0883, -0.0288, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1268 left_z=0.1259 left_yaw=-0.4263 left_pitch=0.1529 left_roll=-0.0419 left_gripper=0.0738 right_x=0.3186 right_y=0.0331 right_z=0.1752 right_yaw=0.0745 right_pitch=0.0366 right_roll=-0.0698 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -5.5726, 6.6667, 1.8242, 0.0415, -0.0611, 1.0232, -0.4991, -2.5915, 9.8803, 1.9365, 0.149, 0.1783, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e18b12c029d131f26619e99b399ff7a3daf3a198e6b776a6511861211928b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9660ad9c7d1015edb7efd69a941df6825cf673b112b590526d64538aa8ad15e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d17206639171dbaffeb9bea075603bcd72201bcfd6d6d310e5bde4a2cc94a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.457 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.3998, 0.5529, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4038, -0.1505, 0.5332]\nstate[eef_state]: left_x=0.3864 left_y=-0.1273 left_z=0.1305 left_yaw=-0.4266 left_pitch=0.1638 left_roll=-0.0399 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5899 right_pitch=0.3493 right_roll=-0.0609 right_gripper=0.5332\nstate[joint_eff]: [-0.1983, -5.4632, 6.2974, 1.7949, -0.0122, -0.0611, 1.0281, -0.4034, -8.6906, 2.5641, 1.8339, -0.1343, -0.0855, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4002, 0.5503, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 1.7023, 0.5793, 0.9016, -0.4042, -0.1543, 0.5343]\nstate[eef_state]: left_x=0.3857 left_y=-0.1271 left_z=0.1292 left_yaw=-0.4265 left_pitch=0.1608 left_roll=-0.0404 left_gripper=0.0738 right_x=0.426 right_y=0.1383 right_z=0.128 right_yaw=0.5933 right_pitch=0.3544 right_roll=-0.0674 right_gripper=0.5343\nstate[joint_eff]: [-0.0889, -5.3949, 6.612, 1.7949, -0.0073, -0.0317, 1.0281, -0.3077, -8.4171, 7.2137, 1.7656, -0.0611, -0.0122, 0.5104]\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 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4025, 0.5446, 0.4332, 0.1799, 0.0238, 0.0738, 0.141, 0.8974, 0.5762, -0.202, 0.0883, -0.0288, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1268 left_z=0.1259 left_yaw=-0.4263 left_pitch=0.1529 left_roll=-0.0419 left_gripper=0.0738 right_x=0.3186 right_y=0.0331 right_z=0.1752 right_yaw=0.0745 right_pitch=0.0366 right_roll=-0.0698 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -5.5726, 6.6667, 1.8242, 0.0415, -0.0611, 1.0232, -0.4991, -2.5915, 9.8803, 1.9365, 0.149, 0.1783, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e18b12c029d131f26619e99b399ff7a3daf3a198e6b776a6511861211928b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9660ad9c7d1015edb7efd69a941df6825cf673b112b590526d64538aa8ad15e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d17206639171dbaffeb9bea075603bcd72201bcfd6d6d310e5bde4a2cc94a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGJ8vCbVhHRA4GUAE53xRz3hcSYCy7YEk16qeIjeRDmbZcJxAIJqEa6-2OJYNwMM93T1jlAlWn2RovcsMtWZQXhCFhm2tJ8XcjSpoahJjzVqTbqh36SUitsb3nY0YM-Bd435CA-ajxyKBPXcTqPMCvrPWFgw7Sbken8i0sNCJRuPCGp2GUnfVbasJkVuOnsUPgyhQ4s_dfGyqD1fcqDSXeRfnolxHthGt0N4oyWsuwbC2r5TG9OnkilElQZrWPtjET4kVu2gukqHzQjg5eVjQ-rwQJh52Ztu-T7-kCRK15UvzwQJm9OmZjq3icVTYlppeHNDBtZxWi8GUDgWo_fsaL3uQ_me87a_J0TmAOeHkp_ynU79wiHCneeALsZ8Qduo479bRmrSslroindSeGb8u1tRMqiMSsCluiKhgnksiMqOoh73ytlUDG2Ge-DIpYec6ou6DJL-Kc11_dETeJ8vDMpikEvBg9kAZzcn9F2Gx4OCGzWbiH4Fnhsh7pOaSMwwlf61ghBn9bWg3uUM0SX7-GZgyPt76NzkQ5QCPkeZ_aTVLwc3o5L7_A1Uex0W9swxjHb2Zu8uPFFXseKX9LUQL1T3Girh47HkVchpE77PvF3uGIGbYKjCzhRjJouFEkj13M-sDfy1_-WQP3MyA7iky4ce6rGKTTE6cRgYOEGuZfjZNKMjb1p3hOhLUWuYzCL19dsaqd1uU814gMzEcbpLmwPotOa1fXS1Rp1C-8fyg8vWw4QpGPIJu8rAqXSYQf-JANTw4cTbccxR-hvj3QzDALkUc6fGjaOKfYPnUFn2iyy_HLEzbzvC2GUrKBnVRrgGD10rS4LbAZZCx_tOrx8X1S5f9pdeQ93bFf20k2fAfblUcj7sN043Eu1xFdjbldns7DaLoBJXMjPTEu5W_udvfLD28blH9nQwZJ1LZ0abzTuF6Vmys3G4GXRfyrNaeZkeLsRTc_EmoweoLNq-H1M21MAaVJsIUYIvVoh2TmsqpMqD3s3aCfmL6JK9qwdK3k_aPv_LdSIxzU_AL8IF5-I7AADy_VDUlGF3DrKpyinYZ1nC2LxUOmmf5VYJoXMx4TBUp6EQgUwsVqtFId2EDK4w3OWa28NC2KvtoaKTfMa9P6s7IuczLKpI7UevANK3PbpD8eOxODwWHJRHllLBIKmPnUQ0OdjBkchDtyYjBKjwdkKoVg-VUTMylqvS8GjWnwNPIakG8qQari1fnZHb_yMC-niTVKO6dwz1lCgkAuQxb31Oma0yXDs4Cbgo6G29Q-zAmFv_dJEtU6neW1eUmDeS2wclEYI9JE5f5s5Lf4Vc2iEQgaOHStGJYT-RD4yItntC3rolAGPXdrRJf8wAw1OQnYFvNLDfhiovYVQFqCvfIWNebCc5db09XlAVwsEpvnhVIQehc0r56Y07DCXFTl-5tJFL7cj65hIRvrhDUpmofvqz8ocNRaHmzrpJEF2BpeDyuyUAta5IEgUIK-QO0Za1scfovU1kpt8BZVs2PcKcP1YhJyLaip_DcaxjjuH_f8nH_K0tL4SH6ompa6SmHSKsyRjN3uCmr8DxPnMFZBIPJjsyJMn_TBaOkcIwXA0UGrR4JE-yPFYvz9yIn-frAJ1TGm_eFLb6OeieuHdMXmhYqi5wNBgQ8vYVp-NlG49T68zsC4kjN4EKnJ0KwydeiNFfE-dnCSakt8Fb_EcADiA-RSZnv-uG2lz2qodZX6YVgs8rvRJ32-dC0dprnGyCSH30OPyEPNhs7N6xP1YuOk7P2nfP8XASYF_UV3OVwF8wlz07ab1tFPDeN8g6VyIlx_zWkPaT9H5KqyxjcuF1wYuECw0M4bsxJzbR64dKPCxxMOjyWxeuaJ4NFajS3_0f56zMLh2Es8PKOFUOsy5u5p0sQa8ukkJxmra8eQqCDng0g8E854wocLHt8f9H4ACdIwaxgJWZzuQ2RlS9nsR0LCXj3r8nkhVkIK9wBo_MLvbpTqvJxgeVmzt8Z8B8vnOw3ugpNOhS9rUbnlGqkka4bEoqBmGIURrUoAmCFyu0ZNcjCwRIUjGo-j_QzG_MO0LXoyqQN-dvSkOUgld2rHgz2TEcn87CIcknKvATbjlOZ1eO09GGSSHBJFsz7DUociYNWVIseQfD7xD46pxCTxiGBVSEv3Boz4vG7csCt6ZUW1Uxgx6vWnoXBhHgJPEfdfp4_zMBfMUWxDIR80O_kC_iJc_idDx2LctJtkLZfoBjxNSju1PtsJrR1xs97fafyjIzTI83wllMiEbfit2s--EjH6YQJ9GrlrwthRIt2vSZyDS6INLrebBT9cDI9WE3rfZMpqFFTEjA0a7Wd24eQEefFGwnbtcZMwliJIEa2Zp6GpYaNdEGvvdcxhbjtG0uVWMD4KbCpUDtaeMwdNsqIpRJqaUgZSOd4fBv6KRJkPFAhpZFytTFSl66NNu7rKoQqiG5ytz_mTR2xzXkq52Y1h-YDnVHSM-N4nWhmpKLe_ecYeUM242HsclZ_SZr0jxZs3Nl_nGSjlxd9Bx70_xZuvLpDIb23ZYA6RS0ZPvXdGE1J2cMR5twB2ybTHm_cPI5MvSwr5mPRH6qpeLs0UJVT7ryprQ6biRL0BZ7bK9vWKV_wLkc2-kAlluJX0RpfzrgfEnRBsGXaKWIWK6xHxYaeTG3HhM6kNKaCr0quQARWEQ_ZY-VXzn9QAa4cCo7W3c8bkpHd1V7xlrbk6jRhwYYE4j6Ade0bqAcZO2YVwl-YvWAqCsiPDW65bCSmQ0XVgP0HM1jqWrl16tl8neYPZ4hI6y1PD6XlFeM5ZO4zJ5I0NHwQeDi20GhhQlC8wJxB_WF5Lbxwg_75Mymw7eNjBSw2tmeMX3XV8KvKiDcpb3rEiNbtWaFJuJK-FQax3_ylcMhr4Cbao4cRA9RjBeLToBQkYqbTmUrRlw5SCou_J8Swoa_ziAiHbhCmtN1TQRP7BNmVPdvcjPLb9Z20dwACkiaXVI11tmdvsdpGN_0T18OKs5nP16aGx4xIoQu8r-IOjDFDbVRBH4bxvEBvR8MMK6OTn3x73DAHsGVsUWwB5psDP7phJQ-mQwtZ-AD6jOpGTrT3pj__oEU_liL6CygcfUwcKtI3wKsiQ_fGEV4tVWGF5hMOLTisCI-AEdo7qcXQS_mMb_mrvAb3Wkac4ndy5XK7ydHfUwkbydHDC95gyOV5PI9zwhi6gPStVh0SrNQxIZGcB5SJi95pIp9s0PYJ9P7yN3vE5n_YhK5I8=",
  "id": "rs_0a7858731287a50b016ab431847a3887d08124e983803cf061",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.17,\"right_z\":0.105,\"right_pitch\":0.25,\"right_yaw\":0.38},\"note\":\"With the right arm clear, the pen is still lying diagonally on the right half of the table; the cap remains held by the left hand. I’ll approach the pen again with the right jaws more closely aligned to its current angle and slightly left of the prior contact point.\"}",
  "call_id": "call_74xdEuFFgwnFtixVp2NPvOCX",
  "id": "fc_0a7858731287a50b016ab43188693887d0b1fa1fc794a219ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_74xdEuFFgwnFtixVp2NPvOCX",
  "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]: [-0.2493, 1.4044, 0.5404, 0.432, 0.1799, 0.0238, 0.0738, 0.3801, 1.6958, 0.5755, 0.6868, 0.0479, -0.057, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1231 left_yaw=-0.4261 left_pitch=0.1458 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4081 right_y=0.1578 right_z=0.0761 right_yaw=0.3628 right_pitch=0.1245 right_roll=-0.0726 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -5.4496, 6.5436, 1.8046, 0.0024, -0.0659, 1.0281, 0.4034, -7.1453, 7.2137, 2.2344, 0.0806, 0.0611, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a41227dd6e23d7da8b91dc008e73dcb26ede83f3b9bdff784c0b8fbcd8c4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e5ea5d5b693d583066f0e9156d8af424e2dfbaa68d267ba95b56af0ff2583e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee146a83618173216d79fde588be7ee91174568355b00c1c865bd674d74c8858",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.246 s

