adhoc

completed
2026-09-23T19:38:38.814490+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
214.3 s
total steps
342
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe pen lies diagonally near the middle-right of the table, and the loose cap is separate on the left. I’m positioning the right gripper above the pen, with its jaws turned across the pen, before lowering to grasp it.
move_to
right_x0.3500right_y0.2350right_z0.1300right_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0154, 0.791, 0.6086, -0.382, -0.0235, -0.0151, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0032 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.347, 10.5641, 1.7509, -0.0659, 0.0611, -0.0513, -0.8957, -1.2239, 9.8393, 1.9609, 0.0024, -0.0122, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.235,"right_z":0.13,"right_yaw":-0.65},"note":"The pen lies diagonally near the middle-right of the table, and the loose cap is separate on the left. I’m positioning the right gripper above the pen, with its jaws turned across the pen, before lowering to grasp it."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pen is visible just ahead of the right fingertips, nearly horizontal in the wrist view, so the current jaws would close along its length. I’m moving slightly forward and rotating the gripper to close across the pen instead.
move_to
right_x0.3700right_y0.2350right_z0.0750right_yaw0.6200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7975, 0.6029, -0.3809, -0.0216, -0.025, 0.9996, 0.944, 2.0617, 1.599, -1.0615, 0.963, 1.4654, 0.999] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1783 left_yaw=0.0003 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3481 right_y=0.2396 right_z=0.1186 right_yaw=-0.5809 right_pitch=-0.0428 right_roll=-0.0403 right_gripper=0.999 state[joint_eff]: [-0.1162, -1.6205, 6.9538, 1.7265, -0.0611, -0.0122, -0.0171, -0.3761, -11.0838, 7.1726, 0.1148, 0.8376, 0.3101, -0.022] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.235,"right_z":0.075,"right_yaw":0.62},"note":"The pen is visible just ahead of the right fingertips, nearly horizontal in the wrist view, so the current jaws would close along its length. I’m moving slightly forward and rotating the gripper to close across the pen instead."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe pen now runs between the right jaws in the wrist view, with the jaws crossing it near one end. I’m closing at this position to test whether the pen is securely grasped.
move_to
right_gripper0.0000right_x0.3550right_y0.1980right_z0.0350right_yaw0.2950
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8021, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6596, 0.7261, 0.1188, 0.1482, 0.2325, 0.9989] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.177 left_yaw=0.001 left_pitch=-0.0111 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3546 right_y=0.1979 right_z=0.0358 right_yaw=0.2949 right_pitch=-0.2407 right_roll=0.0523 right_gripper=0.9989 state[joint_eff]: [-0.1436, -1.6479, 7.0085, 1.6923, -0.0708, -0.0415, -0.0171, -0.1573, -8.1162, 5.4496, 1.7607, -0.1294, -0.0415, -0.0171] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_x":0.355,"right_y":0.198,"right_z":0.035,"right_yaw":0.295},"note":"The pen now runs between the right jaws in the wrist view, with the jaws crossing it near one end. I’m closing at this position to test whether the pen is securely grasped."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe fully closed gripper reads as empty, and the pen remains on the tabletop. I’m reopening and advancing about 3 cm along the pen to bring it into the actual fingertip pinch point.
move_to
right_gripper1.0000right_x0.3800right_y0.1950right_z0.0350right_yaw0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6638, 0.7052, 0.1173, 0.1352, 0.2283, 0.0098] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0141 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3469 right_y=0.1957 right_z=0.0262 right_yaw=0.3066 right_pitch=-0.2688 right_roll=0.0517 right_gripper=0.0098 state[joint_eff]: [-0.335, -1.2103, 7.0496, 1.7314, -0.0513, -0.0757, -0.0171, -0.0752, -7.0769, 7.2274, 1.5165, 0.1929, 0.0269, 0.7595] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.38,"right_y":0.195,"right_z":0.035,"right_yaw":0.30},"note":"The fully closed gripper reads as empty, and the pen remains on the tabletop. I’m reopening and advancing about 3 cm along the pen to bring it into the actual fingertip pinch point."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pen has shifted down into the open jaw tips after the 2 cm advance. I’m closing again here, then I’ll check the gripper opening and lift only if it is holding something.
move_to
right_gripper0.0000right_x0.3700right_y0.1940right_z0.0270right_yaw0.3100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5163, 1.7275, 0.8062, 0.0589, 0.1005, 0.1875, 0.9951] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9996 right_x=0.3698 right_y=0.1937 right_z=0.0274 right_yaw=0.31 right_pitch=-0.2937 right_roll=0.0449 right_gripper=0.9951 state[joint_eff]: [-0.294, -1.4291, 7.0496, 1.7558, -0.0562, -0.0806, -0.0171, -0.9641, -6.9538, 7.9248, 1.4969, 0.0317, 0.0562, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0,"right_x":0.37,"right_y":0.194,"right_z":0.027,"right_yaw":0.31},"note":"The pen has shifted down into the open jaw tips after the 2 cm advance. I’m closing again here, then I’ll check the gripper opening and lift only if it is holding something."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe second close is also empty: the pen is directly beneath the jaws, but its thin barrel appears lower than the current grasp height. I’m opening, lowering toward tabletop height, and nudging the jaws toward the visible barrel before another grip.
move_to
right_gripper1.0000right_x0.3700right_y0.1820right_z0.0020right_yaw0.3100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.5148, 1.7294, 0.8097, 0.0586, 0.0998, 0.1833, 0.0103] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3708 right_y=0.1937 right_z=0.0278 right_yaw=0.3115 right_pitch=-0.2926 right_roll=0.0429 right_gripper=0.0103 state[joint_eff]: [-0.1162, -1.1419, 7.0906, 1.7363, -0.0806, -0.0269, -0.0171, -0.1709, -7.7607, 5.4632, 1.4969, -0.0122, 0.0073, 0.823] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.37,"right_y":0.182,"right_z":0.002,"right_yaw":0.31},"note":"The second close is also empty: the pen is directly beneath the jaws, but its thin barrel appears lower than the current grasp height. I’m opening, lowering toward tabletop height, and nudging the jaws toward the visible barrel before another grip."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteAt tabletop height the pen barrel now runs through the open right gripper’s mouth. I’m closing once at this lower height and will verify the grip from the gripper reading.
move_to
right_gripper0.0000right_x0.3660right_y0.1830right_z0.0040right_yaw0.3150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.49, 1.7714, 0.7471, 0.1497, 0.0811, 0.1604, 0.9946] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.366 right_y=0.1831 right_z=0.0039 right_yaw=0.3152 right_pitch=-0.3076 right_roll=0.0394 right_gripper=0.9946 state[joint_eff]: [-0.1983, -1.2513, 7.2547, 1.7021, -0.0513, -0.0122, -0.0122, -0.9231, -6.2427, 5.094, 1.7314, 0.0415, 0.0464, 0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_x":0.366,"right_y":0.183,"right_z":0.004,"right_yaw":0.315},"note":"At tabletop height the pen barrel now runs through the open right gripper’s mouth. I’m closing once at this lower height and will verify the grip from the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe gripper stopped slightly open around something, and the pen rotated into line with the jaws. I’m lifting 8 cm to confirm the pen actually comes off the table before working on the cap.
move_to
right_x0.3640right_y0.1830right_z0.0850right_yaw0.3200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4904, 1.7721, 0.7437, 0.1486, 0.0776, 0.1524, 0.0425] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3643 right_y=0.183 right_z=0.0022 right_yaw=0.3228 right_pitch=-0.3131 right_roll=0.0358 right_gripper=0.0425 state[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.6972, -0.0708, -0.0464, -0.0073, -0.1573, -7.9111, 5.7368, 1.4774, 0.0513, 0.0904, 1.3114] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.364,"right_y":0.183,"right_z":0.085,"right_yaw":0.32},"note":"The gripper stopped slightly open around something, and the pen rotated into line with the jaws. I’m lifting 8 cm to confirm the pen actually comes off the table before working on the cap."})
tool
executing move_to over 6 steps (0.6s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe pen rose with the right gripper, confirming a pickup; its gold nib points away from that gripper and remains exposed. I’m keeping the pen elevated while bringing the left gripper above the separate cap.
move_to
left_x0.3350left_y-0.1250left_z0.0850left_yaw-0.5500right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4911, 1.6047, 0.8787, -0.1608, 0.0746, 0.1516, 0.0443] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.364 right_y=0.1838 right_z=0.0674 right_yaw=0.3263 right_pitch=-0.3203 right_roll=0.0365 right_gripper=0.0443 state[joint_eff]: [-0.0889, -1.265, 7.0359, 1.7216, -0.0806, -0.0562, -0.0171, -0.2393, -9.1009, 8.3897, 1.5018, 0.0855, -0.0073, 1.033] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.125,"left_z":0.085,"left_yaw":-0.55,"right_z":0.15},"note":"The pen rose with the right gripper, confirming a pickup; its gold nib points away from that gripper and remains exposed. I’m keeping the pen elevated while bringing the left gripper above the separate cap."})
tool
executing move_to over 12 steps (1.2s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe cap appears just left of the left jaw column, with its near end close to the fingertip row. I’m shifting left to centre it and lowering to its tabletop height, leaving the pen held safely above the work surface.
move_to
left_x0.3320left_y-0.0910left_z0.0070left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2379, 1.2819, 0.4519, 0.1463, 0.2005, 0.1188, 0.9996, 0.4911, 1.5349, 1.0805, -0.4976, 0.0704, 0.1448, 0.0491] state[eef_state]: left_x=0.3259 left_y=-0.1115 left_z=0.0713 left_yaw=-0.4828 left_pitch=-0.0985 left_roll=-0.0254 left_gripper=0.9996 right_x=0.3568 right_y=0.1808 right_z=0.1217 right_yaw=0.3301 right_pitch=-0.385 right_roll=0.0243 right_gripper=0.0491 state[joint_eff]: [-0.4034, -4.4376, 6.3658, 1.8877, 0.2955, 0.2711, -0.0122, -0.2803, -9.0598, 9.7846, 1.5849, 0.0464, 0.0122, 1.0281] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.332,"left_y":-0.091,"left_z":0.007,"left_yaw":-0.5},"note":"The cap appears just left of the left jaw column, with its near end close to the fingertip row. I’m shifting left to centre it and lowering to its tabletop height, leaving the pen held safely above the work surface."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteWith the gripper near the table, the whole cap is still ahead of the fingertip pinch point and somewhat left of centre. I’m advancing about 3 cm and correcting sideways before trying to close on the cap.
move_to
left_x0.3550left_y-0.0680left_z0.0020left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1364, 1.5608, 0.3447, 0.4522, 0.2646, 0.1791, 0.9996, 0.4911, 1.533, 1.0786, -0.5167, 0.0704, 0.1452, 0.0491] state[eef_state]: left_x=0.3236 left_y=-0.0874 left_z=0.0008 left_yaw=-0.4705 left_pitch=-0.1623 left_roll=-0.043 left_gripper=0.9996 right_x=0.3529 right_y=0.1787 right_z=0.119 right_yaw=0.3286 right_pitch=-0.4038 right_roll=0.0212 right_gripper=0.0491 state[joint_eff]: [0.4171, -4.0137, 3.9726, 1.2821, 0.2418, 0.0855, -0.0122, -0.1299, -6.7761, 6.7077, 1.453, 0.0024, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.068,"left_z":0.002,"left_yaw":-0.5},"note":"With the gripper near the table, the whole cap is still ahead of the fingertip pinch point and somewhat left of centre. I’m advancing about 3 cm and correcting sideways before trying to close on the cap."})
tool
executing move_to over 3 steps (0.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe cap’s near end is now at the left fingertip row, slightly to the right of centre. I’m closing the left jaws on it at table height and will check whether they stop around the cap.
move_to
left_gripper0.0000left_x0.3520left_y-0.0650left_z0.0020left_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, 1.6497, 0.44, 0.4385, 0.3191, 0.2379, 0.9996, 0.4911, 1.5333, 1.0786, -0.519, 0.0704, 0.1452, 0.0491] state[eef_state]: left_x=0.352 left_y=-0.0647 left_z=0.0016 left_yaw=-0.448 left_pitch=-0.1542 left_roll=-0.0369 left_gripper=0.9996 right_x=0.3525 right_y=0.1785 right_z=0.1186 right_yaw=0.3284 right_pitch=-0.4064 right_roll=0.0207 right_gripper=0.0491 state[joint_eff]: [-0.253, -5.6274, 5.8735, 1.4823, 0.3736, 0.1392, -0.0122, -0.1299, -6.9265, 6.5573, 1.3162, -0.0171, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_x":0.352,"left_y":-0.065,"left_z":0.002,"left_yaw":-0.45},"note":"The cap’s near end is now at the left fingertip row, slightly to the right of centre. I’m closing the left jaws on it at table height and will check whether they stop around the cap."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe left gripper closed empty and nudged the cap sideways; the cap is now lying more crosswise beside the fingertips. I’m reopening, raising clear, and rotating the jaws so they can approach across the cap rather than shove along it.
move_to
left_gripper1.0000left_x0.3740left_y-0.0790left_z0.0700left_yaw0.4200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 1.6634, 0.4438, 0.4377, 0.3183, 0.2371, 0.0086, 0.4911, 1.5333, 1.0786, -0.5175, 0.0704, 0.1452, 0.0491] state[eef_state]: left_x=0.352 left_y=-0.0635 left_z=-0.002 left_yaw=-0.4445 left_pitch=-0.1643 left_roll=-0.0413 left_gripper=0.0086 right_x=0.3528 right_y=0.1787 right_z=0.1188 right_yaw=0.3285 right_pitch=-0.4049 right_roll=0.021 right_gripper=0.0491 state[joint_eff]: [-0.3761, -7.2821, 4.547, 1.453, 0.1441, -0.0024, 0.5592, -0.3077, -6.9538, 6.7761, 1.2479, -0.0317, -0.0513, 1.0281] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.374,"left_y":-0.079,"left_z":0.07,"left_yaw":0.42},"note":"The left gripper closed empty and nudged the cap sideways; the cap is now lying more crosswise beside the fingertips. I’m reopening, raising clear, and rotating the jaws so they can approach across the cap rather than shove along it."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe cap is still on the table just behind the raised left fingertips, now lying nearly crosswise in the wrist image. I’m turning the left gripper further to bring its jaw-closing direction across the cap’s short dimension before descending.
move_to
left_x0.3570left_y-0.0880left_z0.0640left_yaw1.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4744, 1.5837, 0.765, -0.0586, -0.5095, -0.6224, 0.995, 0.4911, 1.5333, 1.0782, -0.5198, 0.0704, 0.1452, 0.0491] state[eef_state]: left_x=0.3773 left_y=-0.0928 left_z=0.0657 left_yaw=0.2825 left_pitch=-0.1678 left_roll=-0.062 left_gripper=0.995 right_x=0.3523 right_y=0.1784 right_z=0.1183 right_yaw=0.3283 right_pitch=-0.4076 right_roll=0.0205 right_gripper=0.0491 state[joint_eff]: [-0.335, -6.0786, 7.3368, 1.16, -0.4176, 0.0415, -0.1001, -0.335, -6.7077, 6.5846, 1.2869, -0.022, -0.0659, 1.0232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.357,"left_y":-0.088,"left_z":0.064,"left_yaw":1.15},"note":"The cap is still on the table just behind the raised left fingertips, now lying nearly crosswise in the wrist image. I’m turning the left gripper further to bring its jaw-closing direction across the cap’s short dimension before descending."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteAfter rotation the cap appears lengthwise between the left jaws, with one end near their tips. I’m centring it laterally and lowering to tabletop height so the jaws can grip its barrel rather than slide it away.
move_to
left_x0.3900left_y-0.0850left_z0.0000left_yaw0.9400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6113, 2.0171, 1.3579, -0.8692, -0.7876, -1.5665, 0.9962, 0.4911, 1.5333, 1.0767, -0.527, 0.0704, 0.1452, 0.0521] state[eef_state]: left_x=0.3789 left_y=-0.1083 left_z=0.0532 left_yaw=0.9363 left_pitch=-0.2134 left_roll=-0.0339 left_gripper=0.9962 right_x=0.3506 right_y=0.1775 right_z=0.1167 right_yaw=0.3277 right_pitch=-0.4162 right_roll=0.019 right_gripper=0.0521 state[joint_eff]: [-0.0615, -10.7966, 6.188, -0.3297, -0.7643, -0.1148, 0.1099, -0.3624, -6.9538, 6.653, 1.3407, -0.0073, -0.0464, 1.033] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.085,"left_z":0,"left_yaw":0.94},"note":"After rotation the cap appears lengthwise between the left jaws, with one end near their tips. I’m centring it laterally and lowering to tabletop height so the jaws can grip its barrel rather than slide it away."})
tool
executing move_to over 4 steps (0.4s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe cap’s long axis is now nearly vertical in the left wrist view, and its barrel sits at the fingertip pinch point at table height. I’m closing across it to test for a secure grasp.
move_to
left_gripper0.0000left_x0.3740left_y-0.0800left_z0.0040left_yaw0.9900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5491, 2.08, 1.2427, -0.7155, -0.7773, -1.5425, 0.9963, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521] state[eef_state]: left_x=0.3741 left_y=-0.0795 left_z=0.0049 left_yaw=0.9903 left_pitch=-0.2243 left_roll=0.0082 left_gripper=0.9963 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521 state[joint_eff]: [0.1436, -9.0872, 5.1214, 0.3639, -0.4274, 0.0855, 0.0024, -0.2256, -6.8444, 6.5299, 1.2625, -0.0366, -0.0513, 1.0281] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_x":0.374,"left_y":-0.08,"left_z":0.004,"left_yaw":0.99},"note":"The cap’s long axis is now nearly vertical in the left wrist view, and its barrel sits at the fingertip pinch point at table height. I’m closing across it to test for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe left gripper again closed all the way, so its reading does not confirm a cap pickup. I’m lifting briefly to expose the tabletop and find where the cap went before trying a different grasp.
move_to
left_x0.3900left_y-0.0830left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5369, 2.0853, 1.2324, -0.6075, -0.7818, -1.4818, 0.0076, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521] state[eef_state]: left_x=0.39 left_y=-0.0831 left_z=0.0027 left_yaw=0.9488 left_pitch=-0.214 left_roll=-0.0421 left_gripper=0.0076 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521 state[joint_eff]: [-0.3761, -9.5385, 5.3949, 0.525, -0.5446, 0.0562, 0.5543, -0.0889, -6.9265, 6.7487, 1.2527, -0.0122, -0.0415, 1.0281] 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":{"left_x":0.39,"left_y":-0.083,"left_z":0.08},"note":"The left gripper again closed all the way, so its reading does not confirm a cap pickup. I’m lifting briefly to expose the tabletop and find where the cap went before trying a different grasp."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe cap is still on the table, now visible behind and left of the raised left jaws. I’m reopening and backing the gripper away while shifting left to line up a fresh approach from the cap’s side.
move_to
left_gripper1.0000left_x0.3250left_y-0.0340left_z0.0690left_yaw0.9500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5369, 1.9907, 1.3376, -0.8143, -0.7704, -1.4864, 0.0099, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521] state[eef_state]: left_x=0.3903 left_y=-0.085 left_z=0.0562 left_yaw=0.9514 left_pitch=-0.226 left_roll=-0.0394 left_gripper=0.0099 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521 state[joint_eff]: [-0.2256, -11.7538, 7.6513, 0.2808, -0.5055, 0.0073, 0.2222, -0.2256, -6.9128, 6.694, 1.2527, -0.0073, -0.0464, 1.0281] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.325,"left_y":-0.034,"left_z":0.069,"left_yaw":0.95},"note":"The cap is still on the table, now visible behind and left of the raised left jaws. I’m reopening and backing the gripper away while shifting left to line up a fresh approach from the cap’s side."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe displaced cap is fully visible just past the left fingertips, but it is crosswise to the jaws again. I’m changing the left gripper’s angle and shifting toward the cap so that the next close will be across its barrel.
move_to
left_x0.3190left_y-0.0670left_z0.0750left_yaw1.9500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5037, 1.7061, 0.9943, -0.7399, -0.7517, -1.4487, 0.9954, 0.4911, 1.5333, 1.0767, -0.5262, 0.07, 0.1452, 0.0521] state[eef_state]: left_x=0.326 left_y=-0.0379 left_z=0.0614 left_yaw=0.9575 left_pitch=-0.2425 left_roll=-0.0303 left_gripper=0.9954 right_x=0.3507 right_y=0.1777 right_z=0.1168 right_yaw=0.3281 right_pitch=-0.4155 right_roll=0.0194 right_gripper=0.0521 state[joint_eff]: [0.294, -8.6359, 5.4769, 0.5641, -0.5201, 0.1343, -0.1099, -0.0205, -6.653, 6.6256, 1.3162, -0.0415, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.067,"left_z":0.075,"left_yaw":1.95},"note":"The displaced cap is fully visible just past the left fingertips, but it is crosswise to the jaws again. I’m changing the left gripper’s angle and shifting toward the cap so that the next close will be across its barrel."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe large wrist rotation did not hold the requested position—the left gripper moved away from the cap instead of over it. I’m resetting to a higher, more stable pose and aiming back toward the cap before descending again.
move_to
left_x0.3150left_y-0.1250left_z0.1300left_yaw0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.107, 2.0785, 1.544, -1.3045, -0.6689, -2.0678, 0.9963, 0.4923, 1.5368, 1.0733, -0.5285, 0.0704, 0.1452, 0.0521] state[eef_state]: left_x=0.3444 left_y=0.0768 left_z=0.0686 left_yaw=1.8203 left_pitch=-0.2893 left_roll=-0.049 left_gripper=0.9963 right_x=0.3494 right_y=0.1774 right_z=0.1139 right_yaw=0.3282 right_pitch=-0.4245 right_roll=0.0175 right_gripper=0.0521 state[joint_eff]: [-0.4855, -11.0427, 5.8051, -0.525, -0.3004, -0.1587, 0.0806, -0.4308, -6.8991, 6.8171, 1.2869, -0.0122, -0.0757, 1.0281] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.125,"left_z":0.13,"left_yaw":0.25},"note":"The large wrist rotation did not hold the requested position—the left gripper moved away from the cap instead of over it. I’m resetting to a higher, more stable pose and aiming back toward the cap before descending again."})
tool
executing move_to over 18 steps (1.8s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe cap is visible ahead of the left gripper again; the pen remains held in the right gripper. I’m advancing over the cap with a moderate jaw angle and raising the pen to preserve room between the arms.
move_to
left_x0.3650left_y-0.1280left_z0.0650left_yaw0.9400right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6441, 1.3983, 0.9585, -0.7113, -0.5514, -1.1572, 0.9963, 0.4923, 1.5402, 1.071, -0.5407, 0.0704, 0.1452, 0.0521] state[eef_state]: left_x=0.307 left_y=-0.1103 left_z=0.1208 left_yaw=0.4949 left_pitch=-0.3351 left_roll=-0.1878 left_gripper=0.9963 right_x=0.3466 right_y=0.1759 right_z=0.1102 right_yaw=0.3269 right_pitch=-0.4422 right_roll=0.0142 right_gripper=0.0521 state[joint_eff]: [-0.2803, -6.9812, 6.5299, 1.1844, -0.4518, 0.2222, -0.0024, -0.3487, -6.9812, 6.8034, 1.3358, 0.0611, -0.0659, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.128,"left_z":0.065,"left_yaw":0.94,"right_z":0.15},"note":"The cap is visible ahead of the left gripper again; the pen remains held in the right gripper. I’m advancing over the cap with a moderate jaw angle and raising the pen to preserve room between the arms."})
tool
executing move_to over 5 steps (0.5s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe cap sits to the left and ahead of the left gripper, and its present wrist-image angle would make a close slide along it. I’m shifting across it and turning the gripper back to a more stable angle before lowering.
move_to
left_x0.3570left_y-0.0930left_z0.0600left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6399, 1.8931, 1.2549, -0.7982, -0.6277, -1.5227, 0.9964, 0.4923, 1.5379, 1.169, -0.6811, 0.0704, 0.1421, 0.0521] state[eef_state]: left_x=0.3565 left_y=-0.1316 left_z=0.0537 left_yaw=0.8387 left_pitch=-0.3658 left_roll=-0.109 left_gripper=0.9964 right_x=0.3426 right_y=0.1737 right_z=0.13 right_yaw=0.3254 right_pitch=-0.4817 right_roll=0.0051 right_gripper=0.0521 state[joint_eff]: [0.4171, -10.6325, 7.1726, 0.0806, -0.6081, -0.0904, -0.0122, -0.1026, -8.5675, 9.0462, 1.4335, 0.0122, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.357,"left_y":-0.093,"left_z":0.06,"left_yaw":-0.4},"note":"The cap sits to the left and ahead of the left gripper, and its present wrist-image angle would make a close slide along it. I’m shifting across it and turning the gripper back to a more stable angle before lowering."})
tool
executing move_to over 8 steps (0.8s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe cap now appears almost lengthwise in the left wrist view, with its thicker end ahead of the jaws. I’m moving forward while descending to put that thicker portion, not the narrow tip, between the fingertips.
move_to
left_x0.3850left_y-0.0730left_z0.0000left_yaw-0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2047, 1.5158, 0.7673, -0.2634, 0.0177, -0.342, 0.9963, 0.4923, 1.5402, 1.1687, -0.6968, 0.0704, 0.1421, 0.0521] state[eef_state]: left_x=0.3493 left_y=-0.072 left_z=0.0438 left_yaw=-0.0306 left_pitch=-0.4616 left_roll=-0.213 left_gripper=0.9963 right_x=0.3396 right_y=0.1721 right_z=0.1271 right_yaw=0.3237 right_pitch=-0.4997 right_roll=0.0016 right_gripper=0.0521 state[joint_eff]: [0.0342, -6.8444, 7.5966, 1.5507, 0.2125, 0.2613, -0.0171, -0.294, -7.0906, 6.5709, 1.2821, 0.0073, -0.0415, 1.0232] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.073,"left_z":0,"left_yaw":-0.03},"note":"The cap now appears almost lengthwise in the left wrist view, with its thicker end ahead of the jaws. I’m moving forward while descending to put that thicker portion, not the narrow tip, between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe left arm did not advance as far as commanded, but the cap’s thicker end is nearly at the fingertip row. I’m making a smaller forward and sideways correction, with a slight tabletop press, rather than repeating the stalled move.