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

message 121 changed as sent

message 129 changed as sent

message 133 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]: [-0.2493, 1.3998, 0.5526, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 2.2734, 0.5686, 1.4776, -0.4042, -0.1505, 0.5328]\nstate[eef_state]: left_x=0.3863 left_y=-0.1272 left_z=0.1303 left_yaw=-0.4266 left_pitch=0.1634 left_roll=-0.04 left_gripper=0.0738 right_x=0.4282 right_y=0.1386 right_z=0.0105 right_yaw=0.5903 right_pitch=0.3494 right_roll=-0.0608 right_gripper=0.5328\nstate[joint_eff]: [-0.1709, -5.1897, 6.2974, 1.79, -0.0366, -0.0708, 1.0281, -0.1709, -8.9094, 2.4821, 1.8095, -0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4025, 0.5446, 0.4332, 0.1799, 0.0238, 0.0738, 0.141, 0.8974, 0.5762, -0.202, 0.0883, -0.0288, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1268 left_z=0.1259 left_yaw=-0.4263 left_pitch=0.1529 left_roll=-0.0419 left_gripper=0.0738 right_x=0.3186 right_y=0.0331 right_z=0.1752 right_yaw=0.0745 right_pitch=0.0366 right_roll=-0.0698 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -5.5726, 6.6667, 1.8242, 0.0415, -0.0611, 1.0232, -0.4991, -2.5915, 9.8803, 1.9365, 0.149, 0.1783, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5404, 0.432, 0.1799, 0.0238, 0.0738, 0.3801, 1.6958, 0.5755, 0.6868, 0.0479, -0.057, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1231 left_yaw=-0.4261 left_pitch=0.1458 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4081 right_y=0.1578 right_z=0.0761 right_yaw=0.3628 right_pitch=0.1245 right_roll=-0.0726 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -5.4496, 6.5436, 1.8046, 0.0024, -0.0659, 1.0281, 0.4034, -7.1453, 7.2137, 2.2344, 0.0806, 0.0611, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a41227dd6e23d7da8b91dc008e73dcb26ede83f3b9bdff784c0b8fbcd8c4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e5ea5d5b693d583066f0e9156d8af424e2dfbaa68d267ba95b56af0ff2583e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee146a83618173216d79fde588be7ee91174568355b00c1c865bd674d74c8858",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGOnqtB_Gt5Zf3r4bwKrOIFt0ptmY5IW1D6KIOA5oq8HL6ydCh0lv4RnuzHGMsIoBCvyvaeM4OwEJeEsU7u6L3qisX3xWdUv6sTq1OLjZZ4Eq-Dpl0WrLTqUvC4HD7dygDQlAylTbXbuFx4PpKtMkNRM_rX5elhkKvFJjUk3c3W53udqujzu-5gLEO9ODJEgUB3C5OqAYsQ9kSPE9xOhH62TH0CuWb1_QBVNvtq8c1a3hFNPsXcWPh9n2cII1a27evexJHx0pvgwlfbGTfKyc7NAmfOZnL9tEJOAu5OiAAR9NvKba8RZW0P27rnDnF8wlz0tgv5j-5aB7pnIb1U-RHHw2_W9OXJtJpzEvLms9-tbLm3TCfNVqKG-12sr-1-WqbhYLhnd1-mZxqvzlhiDCdhzak2Ug6o2sdXNj3lDB4dLSia6KgxlSKLF-2F8wk-yhILTKkFswOLAzWWalFLrInwTZEcTG7VH9cQurzuExM5IVrUtzMkhcctHCeFsfOOkzov9IjS4GZ7vmU9CpIcm0MeYmLbUaLuxtWF-1IM95rwnkkWVoObq8OiXcQuKESaWParXt-YGO6OGkG9TCEIx5gun9mAX0QQXjtXkEzj37_dKytvJG9Kes-OEK-6Ytz2TZ0h56A8elkLdBy5K6esn4pzqMklPI3mALrBnBOYWSs2q3DgWMdKduv7QYAstzHrfsq-Tl6HERm0VfBnQbdv2cINx77QGUszJ5B4_9qjPj-pfjNbfU4u0AO5pEPGLpCbFxRXM92xH_c8HnrY2KXp3wUCOwgahCvYahV3Jk17uLFUJm0MANwyJOUexrpOvpsCPI5fvpy0C2z4CDxORfw5eneKN7paeC5YgDp6XarQRtCCv4P6QxlOxExTlsm9BZ-6xn29_ON3L6fjKJWlCIM4WbOKt7S2D5tR3SD63PUdGxQHRDClLGMgWHuB7TfMxJilom1bHfWvct5PzlUvmY2vcSQez5G--_USyHU6PAOv5sLLxsvbY39AV04vZZZDZ6yq07X5TGZOo7WvB7qXHULAheabP91ce_4f7uuxKZgxTrmN2Mj4S64HmXH2sAwTtIDPEsP4DyAqHsp6muCvYzSrlA3aVXgk7ZrhYBQtEbMCgD0YcTJ_QmONn6XF-DXXhp-gUtipsooIxKn0O2iPce0K3yF8rTW6s3m9IJEKlNIJTYOJVfaUlYj2X0heqK3vVxONBUfb5wBA7V5k1uKEZa5xgGZGlYfdpK2VtVQMEuTIzKE9jmz-lu0fO4rjQMxeSuSTcof6MOZhJFGENKKUI7-IL3GvPrBAW_0_JGfZsUi2kJPcqluoj7ANQfgmZV96n6Y2VbL7F8bAMbXA29xXHXcXkPHDAumsu3FN35U-cK-pFNQEF55knNzQ_BcKdr5GNcOEWriO0AN4ydh1mV7jOSQayePmN9DpktqpYUoMTJse263CE8D4CvWdeA6XmLa6f_zb9MbM_wfLhWWTwYOU0i3jBkhfri5Hxu7bxS1niwVNX_xcYwNG670G99sqqLFD9aiQSRzBtl5ykMnQH7Td6pS8a_cCEdOv93UdGbuLnwxCdxt9WJ-0Oh4ouTL_dtR7cXa9clJhHQToGT5Cj6OvjchkKxdGb0rlP5hBS58GIDncYRZxFGVh7Qk1bkNq_Yp_ZRiitKNHBFNvK9E2V8yOvGj27gKVOeBiHa37OhM5Cuc7p_L_OQ0yeImZqcZzBKPllCmjSvSpLaVa54ZBXRfIfqJGpzqye_w-kDQZa7hNhj4AnczYDPaXUvVL2rXg6b7RkQhYUvVXJWzePwZ7JC6zCplFtuCN-DmslLnTOBLb1haefe6fMu1hv7Y30cCPKEcA4WIVnsYeVPJWeIVmZfbMfA-TPCee1xnG0ccX1ltX9-yjGLXeK_l7zeGiQiMx8fJMrFtA6cGeffh1svODY2qNyb8HjaH9gzb5cqaD2zu3jJOmD8rw6clYxIP3dVa9hZRE38iL14UkdlFmT7yIFmWhFVPmWj0o5ARyZ58Zi7pMQoo-HM_S7oQuf4xwgeHT2sxbN2liB-_WfiSaFcG30Tkd8PSvPPCD3x-9bzDXanE9RqR8gloNI6sfb39wCBoPS84DjyHjrJCpDty-rAjS9wefYl2mwc4zkg==",
  "id": "rs_0a7858731287a50b016ab4318bc18087d08f4130a941cd805f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_x\":0.43,\"right_z\":0.09,\"right_pitch\":0.3},\"note\":\"In the right wrist view the pen is about two centimeters to the right of the jaw column. I’ll shift the open right gripper toward it while staying above the tabletop, then reassess before lowering.\"}",
  "call_id": "call_EfvRxhG0itgJesSCtxXSJVJ6",
  "id": "fc_0a7858731287a50b016ab4318d503087d0a15ea6d0d877da5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EfvRxhG0itgJesSCtxXSJVJ6",
  "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]: [-0.2493, 1.4044, 0.54, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5488, 0.7769, 0.0006, -0.0723, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1232 left_yaw=-0.4262 left_pitch=0.1465 left_roll=-0.043 left_gripper=0.0738 right_x=0.4132 right_y=0.144 right_z=0.0731 right_yaw=0.3589 right_pitch=0.1562 right_roll=-0.0675 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -5.2444, 6.7624, 1.7998, -0.0024, -0.0806, 1.0281, -0.0479, -7.5829, 5.2308, 2.083, -0.0024, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d98f188b3579163c56cc0db2944cc56976fe607a605119dc6206e4397603742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48b641f4acec249f27e1dd1a0588b509076f5c719d239f01123feaf08c5a630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6a1454c93f795e1e488a5b91b053adc74815bec19cd3b6d339a90eb2f08c68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 2.644 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4002, 0.5503, 0.4332, 0.1799, 0.0238, 0.0738, 0.1501, 1.7023, 0.5793, 0.9016, -0.4042, -0.1543, 0.5343]\nstate[eef_state]: left_x=0.3857 left_y=-0.1271 left_z=0.1292 left_yaw=-0.4265 left_pitch=0.1608 left_roll=-0.0404 left_gripper=0.0738 right_x=0.426 right_y=0.1383 right_z=0.128 right_yaw=0.5933 right_pitch=0.3544 right_roll=-0.0674 right_gripper=0.5343\nstate[joint_eff]: [-0.0889, -5.3949, 6.612, 1.7949, -0.0073, -0.0317, 1.0281, -0.3077, -8.4171, 7.2137, 1.7656, -0.0611, -0.0122, 0.5104]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5404, 0.432, 0.1799, 0.0238, 0.0738, 0.3801, 1.6958, 0.5755, 0.6868, 0.0479, -0.057, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1231 left_yaw=-0.4261 left_pitch=0.1458 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4081 right_y=0.1578 right_z=0.0761 right_yaw=0.3628 right_pitch=0.1245 right_roll=-0.0726 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -5.4496, 6.5436, 1.8046, 0.0024, -0.0659, 1.0281, 0.4034, -7.1453, 7.2137, 2.2344, 0.0806, 0.0611, 0.0366]\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 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.54, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5488, 0.7769, 0.0006, -0.0723, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1232 left_yaw=-0.4262 left_pitch=0.1465 left_roll=-0.043 left_gripper=0.0738 right_x=0.4132 right_y=0.144 right_z=0.0731 right_yaw=0.3589 right_pitch=0.1562 right_roll=-0.0675 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -5.2444, 6.7624, 1.7998, -0.0024, -0.0806, 1.0281, -0.0479, -7.5829, 5.2308, 2.083, -0.0024, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d98f188b3579163c56cc0db2944cc56976fe607a605119dc6206e4397603742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48b641f4acec249f27e1dd1a0588b509076f5c719d239f01123feaf08c5a630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6a1454c93f795e1e488a5b91b053adc74815bec19cd3b6d339a90eb2f08c68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGRPJPQusmR4seyQV9zw8BH4Tca-G5zp3RVz9MNQ5El5hnJ3zhUqJ3BqChS3dHTCNbvhRLYo6GND4b6IXqG3Wb9twf_KYfUgSYeihe_NwE234NXVINbYtiVk-Bb-nc4va1Uo64PcmFum6v9QoCDPoMbGVNeB0TpXYErCBFN8JDGMF00jIa3mu-eM5VLANHCi07AyDaMHirhE45xoEFgIsTa1Xf_uMshZ_tnR_DI_uuwcpJEc0kGu78IdNQHritskGqraDz5TEVFAs77zbB8qm5fjOJY_ftyV2EDyxhFky1LG1OkYpTKDIk0oW2pVZBzVIrZu4cU4F6RZhtArMeeJhDSYLKwXAUf00lic1Q5y6VuCOY9X0RJEqJXu8H9ITT13ax7_WWWglVYhW8ifl6qLfgFEZyuBJut8fqw8Dp0QQ6N9aVUHNBwd_9JBnRtVw7atbFJAlmvkVY4yOo2uy2d3iPHfEFXE_CeRr_LOsjHw4boprvZOsHReNOp2zPkMjIXRJnjm0FPRicIEGNuu5SyTaxZc0Eb6m7fWK-Bf6M9HlpRa6EXZDowm-OB825Y7lB5mu6tb6lv7A74fAtzcgNYps2QwvihB_f2QSXoqnQUIJJNi-k2e2flF4KGz-_HO7SWG7vpsvzSzkm5GIhF6GeIiEaz8vL-cRBfSu0_al1UdnWJ1K7kUEPLCN6_5Udv50u1hFZcq8vP8ysGj1xyLGSTs0KCct0uUWgWjyISzPV_Gw_-TwA_j-fsQEfK7hQEBSTU3sHzFrOzw53UcmahVHBfRyvQt36xVAF_euBNCQ0ahKyFpPq912t_aAx1HZ1KkrTThx9nnfFrvDjelgtlbfLCyTAkRzF02O-Jo5VI3jnxHyC9oNImi8j3iUn4vDr30HhZ0ztkDkrS4j1UkCu3g2IwISt1xJo8JGvfKTALJoSC1XwdbJeNyJLcLa_dkyUBqrMO7vgfo_bWPpS2mv_K4D0JwdKN3Uhh47vQ7riWbk-dguEmQjmpFMno8aYyHwudQ-OgWm-QMghcyzMr9L3RCppTiM3PZl3LZWZX6VhlfG_3ubKQNvlD7gT_aGmrOqpAiebGhGZnoUUE47hGxlQod4RKOZRidUXqPhnLKKnR0HQoxGRSvF3q1ngLh19HowhjhL1uYfxPlcexeklzLLAhCAASda0WeMiwtABPKwEdXdhWN_H1tL_Rtvg1HuAzBGAnLPt02LpTad-nEjQl94TTDzYgYsWtnvH2Q1MdF0VW_8kJbmMq5vmH8TZA3Ks14fR2igQ5Y_KdiIvZYBuHL8WMK-_GNa9j0mznOq6c3dEUKhwEFyMNJr-4BvNY9nfQjeKk-D5boUp2wIicqKuqtwIQwgN69PdnfuRo5VJugZu-QEDAB9TJiX9pjfczPyAYrwGAl1q9ZP7Icq6UqvcWPZygG7-zxl1h3yMyDTSXACghUYhFrRCbbNkBZWSr3FkeU_kPqO91Us1_iamwCj1cbNpRwr8LyMfHgQVSC-MEmFzRr4peT9gWN_4z3O9d_cGOYxke9YgxJB8Pu1JkKAQALWEdVuUL91JIHQlIHnrKEl6ZUO71q-qI2khKZk67PeGHpdxraQ6iA0uAeVVm_ppjqxjPsGJl5kkLk3tXAnwxQ9fpILe6Rshk8IiffqK2GBZ2TS9NjZciFCYsh8f8K39sO6VpBCFycV6akQ==",
  "id": "rs_0a7858731287a50b016ab4318fe3a487d0a1501e07292fe789",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.105,\"right_x\":0.43,\"right_z\":0.12,\"right_pitch\":0.3},\"note\":\"The pen moved toward the jaw column but is still right of it; its tip is near the bottom of the wrist image. I’ll finish the sideways alignment and raise slightly before the table-level descent.\"}",
  "call_id": "call_tAGdt0LFxftcX4w72LYQbN5M",
  "id": "fc_0a7858731287a50b016ab43190de9487d0a43b3f00eae8c6c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tAGdt0LFxftcX4w72LYQbN5M",
  "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]: [-0.2493, 1.4044, 0.5388, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5476, 0.7776, -0.0013, -0.078, 0.9985]\nstate[eef_state]: left_x=0.383 left_y=-0.1264 left_z=0.1227 left_yaw=-0.4261 left_pitch=0.1454 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4128 right_y=0.1443 right_z=0.0729 right_yaw=0.3636 right_pitch=0.1556 right_roll=-0.0721 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -5.3812, 6.2701, 1.7851, -0.0269, -0.0513, 1.0281, 0.0205, -7.5419, 5.2171, 2.0684, -0.0513, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3adc693acb25e801b905f7d401b37e706947fc6b3c3eb2412b79fc194924887",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c943395abcf3b686c98ab9513fa8b3150b1ec65cdfe2b923c68a0d4f27bbf300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f453d0fa43ecf38f0a4235f49e625c7f9ef2ea05ba03ac015550ce94d50b70ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 