move_to
left_x0.3660left_y-0.0620left_z-0.0090left_yaw-0.1400left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1772, 1.5826, 0.7441, -0.1848, 0.0891, -0.2249, 0.9963, 0.4923, 1.5402, 1.1687, -0.6998, 0.0704, 0.1421, 0.0521] state[eef_state]: left_x=0.3518 left_y=-0.0753 left_z=0.024 left_yaw=-0.1394 left_pitch=-0.4666 left_roll=-0.2115 left_gripper=0.9963 right_x=0.339 right_y=0.1718 right_z=0.1268 right_yaw=0.3235 right_pitch=-0.5027 right_roll=0.001 right_gripper=0.0521 state[joint_eff]: [-0.2667, -6.8308, 6.106, 1.6679, 0.0122, -0.0024, -0.0122, -0.3624, -6.9128, 6.4889, 1.1453, -0.0171, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.062,"left_z":-0.009,"left_yaw":-0.14,"left_pitch":0},"note":"The left arm did not advance as far as commanded, but the cap’s thicker end is nearly at the fingertip row. I’m making a smaller forward and sideways correction, with a slight tabletop press, rather than repeating the stalled move."})
tool
executing move_to over 16 steps (1.6s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
assistant
agent noteAt table height the cap has slipped to the right and partly below the left wrist image, so advancing farther would miss it. I’m backing up about 2 cm and shifting right to centre the cap between the jaws.
move_to
left_x0.3530left_y-0.0860left_z0.0070left_yaw-0.1300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1223, 1.824, 0.345, 0.9607, 0.1051, -0.1715, 0.9963, 0.4923, 1.5402, 1.1683, -0.701, 0.07, 0.1425, 0.0526] state[eef_state]: left_x=0.3773 left_y=-0.0614 left_z=0.0076 left_yaw=-0.1303 left_pitch=0.0438 left_roll=-0.1916 left_gripper=0.9963 right_x=0.3386 right_y=0.1717 right_z=0.1265 right_yaw=0.3235 right_pitch=-0.5043 right_roll=0.0013 right_gripper=0.0526 state[joint_eff]: [0.5812, -4.2598, 2.1128, 0.6569, 0.1685, -0.105, -0.0171, -0.0479, -6.9402, 6.612, 1.1209, -0.022, -0.0317, 0.9304] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.353,"left_y":-0.086,"left_z":0.007,"left_yaw":-0.13,"left_pitch":0},"note":"At table height the cap has slipped to the right and partly below the left wrist image, so advancing farther would miss it. I’m backing up about 2 cm and shifting right to centre the cap between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 219
assistant
agent noteThe cap is now aligned with the left jaw column near the fingertip row, and the arm is already lightly contacting the tabletop. I’m closing at this height to avoid pressing harder while checking whether the cap is caught.
move_to
left_gripper0.0000left_x0.3600left_y-0.0910left_z0.0140left_yaw-0.1700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2379, 1.7557, 0.3012, 0.9398, 0.0418, -0.2119, 0.9963, 0.4923, 1.5402, 1.1683, -0.7002, 0.0696, 0.1425, 0.0536] state[eef_state]: left_x=0.36 left_y=-0.0912 left_z=0.0139 left_yaw=-0.1707 left_pitch=0.0441 left_roll=-0.1954 left_gripper=0.9963 right_x=0.3388 right_y=0.1718 right_z=0.1266 right_yaw=0.3239 right_pitch=-0.5036 right_roll=0.0018 right_gripper=0.0536 state[joint_eff]: [0.841, -6.4342, 3.5214, 1.6093, -0.1929, -0.1343, -0.0073, -0.2393, -6.8171, 6.4752, 1.1502, -0.0269, -0.022, 0.9206] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_x":0.36,"left_y":-0.091,"left_z":0.014,"left_yaw":-0.17,"left_pitch":0},"note":"The cap is now aligned with the left jaw column near the fingertip row, and the arm is already lightly contacting the tabletop. I’m closing at this height to avoid pressing harder while checking whether the cap is caught."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe left jaws closed empty again and swept the cap to one side. I’m lifting and reopening to locate its new position clearly, then I’ll aim at the cap’s centre rather than its trailing edge.
move_to
left_gripper1.0000left_x0.3130left_y-0.0560left_z0.0650left_yaw-0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2379, 1.7493, 0.2962, 0.9123, 0.0334, -0.2237, 0.008, 0.4923, 1.5402, 1.1683, -0.7006, 0.07, 0.1421, 0.0555] state[eef_state]: left_x=0.356 left_y=-0.0887 left_z=0.0088 left_yaw=-0.1574 left_pitch=0.0174 left_roll=-0.1994 left_gripper=0.008 right_x=0.3387 right_y=0.1717 right_z=0.1265 right_yaw=0.3237 right_pitch=-0.5039 right_roll=0.0012 right_gripper=0.0555 state[joint_eff]: [0.0068, -5.8051, 4.7521, 1.9267, 0.1099, 0.1197, 0.5592, -0.212, -6.8991, 6.7077, 1.1258, -0.0122, -0.0659, 0.9841] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.313,"left_y":-0.056,"left_z":0.065,"left_yaw":-0.15,"left_pitch":0},"note":"The left jaws closed empty again and swept the cap to one side. I’m lifting and reopening to locate its new position clearly, then I’ll aim at the cap’s centre rather than its trailing edge."})
tool
executing move_to over 10 steps (1.0s)
step 239
assistant
agent noteWith the arm raised, the cap is clearly visible just ahead of the left gripper, slanting nearly along the wrist image’s vertical axis. I’m descending while advancing enough to place its middle at the jaw pinch point.
move_to
left_x0.3690left_y-0.0690left_z0.0060left_yaw-0.1300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1234, 1.1851, 0.2348, 0.4297, 0.1062, -0.1818, 0.9947, 0.4923, 1.5402, 1.1683, -0.6998, 0.0704, 0.1425, 0.0587] state[eef_state]: left_x=0.321 left_y=-0.0551 left_z=0.0701 left_yaw=-0.1269 left_pitch=0.0405 left_roll=-0.2011 left_gripper=0.9947 right_x=0.3389 right_y=0.1717 right_z=0.1266 right_yaw=0.3232 right_pitch=-0.5031 right_roll=0.0012 right_gripper=0.0587 state[joint_eff]: [0.4308, -3.2068, 6.1333, 1.707, 0.149, 0.0904, 0.0464, -0.2667, -6.9402, 6.4889, 1.2234, -0.0122, -0.0366, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.369,"left_y":-0.069,"left_z":0.006,"left_yaw":-0.13,"left_pitch":0},"note":"With the arm raised, the cap is clearly visible just ahead of the left gripper, slanting nearly along the wrist image’s vertical axis. I’m descending while advancing enough to place its middle at the jaw pinch point."})
tool
executing move_to over 5 steps (0.5s)
step 244
assistant
agent noteAt table height the cap is just to the right of the left jaw column, though its middle is at a usable depth. I’m shifting right about 4 cm and backing off slightly to centre the barrel before closing.
move_to
left_x0.3550left_y-0.1040left_z0.0060left_yaw-0.1300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1516, 1.7245, 0.3264, 0.823, 0.0761, -0.1822, 0.9955, 0.4923, 1.5429, 1.1664, -0.7036, 0.07, 0.1421, 0.0617] state[eef_state]: left_x=0.3627 left_y=-0.0654 left_z=0.0081 left_yaw=-0.1295 left_pitch=-0.014 left_roll=-0.1852 left_gripper=0.9955 right_x=0.3377 right_y=0.1712 right_z=0.1245 right_yaw=0.323 right_pitch=-0.5114 right_roll=-0.0003 right_gripper=0.0617 state[joint_eff]: [-0.5538, -5.1214, 3.7265, 0.9939, 0.0415, -0.1343, 0.0611, -0.1026, -7.1179, 6.653, 1.2137, -0.0073, -0.022, 0.6081] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.104,"left_z":0.006,"left_yaw":-0.13,"left_pitch":0},"note":"At table height the cap is just to the right of the left jaw column, though its middle is at a usable depth. I’m shifting right about 4 cm and backing off slightly to centre the barrel before closing."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteThe cap’s barrel is now centred on the left jaw column at the fingertip row. I’m closing across it while keeping the arm at the same tabletop height.
move_to
left_gripper0.0000left_x0.3570left_y-0.1070left_z0.0080left_yaw-0.1700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3161, 1.7535, 0.3256, 0.8753, -0.0326, -0.2462, 0.9955, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1421, 0.0633] state[eef_state]: left_x=0.3568 left_y=-0.1068 left_z=0.0084 left_yaw=-0.1677 left_pitch=0.0074 left_roll=-0.1831 left_gripper=0.9955 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3227 right_pitch=-0.5144 right_roll=-0.0009 right_gripper=0.0633 state[joint_eff]: [-0.2393, -5.5043, 3.2205, 1.746, -0.0806, -0.0659, -0.0024, -0.212, -6.735, 6.7761, 1.116, 0.022, -0.0415, 0.6667] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_x":0.357,"left_y":-0.107,"left_z":0.008,"left_yaw":-0.17,"left_pitch":0},"note":"The cap’s barrel is now centred on the left jaw column at the fingertip row. I’m closing across it while keeping the arm at the same tabletop height."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe left gripper closed completely, so the cap is not confirmed held despite disappearing behind the jaws. I’m lifting to check the table and keeping the pen high while I identify the cap’s new position.
move_to
left_x0.3580left_y-0.1050left_z0.0800right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3164, 1.7493, 0.3283, 0.8753, -0.0448, -0.2535, 0.0077, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1425, 0.0656] state[eef_state]: left_x=0.3587 left_y=-0.1053 left_z=0.0107 left_yaw=-0.1539 left_pitch=0.0145 left_roll=-0.184 left_gripper=0.0077 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3225 right_pitch=-0.5144 right_roll=-0.0007 right_gripper=0.0656 state[joint_eff]: [-0.1709, -6.065, 4.4786, 1.58, 0.2076, 0.0806, 0.569, -0.3214, -6.9265, 6.5573, 1.0867, 0.0024, -0.0171, 0.7253] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.358,"left_y":-0.105,"left_z":0.08,"right_z":0.17},"note":"The left gripper closed completely, so the cap is not confirmed held despite disappearing behind the jaws. I’m lifting to check the table and keeping the pen high while I identify the cap’s new position."})
tool
executing move_to over 5 steps (0.5s)
step 263
assistant
agent noteThe cap did not come up with the left gripper and is still obscured beneath that arm in the overhead view. I’m moving the empty left arm clear so its exact tabletop position is visible before one final approach.
move_to
left_gripper1.0000left_x0.2650left_y0.0030left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3164, 1.4101, 0.395, 0.5011, -0.046, -0.2543, 0.01, 0.4931, 1.5436, 1.2976, -0.8669, 0.0677, 0.1406, 0.0653] state[eef_state]: left_x=0.358 left_y=-0.1049 left_z=0.0751 left_yaw=-0.1524 left_pitch=0.0457 left_roll=-0.1892 left_gripper=0.01 right_x=0.3333 right_y=0.1696 right_z=0.1536 right_yaw=0.3237 right_pitch=-0.5441 right_roll=-0.0052 right_gripper=0.0653 state[joint_eff]: [-0.1573, -5.0256, 8.3624, 1.8339, -0.0171, -0.0269, 0.2222, 0.0752, -7.6239, 9.1829, 1.1844, 0.0317, -0.0171, 0.7057] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.265,"left_y":0.003,"left_z":0.13},"note":"The cap did not come up with the left gripper and is still obscured beneath that arm in the overhead view. I’m moving the empty left arm clear so its exact tabletop position is visible before one final approach."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteWith the arm clear, the cap is visible as a short black piece near the left-centre of the table. I’m placing the left gripper above its overhead position for a more direct, centered pickup.
move_to
left_x0.3470left_y-0.1770left_z0.0650left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2874, 0.6987, 0.3096, -0.1635, 0.4004, 0.0105, 0.9951, 0.4923, 1.544, 1.2964, -0.881, 0.0666, 0.1379, 0.0675] state[eef_state]: left_x=0.2732 left_y=0.0127 left_z=0.1224 left_yaw=-0.0642 left_pitch=0.0549 left_roll=-0.1877 left_gripper=0.9951 right_x=0.3304 right_y=0.1679 right_z=0.1515 right_yaw=0.3241 right_pitch=-0.5597 right_roll=-0.0085 right_gripper=0.0675 state[joint_eff]: [0.0889, -0.8137, 10.8376, 1.6142, 0.315, 0.2564, -0.022, -0.0068, -6.5846, 6.5436, 1.2527, 0.1099, -0.0366, 0.5495] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.177,"left_z":0.065,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"With the arm clear, the cap is visible as a short black piece near the left-centre of the table. I’m placing the left gripper above its overhead position for a more direct, centered pickup."})
tool
executing move_to over 17 steps (1.7s)
step 290
assistant
agent noteThe cap is clearly visible at the left edge of the open jaws, short and angled across the wrist image. I’m shifting the jaws over it, turning to pinch across its short axis, and descending to table height.
move_to
left_x0.3650left_y-0.1360left_z0.0060left_yaw-0.7000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.733, 1.5795, 0.5732, 0.2432, -0.572, -0.4625, 0.9963, 0.4923, 1.544, 1.2915, -0.8867, 0.0669, 0.1379, 0.068] state[eef_state]: left_x=0.3355 left_y=-0.1686 left_z=0.0501 left_yaw=-0.0248 left_pitch=-0.0512 left_roll=0.0207 left_gripper=0.9963 right_x=0.3283 right_y=0.1667 right_z=0.1492 right_yaw=0.3226 right_pitch=-0.5701 right_roll=-0.011 right_gripper=0.068 state[joint_eff]: [-0.3487, -6.3385, 7.7607, 1.5946, -0.4957, 0.1294, 0.105, -0.1709, -6.9128, 6.8718, 1.0916, 0.0171, -0.0122, 0.5885] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.136,"left_z":0.006,"left_yaw":-0.7,"left_pitch":0,"left_roll":0},"note":"The cap is clearly visible at the left edge of the open jaws, short and angled across the wrist image. I’m shifting the jaws over it, turning to pinch across its short axis, and descending to table height."})
tool
executing move_to over 5 steps (0.5s)
step 295
assistant
agent noteThe low approach has put the cap below and to the right of the fingertip pinch point, rather than between the jaws. I’m backing up and shifting right so its centre lands in the jaw opening before closing.
move_to
left_x0.3470left_y-0.1350left_z0.0020left_yaw-0.3900left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2199, 1.7729, 0.4454, 0.6811, 0.1211, 0.1055, 0.9963, 0.4923, 1.544, 1.2896, -0.8875, 0.0677, 0.1379, 0.0711] state[eef_state]: left_x=0.3731 left_y=-0.1016 left_z=-0.0004 left_yaw=-0.3905 left_pitch=-0.0719 left_roll=0.0198 left_gripper=0.9963 right_x=0.3278 right_y=0.1663 right_z=0.1484 right_yaw=0.3216 right_pitch=-0.5727 right_roll=-0.0123 right_gripper=0.0711 state[joint_eff]: [0.0889, -5.8188, 4.5744, 1.1697, 0.2808, -0.0415, -0.0073, -0.1983, -6.7897, 6.5709, 1.0574, -0.0073, 0.0024, 0.3004] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.135,"left_z":0.002,"left_yaw":-0.39,"left_pitch":0},"note":"The low approach has put the cap below and to the right of the fingertip pinch point, rather than between the jaws. I’m backing up and shifting right so its centre lands in the jaw opening before closing."})
tool
executing move_to over 3 steps (0.3s)
step 298
assistant
agent noteThe cap disappeared below the left wrist image during the correction, so I cannot safely close without seeing it. I’m lifting and backing away to locate it and avoid pushing it farther.
move_to
left_x0.3000left_y-0.1200left_z0.0800left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.696, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2865, -0.8856, 0.0669, 0.1379, 0.073] state[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0002 left_yaw=-0.6428 left_pitch=-0.0318 left_roll=0.0078 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1475 right_yaw=0.3222 right_pitch=-0.5739 right_roll=-0.0117 right_gripper=0.073 state[joint_eff]: [-0.4171, -6.653, 4.4513, 1.7656, 0.2808, 0.1197, -0.0122, -0.335, -6.653, 6.7624, 1.033, 0.0415, -0.0366, 0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.08,"left_yaw":0,"left_pitch":0},"note":"The cap disappeared below the left wrist image during the correction, so I cannot safely close without seeing it. I’m lifting and backing away to locate it and avoid pushing it farther."})
tool
executing move_to over 6 steps (0.6s)
step 304
assistant
agent noteThe left arm did not move at all when asked to back away, likely because its low pose is constrained. I’m trying a straight lift at its current horizontal position to free it before any further cap work.
move_to
left_x0.3660left_y-0.1260left_z0.1500left_yaw-0.6400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.6964, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2861, -0.8856, 0.0673, 0.1375, 0.0747] state[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0003 left_yaw=-0.6428 left_pitch=-0.0314 left_roll=0.0079 left_gripper=0.9963 right_x=0.3275 right_y=0.1662 right_z=0.1474 right_yaw=0.322 right_pitch=-0.5742 right_roll=-0.0124 right_gripper=0.0747 state[joint_eff]: [-0.4308, -6.6667, 4.5197, 1.7753, 0.2125, 0.1001, -0.0122, -0.3077, -6.8718, 6.5162, 1.0623, 0.0269, -0.0659, 0.1538] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.126,"left_z":0.15,"left_yaw":-0.64},"note":"The left arm did not move at all when asked to back away, likely because its low pose is constrained. I’m trying a straight lift at its current horizontal position to free it before any further cap work."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteThe straight lift freed the left arm, but the cap is still hidden by it in the overhead view. I’m parking the empty left gripper away from the cap to see whether the small part remains reachable.
move_to
left_x0.2650left_y0.0000left_z0.1500left_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]: [-0.1726, 1.3518, 0.725, -0.038, 0.3676, 0.2638, 0.9963, 0.4923, 1.544, 1.2854, -0.8848, 0.0669, 0.1379, 0.0768] state[eef_state]: left_x=0.3653 left_y=-0.1245 left_z=0.1298 left_yaw=-0.6332 left_pitch=-0.0442 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1472 right_yaw=0.3222 right_pitch=-0.5743 right_roll=-0.0118 right_gripper=0.0768 state[joint_eff]: [-0.4581, -6.6667, 9.3744, 1.6288, 0.105, -0.0269, -0.0122, -0.0479, -6.8718, 6.4889, 1.0379, -0.0269, -0.0415, 0.2027] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":0,"left_z":0.15,"left_yaw":0},"note":"The straight lift freed the left arm, but the cap is still hidden by it in the overhead view. I’m parking the empty left gripper away from the cap to see whether the small part remains reachable."})
tool
executing move_to over 12 steps (1.2s)
step 326
assistant
agent noteThe cap is still reachable on the tabletop, now plainly visible to the left of the held pen. I’m making one careful fresh approach with the left jaws turned across its length rather than pushing at it end-on.
move_to
left_x0.3440left_y-0.1330left_z0.0450left_yaw-0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0441, 0.6804, 0.4904, -0.3943, 0.0025, -0.0093, 0.9963, 0.4923, 1.544, 1.2816, -0.8845, 0.0669, 0.1379, 0.078] state[eef_state]: left_x=0.2725 left_y=-0.0089 left_z=0.1548 left_yaw=-0.0524 left_pitch=-0.015 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3268 right_y=0.1659 right_z=0.1459 right_yaw=0.3218 right_pitch=-0.5777 right_roll=-0.0125 right_gripper=0.078 state[joint_eff]: [0.335, -0.335, 7.2547, 1.7265, -0.1001, -0.0757, -0.0073, -0.3624, -6.694, 6.735, 1.0818, 0.022, -0.0073, 0.1197] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.344,"left_y":-0.133,"left_z":0.045,"left_yaw":-0.9},"note":"The cap is still reachable on the tabletop, now plainly visible to the left of the held pen. I’m making one careful fresh approach with the left jaws turned across its length rather than pushing at it end-on."})
tool
executing move_to over 12 steps (1.2s)
step 338
assistant
agent noteThe cap is visible diagonally just left of the left jaw opening, with its thicker barrel close to the fingertip row. I’m moving slightly forward and left while lowering to centre the barrel for a final pickup attempt.