16.65 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4025, 0.5446, 0.4332, 0.1799, 0.0238, 0.0738, 0.141, 0.8974, 0.5762, -0.202, 0.0883, -0.0288, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1268 left_z=0.1259 left_yaw=-0.4263 left_pitch=0.1529 left_roll=-0.0419 left_gripper=0.0738 right_x=0.3186 right_y=0.0331 right_z=0.1752 right_yaw=0.0745 right_pitch=0.0366 right_roll=-0.0698 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -5.5726, 6.6667, 1.8242, 0.0415, -0.0611, 1.0232, -0.4991, -2.5915, 9.8803, 1.9365, 0.149, 0.1783, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.54, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5488, 0.7769, 0.0006, -0.0723, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1232 left_yaw=-0.4262 left_pitch=0.1465 left_roll=-0.043 left_gripper=0.0738 right_x=0.4132 right_y=0.144 right_z=0.0731 right_yaw=0.3589 right_pitch=0.1562 right_roll=-0.0675 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -5.2444, 6.7624, 1.7998, -0.0024, -0.0806, 1.0281, -0.0479, -7.5829, 5.2308, 2.083, -0.0024, -0.105, -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 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5388, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5476, 0.7776, -0.0013, -0.078, 0.9985]\nstate[eef_state]: left_x=0.383 left_y=-0.1264 left_z=0.1227 left_yaw=-0.4261 left_pitch=0.1454 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4128 right_y=0.1443 right_z=0.0729 right_yaw=0.3636 right_pitch=0.1556 right_roll=-0.0721 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -5.3812, 6.2701, 1.7851, -0.0269, -0.0513, 1.0281, 0.0205, -7.5419, 5.2171, 2.0684, -0.0513, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3adc693acb25e801b905f7d401b37e706947fc6b3c3eb2412b79fc194924887",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c943395abcf3b686c98ab9513fa8b3150b1ec65cdfe2b923c68a0d4f27bbf300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f453d0fa43ecf38f0a4235f49e625c7f9ef2ea05ba03ac015550ce94d50b70ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGULq9MOKcygp-1Ja-kgjCR1Fk9Zht6oHtkwWJOxIsReuDcwnnTevzW55EC58CDzcetSOSySNN5I9iu2a4ZfkENHdC1F_J-twse5xEjv82dTCBoIT0oEygx2ZO2htEeLvumdNXGjypWEpqu5cZfMxUvcurpmxq7Deju4sD9F2oydg616CfWfXZfC_1p3swMe5wgwsl6DkW_xEs3bVFICV7yuIgoGMkCy73WJSL6ljDiQ9U_EsMwgNkXfHCffhq7BtoaowzLxQIHtJItmABJedyVYvBJZjmdzlGPVxz2p-jwaic0HL4ZLxZfNvaYltTPKGNCrk-xpDpoZmo8qN27rjj1mcpj88lTkcN3S4zilm2YbSjC3exx_ltM6P_3w10gHRrwpO80qeY6_ry64hxQfXII8PHYVE1QepuK74o7nlrWKr7l6Ib33hBljXCf-xjj4bqKl1B0rFzAyRGQA8whiw2ERp71dqeYG1yAQMnIrN12T_QxEO2keewXnO7ffzZfvjfA7ywbS0bMJieIk_55ksXeHAagSHBDTOuFH5aPw3ZXMtZzufJYqdtEaJii37ubJF-ZtTiw9lklte1a0WKcZf4tV1hs05QQSB_DN6xivu7LXnfPtA6IvR2wuIQrOpOFlsrHf_9VmS3UKiL8MDLQzpcin4bHlJSPcy4Dkr9l8tA5BYPN6ohWDkN7wzDzAs9Yhg80fkrA3Lh3PSlzqprb2hCyLASsC0UimW-lDvtDDp-3rtk1Qh7Bmxar5anFCk-3S1hIpvzmYtYBFW0bjfiySgXq1HtLM0XgdEqmBfnwn1CxgxfwUlQ6zI6VqdVakTnHqd35sxQ6yArOunutzaWOYN06Nzt95BmkVm8jlqMnrsxvmQCPYvlNP1IjvG3KBc9gUywVu7Rnz2taqqW-HX0wcFfIXA6hcac8Boag2hApfkT34shUKgt5dl-qx65bhO7mTLPoN4Hr5iR36fqYgBbLFWyoqQLBAoZDDDlLWSxjAewdmbzMGhA1iH-BnJGZnm23DMC4rooOCJW6QNZ85s_2xqyFwL67d1JBojmL7RsPn6wMN5xwcyDz3R6MUz4dLJHmwrTx3c0gtHorkAYQOUL7nVe5ryJCVOI_oTst3BuOx5pnTIBomPUNizsMx9oDPf4PXaPhcgHRE6PJl56zA561fBGvJyCF_xmtuGlEdVv7WhhtyI71f8Rc3qjkYNYefS-1wypiUjuWGpGiaKuz3otrVg9htuPDOXYkp7PJDtSt-iuPDBfzgSY5mAzrv45VMq8QMgoAsoa0Jg_zUVnXUap5FSOizNNnPR-veX3bxKn1gGLRTg639PJKHMruCbLaUvlHvggWlWyT05yFJgud8b5GAhVuaa6ubLhbSPEsCQ9J7CcXO0i3JIZ_6dCfYdOYHtt47c6BZaA7dGrEqPeC_pOVUH0uf65V0GmRdDUDAetfI8uMtMtD6deOR7Ju2l97BCFp_aN3",
  "id": "rs_0a7858731287a50b016ab43193706887d0b45a02695b6eaf3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_y\":0.105,\"right_x\":0.43,\"right_pitch\":0.3},\"note\":\"That combined correction did not move the arm, so I won’t keep pushing the same low pose. I’ll lift well clear of the pen first and then shift sideways from above.\"}",
  "call_id": "call_GkNYSUGKR2PCXM36PqV1ZWyC",
  "id": "fc_0a7858731287a50b016ab431944ec487d086c5a7af4846993a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GkNYSUGKR2PCXM36PqV1ZWyC",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4048, 0.5373, 0.4328, 0.1799, 0.0238, 0.0738, 0.1875, 1.4902, 0.627, 0.5594, -0.136, -0.1173, 0.9985]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1218 left_yaw=-0.4261 left_pitch=0.1432 left_roll=-0.0436 left_gripper=0.0738 right_x=0.4249 right_y=0.1086 right_z=0.1548 right_yaw=0.3639 right_pitch=0.2566 right_roll=-0.0731 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2034, 6.4889, 1.8584, 0.022, -0.0171, 1.0281, -0.9641, -8.1573, 9.3744, 2.1074, 0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb90aa99360d14ce577981a8c54a36e4124bd00adf9c6acedfe84195cfc9b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d84cc0e1c9c62a9253eb29f317310ee50018b517c5f23a27d16868af5123c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478383c3bc8214373da442d84f76a6b4dc2b69d6db6fc0a1e1d25210f0827483",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.564 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5404, 0.432, 0.1799, 0.0238, 0.0738, 0.3801, 1.6958, 0.5755, 0.6868, 0.0479, -0.057, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1231 left_yaw=-0.4261 left_pitch=0.1458 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4081 right_y=0.1578 right_z=0.0761 right_yaw=0.3628 right_pitch=0.1245 right_roll=-0.0726 