move_to
left_x0.3460left_y-0.0900left_z0.0030left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0803, 1.5856, 0.5026, 0.2329, 0.5709, 0.4374, 0.9963, 0.4923, 1.544, 1.2804, -0.8864, 0.0673, 0.1379, 0.079] state[eef_state]: left_x=0.3277 left_y=-0.1185 left_z=0.0235 left_yaw=-0.8016 left_pitch=-0.117 left_roll=-0.0815 left_gripper=0.9963 right_x=0.3262 right_y=0.1655 right_z=0.1453 right_yaw=0.3211 right_pitch=-0.5806 right_roll=-0.0136 right_gripper=0.079 state[joint_eff]: [-0.4581, -6.8855, 7.0359, 1.8242, 0.5299, 0.2222, -0.0073, -0.0205, -6.8581, 6.9128, 0.9939, 0.0073, -0.0122, 0.0855] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.346,"left_y":-0.09,"left_z":0.003,"left_yaw":-0.8},"note":"The cap is visible diagonally just left of the left jaw opening, with its thicker barrel close to the fingertip row. I’m moving slightly forward and left while lowering to centre the barrel for a final pickup attempt."})
tool
executing move_to over 3 steps (0.3s)
step 341
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0235, 1.7157, 0.5327, 0.2787, 0.6411, 0.5198, 0.9963, 0.4923, 1.544, 1.2804, -0.8852, 0.0673, 0.1379, 0.0803] state[eef_state]: left_x=0.3395 left_y=-0.0941 left_z=0.0029 left_yaw=-0.7962 left_pitch=-0.1148 left_roll=-0.0942 left_gripper=0.9963 right_x=0.3264 right_y=0.1656 right_z=0.1454 right_yaw=0.3212 right_pitch=-0.5795 right_roll=-0.0133 right_gripper=0.0803 state[joint_eff]: [-0.8957, -6.5846, 6.147, 0.8181, -0.2173, -0.0269, -0.0122, -0.2393, -6.8581, 6.5709, 0.9841, 0.0317, -0.0415, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.298 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0154, 0.791, 0.6086, -0.382, -0.0235, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0032 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.347, 10.5641, 1.7509, -0.0659, 0.0611, -0.0513, -0.8957, -1.2239, 9.8393, 1.9609, 0.0024, -0.0122, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f21708453a8b5fc7ac46d894f5c76454a37db0f13108a05c4dde823eb79928e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df9418f10786b93ca34da49432eb0e12c90dfdb7c8f3e67e507b1a6c4664714",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516f8ea1fbb152b9faee05069c24a0b9a90fe7c4ba5fe2bee2f16e8d46f7efc0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.894 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrSbR6yvWwGNaEfWpJOTKeohrurTx0n2huAjpd4QOgSocFPsrkJ9sKpC90e0O8ax_3woF4i05NGvVPSAF2ur_ge2Rwq_zHvP0LyfDlN2gZzkdc1giXcsgCk5SroPqgAx9FnMO1VjoCD_-r8eJjIImTLTWwqHdAJqJt_VH6uGtuUqq-BU76a8u5e4AKk5bGWiUFLvJl_ykz83uSM_9SET3FXGGDOu0qjejJrAWlinW4EqUWyO4Lk-OwdeJGzaSlD78G4-bkKgHjKI8ps6bMYege4At2GsMdUBuRg978nGmPHD0PWdFlm6zb2bzW6BZgX0vwXvBjSR1LIqiPHXGx0o87QzszMHvCm43FT880R5bJ7NWhY9ZuGZeV4gd8rZVbQVqWPzCTP5ruDXFElYURpd-r42wH5mjMFx8IoblwOmD0aTp-Q7H2sQQh9zPOyhaHI2nS4huFmC5d7IsDxqyvyaQdbNRdghUCj0Xjenq3DAn7myeu-VsJtCKnpq_T1B7dC-CPb56MmF0McBDRfDgd9WFte11ksFEP8bMZelqMhJ5EjvKYztcLRSLpmCgxnle96N60jHv-23m6LbnQX4Djax8_QASLlUtSgSNOb-rp_xo34c0NIyy3atbFPnnARCqZ8VYZT2fpaSjMtLkipZKhbi5dw2U3KGA_rxeqX788jg-cOYTAn0xgHudh6MeXo1DMA8nXMu2YfzAIsXQWcQOZUFr_v5NYdbZVoQoXrfpdsbX1feF1868R0fag7PJ17sl3RbOV9Mm-CGuNNg8pwTLlUvQYN_yrDGmhc6-XoZtx96pI5slaqv-yIV_K-wGRkLR5wC9T_LdCh33n4iPql0uLT6SxO6wRhJoRze7ezzjllS_WHOCDl8fOx_N6qg5FGjSodJ9wQYNFXpu5m5fG4zsgJGZmrCHs03_xoFAcr21CcK4sB9FVleJioSa4kwQ2yXSMPq2QQkb7lhW9zrdzBo5mHnfpF0HzGnoPKQqRrGvXiFv1YwlIY8wolndGwVBtNkio_K_LkiCvfh2flUdKV6_ngf3XpeuSq8wTQGkj8NqS6ilBub2rDIqgK_EeqdJ6EUsItQgjxITUBLCm-Nytwj-G58XVDuo7ZVkT6TOIwEXBkSW-Ty29KQfM16cLWEs_g3is6wTC6VfFvbCuri_sHGCGYZSqIxHearh5mGor2-JhOWbezx8Yk_B9QetI-CK9zl39d1tAEE-Y_7bzYcMv07vaYgw5jiHtpgVSPFs2IK9_C_bugs19e4pP3LwdczYXsmRIfhnEwG4-C0a1bQ_HqNrJ2q0V4XsdLi1wDX7pXCvVdxyL19AD50vbrQvdxW-Msk9hbAPZ1oqDGkBbaxGeE4ZmWsbkheWNynUsyGW4lTHynTkClCytVS8kwB1bcmqM8BxxT-vqvgzCon9oLze5vO65Qm5cGKK8Un7nw1utCMzP_Z8oLtl1uC3DioA1tWcSG0_JkipUx4FyyVMgSANxhIcIRFitFn1apkERsaoRqKxVI0i0ybL6dUc0quxfM_N3hodjXMXUT-sCVLAXrk6H4hH1ZEq6XkJVJfmnRjV2rEWpnsp0OZxzwpKNclb69R3EeRSsCqM6ayuQcvnpULve_Qjzlq8ioAPXPam2ejUhQBzHi3hcdK20_gjQQM0P173ZD19i2TM2NeW1mc0Ia_bqgatTCVUlEhtlA63nvCftMqSlhBZFZNj6VcA8yeVZDPr4E0sg-CeoZwwtRNCxhQdk8Vd6UqNRLVi2_dq9uvzrimDKQmUtf65_RbG2kJhbm2XG4Qc-0HBdYZX9UZYpYzAMgg0Osk9FfUbNMwfKUzsFHxjOD2xtih8OxUIomcmuiEvzetBpTD7IAjCQLxw9YsbQTZsRTNj7p2mBnsy3nc0IJ1wXs6bGnxMaeUUfvkdH6G0T35QxKc62bnQEE1Q7YaDJVmFIG7ymTLbtaHcBjtkw8ojgBfZH3GdHqOM05OhXVmpL0jVEih9uI3RBagiAxUaOnYpzjz_AL83tDjEnvMjiRg3Yw9gXnNcN53uJScFl7AtrlO1iYi-R6IlXnas_SM-zpHxPFuVSIN8PJfooXKomV7rUoq28VJ1IdeNEPp6E23iztaGoY4s2Po90RKQx4dgWpRaXCGHiLBHBNn8ToEwmVXmCoa1pUKkU4IBAPm0CcdGYSAJZwm5gsYNhE3ZABwIJ4ym71RzSTN0QTfLuujK3bSe1lLiti7YC9aXSE4XrBpv0gVIN7XDI5j5OGs8vDu8v_oC6m-c9jmvEokEzE8R5ZBS3e2OM9mb-cSJqrzxGfxdHXAW9gV0a9WfrPdlISXUqOWGY6byrSfYr9cC3cf16lAZkHrJVE8Xbtju_6MimxtXA_FjR7ksm1QX98HSQhfA4nyOXQ5uGbh9QbwsP-dnMZszxcgEnenYNlyoYhoJ48ifLDHD2p8r7GWumqCUnKStLakG280YQxeRASd44anBFfGPEkl6pwb38c4eLYSRpdSsYDfo2K1sjkXwujvRHdE2oA3bZDDkIOgFpUhSuLCD5m_aF6nv2u5zCQ9BSmKEm7Ejw4l-Q_BqlW0MgZk4YkWQsNCePZUVTEiVSbmYZLfgY2OIJSImNu7NwlNyjXRYMD4K6vL92KYqiGIPR5WAYsKKREy_3kxceY8zbDfAtxmro--wZ19b3K6s4lsHjGb6pTMg91zb1DqhDnEpfEO9k108P1JaKHLAV6Ht2AOSdqHytfwXaJaVWgXdOH7MSPYjoI6WlAmbgCSHpxZsNoq2htViif9-YYWpVfhl1QnbeB6JjaXgM8H_y0Pv3m-hbZudqV5ZhxipcBWQ12H0hS9AS8YQiDSNCP2ZaLq3vMnFB0rEAz9G-db50XN65b7kL5SQuKTM9dR_PmrG1fSMW3ygKrwT35Wnd3C5OkLg3yV359WHYOJu36hTfy0YoIYgs8K4eCtO7Cilw2vVA1cbbcep9-wFQ5TnX4qB4qHJO5q9ShBqUoeOtSMFSpa8jswfRWE-1VirK_LuT9YfBn8mMqdA0LEJqhqBMWwG5RyxbnS7KQnbFqGPYC8nsHD0aCVC9ksfBfszE3slTWlzFWuLSTwhP8ynLchIvBgalHSu4wRuTaq1VNGDmUuwOH9FNUsB-va3mDnDzZOASjXFMFOc3wMjsSlsV7GcA9JyrVgWt0BxXrPlsOMap1UAOc47FCkT24ctOJSMsDqG3EjVdXCRrjtAIAmdFRAd0XQvUimmEAZQnst9IRphIHWZ5upOuntDDfLr-7Ir6k-wlhePI0JsB0XxPi-UhHOH8_54tXYR-AycXQtTkQWNaU914ZcRvYoy2mF8Q-xOvsLwxklYkLw2s_pjSOsll5xJA8aJRKDgniJc5F_GME3MdS7g52ze1UbLW54PS9hH_vr01HHO6dBD3WWRQMrY05ojiB_x_whVrRhr-ePmQRP-moF1dyb7Bzr6kjqQdhDPWbWRZCTH9JvlxJf4BIK43EFkM8m8npaGKG0j5hSrTZ3V81uNwClK5sSklU7fkfAcTYkAvSTYS88mOIET46QFhXwoqlGEb50cBlKT0kwO9nklTKTwSsS7s=",
  "id": "rs_0800d2bbd0870841016ab42acca28087d095aabc73cea259e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.235,\"right_z\":0.13,\"right_yaw\":-0.65},\"note\":\"The pen lies diagonally near the middle-right of the table, and the loose cap is separate on the left. I’m positioning the right gripper above the pen, with its jaws turned across the pen, before lowering to grasp it.\"}",
  "call_id": "call_VI736zgVOhUjoEIUqWweteO7",
  "id": "fc_0800d2bbd0870841016ab42ad127dc87d09b4b27f0fc66462d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VI736zgVOhUjoEIUqWweteO7",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6029, -0.3809, -0.0216, -0.025, 0.9996, 0.944, 2.0617, 1.599, -1.0615, 0.963, 1.4654, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1783 left_yaw=0.0003 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3481 right_y=0.2396 right_z=0.1186 right_yaw=-0.5809 right_pitch=-0.0428 right_roll=-0.0403 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6205, 6.9538, 1.7265, -0.0611, -0.0122, -0.0171, -0.3761, -11.0838, 7.1726, 0.1148, 0.8376, 0.3101, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b7d4371a0f0e53c552f4b24402c6bea0a39ec4922a7e840b3a95e816245a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b89badc6d9a6fb669188d3557ba2dce128120061b9cf1cfcca0bdf944214a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aea4fb9d4fa2954fed7445496083be6f07393bbe8903cfcca10a83eb96d57af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.072 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0154, 0.791, 0.6086, -0.382, -0.0235, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0032 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.347, 10.5641, 1.7509, -0.0659, 0.0611, -0.0513, -0.8957, -1.2239, 9.8393, 1.9609, 0.0024, -0.0122, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6029, -0.3809, -0.0216, -0.025, 0.9996, 0.944, 2.0617, 1.599, -1.0615, 0.963, 1.4654, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1783 left_yaw=0.0003 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3481 right_y=0.2396 right_z=0.1186 right_yaw=-0.5809 right_pitch=-0.0428 right_roll=-0.0403 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6205, 6.9538, 1.7265, -0.0611, -0.0122, -0.0171, -0.3761, -11.0838, 7.1726, 0.1148, 0.8376, 0.3101, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b7d4371a0f0e53c552f4b24402c6bea0a39ec4922a7e840b3a95e816245a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b89badc6d9a6fb669188d3557ba2dce128120061b9cf1cfcca0bdf944214a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aea4fb9d4fa2954fed7445496083be6f07393bbe8903cfcca10a83eb96d57af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCraPVrig7XB9T7B1f0_RS8UB7igSekjNd64ajoO0Ziwz1pwvMMIFXBg1ds0MsZHlq6iyjG3LB63_gOONj88Et7lOHwGI3Srg7Gy4Xb8Ew6fCo-7VqciByAaTvqfDErTuAUTJ6fY5zHwyQclKSCYt0BumZhRXwrkbKa9_gDO-Uc521ueZ2mMrgPp1F9g-TuV2cLMnrO_FpJYgHr_ZoRocGGnD9wcvIcMliqiwNu33D8IsmmOewpvmx7W-RpfGHZGznoNllL24xJW_OaeiiWdI-O-ab-jUxMltIL7L12_UP1tYCAYyRw610qr3sHhzTUwQURqkTzBwR2ocETtfPJB32jwLFfBoqy21k_R3xfdY4vEbDdi35PSDqYaA2tjjkEClS2nheEyXQgVHRpDT3n6J4Ft1Nb7N0z6GrqMRU4fo6za1KkWVRjzwpF5fv5Xn8MtDocDI_T41Uzq7oGYXA64vLNu_s1rR-hKnNvO28DIFlLEUly8p8Gl22TgAnH3_YLuwc1_7wQvNBtSUdfcEX8LWhOKucRfF3gyFdqyr1lyfaG7b07QwSbbIs6m_L5HhLXjU99-gkdaChzCK4NQBAIpGhrTf8M79RUfm0Fygf1CHzwkFkXoeq8VQbtxTG-CUtRnnNyHaZm9BhdPyGSJjUoOo_pMujCQNrHhfH1DKJBgYemtKzF3bMlsBE5voiQoj5Bg8SUdZD35gd2yGqxg7K2UoWzwxZrU0jFNs-Bg843FiboZX_O7fZVEFFxngWgN0BqKTTCmPN87An5wfsxogFAP9k6gBHjF4CmxxeLB33xrAmqzDojTNq4G_Pf6wzzbV9vD03Oz5_WLlzijpULyulolhzUyX2wpLA7BIwZU5W4nfU_ed2Y6gMEkxh6dnG5PzScUDaq_d2poohdZm0_BMu5KDNkvZMP_TdyWRwGMRXyLYbUojyGvvObddljcBLPC-XLLM9dpNlNkQXw69mDEaoIaICNo9H3THAhsfDGayT7gppoJD3cA63hkKzNlPRcWrwJOGnb9VD0JcHAC3krl_eyJFldEO7awoIj3zTJd7V6XYSIRXk_akNscoUYfFD-R4BcJc54sv7-XfhkPVN3KEEJNhTZmHlCRFkEu7cijJJbyoC5F308YK3sDX5LrHvGtnlEvFaqeDJafYecv4vJJtUk6bNvQoIOw0yX5J1Btfvf9BC559N0LB6QitSSOr5hCbXUf856NgEm2J3E6B1HDmv3yBOvPR-A8XBdzNM4SD_rQ2SzoJrqWmCcpSrGcuRGvCRoWFSjS25cUjqMNSZ2qhwmprYsRb0bGqizWD3mRsZLF8b-XHjl_witP4TyJKkfkiC2O5oLzmtbgMxpzm1WHGqp72XXsYXjGwELdeOVoBwEwf6f8pi1iW-piAY5-u4b823Ljqv6e6abcukDSXcAbsheeWssVO_fjJ5PCq1qQSmXMv8dodbxSKdQ05EtZFdvSrQFIMd-uRBkbQ4lnejlzFoT9e6iwBuS3Tqiq5u1s3ZJuyC1ArA1y8GGKJh5TT4aQalNrXKk3ea9zZCq2hwxmuJuMt9JDa1Uo3LQThKTSKbvG4QQ1v86ML09frGighucbL4lHkwpF2UC6kHPJtjJvg3Sbu0Ofi6L931VljcmZv7VDDFPAvqv5xhD5KKgKI47sFm8QbDsYxN431pbXbsda2BXYD-zNPOG3nYWxa14F8YbapoRXiXSDoGvz-cFWbg-q6TwH81he3yGYzuTiW8Pwfk2b1joijbqmbAc3BFszILfIGVrYTDgcdXHCXg-zclEFObb2ayTzwRYD-NHO7vUSF1ad4QKR1QYpS16OgLEw8c3PM_3qcGBmUZBCOt5pMi3jYKoqV38ADMVgalneHBaoK4gjQsLZ2XL9VVlf-VGISWRw-NfoLPII4_9g9GpYaDGoJgwJCBQ1en8_emcTCTiY_Ykwl9cmTavTiUtlVpjcsFqWJPpm9vuWYVtAhMFUBxQeul0_wpBroSoZ7IgBzmAscWqh6f-UeHu4sl8b8j6dSMsTVFnSuFr1UyAnQE3JAI5taDZgSuA8SUCbiEWZVXJfqF4CNLfHxafMbqnrrXtec6N0UCaYgoccgXphi0GsvB8Q_P07pBNMgOHdozR-UT9j0yrfrY8QDEj3cCDdF-kVcJwupR-uEls1opGFydI5nBSrbRAXtpcdlNLjTqaRz3fvdI3LxFweRrqqBlJdbraYn2OIVTX262cAGNkeOu2Reg09kthsI0G_6giAqstJQOF5n-zGKQWwwqGW01d__Izf-lBYssVlHKwoY8XgKzI3cCGlZgl-JRIGJjOXVKnhqXUAZqXGlHflgo-t8I-zacWjtTp-95BPayYtL6sSzgCq5JdLIyvJjM10uQ1jShNxqbju4YkbgyQT8JdbIfvYcQx8iLylYR0qII5rn3IO1u29ubcQACND8GrX31cd8i7yDkQTtdOkDa4GOxJ3GU1IbThOmOxD6x634I6TNLmUMMhXUZc5yx22nG_ud3viJqyKANvR-GwZk_VQPwtgH10eyE8EgRZWWy-PK9zwWlHEdhxZ66u0U9z5HXwEWLPzxiw2xtE6UnZsm-kYKAckX4k9UmYsTmMhVXvIyG7rM5DXsAjsgABJwRqXeWxeK0mx9X_YLXPQCb0gByErJeXB2T61FNFmXYyiSAslngs4p2j-tskVRGA2c-6BTOCOnViECZFZHOQosnkUhk61p4Oi_PegXiElfVqyO6bg3RzioTa4FSibHo1gAEcCuFXvAPsGHjY-l53JURqv2zdDKU15YWKJo8kHq-MB_SPeGEKgyLK-hJVJaP-9lMo8B6jNZ8LkwEUtueOg0n948wSSQWssH0dwxD1Q2ynEdRtUFZzx8xKQ25piD9kTZwM2hvqgQAqBW5vyzN58IKoanl0pDBzAzCCqZa8hGnvd_deeNBG6wHH_B0JeQFyMRRGxBGxw_QJ8O_foASOJu6iWQz12fRFZuDhnLsRioiwf9yjz93rTdiVNg48FMwFYeIhAVTrFlWsHcFoWkfW4BHBOUMGtyhzPP2gYVWqWyCd0yxklWs66-DO0x9k3C-SYnKeFIJd4xAlxLfV7Wz2KjoxCZoLPmBeSBqCbgmgh0pSgPTzRCVvXUSgUV2ZHTbjP9WGjoIpJF3Rh7xpOXsu8Cqlr0EDTQ69UVhDvFUD3dqDwyyHO9IZw3YA4Lii0H06v-qTglKCkpkaN1kyCURcks-vUiJW2HMt1ZFCQbLu3fRsegVChPXay5uNhalACsE_73XDvwhM2radpD4g2cD40aQ6nk81Hk5prJyLhYUU4mFFCIK2ee2fJ592t2KHope48HRZ0NJYe1LtI4uhffo1qZarnzEsfTN4TndLvDFhidV6DXM8TyMmyDQ_9krg1nmMNWcPB-G9526rY8yjedVu6-E4Tl5X4hoJwWGuNAoB2nnUU7KmTTUFSBQ6NXklNJ04PHZOwPtik3rsmmnNhoxxhiWxnhz7fTg-GujsTA86RPDARXdHzXBhnKNseh84tALGm5a_-INHu_3VtizxzbnLXJteCdr9r86b9E_x0o6IpCczB2XKbrAt6nKM_tjFDQ_3zKeXJgTNzNICG-RsuG9tSe59-_SQcOdqKuC2WBsaKf53KAoB7T5c74x7GK10c-wUoUqALTUSn",
  "id": "rs_0800d2bbd0870841016ab42ad4f07887d08636fb6636e3ad37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.235,\"right_z\":0.075,\"right_yaw\":0.62},\"note\":\"The pen is visible just ahead of the right fingertips, nearly horizontal in the wrist view, so the current jaws would close along its length. I’m moving slightly forward and rotating the gripper to close across the pen instead.\"}",
  "call_id": "call_al7ppw7iL4KL2iEr10X7S3bo",
  "id": "fc_0800d2bbd0870841016ab42ad9d53487d09d9237371c33b8fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_al7ppw7iL4KL2iEr10X7S3bo",
  "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]: [-0.02, 0.8021, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6596, 0.7261, 0.1188, 0.1482, 0.2325, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.177 left_yaw=0.001 left_pitch=-0.0111 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3546 right_y=0.1979 right_z=0.0358 right_yaw=0.2949 right_pitch=-0.2407 right_roll=0.0523 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.6479, 7.0085, 1.6923, -0.0708, -0.0415, -0.0171, -0.1573, -8.1162, 5.4496, 1.7607, -0.1294, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a1b14ce950dd10c8cf2aae40e0a4051834e80ce51f0d4570c58142cc7513b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e138db198692940cf03e0343fe2dba23175a04183bbc41b3b44f1e7cf68a46a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca64aaea6198c64723c179ebb293c0f11839d8ecf964aa883292a25c1e7f86d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.847 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6029, -0.3809, -0.0216, -0.025, 0.9996, 0.944, 2.0617, 1.599, -1.0615, 0.963, 1.4654, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1783 left_yaw=0.0003 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3481 right_y=0.2396 right_z=0.1186 right_yaw=-0.5809 right_pitch=-0.0428 right_roll=-0.0403 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6205, 6.9538, 1.7265, -0.0611, -0.0122, -0.0171, -0.3761, -11.0838, 7.1726, 0.1148, 0.8376, 0.3101, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8021, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6596, 0.7261, 0.1188, 0.1482, 0.2325, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.177 left_yaw=0.001 left_pitch=-0.0111 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3546 right_y=0.1979 right_z=0.0358 right_yaw=0.2949 right_pitch=-0.2407 right_roll=0.0523 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.6479, 7.0085, 1.6923, -0.0708, -0.0415, -0.0171, -0.1573, -8.1162, 5.4496, 1.7607, -0.1294, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a1b14ce950dd10c8cf2aae40e0a4051834e80ce51f0d4570c58142cc7513b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e138db198692940cf03e0343fe2dba23175a04183bbc41b3b44f1e7cf68a46a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca64aaea6198c64723c179ebb293c0f11839d8ecf964aa883292a25c1e7f86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCrfQ4Yigx12sifyGPOUuJdbNywhnzE_vK7NRMrgAPpTsjGCP2f7wMk_bRsoCT8qHReGvYeelZaluqJ470WYnUU-MPuslhO6XzAyty2m2WoR8WYdegEwqUWr7XV88CX6jD86ShXZa3odGBcfdOROc0EyvoudqbzIn8fCfYPcAZytKITTc1hiik1qG-JLsV4LDe6IHPTt4ZWk8pC8rGYPUNy6_27y0y5kHixUYtSi_3uClSOMMcniCkbQ2pYHAdcBzTWpXPV2GjtcJVuuKnU2rwzmiQoWzHRWY2PLKljj64P6ZwjxiH1ac9DF7f5_Vzje_ccCGKCIIcvNVwT0pQ67P8aVFc2awXCmhhImOQy22q0tn-mH3dvkHyEb0PnsxmCVwsc6TCXfLPy-nDOKPn4HNkl_RMuzL9E5YbFHJgSxkpuJECICSHzleunhExD7TjyGmGEnA_JYFoQEeH1Rri3-LWNJQ2etOL4KFYZB9pxszXlV9p5_OHfdlsgEPuUd1y-PpghDXGaLBH_jEiuYxYkHexIWCyDdxQFPiUPbkFi5FGMyCJdb477bhbUexIKiUiogBfx5SI6GeeszO50BA7_Fz3VknGBEOR-W9HPbA8PBcfx8RWZXuMHi6Jxxilj1DgS4_wjft6iSYJC6XV6zUX4PiUG-958Oeg93y7wsd2pQxaM5zdo7BsgIC1py8wdF2UAfYfQ_oab9PkHIsixxyISQUbj6o6dWBBibZ7qsPTkQBFr7unnujuqn0HyuhcuPfgle0RBipfXLlFXzFNxyzPOFfu2897vSPbP9b4nwTKIjkSeIZ3WX2H1PmO8tzo_1B0gkX5ER3nrMB-nCYBHTqtWLfAPIsejJiaA8J3iFZ11slQv_OuLRlcFBTydkTC2JD-HnKQVcKAJOVabIPKyVBQXKikKm4VWSo8dY1B_unPRRQVG09lP3tpFXvrZTLaapoYFxD8wPqfm5i48J2ok0RKwqs7R8qHOdoNgPTEiyfd3PE8MtO61e5nY18ewdSHdwxHd7rfa8uK6Lx92Yn4x1ZSAvP3Wte53QqoQ1ZB2M5hD9K74Hc_wm5J1PZIF_9uuOD71GzV4mreFF0P4Vmj7Uil39AHlt1Jgx3SKMk35hOV-aONzfz5YhWvzh8F27ZGsm6IIwvqTyRZVBAn9ue4YNv-grSTtYID2ICZAchLdyFERpDP5rUDsKiMMmuBqVkC7LOG_p9nbI1PdsSPrOAfE0E2fScMBHsv-BJunM-A17QajnngEFsViPbEQRNV2RBDJiI-EZ0QnXZy_Nnvy6Ui-hQ4XtwmEY9SkA7eH2XRbCYG5spitmjZMz5hgBv0FPDP_khdIpd_SLSQ1XQvq-R9U2GK2t7Aw1eMWVAm1ry5BjmUjKxusmsd1EwEW1Wp8jRedJdeXZVpZkmKBzQKq98ZB9erL2_T0Zt4SR_UfpMvrv7kS-d4VYGxXzaTnfQElaw36JnLCQAmFF8ITWMiEZhe2L2Cc4CzQAOtAYiw-lFfi8MYec3V3MSY9jiXv7VghUiB-KgxS-J8B2xbZLM0hOn9zwCQDFEJE8y1ic1w5XWDovCM6hg_d1arCAjPvKBdxZjgNRj3q6kuWUJ0dXuI18_jbbDDiXfZ1iVwtQFX_kaFPkmtjd8kKCISs4nOhZGbXWJg_YKOkvDpH6U7fwooHp349hp84ln9SasCrqpojYG32vJ7yo_hlv0a77xFWkbWgM_IpaycY6A1FATCCkfBpSHGU0nrdFX57n-of4rw0aSwQUusQwA11UObzfhxa5_MS3wAImhWF2cSsQN9avjX5P9F3R5_4ZkGdNg-1s2x0KAv4siVgywlmneoB4O77GI6bXu57rACXsn9MvvKwTxCDn_8_jT291RojOI3CMNizCClF87BNU6dB4m93Dh3ZFkdcOM450JiZtyNNAhRGwjJIyUG2SDs-GwJcA6m0Bur4tZ80lxEklh4aBKWvKtHX9EyvH4tDiviNMCd8m5CFiAkF-9zt91Ctc6lhTJKk65NjTwwVx1MloLUXMbyKnarAh5H2KZ3AyDd7I1C_lhx9wLt6pWJ0wh9BfaBzQ5yDM_jb0A9obAGCyBQhR8FK4HuO98ydxRu9vD3tJSloTzODST2BMgjD-jVyXS_epeL07qKXlwaJERnGr4F2CvBGOjM7hzwChwd-qp2OauwryQENjzKXQ7Ev_8gfv-hASyVugxAiwAsXVkotLn6UrLyWLNZEyvLzQspi9L2aEhFg9rqgz6hAdN1uzWgU3gMr40gWA0Ieahjbq7e_8GdQ3hpfxvnP4vnAJQj81cPT5fgOIHFQbUaGEfCzP4p678-irSYSV1TYcpByPU1iVJd2eraD8B8a-UTTog1yuyZpaPP7kX9pKRNyILBTVw-d8IoibuYbYNYxZT5q9-4pqzSzHNBGc8f1UriQB-oktNnfKy6icjiq6xhL1RXbJ-F_xE5o9vA==",