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -5.4496, 6.5436, 1.8046, 0.0024, -0.0659, 1.0281, 0.4034, -7.1453, 7.2137, 2.2344, 0.0806, 0.0611, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5388, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5476, 0.7776, -0.0013, -0.078, 0.9985]\nstate[eef_state]: left_x=0.383 left_y=-0.1264 left_z=0.1227 left_yaw=-0.4261 left_pitch=0.1454 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4128 right_y=0.1443 right_z=0.0729 right_yaw=0.3636 right_pitch=0.1556 right_roll=-0.0721 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -5.3812, 6.2701, 1.7851, -0.0269, -0.0513, 1.0281, 0.0205, -7.5419, 5.2171, 2.0684, -0.0513, 0.0122, -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 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4048, 0.5373, 0.4328, 0.1799, 0.0238, 0.0738, 0.1875, 1.4902, 0.627, 0.5594, -0.136, -0.1173, 0.9985]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1218 left_yaw=-0.4261 left_pitch=0.1432 left_roll=-0.0436 left_gripper=0.0738 right_x=0.4249 right_y=0.1086 right_z=0.1548 right_yaw=0.3639 right_pitch=0.2566 right_roll=-0.0731 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2034, 6.4889, 1.8584, 0.022, -0.0171, 1.0281, -0.9641, -8.1573, 9.3744, 2.1074, 0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb90aa99360d14ce577981a8c54a36e4124bd00adf9c6acedfe84195cfc9b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d84cc0e1c9c62a9253eb29f317310ee50018b517c5f23a27d16868af5123c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478383c3bc8214373da442d84f76a6b4dc2b69d6db6fc0a1e1d25210f0827483",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0a7858731287a50b016ab43198895c87d09ef46131537c8a73",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0a7858731287a50b016ab4319c696087d0931149de1c314f25",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0a7858731287a50b016ab431a06cd087d0b4d1b08244e4c1e8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGmbzhZRO6iyvXpBBbBcO9zR7-E2tK0O3g87h2PH1oDf9sKSopmeg-HsjnVSnL4R2k9M_ssTWb2dsV8AfjvVX1qBa4eGXzt5CL4vjCgpbUwfQP_52b1t5dZlOxhnvfaikS-j7AV-id6wqFy-AYq_B1TEsuql1xnjbILrYlVPLJj-AXYN8MY_xnsVQp7QfbLtZkBuygE7Tc1YqtHjQEZWM9cod_PFFB0PZym1zzyi7zcNjeG4DrvjuBZ52OAyU_4umPpQXeWaI9s1NWqREEPBCk5JBelydGlOLt7ZI9MxDq6krKg2m6mnWkQBIeiUv5KgspkdwnOQAx8EA-8dUwrnf_iTN51SSGMkAmRmScrKd7y_WQhAcBgHv4tQrnhM6FlSsOjP_GEcVI3cTJTkErEE3dfXLlyI99zaoU1GLN457lJ2cp4OO6Blrn6qt5H_0UBk3XGnmG2jdD0KQ8xEK1ElLGIChvn6m3vb15cwbKwMG_-VMTANoEg0ekJWHyGdXL7PNN-7jT0ZAJljm8gX7dUIPVHbCSxDtM15OF3diel0tp-W8yN5R5HmUj1fJINOUMIjbaCBkeSAyCkpiYFJoni3wVSeeHFAm8L20StU3j4PFMkcbtCkrkmJuWUxRz2ZCWjtKUAR5FIS6AHA825CwlIKjK20ol4W-Ui6hVPOiP3i-rhKYWGziBLkDAa0M8phIqLh-k8IhBTJR-TyB6KHwC2NZ-ngA3kEmOykSG6FHtdXuJ4PwzKb7Wj7eiOR3ZMgzp6LOo_1AhnSA3okx7AdXRKMvLLFhCM7g4znC0hEi2ausMcCQBojto7FiOqDAM_46ezoJl-cLUjLvZVqYDwxMCF9Z7_cDF6aajqcqnvjjIJSiBIaMMntEY1XDBOt23h1r7ttwrZCT3BzEPe3dq8kwR8SJWZIzMUfFaeBYkq4oMzODwR2W6Mpia5TnsztGKrUwxKFO6Zq0Sv1IufJr8VfiEFf427x3rJVqvQp1sDlBDkJd9qI3qFkG_PRsZwyHL39CVYE6EPOjd4XJP7RG1n0BWe0Gb_GdEi7gAJTis_aarTT79Q6z48GMqBs5d-3ojOBFOd0qmJjCb1ZKIJaQz8E6DJhI_N4KU4lsbIXT7iclrJA5M4BFE2SE5hpshjuzfLvWgqK8zB5wnCsUaUhnhb-rzbT0O-gW1BILiSQfpwyuMxT9m_x1i3ur0La3VCYZBz_OcxV-YIs1rSFGvgMIb6yPSAww_cZRrJPU4Vl2RmO8pe0iEuUu2vAmdB5IkYTEbOamQinjaB3546N01SL5KjQDFQjH__LNuYZJzpiC5P4B6VNfobyPTSoaLWUfaWdz9tz-pRydC1ltengg6VVhfVxVbS6XRX4TSBatgfC5F2MMYgJK6-igWQyjgtMVfGFMyNWKHMKvEERJeGwv0gFojXNsBZ_FVyYGFvauSLA_Bjzl7jFJAxqb0NKw-fNHAbKtSGL5Q5xsdHsxrupgNZFfUhnpr2CqSsZfq6j38yht49lk4fPpUyuWpCKVpRKT7_H6M872Piwhkjlv6nF7stFTbAEojmBMm4Sok8_f-KM2niKf9ULOFuUFfOSNxrqyptOJ9cJ6ODlJ3pAi1pftHeFgzxD5HlplZ2bf57RaHoSXeO4AUaE-7CrkZrNP058-DPLXp_fjpm7SJS-xtbgj3lpY8MkJnr7LyYvzJrf_jKd20i3GlR-vm7NAj8vpVTbDAa_bYuoJz70b7zRAn_GmcwWISALWTMIWjZyAcNHo8vlMZc7i8c_8f7nZG2Yei2aBMgX5rIniZp8fP2a3EYpDL6i2fQmCWsN6An4NRKOk8eQyXLuqpcV9BtTKa13G62whNwqeN9HpRzHmhUia-KsjVvwR5qw9mPJZowFipfCluhwAYinlBS5jbOgZM=",
  "id": "rs_0a7858731287a50b016ab431a3d28087d0acb87045effae9d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.045,\"right_z\":-0.01,\"right_pitch\":0.5,\"right_yaw\":0,\"right_gripper\":0},\"note\":\"The pen has shifted toward the right arm’s base, outside the left arm’s comfortable reach while it holds the cap. I’ll put the closed right jaws just to the pen’s right at table height, aiming to slide the pen toward the center where the cap can reach it.\"}",
  "call_id": "call_Ex3hA0IJYWsEC0KGVvC5fct8",
  "id": "fc_0a7858731287a50b016ab431a529f487d0918a66bc2af781fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ex3hA0IJYWsEC0KGVvC5fct8",
  "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]: [-0.2493, 1.4052, 0.5369, 0.4332, 0.1799, 0.0238, 0.0738, 0.2848, 1.9312, 0.2337, 1.5345, 0.2569, -0.0444, 0.0102]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1216 left_yaw=-0.4261 left_pitch=0.1428 left_roll=-0.0437 left_gripper=0.0738 right_x=0.376 right_y=0.067 right_z=0.0696 right_yaw=0.0667 right_pitch=0.3993 right_roll=-0.0906 right_gripper=0.0102\nstate[joint_eff]: [-0.1573, -5.3812, 6.2427, 1.8339, -0.0317, -0.0513, 1.0281, 0.4991, -7.8427, 2.2769, 2.1612, 0.1001, 0.0659, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714829042a18263782881b29118771f23c99d5b710e49ce3e4541245e9fb2aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a8ae8e4f1fa27caa67c8f558371e97ef74e479c8a255bc7ea86ec450501e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4056fea222243c0cf518b0a49e9e515cd9d7389b415429aee1fae37a5c2b6ab9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 2.627 s