  "id": "rs_0800d2bbd0870841016ab42adcac8487d0a0283d268ecde397",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_x\":0.355,\"right_y\":0.198,\"right_z\":0.035,\"right_yaw\":0.295},\"note\":\"The pen now runs between the right jaws in the wrist view, with the jaws crossing it near one end. I’m closing at this position to test whether the pen is securely grasped.\"}",
  "call_id": "call_WrVJCFOT3Hs9knq4EllABCa0",
  "id": "fc_0800d2bbd0870841016ab42adedf9487d098698b2203a7abf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WrVJCFOT3Hs9knq4EllABCa0",
  "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]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6638, 0.7052, 0.1173, 0.1352, 0.2283, 0.0098]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0141 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3469 right_y=0.1957 right_z=0.0262 right_yaw=0.3066 right_pitch=-0.2688 right_roll=0.0517 right_gripper=0.0098\nstate[joint_eff]: [-0.335, -1.2103, 7.0496, 1.7314, -0.0513, -0.0757, -0.0171, -0.0752, -7.0769, 7.2274, 1.5165, 0.1929, 0.0269, 0.7595]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5999db451e5d86f5a6bdf8be41e89c324436b283fe73f8a05f86912526f449d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0dc4c45613865f05b0a9ca43daed2ee39fd300a802e9275ab6a551174fd6ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1629611fefc574f88417bf517a0f91d380ab85743ba762fe73c34c5e32f7b7f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.839 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3794, -0.0219, -0.0246, 0.9996, -0.0154, 0.791, 0.6086, -0.382, -0.0235, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0032 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.347, 10.5641, 1.7509, -0.0659, 0.0611, -0.0513, -0.8957, -1.2239, 9.8393, 1.9609, 0.0024, -0.0122, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8021, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6596, 0.7261, 0.1188, 0.1482, 0.2325, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.177 left_yaw=0.001 left_pitch=-0.0111 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3546 right_y=0.1979 right_z=0.0358 right_yaw=0.2949 right_pitch=-0.2407 right_roll=0.0523 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.6479, 7.0085, 1.6923, -0.0708, -0.0415, -0.0171, -0.1573, -8.1162, 5.4496, 1.7607, -0.1294, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6638, 0.7052, 0.1173, 0.1352, 0.2283, 0.0098]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0141 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3469 right_y=0.1957 right_z=0.0262 right_yaw=0.3066 right_pitch=-0.2688 right_roll=0.0517 right_gripper=0.0098\nstate[joint_eff]: [-0.335, -1.2103, 7.0496, 1.7314, -0.0513, -0.0757, -0.0171, -0.0752, -7.0769, 7.2274, 1.5165, 0.1929, 0.0269, 0.7595]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5999db451e5d86f5a6bdf8be41e89c324436b283fe73f8a05f86912526f449d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0dc4c45613865f05b0a9ca43daed2ee39fd300a802e9275ab6a551174fd6ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1629611fefc574f88417bf517a0f91d380ab85743ba762fe73c34c5e32f7b7f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrlkcnQeI9MDKftxZrll05o2Dm9HiLtTz0dHi1OIfO5aTD8iBJkT3HDVKOpv10nyUN27auzwTYommLG9cqWanopLilyDSNi301ZJhemICeo7rKDS0vhUDvhV7wz-vY5GNcB3sDF_5LDTFwqYYCgSs-Nw2C0q9HCjLWs_7KJe5hyJjbLItKXU7jWANbysx84IWOHDMqy22Kt-cyllop8dNNBKq9n4KP8EImE3R4wNH9Xkdxg-ymVlfXaums1RYHta3R2Ksma37goUGLJpucpFlg3DmqSVM9zwgkeuryNKmrWWzqcXlaHOVBjC0G7JCUbcet-CSImi7dYGaNNU-3ubCkqwXScXpVpm3jr3yPCDpwsG0EUSHCRXjrx9OrFvLl4qNAUufzR0jd1yNokexwOL34O_DKANGta5EfMpsDhfQi6Lo3x8smH2xudcsk69ZYd7pkbOmCyd6FZWNUTVRG0L7VXFtrgeaC4-TOfh3uq8YXFtwJlGtQVS-JT2oI_pS1bpL4NRfkn12FdlJI9eoizzkVrtvMq0WPWiQkQ9FgLfJc64p2cx8gg6gU9lu7escacTS8ii3o-bscYyYv47duszNo1exKWbDwnCnmY7OHYnrNA1y2xC2xdGZCxNDM1ir34NWRJLNl-pTiVzwe0zLfvvpSed31h19jEqs094VWrGgIn_yuLP6SmBFSsDDu1vNP2eXmq_PUSZe0aFGjtNHQlrHugbrbS21KtWbr67OoiwxOOwdBfIvYgiRocBrfEumAB_ExJK_Fw7DSdeRoXRZHj3_Z51BOESKYD9ofJxZxYMyCAh0sFsyVhopBsU41XqoyVSJP3patBddAirNJPSSrxnL8MWu2djbcbjUSUBAsOGHiAMj9Bbe1hVbzOUMQxddO79NU4Hj626LKKQyeEkKV1rNsvzMwjd7RMvEGYcOsJ0odWXu39khs8Qb__lM-oagnDCaVEJEvpn5h7YP55srI3tMjMDt_7YJdNp8YuMBS9fvQlNMmsTtImD3unPuN2vzZ58qY0DQIFwwLaq8KwE2KyB3Vm1-43BFoDbawBDUahI_F_aU0NH4ZihVi8KCQdlzlrdkiHZXsbSDHuXD-_LykboabmanlEH-uaZHI-GN8oD0aT5SAbg25cCuB4abOqBvjliSqWELpJ0wOE_qXTqXjHuciyEBXn-mxBCJCV8pqWVZNrKBISUpMhHUf8aB_rV5J91GhIjtNgG288tLViJlQkBRCZeduey1GGMuG84sAdH95Rj7thzzIhpDm4f5CEwh7fxp4wwpA6PfKjiFQbtOF1dGA14ViZt-npkuz1raWp1Vo5NUcpC2BPCsrQKVbAw3Qz7BHy-D93qtl6Be4ZnNypjHfH8bcafnhtnBQZNvOo7UgSgcV8Q2QUMqTf2Q9t5e7WJhmzPzy9xKrS9xamoaMRAN-KPte4MMzSWvCwF4wtIEMeAjkzpkl_k57g9yRZzCfP-3e72h-NVUTw2PNl-H2Jx5N0vNtMSBDTKLcC2pwOMa1WU9V-jE3u7Q4wwYj9WtfJKbe8Jyoxgttd12z9mg4ZekYzRpaE9lRoLRVaKYwLFHx-fB0xJpzA-ctkPL-XrbezH07OiP-yy_brMySFU6HF0u7dnS9GQHhIbgZJ0afZW4KA96lvmjSXnE2-U7VRhm7TJYFwpFHOlgKEGCXZuoGj_K0wIDdVwlgisWQsWWCFxByBtuYv8kp07pd8Gn79pcDZgYN0_4n_vnG77xUpobWzR2twpcCRIL5LwKVDvmytAYFWNFOmgbF5t_bxXHTUc-IB_NNLRkpe1G__ctGC8m-W7IvhbchmLmin0dMB8osysuo8hhnWdTS22njGbmkTQtBd6y0Ca0mu5gcHFSZt149t1XdRqV79mbtG5DI9Pbvxd4LBJHR5B28DSlpbPk738v0eLqm-ieXneU909rfEeJsJzF9673qa_5DTrPpF3nlFHiPtd0KGhR7BMejMVQa1pEzlWif2L1q9-dVfNWnIKC_CpgvUG7DACMmKlKJGaxlfFtu2Oy0dHn2TrRL_5j54yx1lD9qk66Onbs0Pu73aZwBIfWuERfRI3Ys86l-igNMQhd32lpx9NFgbKjk6nKgntU4DuHG6o_tNLEFPsJ742HdoN5TJGvuoPrVqYvPZwqGbVKMDE6DiYfjvLdhv-fmjp7DUnxTxUBEBMp4DADGtjU4qZlyAaW7McxiAan1pHyuRdwj6jnsxHZchK1Soh_QXN8qMU05q_m0k5w1TI0kzY4dHFS_w63W_nw4r8VtNxIQJXej6v_zPLbX7Zalio2jnJoLdLYGFtwnYUrD4QnkNnbBabRb9fyw-4sM-vDYRIfHnzjk98zIfi6jc2L4N7-TIxZT3HzxxkJUnuNvqElg5QqnWENfaRLOwOENzE8gQR6z7SmM09_wpYWoS3jkD1w5z-61pc917ZCfFbYy-3E2kNFy-e9SZ3sgOnXoa1wWA2PNBQcHCdJY=",
  "id": "rs_0800d2bbd0870841016ab42ae18f5887d0b2fffd5bd6e0e1f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.38,\"right_y\":0.195,\"right_z\":0.035,\"right_yaw\":0.30},\"note\":\"The fully closed gripper reads as empty, and the pen remains on the tabletop. I’m reopening and advancing about 3 cm along the pen to bring it into the actual fingertip pinch point.\"}",
  "call_id": "call_uEfIKThFyVFprpYnNWFKns4b",
  "id": "fc_0800d2bbd0870841016ab42ae3ebcc87d0ab271f0cba000cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uEfIKThFyVFprpYnNWFKns4b",
  "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]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5163, 1.7275, 0.8062, 0.0589, 0.1005, 0.1875, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9996 right_x=0.3698 right_y=0.1937 right_z=0.0274 right_yaw=0.31 right_pitch=-0.2937 right_roll=0.0449 right_gripper=0.9951\nstate[joint_eff]: [-0.294, -1.4291, 7.0496, 1.7558, -0.0562, -0.0806, -0.0171, -0.9641, -6.9538, 7.9248, 1.4969, 0.0317, 0.0562, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb6f5feccf3d4d6d179cec6efdc2ce9ec6287533138b3a61bf546abf9aabf20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70924ebd99f9a421e2bd6800e9b7dbeb3264b50c3fd3fadd9d431f5260c7e247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661a58cb302acf4ecdfadcc57834510348ee6d8fa1349569686b52c75ba21d43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.917 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6029, -0.3809, -0.0216, -0.025, 0.9996, 0.944, 2.0617, 1.599, -1.0615, 0.963, 1.4654, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1783 left_yaw=0.0003 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3481 right_y=0.2396 right_z=0.1186 right_yaw=-0.5809 right_pitch=-0.0428 right_roll=-0.0403 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6205, 6.9538, 1.7265, -0.0611, -0.0122, -0.0171, -0.3761, -11.0838, 7.1726, 0.1148, 0.8376, 0.3101, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6638, 0.7052, 0.1173, 0.1352, 0.2283, 0.0098]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0141 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3469 right_y=0.1957 right_z=0.0262 right_yaw=0.3066 right_pitch=-0.2688 right_roll=0.0517 right_gripper=0.0098\nstate[joint_eff]: [-0.335, -1.2103, 7.0496, 1.7314, -0.0513, -0.0757, -0.0171, -0.0752, -7.0769, 7.2274, 1.5165, 0.1929, 0.0269, 0.7595]\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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5163, 1.7275, 0.8062, 0.0589, 0.1005, 0.1875, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9996 right_x=0.3698 right_y=0.1937 right_z=0.0274 right_yaw=0.31 right_pitch=-0.2937 right_roll=0.0449 right_gripper=0.9951\nstate[joint_eff]: [-0.294, -1.4291, 7.0496, 1.7558, -0.0562, -0.0806, -0.0171, -0.9641, -6.9538, 7.9248, 1.4969, 0.0317, 0.0562, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb6f5feccf3d4d6d179cec6efdc2ce9ec6287533138b3a61bf546abf9aabf20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70924ebd99f9a421e2bd6800e9b7dbeb3264b50c3fd3fadd9d431f5260c7e247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661a58cb302acf4ecdfadcc57834510348ee6d8fa1349569686b52c75ba21d43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrpGq9m3DEuy-3dg4IWUyd5DMA9bUad5I-9-KLTUTVJSr11bO3Jpwesd37feAl2AE4oplXUpsEj6rrhTcqpYs42KmQl_ES03Gbooc0-1dEXvMEPPIOFEzKESKTn2mD5hNP3P2Fth5ZNBkTEGeGY5XIWM_a997MPHjg_hJeE4aDVf0C3RS6NVOEAawxmxBWWJqDtaOWSwos15N3UTDsJTbEwzsHuvWwOGjL81eVDZc8SlGw60jDqYZRRnV0yIhGfwkwCZF4V5U56EXg2goKewK34z97aptIAYvDNWqP52V_3C15wfb55ohOBq-pPfnzT08ZxZkYzan1UtV-bZwrJ_S-8rbUTIcv1UIBbgHtoRL2noF6ppxaKjH91iKyFYzQe5k2mfsfez4JQXh-pJuAJJOr7XGZreD-NtfjCcB9Hbw09enON1-AWitTd1FWzkX0HK6sxYQtPYZpuLq_EpxNqixvc0Bu320pJm5wnvrrtcwgNnB8jKCwCrHAsVt47qEbBY1KJ0MSiSxNo57dGegLW6LaIaZ4q2evqhCek2Nsaq5c9aOQZekvljttP9gRGgqvQHDPDkn-3wCWZ8S5cJZGfZcFS71dV_MLy09BDzOD8O3OkV7de4_suviGjKEsS27uRdzu98FOnjMIvoqjGZsAvb9fsZw1bw6y_rzlPAJgQq6-kmry5P3Th0--IzXdSWKKVxgh8Fvh6TVfGn_69wbdkxMwq7uG0zcVbNzkkUX7oaARGYv4CP5xjgYZEYmHeIakb68JfRrrXj3w0vOYU_TSlihYv8rZPKcdWhjdQ54KGSObQl9yMSqERX99PoditB4uw8PPc2RQ5Zp-lSo2EPY_zaKlTkwYvYZHBHaC1BhFJzn5fhVywANY3lGD2HjScQCvy0m-D8UfPmcwtc5kLcS2GpqptdqV0shkcZBtHxaovFlKUnTlEUFrBphaVg6ywXx1yx_1Ms2EigUQLps9y-4Vmba3ueDRIzOmdwPVh4etONTuSapSS7DwSgYixjMvQ7oGOOViRwyV-HQGMzoskB8gDIF-duYmJ96PfzloGZ7TzuOrNxdTeU8C54XaJm9VAgIzKx-5yTNjausKzXNWMX0080xTorcunwlAaGg3vRO7i6Dx9Y2WmgA1DCP9jhAvAHbj4oW28We06uMBhQtTI-zQVew62sTdN2T4r2D7VOuLV7ui0kIU2Vp4svgaREjAuqD7lqqqT_cybnEMEhf8iMKlt9m-vxO-TyCjmmpPJChd9oKC2yCE6eZOaltJ7XeG1H3v__067Wcoq3COFpeR0JIleBJtFyGkwxNG5K4ACk6rEPX0Z5gGeJki1f6FCC1nT4F6hxaWBE_94HJsSfE2J4sQSGm0IQZyEDCif4t5cJfVLFOSa-4jeL2LnvpPhjOi0FyAJHV9AYxj2zeD2o4MgTL-zKRBosQZyAwYSJcU-Dn47fBgOXsZGjqkPYiqNkl40HPcYPUD9DZmLDn7GHM7G4V-cMsPq2AIdv0qjjJNpNjrQwtdeIkEVskRFaKE0yMxFpHRPH-uPO_JYkEoRyx5aoTInk3Iqgw==",
  "id": "rs_0800d2bbd0870841016ab42ae763e487d0b2e460a4bce6067e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_x\":0.37,\"right_y\":0.194,\"right_z\":0.027,\"right_yaw\":0.31},\"note\":\"The pen has shifted down into the open jaw tips after the 2 cm advance. I’m closing again here, then I’ll check the gripper opening and lift only if it is holding something.\"}",
  "call_id": "call_Eq0vOUjQ8Dk1hjr9sd56QM0Q",
  "id": "fc_0800d2bbd0870841016ab42ae8596487d0979ed930302b7fd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eq0vOUjQ8Dk1hjr9sd56QM0Q",
  "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]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.5148, 1.7294, 0.8097, 0.0586, 0.0998, 0.1833, 0.0103]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3708 right_y=0.1937 right_z=0.0278 right_yaw=0.3115 right_pitch=-0.2926 right_roll=0.0429 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.1419, 7.0906, 1.7363, -0.0806, -0.0269, -0.0171, -0.1709, -7.7607, 5.4632, 1.4969, -0.0122, 0.0073, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf3accaaff16ccfc8c38aee655132b355a9873e78d15cf44bd06d732d8a6a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334a58ff7bbb1b518d7a132c33d228095c417694c56669fdfc87d76bde876903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69ab06c3d1a0977118d07df5382e50428397592ba8e65ef8c2747a695002dd4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.974 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8021, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6596, 0.7261, 0.1188, 0.1482, 0.2325, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.177 left_yaw=0.001 left_pitch=-0.0111 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3546 right_y=0.1979 right_z=0.0358 right_yaw=0.2949 right_pitch=-0.2407 right_roll=0.0523 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.6479, 7.0085, 1.6923, -0.0708, -0.0415, -0.0171, -0.1573, -8.1162, 5.4496, 1.7607, -0.1294, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5163, 1.7275, 0.8062, 0.0589, 0.1005, 0.1875, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9996 right_x=0.3698 right_y=0.1937 right_z=0.0274 right_yaw=0.31 right_pitch=-0.2937 right_roll=0.0449 right_gripper=0.9951\nstate[joint_eff]: [-0.294, -1.4291, 7.0496, 1.7558, -0.0562, -0.0806, -0.0171, -0.9641, -6.9538, 7.9248, 1.4969, 0.0317, 0.0562, -0.1978]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.5148, 1.7294, 0.8097, 0.0586, 0.0998, 0.1833, 0.0103]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3708 right_y=0.1937 right_z=0.0278 right_yaw=0.3115 right_pitch=-0.2926 right_roll=0.0429 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.1419, 7.0906, 1.7363, -0.0806, -0.0269, -0.0171, -0.1709, -7.7607, 5.4632, 1.4969, -0.0122, 0.0073, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf3accaaff16ccfc8c38aee655132b355a9873e78d15cf44bd06d732d8a6a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334a58ff7bbb1b518d7a132c33d228095c417694c56669fdfc87d76bde876903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69ab06c3d1a0977118d07df5382e50428397592ba8e65ef8c2747a695002dd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrvZNkahaRWZnSNviZL7fD-8FX3bFX0UHTz2Qcyxr6Ksnud_GHhJ6u2Z1yxU9p9gN0loZSZvrHp9WBTtOQHLG87Lkiq5YSiCYC4wMMwlhb-sBR9j4fH0Rd7sBcL_wsKpWowEHIDvG-GzzWDQYfJUfzzPsviZPvPtERTtZzq_isfAjN0vyv4Wk0iEokpcoc8NlBeJAxdOg0nTNVJiZkn_NIOi5FpnmbdbGW91TCSw-OMTf2n6Y_bGaLov9iDWZ6aKeKc6zIlYcDem_0aNsY7nSbTBo5cPhsakAfSahbDTzpF1socJMIkLHJHkQfUYz0vwbWeUfMAdo2yhZ9V5U407KsKG0qNJ_9lGANpSd4WVVU3ggSNdZF44K0Bki1eNX83sFO1DU30tlD1_7_QkETz6fd9fEmYjPA2uCJIg6WfWvTQnK_KeuwvDnhoR5HYYCItuko8mdBRcMKSNAvKUyn4TnI5wyrDXEYjzq9T_e63sLFb-tToP4T1sxsK1LtbCK2RM3fZS7ZSI6JpFEAxn5KCQmu912ndhQoxMG6PEfEgQLp6nSGDMiaIwHJEcAMYmSUB0KHyHncelO-0MoveHoV2sHFMbbW7dtZeKG82QDdtNWxC5wueSzGU09DL97YGsmtAzbeCfZowWh6YwyPvtqWjQEuIvTqO1v_RRJWp3bh_wMmKjtWmjpQISJpG5prPAWsgYw6avm92F_SkkUtHnglGW5MVwVae6eZXxmcnp6s-LrC0iyRycWbogMSIT0fodt3FbISRFqPiZ_HqeVHKDeOExCjIzc97G7nH1Hqf7moKPTV5zitCO5L148E2_swHotHf6MzI9_RaV-CnPI5Yecj_4aDuFTeXskJP36Qz2BvlDhUP35oVgAaPvHJTjrQtALwAt5S6j9cpc_Bw4y4CZnw964-9fg9tQqvvIdw_8YgswcqgiK_RfxFslAFwEYBE9eFl1Epqjxg64cWiEmhxY_HB_LdbLtRxY2aj5RPuggj8uURlRhFI26QTwoOQ0oF1l7uya5HdFf8syqHcZJ7kG7Xa3qRmcTYmrPJF5gyvgN6HExENXVJjCHQqxBdczndGru-l7rVajHmP6z1J6NYTso5KIAjjhed-KxN-CnuS4W-svGhai2uMxZzx9bcRlWxgRBrOAHPuQjGCOoWB1FiZvt0QlW9uY0jB4yTqjbw-cj_ZncdlCDXJv6hYXS5pSY-BMMq8luX7TJbRrXdva3rgY8tVo03wCowXAYaN_AXIzE2vqT-E2QHnvr7Mf_9v9rvTemDyOUt8iu_eIVNTpUwILVNfPrhTNjYWuHns63zeRubOD7hzsC7ynGasWfQGNqLLUZf1zHeSpsmsEdJWw7ui_FdljtQYMVlqt0V7AotzCx4fOvv0LDjigUxPFjrLvHp6c4V6QWx33MElGB2kOgjrr_au0kCUHOkQGi-FckwVvFOW-EYbcb25YfzmbZ_Ceiia5JsHnM_Zdl3eKtVq4RhOwFpzEyvRuxuJhXuxC58kqHHIHUzJ1C9DIr-7Ykp2UrLIsyWR8O6XslT-ZAIyOl0b6o3NSRe3amUPYdq6dTRhAQ3-xD6cyESniLoHn14GHGVhUCRC8Hpf2cgVPeO2xypR6LcxBIpMrNA0HErdOINiAzLWALAqZ3LM3Hs3NMrYvc886MZmPgPgSDO9lJL8gGg-dYBUXNg_oaEQSu-RLeVc5HaAygEUdqb2JECO-KOfenRor2cMSiwRBUkRjH3SDn00-co4fKPHT3DlMLEA1xMjfvgcUESjkuUPHRnFpgwpFeLCtNBXQurflcFkty3nMJhpiYyfFVTxtUQGE6KxGTsxa-Iv07gH-iO_-Qlb86LNlwgt_Y7A6tXEuw-qliv-FuGPrymNzAdeOeRvQNN_czqUCYTu9RZyxNUHIrIW2Ek0tm4vlRtfq3U4StSKyMIRsvwTGysxcpVlt0nCR-n2c_9T-Gv1PFkQRstGJUHKwBfZykLrGpUbAJG60OhazagIhfyy1OJbBa9ozLJeH5JRL7J1e90a8l4aFJCivZdNvUFvyVzr35Mpli_CnphV_613nrnrxZYp_eSuV946Q26g-mPopy-qhNoVHTK9l0noOcryFil5HLpiU0WxW48LjEAzYaf0itDywg5JvwPOM2RsdSYABXGVlWh2ITr9P_vd-rLkj4JAVmlgybMzI0Yg8d5JhwxQcxlug-jy1rMEpSU_Bc277gl1q1RpZ1XMKYDNYFNe5fo6l2Xb3GVlq9QFofwr9jujrmNv7p-dQfTAH_whLpwesK-nBg0fIpW-nJxp2sp6UU4iShVxbZMZjrpWd9X0fEIAnnO11VTRhwaXX5BBkWPU6mF_lbWHpPCMlOV_XEd6gGBoky4VPaz5ClfZkJd_LEQoZ__m8fZpdgELgZo4nG8_NUo6PE4TsLQNRE05IGggMj6Ylkh6YtdHufLicyqKSPFg8SGYByMN4bWX0M8K6wAa07Wb9PP1FUWCBTpUrNpjk8z_THCMfmnegpdiVYKcOKXUlJmA8EJ3lXTfQufl6fp8hy-1o2GlKrWWmH6_CE8_QLDnUvIK3Q9wjqtADgt7L7Zetgc8DhIJR-dg0aNndEyyLKOSA5iRN9yHMeypD2sJFK5ol0DQGwgAadnPBKFLljnHRYAiAj8GjQ==",
  "id": "rs_0800d2bbd0870841016ab42aeb097087d08b45ed13f8655e71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.37,\"right_y\":0.182,\"right_z\":0.002,\"right_yaw\":0.31},\"note\":\"The second close is also empty: the pen is directly beneath the jaws, but its thin barrel appears lower than the current grasp height. I’m opening, lowering toward tabletop height, and nudging the jaws toward the visible barrel before another grip.\"}",
  "call_id": "call_II6WHSpLaYyLj102axcVVOfQ",
  "id": "fc_0800d2bbd0870841016ab42aee32d487d0a0c39f231335e9a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_II6WHSpLaYyLj102axcVVOfQ",
  "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]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.49, 1.7714, 0.7471, 0.1497, 0.0811, 0.1604, 0.9946]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.366 right_y=0.1831 right_z=0.0039 right_yaw=0.3152 right_pitch=-0.3076 right_roll=0.0394 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -1.2513, 7.2547, 1.7021, -0.0513, -0.0122, -0.0122, -0.9231, -6.2427, 5.094, 1.7314, 0.0415, 0.0464, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b10804ec91f2583ec16ef2d1398d5d682d1c2ec9fa7d84b81e78e4e2cdb4862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3976aba6dd346ff6889152f0267e2ea2cf2c9e7503820647c4b3edbda61eca3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9529e940150fd271167b1d4d21c7343163fc42e00d2fd72dd4fa485bd06df255",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.253 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5644, 1.6638, 0.7052, 0.1173, 0.1352, 0.2283, 0.0098]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0141 left_roll=-0.0007 left_gripper=0.9996 right_x=0.3469 right_y=0.1957 right_z=0.0262 right_yaw=0.3066 right_pitch=-0.2688 right_roll=0.0517 right_gripper=0.0098\nstate[joint_eff]: [-0.335, -1.2103, 7.0496, 1.7314, -0.0513, -0.0757, -0.0171, -0.0752, -7.0769, 7.2274, 1.5165, 0.1929, 0.0269, 0.7595]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.5148, 1.7294, 0.8097, 0.0586, 0.0998, 0.1833, 0.0103]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3708 right_y=0.1937 right_z=0.0278 right_yaw=0.3115 right_pitch=-0.2926 right_roll=0.0429 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.1419, 7.0906, 1.7363, -0.0806, -0.0269, -0.0171, -0.1709, -7.7607, 5.4632, 1.4969, -0.0122, 0.0073, 0.823]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.49, 1.7714, 0.7471, 0.1497, 0.0811, 0.1604, 0.9946]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.366 right_y=0.1831 right_z=0.0039 right_yaw=0.3152 right_pitch=-0.3076 right_roll=0.0394 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -1.2513, 7.2547, 1.7021, -0.0513, -0.0122, -0.0122, -0.9231, -6.2427, 5.094, 1.7314, 0.0415, 0.0464, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b10804ec91f2583ec16ef2d1398d5d682d1c2ec9fa7d84b81e78e4e2cdb4862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3976aba6dd346ff6889152f0267e2ea2cf2c9e7503820647c4b3edbda61eca3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9529e940150fd271167b1d4d21c7343163fc42e00d2fd72dd4fa485bd06df255",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrzIIkoZxm99PZf2TfxFcVAaXT5q_n4QcFxYAtJnD5nM6AKMCYuGjS_5X5jExQpR0-J_MBPOauRCjFwKbbKfwBVG4raDN6m7jjrTR6ssb2mHQxmRH6yIKynHb1_7wVZ8P8CGsiFavMJljpm521kyAo6sX1BTlJ3tpJXya1FGjVl4p27pYtSlasd6qn4icb77wA8-u5LZcJziHAoWwXq92dB5DApFJWO8gAvhzELB6iQlSyhSt-2GyJOS7WrsJeORtmn1mJTKuzmtlE1tXMlJpq4arKAwD9z9d1lYtnFfknDUclmzWFyiO87_LkB2WJzw8L-poPaY0rD1pN3kMlDtuLv77CENJMNY28FrmcTX8-36J37JlRA-DTKB9MkLhYfiFXgEIw8ONO0JSSXz9YWcpiv9JQ9NVkSvKsHAl-K-Uwq3saXQ2dHyHq3GQHwu1ieepAHRe1NnRwb_r6Gjs_LkbVtUZ6vhrwbswI_ep0YnpWcHcaqI77oUCCbzbUFH7dF1KRAMKM_pq084W5-pMnvBEiR-eP_UU8ywFXHlJW4L6l0JgtfAuzGbzd-k73fp5rpnJMnVApEHST93XoyUs8OCQAfcJOBtnYPyq1ccav8jY14NcBJwCe8Yd5ytYDL9h04z_lYgbZic9rg9x4F5N0mJF1sbhs7H5iKpfbuZEyy-JO21fLv9oEgdQYqOcT4kq_rB_sg9e6j6Bvw6mYidVeI8SK76WcGRiDxSuQmpIcxnh2Gk-86n4bj959CpWONuqd6zF5_uoPWaAjG2YpyP3dwmwgxRsSYBrIwwtgePuhazrsD14Pt3Fb_SekAhN_8EBAIi3rcHSDEYfQavzrOhql8DA1ebPvoRbj6J-_Q-9GDelwOeVh5j5YrywhVSQQu5-Uf7asRZjadL6cbBPxubKEPbcDBHd_iqbHD7vt8EcPkA5OtUz27eARwmPB-O3JRUM19MIDaQJTJM1VdMJakSaaB2FzAy81w05FElGqx__Kv8BcBHo2YQRIdsBD5qzcA28d5oLlV59LvYQuUR1_Yensj_XGiH8gIWAgaVhi3Gpk4AvWxGz3VQ2EP1532Q1hmUfb9ZQ-TNZPOcHqm4c_KrI4hQndYmPGrXr6jUYPyKO36fBeZ8QA9LF3ZkiKsgEdYmN3hOiEonwgzMxUm7WFzIGjO-OpLtLjkfZMk6xdbL0KNXgIaC4OdnOLVeNvGFS7IhCfGp7GTF01loMlJjn2z39a33kUwPY1D-E0lZAEHtKvhW1COAd6EGkzwqxXA1I_5789DwE0ymJCcB5_jz01UP_o7d5eoRc3mXOJH2CQMXQDB18JKEaSon6dbguEKxeZgHjzwfN9n1cNzTSXGsL-F92lwEnhkF8I_wF6aYPDNDJ6MXXWRCtEDGZi61gX-3-4A0wrfUyz2FqeT-y2R7FL2U-q-futd_Trtu23CV_8sI6aqaOUAdNcEGNxKWWUHWRue4m5pR7-oKfMxzQxi_PUY3zp73roqw12Io5ZXz4JZkdJ1ks6f5gh9sroVKMyeRIPU5FjSimE-TUPTkigA-VHj6aO4UQHnCRgarARtKkP2OMOgt3RFgYjWPGCDxteIsXBuF3iNxovmiq_AM4NORCJ5U8bFKDtNI5hWapL8sV_m3boOnHiWP5RULqUE5rdlcVfLh9DXZVj_",
  "id": "rs_0800d2bbd0870841016ab42af1f40c87d090285ab74f3676e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_x\":0.366,\"right_y\":0.183,\"right_z\":0.004,\"right_yaw\":0.315},\"note\":\"At tabletop height the pen barrel now runs through the open right gripper’s mouth. I’m closing once at this lower height and will verify the grip from the gripper reading.\"}",
  "call_id": "call_1qPPGGuQvcqfBMwv2zKqm1fx",
  "id": "fc_0800d2bbd0870841016ab42af30b3487d0a29a023d8d3352fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1qPPGGuQvcqfBMwv2zKqm1fx",
  "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]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4904, 1.7721, 0.7437, 0.1486, 0.0776, 0.1524, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3643 right_y=0.183 right_z=0.0022 right_yaw=0.3228 right_pitch=-0.3131 right_roll=0.0358 right_gripper=0.0425\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.6972, -0.0708, -0.0464, -0.0073, -0.1573, -7.9111, 5.7368, 1.4774, 0.0513, 0.0904, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5f1bda210242baefdd9f56668ebcfe8f6d66e32a5a3a87e8180aba95b85ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae6ae5cd9d76a1a19245efb2acb6ab5081a46f24310d18ea869261252870956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90cff3be7fc35a1fbc7a492bc1bde09a920385dfbe1f5b20a028060c0aa4731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 6.724 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0257, 0.9996, 0.5163, 1.7275, 0.8062, 0.0589, 0.1005, 0.1875, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9996 right_x=0.3698 right_y=0.1937 right_z=0.0274 right_yaw=0.31 right_pitch=-0.2937 right_roll=0.0449 right_gripper=0.9951\nstate[joint_eff]: [-0.294, -1.4291, 7.0496, 1.7558, -0.0562, -0.0806, -0.0171, -0.9641, -6.9538, 7.9248, 1.4969, 0.0317, 0.0562, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.49, 1.7714, 0.7471, 0.1497, 0.0811, 0.1604, 0.9946]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.366 right_y=0.1831 right_z=0.0039 right_yaw=0.3152 right_pitch=-0.3076 right_roll=0.0394 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -1.2513, 7.2547, 1.7021, -0.0513, -0.0122, -0.0122, -0.9231, -6.2427, 5.094, 1.7314, 0.0415, 0.0464, 0.0855]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4904, 1.7721, 0.7437, 0.1486, 0.0776, 0.1524, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3643 right_y=0.183 right_z=0.0022 right_yaw=0.3228 right_pitch=-0.3131 right_roll=0.0358 right_gripper=0.0425\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.6972, -0.0708, -0.0464, -0.0073, -0.1573, -7.9111, 5.7368, 1.4774, 0.0513, 0.0904, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5f1bda210242baefdd9f56668ebcfe8f6d66e32a5a3a87e8180aba95b85ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae6ae5cd9d76a1a19245efb2acb6ab5081a46f24310d18ea869261252870956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90cff3be7fc35a1fbc7a492bc1bde09a920385dfbe1f5b20a028060c0aa4731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCr4nuoOSQUfWjJBlhKL5DfDFKqEChIt_V4t0W8aOYTc8Y6Lx7WjEozoKfCk04GKoHL5qjIMaBleOAmUTqMdemEsVrloe5XmlNoODDsKCWtomEkT7laHf04-RAFSnCIMZRePWxj3JDp_UNnafwskV6OxxKDQPSxzoVmGuxRH49gKLf-M5JAJYLaZEKq5RXT6J6GM0Yl_9_aCLauL2T_IEdjX3c-9aWS-td-spXlcvPTX3PjWGCMyuzgFuW_hoo6lsHyhch7DPlwD3o-BWF3zD75Y9mj2eta3_D6NExiWyjcwbqHz6KpHp05eaLOttRo6e41BlKu8XXP0GN6m05XE6dyh4SOqyQR-8_2kMis1R65sNw4JUZMv4mvGCIdZ9t6G_85yh2-f99l3UXX3YnBLdUsCDSv26g6aKPuJTqp22r6fsPSTQ36J8OCINUCAJ_zONqOE7YF9JIrmiaf-DRR3boJG0m0XMyC62PWiefRi8g6ag_BSxwPb2LfurdWI47xyggtmW0hMI2EoTkrrqQhcnZk0QT_83-_oGyw-QIJ3oHsQo4g7KaxdMnRLiqC0O_3i7CqgaT_v6TNdpOkh6z1qJFQNAeL5zNrjcJY22m5YY3i8HxbEO_zHYB-YOrcu7Y2phnTA6_IEsmnDD-q1R0Eq2Im-kzm_n_KAyoZ8KyApy34KFt9MJRr7Jnkkf_MOGTU_z313HibOOCWZ9zkPgDJ6-RS9zrTW7r83ZfyGGA3QVg7h-j2AajXVlR6jsVvn23GFnVC39g_sw_fMDLD6zRqn7OL1B6Tk66iKrzBRx7jZDy4W4ieo47WKaLEpC0wLeqIQ1Ru_H1JZ30Hjf4uknqPjDbP2E9eZ6rKodzG4yCe65ZTebAFhYG0QYFl_ObNZoTyHMSEczuwrZkESqi2u3a8rjDoYRqWovkHRNu9uDY_GIwfFrdCuJ1jKuYU7YKZsoCZfpBGK2yW21-fdIDotR-GZq8SfeqaJB6NuejFp5hn1iMR2BUROiImzb15jGHtZrEcqTFOujqgvRAY_Dhyrh3fdBUj95QyqNLQqMwT4bzeKEJBhZquB0ZUWgNGz0skhvJVZBf4FJc3XKO1HgHWMa5hLkUdtVPVavXVznfsRoaJCP7_-Smla6qM67j5-xNnrWVYRoDW0dmYUyZG1mL1YnjrQh3EvLhT4I0M7d9k02vWF4gWqIdvhKcG-Sw248ppsS7Jrox2hw6gh_kiW6BAFuyopOITWj2mViS4GWwdZwBj-9OkIiOocNvEcKaepFULVA_1I2LkdyNxxeQi9-yH_zSeWgzFHsQn53COzXplxWdDh3UDTqx2DxWtHcB2p80bvxzHH4mBYQnCowzXzyufWUWOC7BMr-YCqH8-l8_BOd_ljn7BHnXklZw-ScvY-LCZrQIg2ZE4dRqyB4WBXQUTiZy4CzkJv9Esw0CnqDZq-UvpQfH27NTzajsKDV95Z825wNTmSIH41O-DQ5tdQvRgpfQouPcEZ8utIZpkrg60B7VSRIkD-5Y-shiA6hoZMsRj72RctinVpxdQgaNUdf274TMDLncmqrpeWZAYcnypfRHyMLFgKu2P3IOcCzPba2TbZfMLbUuStJH6Ta_0buKVFAPbh5TobqrKrmgsDPtAglhyF_cOsmIIaT9a4NpKgVOaKJrDR3AEikpeP26kMsGsxBQHcnCoJ0s9okycCqybdI-KG3Ffv0pURhS9EGFOgv9yQE0sTGsCugPQYZSz0ObiWtwYtxRo6hRmBzUtPWsmaNz0kE6e8J0prjGuFLg7czMNJEl4nnIiqZov35atV9Wsr3daZJ-SLSwCBvMl2Zk5KQayt4-X9IMPRR9JPOL9brQqbXCLTqFdgjmvWpoNKiMup5SCIcX6moeNqlTICmSnL-CbnwfenT44khREwxIs2qCaNtNPTsyEP",
  "id": "rs_0800d2bbd0870841016ab42af6262087d0952987c088a14daa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.364,\"right_y\":0.183,\"right_z\":0.085,\"right_yaw\":0.32},\"note\":\"The gripper stopped slightly open around something, and the pen rotated into line with the jaws. I’m lifting 8 cm to confirm the pen actually comes off the table before working on the cap.\"}",
  "call_id": "call_Z8NGf8kDqS1ORzz0cudgMDKD",
  "id": "fc_0800d2bbd0870841016ab42af72ea487d0863e6adb98dcf061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z8NGf8kDqS1ORzz0cudgMDKD",
  "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]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4911, 1.6047, 0.8787, -0.1608, 0.0746, 0.1516, 0.0443]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.364 right_y=0.1838 right_z=0.0674 right_yaw=0.3263 right_pitch=-0.3203 right_roll=0.0365 right_gripper=0.0443\nstate[joint_eff]: [-0.0889, -1.265, 7.0359, 1.7216, -0.0806, -0.0562, -0.0171, -0.2393, -9.1009, 8.3897, 1.5018, 0.0855, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e4481f23e242e6450f980b22d07d44a556f1fc51adb583b8e4022630fb5cff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ffc4d6d92dc8c07209d4722f1663dc8b43d6e74fb02eb85686953463694f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb840ff947b0fffe937a12f1e8699b5239f612608dfc049083d663a9edfe361",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.217 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.5148, 1.7294, 0.8097, 0.0586, 0.0998, 0.1833, 0.0103]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3708 right_y=0.1937 right_z=0.0278 right_yaw=0.3115 right_pitch=-0.2926 right_roll=0.0429 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.1419, 7.0906, 1.7363, -0.0806, -0.0269, -0.0171, -0.1709, -7.7607, 5.4632, 1.4969, -0.0122, 0.0073, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4904, 1.7721, 0.7437, 0.1486, 0.0776, 0.1524, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3643 right_y=0.183 right_z=0.0022 right_yaw=0.3228 right_pitch=-0.3131 right_roll=0.0358 right_gripper=0.0425\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.6972, -0.0708, -0.0464, -0.0073, -0.1573, -7.9111, 5.7368, 1.4774, 0.0513, 0.0904, 1.3114]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4911, 1.6047, 0.8787, -0.1608, 0.0746, 0.1516, 0.0443]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.364 right_y=0.1838 right_z=0.0674 right_yaw=0.3263 right_pitch=-0.3203 right_roll=0.0365 right_gripper=0.0443\nstate[joint_eff]: [-0.0889, -1.265, 7.0359, 1.7216, -0.0806, -0.0562, -0.0171, -0.2393, -9.1009, 8.3897, 1.5018, 0.0855, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e4481f23e242e6450f980b22d07d44a556f1fc51adb583b8e4022630fb5cff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ffc4d6d92dc8c07209d4722f1663dc8b43d6e74fb02eb85686953463694f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb840ff947b0fffe937a12f1e8699b5239f612608dfc049083d663a9edfe361",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCr_H78A4QO-s2BbSAjp0KfdKmr1v836m2IKfxTwDmUU9n3Fk15NE5lKeEAqXceUgK2Y8xsDFQZXr96tgws36laEYGKovYozrISIEw27g-5N1ETu1QVykC9TyoHqZocqMNT31B_MynjaiRCpZUhcQQBEcOtz06aHQM_RhQRDUdlgKFhXBLzonhBnvvJJJeETa_masDs5gvK7VPBoA6mNqDoqHAkN_A30LGAnV8ZR9xhHNlRoSVePxN57f0gA1FSDjM9s6uIPpZuvUfE-eKEALPbPDpFG6GZJO_CX1AGMwDgmnkTUw5N66cCPusYCAHYOYYBMkrMHqoI5bfbQKI9BwnVCUx0ftTLuntaPVUgezuPKVoNR6k6KFpwysMBpaZ46-i4dLJSW3xQ2HmtDVCsrhRiBTnd4NFVb6WTHVYw-uf6DSstkVUBpeeWcUDEow8qHwwGP7HSda2XyOT1vn8XRpqrTO8zXsH5wTiScKRFyX6lVeBLCtOnGJKbm-FpvBq6xsZWLz_qVk8WuvwpyL4KNMJqucQmYmKnQQE2B2Ep63ONLX3_4BGrZjLyWkBKSnWgNnw4pNE_lAZzgC_qfglu0Mt2Q29yvZ5EKfhdcCVZmVs7hfZBMQoAkIX0t3gKuoStuiCKJfRHOmYnQ2pFOBZKEa_D4nyr6tV4Ll_9uae41_Zobnd2YgyaiNHyNIj4jt_2hqdaDIzRbAPGaZvmJsywOe8HC54D2RdLtKAA_nUCODVAjYlD36tAamVkeYw12lr3vYACx8OlSv2VsEGeRezPea-kqMUGlo78vCZHcbILag-x1loEdInu7tEzVPss9uY2j7-g6gX4lzboXMt8uPvEx9FhStaK_vw8ClYppCvHQhCBgSeXc-zG_LgH_6oHC-2vB1T8pg_D5x6J00-OfvWcRHFOFVHfdAUNxnGc68KBgXCEoXC8AUe2Pkg3mPhaJSC3M0tIK3WAyxZXj7kzj0G6hzjq-mfKTFLrbtZE--3P7XObOuI8HHTvB1-4UJR_21XFbL1iF4Gt6QhUvGBs01h4N4Nbs7TYnxDq3Qd6UNhGi-AG7-obQaM3kWqziJQrdKb4hcmSADMYbXfkkU8j9HFmo94U5qAcbkey6FUMAKpQBour-sWIQBmMiUZ6fBwWY731D91dCBxlFfhxx60NF781sH_w9N-Br4PwIO_S6zRjs_7G6wOEI23YzLAD8oO3cDD80wNP1bUzXYHRmxkJzSEl4PeBYWE0gHf074rYYBg88Gg4Z5VFUsczWLl84U9LHorTiTggKmK5tMMIrHVZNm3mf_Z1UbLZF53ZWPcjlfy4ek1oKkLxl5pNEi5uLbez-jk-Lr5jOgQnkeP2TXOTZMB-EqGLl87vOUUjdMYVYotH35m8lSi71yKMVd9fwt5UR9g0GHYkU8vivUZv0oYFi3YVkxOBP2uTFcvtcjz_JkmDVoR8VuHWjSufYmqLSnl9gc9wK_ftDiL_Xn5jWKMwQQA1OnG5iu-jsj1Z9ADynFQuaQY3770E08LU5i7a8l2xvq7jKXgEUWSgnFlyqPB5RDxr41pizBNvt_m0upOQbipteaH5q7Sq7FnT0YjORoho3GsDRi-wHAfJ31Cju6jWyv_DXZHADY360SBI0PS-EFQ_UulSsDfwPMnYO592i_ucF8Ho6BIkhbXpw-Uq-QVU_dIWuZqdlObotyPZMXJzS_cTdJSpzKVn7-8TKlu5wBeQWM8slWWl6t6C9rBpwKTisFpBCPniUBtS1N_K9Q_hLK4y0U6YPIBGcrJx36yr2BUPzobRfPGC7T6kB9yplHFsAgmBcXAkOOJs9d84UOuD5VQTGXZDUx1D-wYgb8Kpp9D4X1UB8tw1YATtyNNi02_XXCtRLrIl20zGCaAALY5m242UK4lhfdGWvOJEBYlVRrSwiybL99eWxH8QWCoWgK3kAXsQMmfzS2AOgapx5R_VNCGGgaca4KuyxURy4mgaTRVBZhRf6jdc-ilZfZJrMMHFYfEtqnAly3AmUR4gXZ_SGVaSEst_4nlq12zoJTilVsNEgw-ChHdRDSTusgtCnhhow_3LrPPif0pIj7bt1V3aSI1A7kav5bVDPFgpMZ8Fz7ZpfPb73SpAaEj5L-Tm34qFVO8LbCUB8QcwlhnhjmVJ7MVPu9IVqQXtLN59WK3rdBEy_EeEg6-va7rTXtQO0gd9dcifiG_69MwtwoC9BO3hPmxOUM7oDOHXOsq8PzqjaP0j_DnNPH6gIlfvOxb4rr1HUPRK9EJYpEE5RpxjbXJiDCQO-MUHGH43orymSUB6T9_152DTs0RcGf3ZVW-L5v1kPkN7PAGDBWtxFQ339jrK1W1No9LygZdd8r0_dgbwguLZqcbGp8j7c-AUPg1-zXHq1Ya_Fh9AjYwKX_X5IfLCIEA844zvikwA5wLr_GvLgvtg5jh7FW0j0gGEms-8jhq7KDsGC1q5t2wOej-JyRifRVAMvB6v67tzWq5Ow4p0Qgh8mEi20m95O7tYZmcjvROxZ3FHBHNk1Bk9HGMfEgC6UKpA68auNmlsI_Hxq-Pu24KOGvjjRuCiWsDznze60ReJEtF-F7hv39sTwH5pLKsZs9S7FiAePtoQh17utgu2EfeT041MDuYLG6CdsNCuN2-NlzZhMqiHGwWICZCCs_WqNjdFBv3qe5X6_gouPzE9WJKK515pGXqAD1hiQpr27IDxl8uB3NFkuc6eMZo7KqQuKUx1MDtkQO3kHi1tmblDCh9cD-zNY0V-rgFL81WKI2StBUPGot_Jg3xBGeeKfO2u1sB-KvlaB9qdLm3p3A2QbEoeo-XchU8TXqDJ0KfpANkzUZa6KuhVJqyp13ezX8PRUdB5WcmgCiUZgMUkp9LBlOg9KarF_VJ9p6lsKe--Qk85bTz8HyGGJEcJUto_8ofloCYNMk1KC2USw9Ff7Nh8H-U6ACzuPy8sjpTX4c4ierkY9L0latBF3B16QfryM4-kZ9T46VgBge-S5Xx7OycmyzzAGpkQo36URU1O4EwmJofeK5e49oEiosfdrvoysn-orrdBR4KsRR5LWmPXENvg0Mu5rZS_ysstp8dvk-1IVhukmeKfzjfoM5TIWhwOB2yVitDgCVUGvbnW6NFxhnNukxedyW3IubQmX9QD3I3DVmCg1GvnQG4dAdwHxuNFCGQVLNIvvCgClywk2XFFFkAqjJ5cig6TpOep_TlRrQVLS2NNE3mAQzt-YDv8wcKt_8SG2GyHbFaX72-BekwdjFAFZLQtmwpRrmBwQ5biEAcO3WAoVeDwE0bbsyT9rKyw9mJQSw3olmyHpsXKJnMxDb_JJC5q6zQR0xZ8DTBsfBm2IGnXHyI6wNEXv4czGnjuNokKRHskDx4UQFT17089X5oGadQQ1cMP0c7kFrnc_vt4aHCEP5TeqlSjvUX6Kp9Q8PtF-NuZYc0QsoqK9fz3QGy3Bvy-5mLobo6SxYJDHoX0FCXWPcqoM7Ub_q-SU-T5r1hBFuHsU6bOEuHeOqGN1fbOoi_HPpvLb-H1pPfkr0RapJ_YRdUY3I4tGoUXS_NMQWEw3uNAV9H2n2pwTGUNbh3gfP8Q_2g9Qqw0FjcnWj2AUoWmda8E_x0jF_QMvwVsr3jszovTNP4jTfOjIMAToRcSTVF0s_Xg8ih_nRNlppWx6fBtWuvYNq_y60AksbQUXkfrr3ts2H2kIdVIPGBfBAS42XF5Ma6Leyxzg",
  "id": "rs_0800d2bbd0870841016ab42af9b69887d0ba79d2599a8ef4e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.125,\"left_z\":0.085,\"left_yaw\":-0.55,\"right_z\":0.15},\"note\":\"The pen rose with the right gripper, confirming a pickup; its gold nib points away from that gripper and remains exposed. I’m keeping the pen elevated while bringing the left gripper above the separate cap.\"}",
  "call_id": "call_9FpoygUcXGCzc85yn1kgSstt",
  "id": "fc_0800d2bbd0870841016ab42afe5c3087d08002a8ac9ff32f3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9FpoygUcXGCzc85yn1kgSstt",
  "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]: [-0.2379, 1.2819, 0.4519, 0.1463, 0.2005, 0.1188, 0.9996, 0.4911, 1.5349, 1.0805, -0.4976, 0.0704, 0.1448, 0.0491]\nstate[eef_state]: left_x=0.3259 left_y=-0.1115 left_z=0.0713 left_yaw=-0.4828 left_pitch=-0.0985 left_roll=-0.0254 left_gripper=0.9996 right_x=0.3568 right_y=0.1808 right_z=0.1217 right_yaw=0.3301 right_pitch=-0.385 right_roll=0.0243 right_gripper=0.0491\nstate[joint_eff]: [-0.4034, -4.4376, 6.3658, 1.8877, 0.2955, 0.2711, -0.0122, -0.2803, -9.0598, 9.7846, 1.5849, 0.0464, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5d62b543ad5a5db694acc93343a070e3f4e0a934b00505b143878b92065896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce37e446764df37b57d567fb6e470f0ec9cb5f2439598fa50ad13bebb15dbe87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8793b4278bfa868ed65cd54e988b7cd930a3c73992dd4495801ee3ed1f088a4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.263 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.49, 1.7714, 0.7471, 0.1497, 0.0811, 0.1604, 0.9946]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.366 right_y=0.1831 right_z=0.0039 right_yaw=0.3152 right_pitch=-0.3076 right_roll=0.0394 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -1.2513, 7.2547, 1.7021, -0.0513, -0.0122, -0.0122, -0.9231, -6.2427, 5.094, 1.7314, 0.0415, 0.0464, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4911, 1.6047, 0.8787, -0.1608, 0.0746, 0.1516, 0.0443]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.364 right_y=0.1838 right_z=0.0674 right_yaw=0.3263 right_pitch=-0.3203 right_roll=0.0365 right_gripper=0.0443\nstate[joint_eff]: [-0.0889, -1.265, 7.0359, 1.7216, -0.0806, -0.0562, -0.0171, -0.2393, -9.1009, 8.3897, 1.5018, 0.0855, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.2819, 0.4519, 0.1463, 0.2005, 0.1188, 0.9996, 0.4911, 1.5349, 1.0805, -0.4976, 0.0704, 0.1448, 0.0491]\nstate[eef_state]: left_x=0.3259 left_y=-0.1115 left_z=0.0713 left_yaw=-0.4828 left_pitch=-0.0985 left_roll=-0.0254 left_gripper=0.9996 right_x=0.3568 right_y=0.1808 right_z=0.1217 right_yaw=0.3301 right_pitch=-0.385 right_roll=0.0243 right_gripper=0.0491\nstate[joint_eff]: [-0.4034, -4.4376, 6.3658, 1.8877, 0.2955, 0.2711, -0.0122, -0.2803, -9.0598, 9.7846, 1.5849, 0.0464, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5d62b543ad5a5db694acc93343a070e3f4e0a934b00505b143878b92065896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce37e446764df37b57d567fb6e470f0ec9cb5f2439598fa50ad13bebb15dbe87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8793b4278bfa868ed65cd54e988b7cd930a3c73992dd4495801ee3ed1f088a4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsEooyTDftar2I2Rf01XDA-BhzBMEiA3lnKdTsoxJPh2lQZVGvYmvToc-WPUOuMCzLbRAzSkNAlE_Dy1azD-M7aE3-3tVM1LTcn4Iledbit7ibQr91SXHokaHwWC5obZFklECwNCH-k1rhtirhLcv3sW6R93tNeHVfmamPQqLaibwYbdV1GwEwIt8TyoDXwJs71NRjxMjR4iyUJnY6POFdKlQfVYTFR1pWDvJLLWlXj-Ma-MBCYV96D4TqLCj3iyjdxcT1KrgL590rM6lgM9ikDtDFZZAlhTKFIVRjbAXmOMeTEBAJ8JePDW9nZAMT1w0rmfiGRjV24j-e6n5JWxqVQ7wauwc-sD8VE4n-69jwant-JihzQysdVrBZKwJLQrExRYWGom5D5u6OfnJV1EEtl62va8cgjjMOCFjZpkU1iYymI29RZFdlRmBGD28zuhIDu97VvBo-MgEwAkN2cmUBU3oz-rfU_zRxN7KQfP5ARtxHmlKXCbvVEbKxU_P2cfF-JI0STApRXwVQuIRy6ymayPV9x_Avt7UK8n7LKhITOXZJPug077jl1Rm628C9VEaRsAiOR8PkneViGNHLSI2pKGznchU4kpg_XARC1NxxVgJ6KxjId3w8CGAMf_EdBOJS2Bx0drT8OLwhWXRzXcywuwJg1tYl8PD8mmZuZ3SZHu2X1DpFV1psk0Y_xB0_9bW3bl5g_azKJYx2aSX4hEjlm1xqx86rxFjfLJigjR-Lckara3x3g8CliCZiCdUf0-pYsngiUvTB4GNaNkw_FFh3uWdGr-jW2DYTZo4rGkrAYCsf6NQC5V1WPOh9aakQSiK2snlMcKclrMFeRu1A5mi4GDroehtFOq3cWzMKsd9I8noidcpZwdfAnV5HhWKTP35a5RU4nCGkZmpJ9t5AvqsCtZ9i0cLk4QoTXrzCIZmqfr1yesiO1JNP6Zzo01qIwE2_ivYeAe7S5ArddoPqS1GuWzhueu58yEkrgcogaRm6XaP4gJT1M-4WC8NmWEKddvL6Zt5WZV-oqQ1dOtAh8ETn_3AnpbxXiTWRommSJTmRrb99rHipsJWVepwn8tX6aJLi9N6W35wQQapxsfeiLkPAqWDA3Sx5yR042Mk6TuVylWDuLd1h7I91YHvNMKO-fNiPa4FLh9a1FviIt8-YBD2fX1WZyebuARnlK5CXznf64u1kI2-k6wKUKLuyw-um4PgoY42E3hMCmhRqd8qy7iwIZNgRzU8OZeHc78NuU3XjZCu37j2lTuRRAJkTAyj7Vj7KrsR9osjWpQ8Y6We4ztwkRKid0oVLMxGkRINKHVY82QN3QOgn-7raiMnCrrvHcm_HR3elPK9o3Rx2G_oKCe8DGf3kFR8bSCjb2murJmoKsqK51CxpXMAUs3NWyOC4RzH6yzamQqf2KmPcAepyn3TJM_S0tyjg5lYEuXiGHIeclqh5qhOGpqYFQm28KAoBgJGLimquKKGNE8MNbFcm10IflUAHfJTNCnCmQXsVPTUTT6s3E880cSgKDJ1MNPKnQqGs8_00MNqh6GRFrnRHCAy9Ahok9VmeoKtpbPNepqNHjXVrFl8fFQRKxg32GzGatqnzajQOR2vVcq6c0v6lh_sjVLQWsCS_Tg3XFGvF48DKChzl9XAVvGUcovHYOpy4zZ6VCdv2pzdF0xnvH8JDRZIBCencXN_U1V2VIJnkRtgz2XlIXR17Qmr1FfeHSkbjgkKNrKBHMPGrcU5GUNUb22y13Zb6T-718HxSRsFEXO8AuTuK4YD38taHGse8j0lsKSzWbbwBGVWVaP9lx-YvjaPRw8aVCwPESLI-07xhHDbmxUISxoDRFDYpqdfL_8toDMtvs5E2qM2wZHtsfhPipxzANhmzlISwjhNotWLrMBMevs0jGfZ_091daG1EL9KPbq12X4gitb3XBOatDj2qQGFmyR_27xlrjJ4Txt3rym92d96ILWwkx-8Ab2KWEQH4bqhZAHVZkDf-KozHHfjzVQapv6IIo_kGahbLLR1Hb63234Gi3Xgk74FzimHQy_cNUXVzKzKwSMqJnGFoNIxRPR14BCWRbBKNRz8RZ6Z_WTqZ5OWgGimRDdZ0wKEk5ghf1_zBjSA7ReSusY0OyP3YpIUlQpHfWam-iSZTw2wTPZvcpdzdZkI5odcj5Kg849LgekjFImAaxMjS0ofdiKhjRKJ3pSA==",