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

message 137 changed as sent

message 145 changed as sent

message 152 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.54, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5488, 0.7769, 0.0006, -0.0723, 0.9985]\nstate[eef_state]: left_x=0.3833 left_y=-0.1265 left_z=0.1232 left_yaw=-0.4262 left_pitch=0.1465 left_roll=-0.043 left_gripper=0.0738 right_x=0.4132 right_y=0.144 right_z=0.0731 right_yaw=0.3589 right_pitch=0.1562 right_roll=-0.0675 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -5.2444, 6.7624, 1.7998, -0.0024, -0.0806, 1.0281, -0.0479, -7.5829, 5.2308, 2.083, -0.0024, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4048, 0.5373, 0.4328, 0.1799, 0.0238, 0.0738, 0.1875, 1.4902, 0.627, 0.5594, -0.136, -0.1173, 0.9985]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1218 left_yaw=-0.4261 left_pitch=0.1432 left_roll=-0.0436 left_gripper=0.0738 right_x=0.4249 right_y=0.1086 right_z=0.1548 right_yaw=0.3639 right_pitch=0.2566 right_roll=-0.0731 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2034, 6.4889, 1.8584, 0.022, -0.0171, 1.0281, -0.9641, -8.1573, 9.3744, 2.1074, 0.0317, 0.0073, -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 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4052, 0.5369, 0.4332, 0.1799, 0.0238, 0.0738, 0.2848, 1.9312, 0.2337, 1.5345, 0.2569, -0.0444, 0.0102]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1216 left_yaw=-0.4261 left_pitch=0.1428 left_roll=-0.0437 left_gripper=0.0738 right_x=0.376 right_y=0.067 right_z=0.0696 right_yaw=0.0667 right_pitch=0.3993 right_roll=-0.0906 right_gripper=0.0102\nstate[joint_eff]: [-0.1573, -5.3812, 6.2427, 1.8339, -0.0317, -0.0513, 1.0281, 0.4991, -7.8427, 2.2769, 2.1612, 0.1001, 0.0659, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714829042a18263782881b29118771f23c99d5b710e49ce3e4541245e9fb2aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a8ae8e4f1fa27caa67c8f558371e97ef74e479c8a255bc7ea86ec450501e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4056fea222243c0cf518b0a49e9e515cd9d7389b415429aee1fae37a5c2b6ab9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGqzRzkFiCIkBpDU6XFLxHwcg_DzxWs1HhNIWNCPC1HQHHBan3YjP7RJ9ViseMR4UB4ET4AZ5Tw_v21R1D9ucfm9LciPGQtZwyAiYxfy61YACJWXJ24b72eB8RMNH4eA86qsDs8gOaQcdjE1ENXnlnGIJsHvKbrOFMrD0KU2jL4aSVCoxsd-IYStpkr9BdaiJGUoaFQ6glwjKwFU5OAtWsA3ESsvpMPMhV-nQXzTpC1qwccGdNIyCD4O6ySDozrULRhvIB07CH1Vxvjh3tA5QlOK1_yDpwvVPw0MFnf4I1vnu18GpqHCOVxaLSe4xH-i7D4UAVgfnu56elhJuF3sZJeZnf-JmiJGCtmjDdKZYklL0B0iHiQoSzUXPUFPyaZyjMR4qXtIYCDVU_1if-tE_9vqzsWMGLEXtQeRX4nRt86vyt56O_c83B5DLE_4xY22CAXsJW5Kibl6Nx9sILhp9MNgmYwqWt6s2XC2zom8K_khNn_5pbmxCxtbX8yOLc5Eam010Cg847N9vbQ7Um-OYlHGx0ZgWi_foJX-Rx-lkocFBaSdDbhDWxmelcDhWE6Gj51aDfh5Q0o2UZN0hCORk4HtfO9pBLzewWTX8FjxqbQtfsts28prxNrRUuKcOSdT66yQ0NHH6cB7RcsTbHl69bKnKdKX1XIATRv1tqsLlboFQ9-ABg_trDm-NT4kIcu_3sFpORLBuQBOZ9H_675NJFxsjPdWSK5GYwYV40_ACxilFqrUwPDmpHw87pLCiqysCS2UthRrI10S5TEXugHSObWns4y44y5VB91HWdTcBhBo_ckHOCvRA-OWFA0TqH8aVuh5NxcXhejnKSchb2S6SNspeQ095MNvXWe4SbjWb27qbTNhJ_uEiW-Z1XxkB91oBfiKZUSy4MknV8LdCAG5nytdmDThmZgcqcL7Ep08LOFi2kZlC_MGm4-5tTj9s4jrdxEDqYrJhZ1fOKzAv2R5HLlnVEVQ6yLvln_2vluchzjLSQUlRVC0y8zsBaH5hU5vedJRbEnDdzOrt67EXOHWS9L_9dLuwLhMo3tviRWAcpMKnb4_8_COdVsPLonqoggEdlYOBB9ic_ne-Q-MmQ04fs5MNzxFsPUukIveO4WLBjOnkuGC8jL0jCZTJFXyB4s57u53VAtL4JAWNfANf8uxkAT3Srrtxc3m8U2qEgSIS6glIqsh2nOBh1XFhNsPK8sZfQ47B57QH7yX7F5klPxLyJQmWduivI3GvaJkgQrlmnxyZ9-62Le-9Cm8k_N6SRLKVpB0dtCSPBl63IP-Q4Q6s_oGl5A5uBqUEqW6mMP0IYY4r4XruqN2LSQpPLPJdHGXmouJJ_icT1Y1He9SGHeDBODUpxkHsnX31sChsVCEpF85GBt14LOI-iiNaaCxFvYgPkHViLaoJ5YUDnHOCpCKuv3D8M_1Hxp_yNS-1d1t4uQtFIXg56iHtL6OjmyrWoAX1fabe2FsInBQuFRHQfl4GAbD0pL6Jbhw5bINbBC-2QdlqyPMM_FDZamStDNT25apggpk4ZTtfYE4raheVLrYKLFmHm9VYJ5aMV0zM9UO-u58mL5OosAHp35tDFFs515RvauD01bvpZGdemV7ljGu5Y7n43Gvdrcu4g5BZZkFPR06mBi5Dk0a9FpiuN5gUGJsbWH8QF5ftmmckcpmKXeHgDwMEwtmAbZPu_swpjAlWRdppSbtabDixaTRDD0cMLyPizgldbNQjMLa1DVymbqlZ3m4IUYZCe6KFM65PWAN3h2N9Khgkn6lkbIGGjz5KgjRpasZgCTNsY1ct70y-uhxLauwQI5oSIi_5sSNYpM-qmwcGvym43LKF-ssUsn2amMZnORX1TvvsWUSpXYe5ZS7VwhOdv9RrI27aahqwAxTbnJpfYuhv0cywi4IDPY-op6QZMSeFvijeJ_CaihRBYpSi9Ebw6gXEl4z-xQrLiZnnbKZm1l-er_KMz-DyQysy9rgZUpEpM1wHbtbM1XBJgQS-Cl8y5Q8JAXvg0SOS0fSKCU6TwpOA5WXTIPetn9yuau8i8S0q5bEloKp0In2pvRi9wnpev3NdE64-v9dyTYqUHEP1mx16cohziHg9YdY6J52WZC8xYyjlVlVvMevgcI2PsHOAiEN710-qXX-Ypkx0pvImswS5c8qAykq6C0dT1ZqEKV1Y1D3kEh9J43qDU0LezOaxtMRluSKQA7x1VC5jq6KpIzMvrjRs9v4NFQu0Kw3K8CcwYrOPKy1B0ljUx-hu7b4BH37fk46yNQHb1Y-74BIuY=",
  "id": "rs_0a7858731287a50b016ab431a85d8c87d08121a7f02c225d3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.02,\"right_pitch\":0.5},\"note\":\"The right jaws are now to the pen’s right, but the reported grasp point is still about 7 cm above the table, too high to slide a thin pen. I’ll lower without changing the sideways position and see whether this pose can reach it.\"}",
  "call_id": "call_Vp45PDbSNJHaHcnOfpP3BZN4",
  "id": "fc_0a7858731287a50b016ab431aa1b7487d09b389e785fddcc50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vp45PDbSNJHaHcnOfpP3BZN4",
  "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]: [-0.2493, 1.4055, 0.5297, 0.4316, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2951, 1.5555, 0.2798, -0.0486, 0.011]\nstate[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.118 left_yaw=-0.4258 left_pitch=0.1338 left_roll=-0.0453 left_gripper=0.0738 right_x=0.3896 right_y=0.072 right_z=0.0628 right_yaw=0.0597 right_pitch=0.4056 right_roll=-0.0975 right_gripper=0.011\nstate[joint_eff]: [-0.3077, -5.1761, 6.8444, 1.8242, -0.0269, -0.0366, 1.0281, 0.1983, -6.5846, 3.0291, 2.0147, -0.0513, -0.0073, 0.4176]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d4f6eab16073fa05753ca3eb7c9b0ee5260a16b9468a2695d5f61b36f04f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acac1f0204e3d4d39ff1ff64ec7fc4e3b5f05faea8892b38acf0588b41aee72a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91a8ab0797a7ab33e562d2a73064c474a8f6288dd5af8aecdde00132d118fc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 6.289 s