  "id": "rs_0800d2bbd0870841016ab42b01790487d0ba9108ff08f29982",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.091,\"left_z\":0.007,\"left_yaw\":-0.5},\"note\":\"The cap appears just left of the left jaw column, with its near end close to the fingertip row. I’m shifting left to centre it and lowering to its tabletop height, leaving the pen held safely above the work surface.\"}",
  "call_id": "call_FRNhWv3f74cHAlGEA8nMgnc6",
  "id": "fc_0800d2bbd0870841016ab42b03b14887d0ba0a8354ebdb6e98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FRNhWv3f74cHAlGEA8nMgnc6",
  "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]: [-0.1364, 1.5608, 0.3447, 0.4522, 0.2646, 0.1791, 0.9996, 0.4911, 1.533, 1.0786, -0.5167, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3236 left_y=-0.0874 left_z=0.0008 left_yaw=-0.4705 left_pitch=-0.1623 left_roll=-0.043 left_gripper=0.9996 right_x=0.3529 right_y=0.1787 right_z=0.119 right_yaw=0.3286 right_pitch=-0.4038 right_roll=0.0212 right_gripper=0.0491\nstate[joint_eff]: [0.4171, -4.0137, 3.9726, 1.2821, 0.2418, 0.0855, -0.0122, -0.1299, -6.7761, 6.7077, 1.453, 0.0024, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6699c82c359f464c73573c909821d3ad61f79a30993a9a9ac64c6c2b8f3e94d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3fa1e3451036c0103ccd52ea4da754b40b576b34dccb12f5efcc0f37c56c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd436035d5955bbe00d8dcbe87011c2faf22db8b434a07e6389885309076e5e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.552 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4904, 1.7721, 0.7437, 0.1486, 0.0776, 0.1524, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3643 right_y=0.183 right_z=0.0022 right_yaw=0.3228 right_pitch=-0.3131 right_roll=0.0358 right_gripper=0.0425\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.6972, -0.0708, -0.0464, -0.0073, -0.1573, -7.9111, 5.7368, 1.4774, 0.0513, 0.0904, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.2819, 0.4519, 0.1463, 0.2005, 0.1188, 0.9996, 0.4911, 1.5349, 1.0805, -0.4976, 0.0704, 0.1448, 0.0491]\nstate[eef_state]: left_x=0.3259 left_y=-0.1115 left_z=0.0713 left_yaw=-0.4828 left_pitch=-0.0985 left_roll=-0.0254 left_gripper=0.9996 right_x=0.3568 right_y=0.1808 right_z=0.1217 right_yaw=0.3301 right_pitch=-0.385 right_roll=0.0243 right_gripper=0.0491\nstate[joint_eff]: [-0.4034, -4.4376, 6.3658, 1.8877, 0.2955, 0.2711, -0.0122, -0.2803, -9.0598, 9.7846, 1.5849, 0.0464, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1364, 1.5608, 0.3447, 0.4522, 0.2646, 0.1791, 0.9996, 0.4911, 1.533, 1.0786, -0.5167, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3236 left_y=-0.0874 left_z=0.0008 left_yaw=-0.4705 left_pitch=-0.1623 left_roll=-0.043 left_gripper=0.9996 right_x=0.3529 right_y=0.1787 right_z=0.119 right_yaw=0.3286 right_pitch=-0.4038 right_roll=0.0212 right_gripper=0.0491\nstate[joint_eff]: [0.4171, -4.0137, 3.9726, 1.2821, 0.2418, 0.0855, -0.0122, -0.1299, -6.7761, 6.7077, 1.453, 0.0024, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6699c82c359f464c73573c909821d3ad61f79a30993a9a9ac64c6c2b8f3e94d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3fa1e3451036c0103ccd52ea4da754b40b576b34dccb12f5efcc0f37c56c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd436035d5955bbe00d8dcbe87011c2faf22db8b434a07e6389885309076e5e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCsI8QgUcPP8jVbGY3km0xtD31mS7gSGEFaLlU-8aSSeVwSK7MiTStCmeCF6twMgkv7NYNvlaYXnHnddKGKzKDRaErrJJpUJHDmUxzCTKfdVhUYejtPKlcdkrYYTsk0msnX0gGITOB3NFra6Pxrwkjy66ZmQhxbvEXiryV5DLWfH243SJe5sH-GsJkiLeLXBM9oxKyaZQjXufRH5u4QIEJLb6grlZFxSJ_3YJ9YQMFWdbp2RqbfnVNugOBWYUXx7ZGUnEpLxK_uTpVySOt_CXQC2sKZb4JzpUBVdMoq1AxbUqGfjLFz70zAGuseW_WjIh9pfex9pmKKpna47dvHFEiZ7AuSjdSvtXnyT5x7tYxNxD5C9EJwezZhhcXwfgwm2CnOraVprxQgOkYnz1SgGLpUpr6rMdEWTqnHfrqbCrGkQKWbErAEw7lwsyW7_-g3dps0mId-0Sp1He4f1cIphG9eqzkNkr59g3dyB04-8HCKVRrOSrmOOYESbx8VCNcxFgTkYYa4NRDW7DCrluUTuZc-SR6lK6lvtdFSbdA4GTcnqKiD3Fzt1CrmGBN5M4gGVUkfbHotn_Povpx25n6UQ0mCYlDAG366mBNn8uD1_2cbxF2eli4oWcvAtqbN8gesB3rsq8B7aZ7pgLQRjATy6L36hNhUASEGVkmqAKwegZtyFci0x4xURfXg8gYNZEIZiyX9EaGOMGGsNuRFDor_ZI2RFV1OUCRxCFsYPorybxffvOMFq3YqVZQH2btabmIY6WePUReVzgYCjTZDM4MlT32O3mDo_HqUOJzxHeZwYeRXLQ37jeY4ndwDGj0rZE73_iwZjGnVbKd0Dw-toh3pFmrdpPAZ1clBDGc3v-yRQbx6C-fGTw2duR_6Kfa7MdQEabwCox0e6udeNvQ2j_kcT6nluFModSVcjQPhCxrwwRuX5FK7A0SIeekamEZqaAGnt_jziZk9IuLoqa8E1yY2WxiyR8LeJuuUbFD2rA4BN7Wwu51WXOEKvFHJfgOZCsdODBucMMvSjTCpAVo11AtDvZP8JzsL7r15H0QAaq5YEDECwgRV1T1g74RNHnbyGb6i8Wl2bbkrmhVhjH0rTWj0h5dDEpwgy2adtsI4TLA2cQFmzzi3i1567HJe9CTU6GGuKd6mtyGQ4uNJkEWxsz4dwedtbyJ5IxhAH7xnp6-2LBH434DUGnfiCtJQQ6lOZJHkYm2oSuWywt892qPogDDNqriihvy17jhD_jbe_xiP7yMMl3UhP7-O-2YAr0FbtKGVk_CI-1O3APuy7b4hcIxzwVsMPa5heuC_aKukWJGkQbYPe4xQbBNbaaVrZRULcJDxkbpV-0l-_hfyJUcXEDSUvGrU-JeWAOPJYVxbaqTloKHczxPh62Zc7M9aNbIy3E7eFJg2I6ZAyNq4FPuFY-dNmCNcQcljOD74gShc0sQEfhd9TAlF9FqyT2aEq5StVThwLvPHCxj1wkDwRAPTQ2hc62Km4AIiX_Tdu6MX1stgP5GdkEUazh8Yd_B10Mujon0P8hBDE_AdVpTgOQEbHKnIbXQftmq0yZ55n-cL1YQcRSnWTbMAJ9GIhiLIjrrZeOOO-ecqeBLDYslDkKLXZIpPNtmw4F8SeGA_64HvTOKkDJXIZ77DWrwB-5xiUY2eAgvSZbtE0SATJazp0WC9OV5VJfsqW9hP-iYAlFVbk77oo1jsrJxoHXLILVBU4sNLZTl45bmN8ScmzzmW-My00onjY49fpsmzm_APXbFlRdUiGDbfMgrR8XzqUQUPMIbsQ4iVYGEaybuUFRyW5Aww0dG_5mBa5b0imScQLQDfOScb2bScp70YSP2xUXpgA2e_U6RFp3ptnyDs-HRx2mDT36OH0W982AwhAXVIAEfRArvNRW604ClwDN55NZrl4q9gNc2o1jXaMBs-Ie-Bl4oJNx_o8W3i0OU6dkYf9ZDKb4K_2Zq3qgxPjzh-uim1UxKEmrMGpwGZhObehQw727havQfokqz9pSA==",
  "id": "rs_0800d2bbd0870841016ab42b06150087d0b6a46c68bb004ae3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.068,\"left_z\":0.002,\"left_yaw\":-0.5},\"note\":\"With the gripper near the table, the whole cap is still ahead of the fingertip pinch point and somewhat left of centre. I’m advancing about 3 cm and correcting sideways before trying to close on the cap.\"}",
  "call_id": "call_qaJIx9ub1FMEGXKRRTcn8dkJ",
  "id": "fc_0800d2bbd0870841016ab42b07ac8487d09c5694588ec4bd5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qaJIx9ub1FMEGXKRRTcn8dkJ",
  "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]: [-0.0364, 1.6497, 0.44, 0.4385, 0.3191, 0.2379, 0.9996, 0.4911, 1.5333, 1.0786, -0.519, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0647 left_z=0.0016 left_yaw=-0.448 left_pitch=-0.1542 left_roll=-0.0369 left_gripper=0.9996 right_x=0.3525 right_y=0.1785 right_z=0.1186 right_yaw=0.3284 right_pitch=-0.4064 right_roll=0.0207 right_gripper=0.0491\nstate[joint_eff]: [-0.253, -5.6274, 5.8735, 1.4823, 0.3736, 0.1392, -0.0122, -0.1299, -6.9265, 6.5573, 1.3162, -0.0171, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6eb681f49520e3d0b6481f89de401c67eefa83824cb3bb9ec63dfb9a7e9319b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b3c9afb8577c093d3c2b8b22bc8e99def631424c213185f4a4e8e97aab1950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb27925d221fc9aec0e88f6c7cf6378e818c1db90a6e1afbf63212386375a955",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 6.42 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.0219, -0.0254, 0.9996, 0.4911, 1.6047, 0.8787, -0.1608, 0.0746, 0.1516, 0.0443]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9996 right_x=0.364 right_y=0.1838 right_z=0.0674 right_yaw=0.3263 right_pitch=-0.3203 right_roll=0.0365 right_gripper=0.0443\nstate[joint_eff]: [-0.0889, -1.265, 7.0359, 1.7216, -0.0806, -0.0562, -0.0171, -0.2393, -9.1009, 8.3897, 1.5018, 0.0855, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1364, 1.5608, 0.3447, 0.4522, 0.2646, 0.1791, 0.9996, 0.4911, 1.533, 1.0786, -0.5167, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3236 left_y=-0.0874 left_z=0.0008 left_yaw=-0.4705 left_pitch=-0.1623 left_roll=-0.043 left_gripper=0.9996 right_x=0.3529 right_y=0.1787 right_z=0.119 right_yaw=0.3286 right_pitch=-0.4038 right_roll=0.0212 right_gripper=0.0491\nstate[joint_eff]: [0.4171, -4.0137, 3.9726, 1.2821, 0.2418, 0.0855, -0.0122, -0.1299, -6.7761, 6.7077, 1.453, 0.0024, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 1.6497, 0.44, 0.4385, 0.3191, 0.2379, 0.9996, 0.4911, 1.5333, 1.0786, -0.519, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0647 left_z=0.0016 left_yaw=-0.448 left_pitch=-0.1542 left_roll=-0.0369 left_gripper=0.9996 right_x=0.3525 right_y=0.1785 right_z=0.1186 right_yaw=0.3284 right_pitch=-0.4064 right_roll=0.0207 right_gripper=0.0491\nstate[joint_eff]: [-0.253, -5.6274, 5.8735, 1.4823, 0.3736, 0.1392, -0.0122, -0.1299, -6.9265, 6.5573, 1.3162, -0.0171, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6eb681f49520e3d0b6481f89de401c67eefa83824cb3bb9ec63dfb9a7e9319b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b3c9afb8577c093d3c2b8b22bc8e99def631424c213185f4a4e8e97aab1950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb27925d221fc9aec0e88f6c7cf6378e818c1db90a6e1afbf63212386375a955",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCsL_iQVWiqV0rKQzJ0iTgWnd313NtqttFToXrvFSVGwbP4fdiezxnWIkSNl9HETLqaIIpmC2I-k6xxNLC1xthTMbzpuzaL7tOLPwHgMqjtrISZ2us1x-XcZTvb7fne5xhVi4KKvfi3B9AKO8UUJ2m-frcE9O2utrOtYp-wm5587n6oqNBtLtLIlJpwv0Qj8pZ-mFt7u3jQphzE4pvl1Sp9m13jvxi813oGtYPhuXJWuw3l-YqrPcq5FuLrjQs43b0btCZFwqg58uZQ-oTpGdFy3JPgUWwIZBglQqbZFFP2iw8-QMsGvFSt9nWO6UYvdheZ_DUhdGldXs0EyRoAQzfqcGWimWPWdgb3vuGCXo7HIG9_-CwBoIi5Fs5zwklT4vS8mVZU18e8EEBamxSg0c5UdV3tlT1Z3yls6V-1CL2CTgZaqntUew0jdO8Yx2TA8aw09sU5L-dCEN9tCIrdfbrM3Nj2zzKXR7b6jcWO4-2HqINjiE92ug_BSh3atfo0NjpoRci9_io2Gt9P7ZlKiOraYQTPnoDx_JRFUYePjy0EpjeyniMtT-f1_PONaLNCJ7h9pJJ5VATZyOKmnh4uAH4XAix6bsVMzg-vX8MlAkvFQSeMNjSHsON4XBKrvrX1llP8CxKSjccaOWmWyKGgPYQBEm-rPLEYJKIhnHE21K2TcehlKBdzNMQILxegOji5JAeOtiaoBhZ9PxxS7v3_3Arjqc4Q2kBDD2e5LWz7ouMmUbHyJ2JfxgqtEAvOn7V7rtPgsAXuIGo8rI0gi9gGSuRoDTr2Mme_YcDAq1sxMxgIvGHGOTmFwCTMDm2Q5zMlnEw8wQybWBbI93st2xhGhqPxa438txA3G0KWqaaTQ42S-V0AfbebZOlgvM81pwAQKizzvnPSQpiD2IsnwyZXd8ZQ-FFdAvuI-pWDj8Q6-IXUNRKqUGZ1zH17Kl3Vc7kRm6sjP5cSD3RQAsKIxyDhTc4xVWO7LuGrGIzJEaMw_My_PIOf6niTTUzgZMBQ9FvApVgAgUSLhPVJOGAGtv1bERZw9Psxsu3_S53m5Phs8cyhkWHwbSSH1cgsrxGfL1xaiwSuWO6QB_YYUl0Us-yKOsURzSUmHdL96Jo8JHsrbqQR7b2ZZSAxbZAFMLSsWsNYpFZv_wRUwiLBtUeaTsxiTI4TlFwGBm-NG26bIVeLRg9op5jBr42twkDGhMAnj9AcgEUthLEpd5rJU7MEbjw0kxduVpwz1R3uHoWFrDDEogIM8MTDQmofmcFUsFQIf_kcxC8DdzmgZqfVT0N4Uc2r9wjchsjvQl2g8YdnHPq5Ydx15jTqm_hppjm7-pMpYShIaCM41bR4emqb_hGoQx-dbHL_usMu2xgLt8BNcdT5kiESa1j9ytXQUyaUAw9ECqD9ct-2INi2luDKo6SfMLB_pbjNuIictVa2o3b5hmH5DboZKTsY=",
  "id": "rs_0800d2bbd0870841016ab42b09c11487d0868420beff5656d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_x\":0.352,\"left_y\":-0.065,\"left_z\":0.002,\"left_yaw\":-0.45},\"note\":\"The cap’s near end is now at the left fingertip row, slightly to the right of centre. I’m closing the left jaws on it at table height and will check whether they stop around the cap.\"}",
  "call_id": "call_UcoQeksrGklaZKZdmzVdeUpp",
  "id": "fc_0800d2bbd0870841016ab42b0a500c87d092980607f5a9278d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UcoQeksrGklaZKZdmzVdeUpp",
  "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]: [-0.0334, 1.6634, 0.4438, 0.4377, 0.3183, 0.2371, 0.0086, 0.4911, 1.5333, 1.0786, -0.5175, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0635 left_z=-0.002 left_yaw=-0.4445 left_pitch=-0.1643 left_roll=-0.0413 left_gripper=0.0086 right_x=0.3528 right_y=0.1787 right_z=0.1188 right_yaw=0.3285 right_pitch=-0.4049 right_roll=0.021 right_gripper=0.0491\nstate[joint_eff]: [-0.3761, -7.2821, 4.547, 1.453, 0.1441, -0.0024, 0.5592, -0.3077, -6.9538, 6.7761, 1.2479, -0.0317, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edbe57d4e1660e283a1ce55aecc64a871baf8a6698eaa1d8435ac4195422a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43d01ca3148d4c2646474e9e4379ba2da2c380c4e9eaa47551e1ca224cb6284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ef30afbd1e3568896e6faae0672c1405a802b930807ccd6723f205b769702c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.869 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.2819, 0.4519, 0.1463, 0.2005, 0.1188, 0.9996, 0.4911, 1.5349, 1.0805, -0.4976, 0.0704, 0.1448, 0.0491]\nstate[eef_state]: left_x=0.3259 left_y=-0.1115 left_z=0.0713 left_yaw=-0.4828 left_pitch=-0.0985 left_roll=-0.0254 left_gripper=0.9996 right_x=0.3568 right_y=0.1808 right_z=0.1217 right_yaw=0.3301 right_pitch=-0.385 right_roll=0.0243 right_gripper=0.0491\nstate[joint_eff]: [-0.4034, -4.4376, 6.3658, 1.8877, 0.2955, 0.2711, -0.0122, -0.2803, -9.0598, 9.7846, 1.5849, 0.0464, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 1.6497, 0.44, 0.4385, 0.3191, 0.2379, 0.9996, 0.4911, 1.5333, 1.0786, -0.519, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0647 left_z=0.0016 left_yaw=-0.448 left_pitch=-0.1542 left_roll=-0.0369 left_gripper=0.9996 right_x=0.3525 right_y=0.1785 right_z=0.1186 right_yaw=0.3284 right_pitch=-0.4064 right_roll=0.0207 right_gripper=0.0491\nstate[joint_eff]: [-0.253, -5.6274, 5.8735, 1.4823, 0.3736, 0.1392, -0.0122, -0.1299, -6.9265, 6.5573, 1.3162, -0.0171, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 1.6634, 0.4438, 0.4377, 0.3183, 0.2371, 0.0086, 0.4911, 1.5333, 1.0786, -0.5175, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0635 left_z=-0.002 left_yaw=-0.4445 left_pitch=-0.1643 left_roll=-0.0413 left_gripper=0.0086 right_x=0.3528 right_y=0.1787 right_z=0.1188 right_yaw=0.3285 right_pitch=-0.4049 right_roll=0.021 right_gripper=0.0491\nstate[joint_eff]: [-0.3761, -7.2821, 4.547, 1.453, 0.1441, -0.0024, 0.5592, -0.3077, -6.9538, 6.7761, 1.2479, -0.0317, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edbe57d4e1660e283a1ce55aecc64a871baf8a6698eaa1d8435ac4195422a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43d01ca3148d4c2646474e9e4379ba2da2c380c4e9eaa47551e1ca224cb6284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ef30afbd1e3568896e6faae0672c1405a802b930807ccd6723f205b769702c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCsStjziGNEBn0vcCD5yKKxegT_AUWxiZmK1nSpdbFrwfNfe9AOzUANFBHV0Nvm4g8Ixi_bBWIPvLmIIfgtQWWPvJeRrm3XU_OYUfraMapDdJKDhgo5nFgkPi1CHteS1-9K1XTjMABTSdeDUpc_IXLzta7zQTxkhaKxkpQ-BCwp1sEBi5Vqxyrw5qg6R3buqeLvi9oR7wM2alRJa2F1ZYlEvbNsNEEg8y1Plf-rD820ybZU2HPrQLi6quhJsroiSSyaw13VWF1Rs2UJJtf8z3k4OKlE-34Y4leyNTlVjbJrHVuyeE292SV8v7Ib0uF41pXwF_OHvUTtAx-wN-ZZfYxtK3z31kk_isLWs1agkWnnVkVqZxuchAkhk7-HBbyDOL0NSYYm8QgIfQRRAEZZqst33dkpk0xUQ5nHWSISHNUQ-r0Ketu_pfKRCfENhgz9_8cJ6WvNpFkSi_9EFmBWlSBjz5SNXSqM7qOjywnOXjmseg6BTwcjYn7kasVfT8DD4UQOGGplzI6U7H1QJm4aonmvTF6Ba0f6GNuwdVEX3AP8U1III1To0awvSx5-8hWg9RYhEkLnVfxBn47O7dRLAFQD-B-IE_bq0r2YqVL90tzEeIy3w_wN86BFt6t9XqdD-g7XPfdjqG-fG5Ve_agJcbFWA2ns_W6som6GIpJc2utLAlcz2MP1H14YAylPQE7A2I2KRzzbhfuQZBVo9M6bgHOwP0OxaGdInK6Y4zINEXs7uKX0VDqGRlC4TbKyAMEfdHPeqSLMt1rZexON8HqkKYcfXvg23i8qEm4JnM61nrpQ4NDWbCYL8iN35snmS2ID6sp8UlZxjSAaqd5BIm7-C9Ke7vXvUfgo6EBbdkk0EqsHMtOe1ftXgE47OwqhmJsdxDH3b_XeMJ9CqKNFIwxp9pwQI2g-taWQClUXwEMaO-1P0a5pKQWrFTxZXVyx64OUHBhsnhlel3-h1QDfz7cViT7XieGq3UMyAMl7DjndUxrPefSns_ThbHzuJrmMOw24E6MR8c4RTNvgVdcW1pono9GV_G06rGJDxwwXPGeQp0mueasqRyOuf-hJdE57hQbAHba7tDwxqXhYKQz4Ep1ZMDiyr-cvl6l7zpS6wUD7EwSUYY124n7nJC61dGDTBC_MBNSBXzXEDCxcUlsHN5KZmy422B-JERD_8T8QDyFZejVrglTebP8VWHava_M7gNXkWib-VfaHS68Z-OykyA3SA2IupkAhucfv4pwIj7Az7iX_2Jv2_ne6TYOQqXJwYfbhXs1zBccYsRPkdL1QA_8VwIObfTpaVxL43zAueUiUsAWo_TyRJehPff-C6eH-MJEdS9scoAMeonMO74mfK3hFSvMHDOfdicMo6umJUNc2rhU5yUus2ql3W-kCHX_I93M0LHtYDNpkIr0RlaF0RiKOlYe8dEd_mZ1o7hqGcrQTQP54pTVfisph4AVwyEtZXEhdTvZ8C0zM8IAK4fMwy5mnzCPOJJwZ7WjEloKfVyyPwbZ2tGtYdYpUQkg3v4BySlhsuwiBn4krFFsUC7h8Bj3H1Owvya7wp4a7JiTpBIcdMO4bFTXGRun1s_LPYvBr0KJBtQmMusrnqXUqm5Bz5F9I5KHy-LlgQjJHdGHl88jfaWmPhTCBN25bsM4aEj9e5pEOGykV7DmVtHECDDrY2iwQyjijtG3Hsl-0yxoQXYv2igGyZp2MxS1sXi2YORp9LvxrOwUdQiorrHWm0p03NjwFJmYRs2U03VJxlN2LcGEAztNd9Car4r7KsVjcgv18lvCmNm0wqWTFE4IZCcuyVTSkvp55DKuF8YjOMltkCle4pBvqQ80hgkCe_yW25XRc3P_A_PJ3YzEJMd3zunQ-uua36OWjxxzj0Bi88smpa1Nn_vbcAP6BozHO55T7fi2fo--Fn-lU7jXw8LvHlcsvX6nK7FKOUafYWlE7P-rV60lYtqERoL8GSXjTu2T0cqOWZuqC4RMYvB7Si54u1QgQStFYOlMwW9QNcRScNXcNAghy34ZoJK1YWcfrWwQcnB55JyNnhmu4o1UVll5LJ3yTN58_L5frqemW_j3cI61mCbDRAIMBsodwW7-uYck3y8BFIfspOa9obhRsJo2GVUdNrXo502gaSqK1XPGX8bhbbnn2oSMrXKo5TLPwXIUJPKxy771-RmdD5lnblou5M2YRpYS8EMLV5jr_gYUTaSzTFDlGUyyZgCQwY7nM_P4X2I90V66pNznqH1m7vIZsI04sb9mVcJNbDh3TaTVAP-iomy-dqvA4KThA8ewW00ktabHEGjlWSAxuwJUaP7RT3nkC9sgqlSUnHROLEanlTgNiZZwRYjQal8KwLO-0UXrpDQBGaz3czB6KJySxmm6WTZ7oV2XffRuAk0Z_YcP46pjDK1udH3ihLBo-fFG6CT8-5Rh0e2ntz52gFXfFbzApSublqLX5qxpMsUl4qTpYyaQ4wOdzDYodtmigsLesWQyCZDT82p9WqEzJJb-lotG4_dbgn5LAq61obWnXElo5g5ru8pxhdWPXG4afsbs2TPx5FLA9WwblUvTflDy8mlEFkm1vbHBby9VSMWvoS_b5NeSmBuIJ18QP5MBwLhfr3ivH2exQzWFccMmzrdm8Xxy9_jp5RmYbTX16hvtByPv3PO0UTgDtSkg32VICcvNzRs3KsbJTb59EFhEkNS633wfM5a_jAh7hUA-ldl4Grf_BKHMY1mBxhP1sBOvbr4r06JhWgR8_hODTTtyTK4NGrSvSQxK9Yj0uxHylh37Vz79e_lUce-3igZbh3mCjmCspTunkz1JsJZCIyhw84FuzcXYDkncbSjfAUOrDG1D1QQh9L6lnaQ9whx912ih6QK8QQnWQ6nmUAe3Y85Qqn0X5nxwNrgJrtdh4P04IEz7fTConk6yj30Wkao6aBvTMAUULf-PByHmZ7A8HwHDavBJmj4QMK_8UFq7qbTJV23uGX2rHoPItdPmWy1YzCv6Yn5SeKj9o46sdUWalrzxD3PjUzBqmhY8_eiyknJjJ-d5c3fZiUx5YDLE5Ez4Z9ciEArB-DycPF26JO0iOgGLaMq9qtizuxoco2gumoU_TWOBjPpg9Axm1yUrUSAbFUoozHaKdquDwp3h6ZKA6v5DzzRGtKl94uos1pcECnMuF_1IIuy8PrwzKsgWOOeG6kpHhCSh9Jo9mEZ-2zj69XCumbWPgDCoMw20kYzgvhuMAp_KVXKipMMGFpz6zNJlKD0_eXUpg14Ckoq0UnlS5JzEgnC4NuwN10I-zdnof1EMe0P0t5WZdcBRsmC8kr3R4zqJ33NSYunltCgb-WLAbaR0b3RYODla6twuXk6ZQpDLfN9U4niub9U6U4_0_2H0Oh0KK4yMxLKL4STJDn3e6o4fMdkXjlPncIxSH_TPcweWYr2g==",
  "id": "rs_0800d2bbd0870841016ab42b0dbf8887d0a1bef8bf17416fd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.374,\"left_y\":-0.079,\"left_z\":0.07,\"left_yaw\":0.42},\"note\":\"The left gripper closed empty and nudged the cap sideways; the cap is now lying more crosswise beside the fingertips. I’m reopening, raising clear, and rotating the jaws so they can approach across the cap rather than shove along it.\"}",
  "call_id": "call_tdO7DRP2sNLtx5yrfdpxD95c",
  "id": "fc_0800d2bbd0870841016ab42b115e0087d0a4d58f8983ec6bac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tdO7DRP2sNLtx5yrfdpxD95c",
  "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]: [-0.4744, 1.5837, 0.765, -0.0586, -0.5095, -0.6224, 0.995, 0.4911, 1.5333, 1.0782, -0.5198, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3773 left_y=-0.0928 left_z=0.0657 left_yaw=0.2825 left_pitch=-0.1678 left_roll=-0.062 left_gripper=0.995 right_x=0.3523 right_y=0.1784 right_z=0.1183 right_yaw=0.3283 right_pitch=-0.4076 right_roll=0.0205 right_gripper=0.0491\nstate[joint_eff]: [-0.335, -6.0786, 7.3368, 1.16, -0.4176, 0.0415, -0.1001, -0.335, -6.7077, 6.5846, 1.2869, -0.022, -0.0659, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828e5d2904825339d0ccaba5624d3a11521942c086c80bc85bfedb3cd8195d81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13daf5dbc2acad8e7a760d3b295374741420003c453c2c60375f1f72216bb63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42252f89bdee2538815d51b7b93a84044cdb0c87943bc6bbcecf7f35de532af3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.458 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1364, 1.5608, 0.3447, 0.4522, 0.2646, 0.1791, 0.9996, 0.4911, 1.533, 1.0786, -0.5167, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3236 left_y=-0.0874 left_z=0.0008 left_yaw=-0.4705 left_pitch=-0.1623 left_roll=-0.043 left_gripper=0.9996 right_x=0.3529 right_y=0.1787 right_z=0.119 right_yaw=0.3286 right_pitch=-0.4038 right_roll=0.0212 right_gripper=0.0491\nstate[joint_eff]: [0.4171, -4.0137, 3.9726, 1.2821, 0.2418, 0.0855, -0.0122, -0.1299, -6.7761, 6.7077, 1.453, 0.0024, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 1.6634, 0.4438, 0.4377, 0.3183, 0.2371, 0.0086, 0.4911, 1.5333, 1.0786, -0.5175, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0635 left_z=-0.002 left_yaw=-0.4445 left_pitch=-0.1643 left_roll=-0.0413 left_gripper=0.0086 right_x=0.3528 right_y=0.1787 right_z=0.1188 right_yaw=0.3285 right_pitch=-0.4049 right_roll=0.021 right_gripper=0.0491\nstate[joint_eff]: [-0.3761, -7.2821, 4.547, 1.453, 0.1441, -0.0024, 0.5592, -0.3077, -6.9538, 6.7761, 1.2479, -0.0317, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 1.5837, 0.765, -0.0586, -0.5095, -0.6224, 0.995, 0.4911, 1.5333, 1.0782, -0.5198, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3773 left_y=-0.0928 left_z=0.0657 left_yaw=0.2825 left_pitch=-0.1678 left_roll=-0.062 left_gripper=0.995 right_x=0.3523 right_y=0.1784 right_z=0.1183 right_yaw=0.3283 right_pitch=-0.4076 right_roll=0.0205 right_gripper=0.0491\nstate[joint_eff]: [-0.335, -6.0786, 7.3368, 1.16, -0.4176, 0.0415, -0.1001, -0.335, -6.7077, 6.5846, 1.2869, -0.022, -0.0659, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828e5d2904825339d0ccaba5624d3a11521942c086c80bc85bfedb3cd8195d81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13daf5dbc2acad8e7a760d3b295374741420003c453c2c60375f1f72216bb63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42252f89bdee2538815d51b7b93a84044cdb0c87943bc6bbcecf7f35de532af3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCsXZ4laX_0fziaPRXZx8sXH70M4AXC9MLlrV-1xOskoFtYiA7vlODHOkAdJDW9UCaXFTzWOBqdXWbp0FT54pNq19lDOl4UbjP-ebMpr5Ap9C_QrlIszjN9R_yKFAAlpDmCw8JKTmlzS7LsIQxZwm_rm0fnAFVty_koM9SaMvLkfAlULQBXrJlrbVPrEqRNZHaWHkeUoNOyCgU5PiM0fkXmPiCjti9ym92hOM4BjzNg8s5VBi7VJRrly6729w1k3yMNnU_U3Z-fFZLZjcuP-r15u3i1dYGTt8XuaIh5fjlDQQ6k6fcmYkLB-QvPcgPGRWf0INshZivM2XjwMzVMxfWejG9VleQRMuY-dzEgG1GQCrM5R2390EUXj16rOBk2AmYaCejI7jch9NI3ZOks2I9iZPHeFMoMaBLV8nwJKTn49NqAtNXSESuVKC-_IwRcvAC2mKkJ7hcTrJmjVAXRjbvejzlHYuSGwKEPVuVraNn0QbUGEHhKVzEKtxvX6hYZy0Yw4uhu5MHOOSPDv1gNN9SsEiBKM71i-qFUEhi6-BYHNuErQ6iPDg0Q-UePYssDpQi3eA7cbAeA4qE9JjN7lGBhZjOH4Wiaa0npU1x30EmJW8r2Xa6jkRsA8G5Iw7iGWBS_1J61c7_oTZKelt8brx7cPa_WjrZEfY2LcXfa3CLnBrrrzq8n837gxJ1dz422-K-sErf3YETSm5BA35dqsuUF7ao1YRKuKLBLM978KY4BLw0MyQeCkQ4pi550TPR0eOcRLI3IVTx4ZCXXmU216jF92EmLbkmq2kXPoPlWWW7p5wrT9V-4LzOlSJKqU2yn9GGfdSHuCM-JXXmZgJjj_XCJ1MQhdEIHZGTie0CKTNN3ShBSuCScCbhqNVK_j-I39OlDsebeeXXg3LyyOksFxeMQhAaP4Jdb5lToHK9luKMo586pffDmNPYJ1WgsZdeY4dzIc5M5ygZsmM6P5ubg6Q4u7oe8rVYotCKTmvyFKmxtkAXAJFDOLz2RUmsyqCa7D-qduNM_n0-PdaaVKNK0u7etTK_N4pZlbLc8iNyZHRZmjs78Fd_hjArmbF5Cz_LOZuuMNiyJXFNi-x0jrccm7KtVkPl4alLrRFJARM7VZZ-jzSpuTyHjWAjgbtLZ_YaN7dZGaQCm4Nh4CX7NMlhFDZXRBHNZBzEld0ctE89D9CTQ0lTMjY1Y3VVNsQiSlvP0SE6SHC24MJ_5O6mxVOi6Ow87eP2jnhkGrgliaMMoSHJD8ULmJzsFWjJ4pM0qFBl11Q9dI_iRJsj1WBDlNW1MddFDurucpL5QuTNv9c4pZXg4b3WChf_JoShdQaZDtKaJB5e3CmqBSnGCDEYc5k5M9TXXppyxB8dcezoZ5KmCWNUoOPWYaYgRYL7g1N--ZUGOBB4dCw3y0x0BGlV5RSUZ1gX4a00vij0GyPDAjGVEAiYTnJHa3CX9V--DLuIEpwbLQj-r79srLNzfBtkVdKFTuwAncINxR3B30cDiWO3jc_M7Xx4RwDl2wxfxBcb2jVKyuYh4iklq2bEDEK_IlOKurKaz9Akm6-XYBcxAyIa2pRw_o94JHr72ALRRHNZgy0PDv6DwR5e7Lmk84tCBihRu65eTuARrQhnZWuxfwmw6DJ0EBBPOpsPny04KjW4tqfL_B0gWvGV50-pvniZLm37p0J_YHYkqCIjijWoWKahUvbdOX17xy-ZUhT8A_8KC2VhlWa_lhCxmOl68g6HpOvOnCQB5uNK5nTJKoyt7xvXm6fZoxPjKEYIA6imPcJI44xRLLXSI8Yzf-G5XlbtJlgezNOEzo78r9H6LTZtUPA4YgWwJQw4huw_CF18-nqLp0Pc2fFYIhRKCiGpV4HBt4dXZVZcBT0MMI35p1MPnuiKmIWEGGan29X8RvBNNoVhRM3AEnynsk7BLvqh9lBsXwpB3JbUIZRBCnsdYx7LIfcCPRXOJ-3r9DFGnSfEzm6v7kyP2jYqkY7rvwaKM7YfYyCEqO-yjFoomu72zwc49xqN1P2CaCt0dXVW-qU_LCygXWrApNkc7-6sg4zNruggYWhOpQ9vd-q9dH_SOUgshXX-b2IVS46Mdjr_fhG8jOtD8CMrm9RHREofVlC28AZ4XWoSP4np58-4hKRli6_gu_Cs3w8J4DivIOzsqhuZ3gHuDNS0gSGev7YUI2oicjMLsMM7fWkQxSWwjwz1RtBVN_laXV4zFxTZsrBWwORT1vilBP9Ovznwq7",
  "id": "rs_0800d2bbd0870841016ab42b14779c87d09c6e4626237b44ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.357,\"left_y\":-0.088,\"left_z\":0.064,\"left_yaw\":1.15},\"note\":\"The cap is still on the table just behind the raised left fingertips, now lying nearly crosswise in the wrist image. I’m turning the left gripper further to bring its jaw-closing direction across the cap’s short dimension before descending.\"}",
  "call_id": "call_C6ep7L3W8sX9CPcHkMdYlmgO",
  "id": "fc_0800d2bbd0870841016ab42b1647b087d089848a7863920108",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C6ep7L3W8sX9CPcHkMdYlmgO",
  "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]: [-0.6113, 2.0171, 1.3579, -0.8692, -0.7876, -1.5665, 0.9962, 0.4911, 1.5333, 1.0767, -0.527, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3789 left_y=-0.1083 left_z=0.0532 left_yaw=0.9363 left_pitch=-0.2134 left_roll=-0.0339 left_gripper=0.9962 right_x=0.3506 right_y=0.1775 right_z=0.1167 right_yaw=0.3277 right_pitch=-0.4162 right_roll=0.019 right_gripper=0.0521\nstate[joint_eff]: [-0.0615, -10.7966, 6.188, -0.3297, -0.7643, -0.1148, 0.1099, -0.3624, -6.9538, 6.653, 1.3407, -0.0073, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebfab795e3ca3d3bbbed48ed7537040175ca605718e2d9a8e916f17d88aad98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f62a125304f176a47580ecfc7f749e5c3c09afdbd637f1903709e8c2b50750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486c683e485e3d865d08150e752b0a7b7932e58ef87ba599880bcf94ac983dad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.42 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0364, 1.6497, 0.44, 0.4385, 0.3191, 0.2379, 0.9996, 0.4911, 1.5333, 1.0786, -0.519, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0647 left_z=0.0016 left_yaw=-0.448 left_pitch=-0.1542 left_roll=-0.0369 left_gripper=0.9996 right_x=0.3525 right_y=0.1785 right_z=0.1186 right_yaw=0.3284 right_pitch=-0.4064 right_roll=0.0207 right_gripper=0.0491\nstate[joint_eff]: [-0.253, -5.6274, 5.8735, 1.4823, 0.3736, 0.1392, -0.0122, -0.1299, -6.9265, 6.5573, 1.3162, -0.0171, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 1.5837, 0.765, -0.0586, -0.5095, -0.6224, 0.995, 0.4911, 1.5333, 1.0782, -0.5198, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3773 left_y=-0.0928 left_z=0.0657 left_yaw=0.2825 left_pitch=-0.1678 left_roll=-0.062 left_gripper=0.995 right_x=0.3523 right_y=0.1784 right_z=0.1183 right_yaw=0.3283 right_pitch=-0.4076 right_roll=0.0205 right_gripper=0.0491\nstate[joint_eff]: [-0.335, -6.0786, 7.3368, 1.16, -0.4176, 0.0415, -0.1001, -0.335, -6.7077, 6.5846, 1.2869, -0.022, -0.0659, 1.0232]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 2.0171, 1.3579, -0.8692, -0.7876, -1.5665, 0.9962, 0.4911, 1.5333, 1.0767, -0.527, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3789 left_y=-0.1083 left_z=0.0532 left_yaw=0.9363 left_pitch=-0.2134 left_roll=-0.0339 left_gripper=0.9962 right_x=0.3506 right_y=0.1775 right_z=0.1167 right_yaw=0.3277 right_pitch=-0.4162 right_roll=0.019 right_gripper=0.0521\nstate[joint_eff]: [-0.0615, -10.7966, 6.188, -0.3297, -0.7643, -0.1148, 0.1099, -0.3624, -6.9538, 6.653, 1.3407, -0.0073, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebfab795e3ca3d3bbbed48ed7537040175ca605718e2d9a8e916f17d88aad98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f62a125304f176a47580ecfc7f749e5c3c09afdbd637f1903709e8c2b50750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486c683e485e3d865d08150e752b0a7b7932e58ef87ba599880bcf94ac983dad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsbPlm5aslHCz_CJxLZPxJziHKT495pEHygh8pDHfxutA9KFb1G0PBSQu6aZXx9WA4TpiuMqbXE0I3yo0FVlRTwjaf093x5bowvpXWmqFrxegUqy5hylsxhQLai8T_HiGWNxgo-S95zgxb1URTea29IR8YF5Ue7bxcu9NYrDPFaed64JP1NzUUa64y1eW-LSKdwZ78QtmL7oJ__g207fiAgUBHICLIfSGkXVIDdc9T_sZKfL5erby6ZrflgE9uoiQBbCesxy5NqMiaAb5TEE6ELm1wwkUS1TBb_20PUfSkUX2Z8wYInkUAYUXwCRXRSu0UwCiTA_9FfNgZnUPnsKWdiVtY0T5PZ5jnL5UWdTeVYjAEPOKq8fC10HoICzvlgNpFpC2AcUOZTD0W8M_uXNTR9KkuaWRB_mfYSIo_FEVc5UyskBAH4-tSw8QSDeETiR44R6PJ6kSlXvPUcRb1pHV5pnxiFctOZ88gLcuFYcbC48jpk893yjhOST0V5O1f51vFw7o8nDik4GkKvxhr8lXtnl04vtT9tCIy4VENBASbhDOxZB_t8Inyg6di4WAMZB3xazoQLg3NUORScdjJl6P9fVLwJ5ZFakX52OCI7c6_bGuUnVPtXKJYaD7okhwGKFUcTh1uRwrb6LbS29HJWQePD646JFrlLiXCy1McOUXqfpwEL9W_J6xFWDsZ6-QeHPjI7ILwEjinGS-5e8dg6BO9Z6MohoqDhibL_Zwj3Dit3p-zvyMFuEyR5bspO6iq4PiF4M9pP7kG5T18exGlDcqoZa1AOLrwIv1COxT0n45LmR7adt3184Sz4spyXIVCLbJU8BSg6VEVtJ2c4o0wLgFp2cO29usjx9ao-ffA_MIseTaQ6Lfm_dbPEdZZX6RDNJJCBwNdTvapu4GCvFLvWXLpUbI95q0UsrriPPQbBH_2VSCMI2HSfiy_rHM-gKLYS3fm2n9DPxfauHb8G99V-XpBnWd-h3qNtweMZPTHBXGMsebgTOgAD9oDZ7tqhQOFf9HQrYKCFi_9OitbFHjO2MXSWURN216FNfHifeftAcQE-D-B12tLZzqgL9Manzh87o-nR_0w9-ahB2n2eKIOuqo4-Lx86zSv_LvYi_iXRHPxzzcuGrvmyHimdYu8xNLhpF9sTfF66JrhukdBTEOL2meh-FtE1aA7Xed52JpMqHxnUFz3USWupiuQB-RO9a52ziGnO-ytJR-msFC1s8in1j2aMjPdje99bWBvL7xMee2MG1U-AdbiCJonED0TOG8fD1EW8AOFdAaWlvY-BsUYC8nDhe6kTQbRjsnCN27tUz_6NbEcQCkXuK-Y-5a-ZbjqUuhdDfl4Zj_wb9b7QIfFdnMG32Y4QjiXYRG2abVpbvJzueObl0dn2tzbM0wHKvquUJ5f-GaVM4RpEC9K3wokc7-G0ZbpREpTgeq1UbcNLBpCzHh-ZVjfge5WQYHGhg9KNp4RoQ_a3ZP4yiwkD7_6PfFGFjHfPssxCVzkHvQuHgSh7JFAYa6BcuF5fD3h4fP4sIJgI6NFOi7YMjRYSPGKiHfH912Dl5F8IqxNQQje-rRuDa0s8JPUsXWp4lijXmG0VC1npLU8c4kL-O4mgUIqD0EHF-b2pWFhjkZkEYHI158TDZo0LDU0Mon44dm7pb_kgfhpvZEJnsbdp5ldRVADuyU6LXvNfozJsEClqaQYjVxlpabUddcFu2vyGa1K9inT8P4LSf0jXluiTwK68WQSka5dHzJFjQLRZNHCkVHG7bRa7D2dKJpUb4-CUYOsdklTgRYJKh9dOzkghUHnA8vJ2CQIT5jC7349XNtZgizIqos3Y39-8K4gW3hZuQMC7yCsVHY8cZscw58MRb088tf6iF8WcAA==",
  "id": "rs_0800d2bbd0870841016ab42b19188c87d0976a0d30f5b10b1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.085,\"left_z\":0,\"left_yaw\":0.94},\"note\":\"After rotation the cap appears lengthwise between the left jaws, with one end near their tips. I’m centring it laterally and lowering to tabletop height so the jaws can grip its barrel rather than slide it away.\"}",
  "call_id": "call_i3dNsGJrrwg9zTJ1wEwoMXjZ",
  "id": "fc_0800d2bbd0870841016ab42b1a59dc87d087efb7cac2a36b43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i3dNsGJrrwg9zTJ1wEwoMXjZ",
  "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]: [-0.5491, 2.08, 1.2427, -0.7155, -0.7773, -1.5425, 0.9963, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3741 left_y=-0.0795 left_z=0.0049 left_yaw=0.9903 left_pitch=-0.2243 left_roll=0.0082 left_gripper=0.9963 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [0.1436, -9.0872, 5.1214, 0.3639, -0.4274, 0.0855, 0.0024, -0.2256, -6.8444, 6.5299, 1.2625, -0.0366, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2472f407044a0751c818f1b5bf30659256e9144ee51e11b40da7e94dc2a008f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f30011832026c956f46175f7d13029d35b89a729267dbb738254961776c6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e35bc7dfd00de1aff9d62ee9231b40ac8267ba7de4d1a028ed1f52912990b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.416 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 1.6634, 0.4438, 0.4377, 0.3183, 0.2371, 0.0086, 0.4911, 1.5333, 1.0786, -0.5175, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.352 left_y=-0.0635 left_z=-0.002 left_yaw=-0.4445 left_pitch=-0.1643 left_roll=-0.0413 left_gripper=0.0086 right_x=0.3528 right_y=0.1787 right_z=0.1188 right_yaw=0.3285 right_pitch=-0.4049 right_roll=0.021 right_gripper=0.0491\nstate[joint_eff]: [-0.3761, -7.2821, 4.547, 1.453, 0.1441, -0.0024, 0.5592, -0.3077, -6.9538, 6.7761, 1.2479, -0.0317, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 2.0171, 1.3579, -0.8692, -0.7876, -1.5665, 0.9962, 0.4911, 1.5333, 1.0767, -0.527, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3789 left_y=-0.1083 left_z=0.0532 left_yaw=0.9363 left_pitch=-0.2134 left_roll=-0.0339 left_gripper=0.9962 right_x=0.3506 right_y=0.1775 right_z=0.1167 right_yaw=0.3277 right_pitch=-0.4162 right_roll=0.019 right_gripper=0.0521\nstate[joint_eff]: [-0.0615, -10.7966, 6.188, -0.3297, -0.7643, -0.1148, 0.1099, -0.3624, -6.9538, 6.653, 1.3407, -0.0073, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 2.08, 1.2427, -0.7155, -0.7773, -1.5425, 0.9963, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3741 left_y=-0.0795 left_z=0.0049 left_yaw=0.9903 left_pitch=-0.2243 left_roll=0.0082 left_gripper=0.9963 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [0.1436, -9.0872, 5.1214, 0.3639, -0.4274, 0.0855, 0.0024, -0.2256, -6.8444, 6.5299, 1.2625, -0.0366, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2472f407044a0751c818f1b5bf30659256e9144ee51e11b40da7e94dc2a008f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f30011832026c956f46175f7d13029d35b89a729267dbb738254961776c6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e35bc7dfd00de1aff9d62ee9231b40ac8267ba7de4d1a028ed1f52912990b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCseGDtLeb1zOFeHhzpZW4EA4tpUKebkayELDemHt98wVe6Lm1itGIosM2d7X6hZkc0IINJOFGTkGT0e9D6ZGNKC07b8mMuCUbYF_7_AbihMKxVx091EG8pdhdmlb-Nzj_d5IVJDNKVUzXynlghEus1fjnJI6iB30A719sVua42S9QWZdV59wS9XrJ6aNBm5eWWpRHScBu-wAwCAJNM7RaYPZkypOoopR0Jt2rBal4vAUgXoYJb-XrPJ7uYZXj3BC38dTh2lhCr32EzQw23MsLX360LmEMBEzxmLeNc5arGhnagupJpeOFPZIbDrOO7PMPYGT9ggJZjgOhe_LtFp8h1dwbzJKTGcRUuxGfdt0hhBICzZNUqWnk0rmm7yzfFuLNX12iaVmINtoBh4ch-HWpEMqWq3O0YmYsJ1qGPYjididoY0qyEGIK8WRxZDuX3l1m9Yzo1yGhpcqERA6qU4vDXk3J7TI-UgSQ-ZWOQV50DoNE39I-5RE2xui530EgN32E_hl7fUiMBRyezTjJvuwDRP0aRWxTTrYW5g596ttx8IbXCC5J3NnVUpydYajt7qlUVgEaJeqD7Hfj-z2VZbzksRmwwiwREnwB5yEafUVBnQ9GwtOwdF1PUDyavSdYqrf15J0ZxK8RNGCbjnsx17HcxLZqNY7auf0qXuqsefusYvlOYTtF2dKwdEQXC5WdFlkph1axQv3cja3-BUfLwQ2vOKFjcron0dMq5aIBLdf1ZdR6PmSrVtNGHLytK4QWneWIwSlH1qjz3RiZFEZcyp3PyxwO114XiWUgoM-FUjgnOg0b-Rnlv0xUiKnUquonmpDZlvxKhsRFOwCbYLEYg_dD7U0WkmvUc9eFfihnKMX-Vjib6FO2zW1AAAFOM611b7SHoiA_p1sq0JOnmfstTry2AICZcPM9bBnKBd7f4YZMJCnOR-hlKD-K13Ej_i1RSOo8oUEMbycKDFE0fk4T5XxJHjozJJ9xCmP9QGjA9o0niBRsaultyKOZ7jgzzfmTDejGBExVNZyPXVpGRP3UcO-DkhNl7re0WklNo6zJZ-8BjXqweVisYDbFOJVtHZFvcJ2ehyADOPYOJWMh1n94mzxBO3wVC8n4u3cxnHyinL8M2dI67rHDeorK11S8tlplnoz6C0xld2FQTo_k4bp3mfTW80oIHRcmhefxY04N6zuHXYPdzPItOeXDj6k8rVgoy2gVPc87QPUpj4SQQ-odEPgufBJkTM1xH1jEM4HhaKbmwQCnV1ZbkBfBA7GntY-dqHmZf0bImGCieOuwbR5ERk1z6r91qVoiz6KMENdxgnkyEl9tK3KYdzpIcAedn3-qWPBjojJNZwWUs1f6KJudbJ6o8bFbvFvDrT5IXZo93d_E5VPK30Rhhe40TgdMeSCjkhdCU1",
  "id": "rs_0800d2bbd0870841016ab42b1ccaf487d085e48956a9f18a07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_x\":0.374,\"left_y\":-0.08,\"left_z\":0.004,\"left_yaw\":0.99},\"note\":\"The cap’s long axis is now nearly vertical in the left wrist view, and its barrel sits at the fingertip pinch point at table height. I’m closing across it to test for a secure grasp.\"}",