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

message 141 changed as sent

message 152 changed as sent

message 156 changed as sent

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4044, 0.5388, 0.4332, 0.1799, 0.0238, 0.0738, 0.3275, 1.7271, 0.5476, 0.7776, -0.0013, -0.078, 0.9985]\nstate[eef_state]: left_x=0.383 left_y=-0.1264 left_z=0.1227 left_yaw=-0.4261 left_pitch=0.1454 left_roll=-0.0432 left_gripper=0.0738 right_x=0.4128 right_y=0.1443 right_z=0.0729 right_yaw=0.3636 right_pitch=0.1556 right_roll=-0.0721 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -5.3812, 6.2701, 1.7851, -0.0269, -0.0513, 1.0281, 0.0205, -7.5419, 5.2171, 2.0684, -0.0513, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4052, 0.5369, 0.4332, 0.1799, 0.0238, 0.0738, 0.2848, 1.9312, 0.2337, 1.5345, 0.2569, -0.0444, 0.0102]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1216 left_yaw=-0.4261 left_pitch=0.1428 left_roll=-0.0437 left_gripper=0.0738 right_x=0.376 right_y=0.067 right_z=0.0696 right_yaw=0.0667 right_pitch=0.3993 right_roll=-0.0906 right_gripper=0.0102\nstate[joint_eff]: [-0.1573, -5.3812, 6.2427, 1.8339, -0.0317, -0.0513, 1.0281, 0.4991, -7.8427, 2.2769, 2.1612, 0.1001, 0.0659, 0.8034]\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]: [-0.2493, 1.4055, 0.5297, 0.4316, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2951, 1.5555, 0.2798, -0.0486, 0.011]\nstate[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.118 left_yaw=-0.4258 left_pitch=0.1338 left_roll=-0.0453 left_gripper=0.0738 right_x=0.3896 right_y=0.072 right_z=0.0628 right_yaw=0.0597 right_pitch=0.4056 right_roll=-0.0975 right_gripper=0.011\nstate[joint_eff]: [-0.3077, -5.1761, 6.8444, 1.8242, -0.0269, -0.0366, 1.0281, 0.1983, -6.5846, 3.0291, 2.0147, -0.0513, -0.0073, 0.4176]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d4f6eab16073fa05753ca3eb7c9b0ee5260a16b9468a2695d5f61b36f04f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acac1f0204e3d4d39ff1ff64ec7fc4e3b5f05faea8892b38acf0588b41aee72a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91a8ab0797a7ab33e562d2a73064c474a8f6288dd5af8aecdde00132d118fc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGtixZ6kmS416DggrpQOgG3p9jNa_43ciCM9Drn7nLUOFV1fztyyTn7HOSKLXrH8GdnLEK1QXRORfm3ayQ3WGPoHGZ5yyYHR7m4U6HhWjIBOUywRXd30nt39zsuRjA4D6Hos5rjZu_Kz4WNZJl7HBRlTYxGFpKDUgXAv_TJ0xvlSj2f9rDwG6-964kObwamXBeY2RKRRoZilWuwy6rtSzyy_WhpQBIJd-Ch2anCmX6xdQo-K0D-g1T8NmfvVIDiCssplvnioZwk3C2lK5ZtTm8HdNquFHNr6PlvoVwC5Oifew0aPlCm6Ng1PuWEyi-EnHj569nNGkPcDOaxhoi1cALeg_TUez-fuNSUf010GTRxNBRHAvXL-tGHvK5M96RS8FyhHREWcWDqLGZzMnC4zn31stAspq4rYXVu8UYNsJuzT7L8XxQjT6eI3yIf9o5agWY0Uk7uhEKKr0n9EMzvX2IQXtdska2HWFfYHvZ60JMyAJneuSfcNNNOwl-Sanh-kpETNdL87eK8ShnI7ueSIPvF_Cpp86wl-QW9KB-srQZO0piSzboIFUM477QbQNcIYHRxM4_dimYp1ZDdR0K8tChDf2zArwH4SSCaIfJa5Fjw1j8ztEr-4esH6LP7TnlD1_6lZygQYsjtO6b7S6SMseX0KYbxs51QazNm9m7qdTPQfCfqejBYi5qsMaB4boWm9hcWJr2eImsl9Vqzi95MT5vUsvJBVC4P8MU_pfHsVM0eZMkUPK29kAb4UKBxK8wqQBv0KCbojf8BDIWinS2X79jGT1PqD3fZsoSG_H8r948ansIRqji19gyxJ-NcqZndG0ajZHQFSHv101O7U_7j0eNz0njKbgfXDAFyPn2ShVgs62qQRJ5ZNFwqT4fPY8faGPLu8aohV2RvZasmjT6eXrd2C12CBzQ2A9w2QuVGUmE4oG_u_lg09E7Ggji9obqKnFzBPSpx1n8L30hlb_TOUnHVP1DsF7vEGCKQVKe89Y2gsWGPahTWs8ScPMd_SgqjZe8jN_kjYZszarfYZos4dwIEPInH4NgAXI3MBTYXJC0p8SYr1b3s52sR2aFrYOfyoY8-6G2DkeYswM_KCi4LTZuM_nkWip26SDyC22sOb1jeC26D02q6-0A1pPVVjUrnZ-MaSkcARLq2k1vq9a75qzYJMIjESJv27kQHrQ5tuX1_9uDp-kSXS1SBXE9A1g-QmMDa1XQlYcaNGGzSpSqQhkhXI14Kxz7L6M0N5nm2TEaoS1yYfXpLhKIUi5Pb68M7EcVeMbTLTZ1xT_QMuUcYy6wtcLuUadZ0mdmwUqrgrco4BJK9tiqYBu9katmOQ1ik1TJyPd-HCn6eSntN79owy49PTbmfljUezrBCFtp8srIBUumMm6WDQj4AD5Z-MaA5DIrdp7AnYudDdq3rkHNUcnWnwwu7VjKeaYEXY6cW9zbJmiU3y3K-PkMpSW_Z_HEQCDSWUhf2LySqD_A7_cbk2ZGPZ_S4jg6oMiiowvb5XvvFd-8Ql_nKthyiDY-ppmUB5vdLYATuTyisPcncGzRNqzJc86C4hiCG0HSxgHfwA-mjQavRHaHnM0Z9Tdsp4JIv25Uro3UrVnh8sNT2CUB_wGZqAA==",
  "id": "rs_0a7858731287a50b016ab431aca93487d0b0f8825c383c58d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":-0.01,\"right_pitch\":0.25},\"note\":\"The right arm still stops about 6 cm up at this shorter reach. I’ll move to the farther-forward configuration that has reliably reached the tabletop, keeping the jaws on the pen’s right-hand side.\"}",
  "call_id": "call_PaOxaJlGd9kWm4HZ91QZ3jIZ",
  "id": "fc_0a7858731287a50b016ab431ad268887d0b8ecbd5ff44b03e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PaOxaJlGd9kWm4HZ91QZ3jIZ",
  "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]: [-0.2493, 1.4055, 0.5297, 0.4324, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2947, 1.5555, 0.2798, -0.0486, 0.0107]\nstate[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.1182 left_yaw=-0.4258 left_pitch=0.1345 left_roll=-0.0452 left_gripper=0.0738 right_x=0.3895 right_y=0.0719 right_z=0.0627 right_yaw=0.0597 right_pitch=0.4052 right_roll=-0.0976 right_gripper=0.0107\nstate[joint_eff]: [-0.335, -5.1214, 6.1744, 1.7705, -0.0073, -0.0562, 1.0281, 0.4718, -6.5709, 2.6051, 1.9902, 0.0073, -0.0464, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168c824a324b12bb2fd45dcd26f003742b097f7bfa181ee7453cebe422910d22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74e5f01d880610fb566328ad2873f2cafdb004e03ac4cdabe84330ef60ed0ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff6d005655471534206f1114f12105267d09b64ea6eb1e1a58412ff2d841a66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 3.171 s

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

message 145 changed as sent

message 156 changed as sent

message 160 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.4048, 0.5373, 0.4328, 0.1799, 0.0238, 0.0738, 0.1875, 1.4902, 0.627, 0.5594, -0.136, -0.1173, 0.9985]\nstate[eef_state]: left_x=0.3826 left_y=-0.1263 left_z=0.1218 left_yaw=-0.4261 left_pitch=0.1432 left_roll=-0.0436 left_gripper=0.0738 right_x=0.4249 right_y=0.1086 right_z=0.1548 right_yaw=0.3639 right_pitch=0.2566 right_roll=-0.0731 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2034, 6.4889, 1.8584, 0.022, -0.0171, 1.0281, -0.9641, -8.1573, 9.3744, 2.1074, 0.0317, 0.0073, -0.0122]\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]: [-0.2493, 1.4055, 0.5297, 0.4316, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2951, 1.5555, 0.2798, -0.0486, 0.011]\nstate[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.118 left_yaw=-0.4258 left_pitch=0.1338 left_roll=-0.0453 left_gripper=0.0738 right_x=0.3896 right_y=0.072 right_z=0.0628 right_yaw=0.0597 right_pitch=0.4056 right_roll=-0.0975 right_gripper=0.011\nstate[joint_eff]: [-0.3077, -5.1761, 6.8444, 1.8242, -0.0269, -0.0366, 1.0281, 0.1983, -6.5846, 3.0291, 2.0147, -0.0513, -0.0073, 0.4176]\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 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]: [-0.2493, 1.4055, 0.5297, 0.4324, 0.1799, 0.0238, 0.0738, 0.297, 2.0079, 0.2947, 1.5555, 0.2798, -0.0486, 0.0107]\nstate[eef_state]: left_x=0.3807 left_y=-0.1258 left_z=0.1182 left_yaw=-0.4258 left_pitch=0.1345 left_roll=-0.0452 left_gripper=0.0738 right_x=0.3895 right_y=0.0719 right_z=0.0627 right_yaw=0.0597 right_pitch=0.4052 right_roll=-0.0976 right_gripper=0.0107\nstate[joint_eff]: [-0.335, -5.1214, 6.1744, 1.7705, -0.0073, -0.0562, 1.0281, 0.4718, -6.5709, 2.6051, 1.9902, 0.0073, -0.0464, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168c824a324b12bb2fd45dcd26f003742b097f7bfa181ee7453cebe422910d22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74e5f01d880610fb566328ad2873f2cafdb004e03ac4cdabe84330ef60ed0ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff6d005655471534206f1114f12105267d09b64ea6eb1e1a58412ff2d841a66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0a7858731287a50b016ab431afb2d887d093f5d56037332517",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0.01,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The right arm will not descend from this short-reach pose, and the pen remains on the table beyond where the left arm can bring the cap. I’ll set the cap back down near its pickup spot and park the right arm rather than continue forcing an unsuccessful assembly.\"}",
  "call_id": "call_z9rSlnPWAWpr486rt1GYh1ZM",
  "id": "fc_0a7858731287a50b016ab431b2df0487d0af9c717be749a69f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z9rSlnPWAWpr486rt1GYh1ZM",
  "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]: [-0.2493, 1.887, 0.3923, 0.981, 0.1799, 0.025, 0.9953, 0.0483, 0.6952, 0.152, 0.4873, 0.0639, -0.0872, 0.9948]\nstate[eef_state]: left_x=0.3741 left_y=-0.1241 left_z=0.0035 left_yaw=-0.4252 left_pitch=0.0655 left_roll=-0.0565 left_gripper=0.9953 right_x=0.3043 right_y=0.007 right_z=0.1924 right_yaw=0.0313 right_pitch=0.501 right_roll=-0.1006 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -7.2, 3.0564, 1.9267, 0.0562, -0.0855, -0.0269, -0.2393, 0.0615, 10.1402, 1.7558, -0.1245, 0.0611, 0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc032e77a363b0ed44ef632a78cee9d34bbd754c3cc81a1b6abb8c9d296f6249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a5d5b2200a1b9705401f65358100e883b96608ac170bd5b045419403d987bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a898077da5a7cf3170af957c11276a357ba77a87b0e2a20fe840bcfd70da9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]