  "call_id": "call_Ych0FMZdDkRYUT91e2UdH4dt",
  "id": "fc_0800d2bbd0870841016ab42b1d3d0c87d0b2b63019e0c113c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ych0FMZdDkRYUT91e2UdH4dt",
  "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]: [-0.5369, 2.0853, 1.2324, -0.6075, -0.7818, -1.4818, 0.0076, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.39 left_y=-0.0831 left_z=0.0027 left_yaw=0.9488 left_pitch=-0.214 left_roll=-0.0421 left_gripper=0.0076 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -9.5385, 5.3949, 0.525, -0.5446, 0.0562, 0.5543, -0.0889, -6.9265, 6.7487, 1.2527, -0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fe066d60641746e03e9aadae90c7eb9b3c50146d021cbd348fc39643b21f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d813b0bb2d3f8ee6a760d015abb2164c89470d909195a9e8d6a5d32dac47dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3a7bd0345ce65fa65ffe60c971ebb4fdbf8a690e477629efc71136a3eea167",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.207 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 1.5837, 0.765, -0.0586, -0.5095, -0.6224, 0.995, 0.4911, 1.5333, 1.0782, -0.5198, 0.0704, 0.1452, 0.0491]\nstate[eef_state]: left_x=0.3773 left_y=-0.0928 left_z=0.0657 left_yaw=0.2825 left_pitch=-0.1678 left_roll=-0.062 left_gripper=0.995 right_x=0.3523 right_y=0.1784 right_z=0.1183 right_yaw=0.3283 right_pitch=-0.4076 right_roll=0.0205 right_gripper=0.0491\nstate[joint_eff]: [-0.335, -6.0786, 7.3368, 1.16, -0.4176, 0.0415, -0.1001, -0.335, -6.7077, 6.5846, 1.2869, -0.022, -0.0659, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 2.08, 1.2427, -0.7155, -0.7773, -1.5425, 0.9963, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3741 left_y=-0.0795 left_z=0.0049 left_yaw=0.9903 left_pitch=-0.2243 left_roll=0.0082 left_gripper=0.9963 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [0.1436, -9.0872, 5.1214, 0.3639, -0.4274, 0.0855, 0.0024, -0.2256, -6.8444, 6.5299, 1.2625, -0.0366, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 2.0853, 1.2324, -0.6075, -0.7818, -1.4818, 0.0076, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.39 left_y=-0.0831 left_z=0.0027 left_yaw=0.9488 left_pitch=-0.214 left_roll=-0.0421 left_gripper=0.0076 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -9.5385, 5.3949, 0.525, -0.5446, 0.0562, 0.5543, -0.0889, -6.9265, 6.7487, 1.2527, -0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fe066d60641746e03e9aadae90c7eb9b3c50146d021cbd348fc39643b21f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d813b0bb2d3f8ee6a760d015abb2164c89470d909195a9e8d6a5d32dac47dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3a7bd0345ce65fa65ffe60c971ebb4fdbf8a690e477629efc71136a3eea167",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsiojmpTI0OJqnRrF5CpAQTo_4IuqQ4czQbvv8vEIUxtnL2Y-CCTaMlofwYsgmtgw2blP-HyivGLugt3YUQB73JfBqymK4eqewR-cQm39O2koT-MajAdHJWKcdPHvoBpQaKrby6Cb62Z_AR3ST7JU5EUH2mza6LFI-X15F_pesO4Fa-y64S1yqUze216t6UbKNtJs_0y_i2z16msZLl3eB-wMQqgOpeDinWVyUyWWqIfCdYbqTrW-d3TBuKkEfe12ao_ccOSGdUxD9JRFOrBCjdy3A6yRLybI0bVNuJoZODtsrybUrBaBfllZloAmV-d7Mvff3qq6moLPxW1cHgA8DVwRGPSnId7R9FVIYljWj5bcEu_hCMCUYRDSXxhOcr--fNnz7UBWvAk2tMIXw2fWdPFbZfjMSs8aC3GZIz_Z9ztSRfQqSSlhKjU5vUsvgtf-w-j9IfqvOlH_TNOv-S0jIjtIgXWQcxOpzYRyjRfqNNVfz3GgGakkrn92yxCmxDkyU4oFi6MaUoTKR_3PXwLilhMtfXbPQjSt8sOCuVPiUwaoaES3_kJbOvqX5UfnzJVu6waLS_aD3JnaAwqCYyrAtgsiUc89N6tH0PyU5Ii3WDVb0jzBileDY4NdeLInscOYt784wwC_BNFBf73RNQt2VD9hNA3AYF_fzCS6jdyl0TQ8OsmFmR2sOd_gai-dghjveezkSTOnnajKO4j4fZcEgKZodANU9VuGqS26moF9qXSu1jZDjDkqpWTVv7YNyLIZ4RegqhLiZmBNCS2HMa5xk7Ux2YtBWwzmNeRQxCxBIaHU8gl1woVAcM8EDIbLnCppJiG2I-i_OFwAS3ipzQ2ZncqDQWMAjeoROMa6rh3MDojmdBGfTkmu87QwG64yO0-moMFJUssvI6tAML1G5BejU1azD5LU5kXtvQA3qPruxVQQyKVIYgULu-L1hMUItkLJaiV3qVyzXa4WQwuWxUvASOt8a5Y0W61p2268Cicg1FQCPlZ21Gw_EIEsjrySbQT_1yZwJMRRUuwqRKSUnWvtmQL9bA8jMNi_3Sy64feyecLK-TRZrOwivRPOVitx9E9-NWUIH7eYL-bba2oZNRSHTi3sUXlzFIaMQVL9tEm7FYRbIZ537E7JlbytFvdqJ8KvyXLzSb-03fWoeo8Idjne5b-iAFNDqUjM76RgZe3_chsixsgFu5ykHjqLlast2tWZo04nJSst3w0hKUp86PnVzNZcO9WievgRjNOJEFbKuzowXQ7vXgEIN1r-ifjpGzwTTshW5IMwLIMd5-auR21R2YT_owZE4yybDg48oYJ5BUO0A--Y6KA96TdrThlq5xN-IYbPI8WmtpmEKjD8q3aS8KnF4-CwidwU4Jv4giyZ68Ic1B3sinPc73vDc55Vx7JV5KrJxcpHwB4OBhsC9Nq8Gxsg==",
  "id": "rs_0800d2bbd0870841016ab42b21112087d0a077c00ab78784af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.083,\"left_z\":0.08},\"note\":\"The left gripper again closed all the way, so its reading does not confirm a cap pickup. I’m lifting briefly to expose the tabletop and find where the cap went before trying a different grasp.\"}",
  "call_id": "call_Pe2DUxuBFo3wN86Ll2AEOAkh",
  "id": "fc_0800d2bbd0870841016ab42b218af487d09dd9b508ef9ac377",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pe2DUxuBFo3wN86Ll2AEOAkh",
  "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]: [-0.5369, 1.9907, 1.3376, -0.8143, -0.7704, -1.4864, 0.0099, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3903 left_y=-0.085 left_z=0.0562 left_yaw=0.9514 left_pitch=-0.226 left_roll=-0.0394 left_gripper=0.0099 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.2256, -11.7538, 7.6513, 0.2808, -0.5055, 0.0073, 0.2222, -0.2256, -6.9128, 6.694, 1.2527, -0.0073, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e49fe6b55dff86c8be5cd0f21dca9e3652a14acde99acb84a79c533a9303ee5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b496a29e36ac1ca95a2a07585ea4ef70d3781a1b00aaacbe34069d727d5a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3284498e19bfb65900d66f425264137953929c4565864d5d9b07ce7ff3cd308c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.941 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 2.0171, 1.3579, -0.8692, -0.7876, -1.5665, 0.9962, 0.4911, 1.5333, 1.0767, -0.527, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3789 left_y=-0.1083 left_z=0.0532 left_yaw=0.9363 left_pitch=-0.2134 left_roll=-0.0339 left_gripper=0.9962 right_x=0.3506 right_y=0.1775 right_z=0.1167 right_yaw=0.3277 right_pitch=-0.4162 right_roll=0.019 right_gripper=0.0521\nstate[joint_eff]: [-0.0615, -10.7966, 6.188, -0.3297, -0.7643, -0.1148, 0.1099, -0.3624, -6.9538, 6.653, 1.3407, -0.0073, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 2.0853, 1.2324, -0.6075, -0.7818, -1.4818, 0.0076, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.39 left_y=-0.0831 left_z=0.0027 left_yaw=0.9488 left_pitch=-0.214 left_roll=-0.0421 left_gripper=0.0076 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -9.5385, 5.3949, 0.525, -0.5446, 0.0562, 0.5543, -0.0889, -6.9265, 6.7487, 1.2527, -0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 1.9907, 1.3376, -0.8143, -0.7704, -1.4864, 0.0099, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3903 left_y=-0.085 left_z=0.0562 left_yaw=0.9514 left_pitch=-0.226 left_roll=-0.0394 left_gripper=0.0099 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.2256, -11.7538, 7.6513, 0.2808, -0.5055, 0.0073, 0.2222, -0.2256, -6.9128, 6.694, 1.2527, -0.0073, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e49fe6b55dff86c8be5cd0f21dca9e3652a14acde99acb84a79c533a9303ee5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b496a29e36ac1ca95a2a07585ea4ef70d3781a1b00aaacbe34069d727d5a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3284498e19bfb65900d66f425264137953929c4565864d5d9b07ce7ff3cd308c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCslJaf_f-t4oNqrbmLjqqsZfCgq2uWcMJbz6CNENjyPqnu7neVb2IV8SxiD8Qk_abTIOjZeyEuPlCusX0TMd2lRyxrgUV2DdI5NGpkt7mEKqOCQkgEZ5CBsfaMgwaYpuEqc8Xhf1Pd_bMafxz8CBaLpYC4RvNY-8jPeiUiSsGESJkyX7cjt3Gqsq1vYW2dozkZ-aB5KXW-VZzDlSiUi1H2UfVRXtzpP0PKc4sokM0mujQqu3bek46DRCmfvt2NuZQZOZEE0STczcHXmLRGqEU97zf7SOUGYf9wk8QSoYJghWMWbAbVzQ-fbNC0k6gouNAlwvci0G0hnzHb1HYtH2nfKrXQsVocbvc6eDhZCKL6txINipxiwFyijBN3t5S6DO_bd2kOLb3C0xoIKVGwecWUdygEa7N6R6oePzW27-0qW_DYesUXBcB16jh-u2z3efP_AcJNerE2qe8DJeYofW3Oqt_SdTvmw3zLXKerxHjmSTriFel9XJl9Phgs4sj8yMYGJESCV3e7erKd0PMqJL23JMYei_mtRYrePtHIEeu5M3pGkL7JMVszQiNVUqExUBflwcf9ewuLbo4-Y9fsnFzbpVwDmzqe2PY2RiuZX25xa04ei8Fbgn_uHIr3A-QvbdcYpEpIYiQMnrJHDb8OtXajcf3ANtT2SvlHK3wnGh7anY6Eg4RRmukR0RFx_MNe3-LuzKlVBMxtAbtWgOE6LvErANGeEKMk4HXz1hPkG4D_J-NtZ7izt_v50dO2B9iDXBBjdqm40L24YclbXnnC2G9WEwvqr-qcg5WhCeVZXlzNgg04xyqyl_msPNjiYcKEV-RbrlLu4Bz_o43skhefnZaiETV4VPVQKzxTNOjOn_IHjLe47URPnLBtTXu3anfLMGT9X_LnMsnoYz9GvghBB58HVXNjz-1gqTxLsUZTSUHHdhoeaDBFVvdcjuuddvJ4vqreO4HFUROJBBzNAShacrz4wm6eud2nqzdq14YD-N3RBKSeprwtatki7QCqT-lsR6CsHHEfkuQTKXh19v2Q7Gj1FC4UPZQuztHeWR6__HFg5q3KMwcGxPw-B2C_LcnMV6bnILgCaaUNapmxNys-CQ8pz0V81p91cTEnnS8wjryP0si2exS95K5OQfe6imYbaDuGAStAIqv2mDW4bKwYro6RaPlBQ_23XGnRFc21hiEjcWu_FfIud79js8-FnJ0Zs7wY-1_9nupjb1IA47EsLTfrdkizfuXhfLmsvk7ME7mr6Q-Yu2AWQvAe8uZW9Ges10aG07Carm3cBvaLznECq3vTSNuaHR-JWvnYrLiEG7XneoG0XDgqbopJ7Tim3EzDk0PbsUQoN2qFU1eCKpsrutIHXMedXJfOqdx8eGhifm2W3FSFVPUzhfgqI-yvW5uKbg5AkvIjF2T6Z3iYhCA76QYd1Q__nnoPO57whOnE8ZbHUg8NQafkA6FJDWPmSkeVn3BThkI6skLyA6IS2IvJoLhu3v8QbIHjDTU_rj5ZbhMXmpi3fzxAgIA2SQR2WvNiHydFm-CwSvfBtG1Rn502ssAkl3GuUew4LZ5yYafkJEuN3Fr-Z3wA3MIi7CFYp8SQbepP_GUf7QG0wNkRRGEBWRM-08aEgLJepFUYpQgp9MXjDfVNHDrclrsPRnh8d37nOWgORIWQDYaWDZ_csgTdhUe9OiRc0DCNMMljJ_PhbgtqdtCPwXf-aWWW767M3_b-_Kaf2TXEFyRk3gXHM346BdI4274HCWDdVv4Xs7fI_FpLAhkbtpvZdkDQCKWv9Y3wmEpCG_5mAQ7jXHYz8HiOLcFSpVvlKcLLIr-3ciNa8Op_DZRYzgKAJmRIfj5jkfLcyn0Ky7ITzFgvq50i0cCGTWCdVSvlS-ckm9ulBbPNbcaH5fyk2K6thASzoLzS2jbUunreC8tJRcVVx2qYXjcchou81nM1__tcyiSs4ceI6TjBIpfafQjs3Uj9pVpAtE9-dVbd5",
  "id": "rs_0800d2bbd0870841016ab42b23ccac87d09062b5bfd37c56db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.325,\"left_y\":-0.034,\"left_z\":0.069,\"left_yaw\":0.95},\"note\":\"The cap is still on the table, now visible behind and left of the raised left jaws. I’m reopening and backing the gripper away while shifting left to line up a fresh approach from the cap’s side.\"}",
  "call_id": "call_181JFLgharW5qUuAb7wYA1JC",
  "id": "fc_0800d2bbd0870841016ab42b2521a487d0879a6b93cb212fe1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_181JFLgharW5qUuAb7wYA1JC",
  "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]: [-0.5037, 1.7061, 0.9943, -0.7399, -0.7517, -1.4487, 0.9954, 0.4911, 1.5333, 1.0767, -0.5262, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.326 left_y=-0.0379 left_z=0.0614 left_yaw=0.9575 left_pitch=-0.2425 left_roll=-0.0303 left_gripper=0.9954 right_x=0.3507 right_y=0.1777 right_z=0.1168 right_yaw=0.3281 right_pitch=-0.4155 right_roll=0.0194 right_gripper=0.0521\nstate[joint_eff]: [0.294, -8.6359, 5.4769, 0.5641, -0.5201, 0.1343, -0.1099, -0.0205, -6.653, 6.6256, 1.3162, -0.0415, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9bb89c8b0d0a0ec808b30aeb414b8c52bf426afeae26f1ca1cfd7389da385a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b9798683d2ae02dc69e10eeb4f6bd6780120e7751d2ae03745935ecb6f69d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f23e07d5fbd8f78f1b9f6e027427fdf84894d93d64e765bec25aa443dd6b99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.106 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 2.08, 1.2427, -0.7155, -0.7773, -1.5425, 0.9963, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3741 left_y=-0.0795 left_z=0.0049 left_yaw=0.9903 left_pitch=-0.2243 left_roll=0.0082 left_gripper=0.9963 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [0.1436, -9.0872, 5.1214, 0.3639, -0.4274, 0.0855, 0.0024, -0.2256, -6.8444, 6.5299, 1.2625, -0.0366, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 1.9907, 1.3376, -0.8143, -0.7704, -1.4864, 0.0099, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3903 left_y=-0.085 left_z=0.0562 left_yaw=0.9514 left_pitch=-0.226 left_roll=-0.0394 left_gripper=0.0099 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.2256, -11.7538, 7.6513, 0.2808, -0.5055, 0.0073, 0.2222, -0.2256, -6.9128, 6.694, 1.2527, -0.0073, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 1.7061, 0.9943, -0.7399, -0.7517, -1.4487, 0.9954, 0.4911, 1.5333, 1.0767, -0.5262, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.326 left_y=-0.0379 left_z=0.0614 left_yaw=0.9575 left_pitch=-0.2425 left_roll=-0.0303 left_gripper=0.9954 right_x=0.3507 right_y=0.1777 right_z=0.1168 right_yaw=0.3281 right_pitch=-0.4155 right_roll=0.0194 right_gripper=0.0521\nstate[joint_eff]: [0.294, -8.6359, 5.4769, 0.5641, -0.5201, 0.1343, -0.1099, -0.0205, -6.653, 6.6256, 1.3162, -0.0415, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9bb89c8b0d0a0ec808b30aeb414b8c52bf426afeae26f1ca1cfd7389da385a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b9798683d2ae02dc69e10eeb4f6bd6780120e7751d2ae03745935ecb6f69d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f23e07d5fbd8f78f1b9f6e027427fdf84894d93d64e765bec25aa443dd6b99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsqQXRi-kX6KerxbNs7Qo93TYRpGeueYnZeooP9SbEKZGG06SqWMUeJkck56V_6J7hW6ENIKzWoyASIOvjSt3NW9HHwJ-PSKeb6eggNsXOBNgoSDV-sPBeuuwF7Bj3SkTwi7BWNxfYeXd77m59C9VvGqhGvZCawpfe4MFgRfdVZzoqtiFtFeQoqGPGpXitd056lVhXswkDM2Nk8x2gaCMZL4_9Q35bA8TH2ydlJrPXytyEGsJOK-BHI3M0-zeJwDeWPOfWpKOJJ3tv1Ve0ec7LBg_6aCf7UQOHjuwU-syyOQ9j9Deg43Ybwod2wrtYNtL6gpyK3Z_4UmxH9-NDiQlCP0jpVqoqk5OWLZkBYikA_X3VeFjR4FzE0EVxM8lTmqGovBG_CWPGt68R6qhN45IgZuCSTenZ2p3eobej9L4gfztOucZgq47fy6kDXZIMON-_cI1_bQbnZoPlZnTeZqlyDB51FXFx6Ibjh6Fml0_ZXzc9XRSaPLcOPE_KyuhN3bXR__paBqX1sF2e4p_SSeE6egUEIccEPIprtdJ_gLcIizq--cr-78CRh7YWx29b4rgR_fUawRIyEJnHVlfHAq_96SQJRLlaoOWuy0gxcEBiReSI42ksZcjz65GASCTCT6MPBfvsKUo7PbuHlSo5tJX3Trzr-iwdaZNG1HPcOYq0BwT9dwRxSYOj4dF2uknJRTMRjTfgb7lai0rCQuMQIJ7--46VAk3bzg-cDfoHoT7Ti7Pni-BoI7a7tCPHjwsrxXQECnYpFlETefphjrXlOE2ri17IXEy_cacGmAckLCS2gH5oF_v-pFM0LV0ThagV3JUicpTFY7z8iNwsyo75cPaZMhZbi-qmQ5-XPUgC4UqDhC8eolqq6zGEOrAZEqqjFcOXh3JxHKpYAkovUMFsF7pp1NVnVLUfOKjm-CmZ0wQSJa-az3KzpSRLm9pb1GUsC-lMiqiCJ6YjMiQW239Xvw-Kz0HlbY4EnqJzYwH3iwCZKHRkxEO-bT2tMw5UGYSUda4wf3p8uaCWwce2COt7wMG61uyVSfjMx0qrPGqzY9Nqq9tn_B421lDxWPai271kdtvw4uGBixxuCO4YZyN8t_pezQl-KxBWB3Sr0t4vy9yJD0Ocb5bgncKrHTHfDNN2PIzoLRGmrPQKMjSM7a1I6QF4-RgxsIgatg-Y1L4L5fwNbo__lXUzVWCWMtnLhRWBhEASe6lPA_ox1KnlvqOOQG3F6PLhsPg-Psu-TuMhJ3XBBlvndicd7oufPsxL1GgSDGGxN1UdpRkuzuNa3GBLqfthXVJU5McLXTxrsjZn37_JJmslnaky7ZRSSLBBeugvs-Td8ysGXh5taxV28ielE-X3tg2CoLs_7DyfOqJ98uZvSMgRaCC-rNdx9dsYDnRWf1Pc7HRrWfjOXpkOclULKyu__WEeVhFcC7c-O8HauQsvQLYegX8ijHFCrJ9xCZhS_OO64Ejq86RmLRhpDgdu8wEHpPp8rnYfhzjwS1E1A1QvW2IUY8MoswvKQmRFRxiHsU9hd_t85GeoIX3g6W13-VNKUGwbnfNVVyCtTydg5YGo_WgoS43YSnHf_mVOCZptEemVyM8Ge2gP0Q55wZyqOGma4B3Gac3zIc5bn2U5PYFCorcn6R59UBpzymvr3hYUwXt8t8t4cvc5_9X2_4gSTwzVayNClNgKgISdbbDZOvOc5C1jn8n2Se9QGTRyq1qslJDTXrCx6-z-uHm4XIq-hX0avHdwOKmkeab-L4A4E6RmggQEokgwDpaMRjrIWeihNjvAEQ_FVyDW3Jo3wJvxAkUGE8WyKKuWuWQ3HmCmk_DI8pGjxtIRqLUxUy9NfynnhQR-EPcziG8ZPwqX67B6bbR7Lz9Ttse2IaDdPRAl6AZbxuAtLx9mrdBERABVpyzm_e_EPstS5-1z90m_cOnBBvaYipSaD1Wh4_CrZoMQKD7ggcf8V6G9Yo1n3VYnqv3-Gw36VmLOwt83eGqKKpnrhtTv7DwOSBYw4utoc81BzxyDtNqdmdqd9_DxShtWQohiVi76R4TyZgkDkMfyx_jdf2lp7ovB7nL3AnlIfM_FVPFg6OG9dvIfwpRvE3qZANf274Iix8YevWBHIR1qNwYsmrG-hhu_dsdQdoaJC6BrXbnPRLW-SyqiFMNalNNQ0VE6syVuQJj6BU_8Dvw4VPvcKFrTcEjLvl6wEU3pj_C_JZyHDb0VIReP640ZnXYGMUTywXubD5cjL70UeiOsHbCSGOv20jbF5DHW6OrIqHvOxz_WtOBjY-dt7V6jbx_6ZY8eQC_B752CixvD6oVdG3gftJ3sJFjtqIQ46v5bDKTuLNGmhMAHfWtKyYO__AmSTEN0K-NZrViqtLhNxQoatiA0V2iwuPw8zZ4Tbe9hPtXLq317DpXTFoTS7bmGBcOjHvcBp2e1_481B56IIo-KqyVQPB_r0lnvuSe2ZFgOUwQGMOXvSDz1FQZSdzVLKBmHKHAApbbGdC1vx2ou4ryiwfJtCydncz1TAdBui4gOAvKLKxmyAyn4=",
  "id": "rs_0800d2bbd0870841016ab42b27f13c87d0ad03dfe607d22c12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.067,\"left_z\":0.075,\"left_yaw\":1.95},\"note\":\"The displaced cap is fully visible just past the left fingertips, but it is crosswise to the jaws again. I’m changing the left gripper’s angle and shifting toward the cap so that the next close will be across its barrel.\"}",
  "call_id": "call_923YTh9GrDc3pkDoLJqhiXJb",
  "id": "fc_0800d2bbd0870841016ab42b2a2c2887d09b1303146df5102c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_923YTh9GrDc3pkDoLJqhiXJb",
  "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]: [-0.107, 2.0785, 1.544, -1.3045, -0.6689, -2.0678, 0.9963, 0.4923, 1.5368, 1.0733, -0.5285, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3444 left_y=0.0768 left_z=0.0686 left_yaw=1.8203 left_pitch=-0.2893 left_roll=-0.049 left_gripper=0.9963 right_x=0.3494 right_y=0.1774 right_z=0.1139 right_yaw=0.3282 right_pitch=-0.4245 right_roll=0.0175 right_gripper=0.0521\nstate[joint_eff]: [-0.4855, -11.0427, 5.8051, -0.525, -0.3004, -0.1587, 0.0806, -0.4308, -6.8991, 6.8171, 1.2869, -0.0122, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3187f7a5ce695d0b2d1d6dd0c4193c0ca53c3d2bb96549b27cd4c0c76c6c1872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82a7fb6d4e83ff34ad4fd36070a8f6d9182e3a45167d8fb21e018f05d1f1d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08c4d3b46d0f2453a4e49ab13b5317c36e88314bf00944cc4386440392adc77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.036 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 2.0853, 1.2324, -0.6075, -0.7818, -1.4818, 0.0076, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.39 left_y=-0.0831 left_z=0.0027 left_yaw=0.9488 left_pitch=-0.214 left_roll=-0.0421 left_gripper=0.0076 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -9.5385, 5.3949, 0.525, -0.5446, 0.0562, 0.5543, -0.0889, -6.9265, 6.7487, 1.2527, -0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 1.7061, 0.9943, -0.7399, -0.7517, -1.4487, 0.9954, 0.4911, 1.5333, 1.0767, -0.5262, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.326 left_y=-0.0379 left_z=0.0614 left_yaw=0.9575 left_pitch=-0.2425 left_roll=-0.0303 left_gripper=0.9954 right_x=0.3507 right_y=0.1777 right_z=0.1168 right_yaw=0.3281 right_pitch=-0.4155 right_roll=0.0194 right_gripper=0.0521\nstate[joint_eff]: [0.294, -8.6359, 5.4769, 0.5641, -0.5201, 0.1343, -0.1099, -0.0205, -6.653, 6.6256, 1.3162, -0.0415, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.107, 2.0785, 1.544, -1.3045, -0.6689, -2.0678, 0.9963, 0.4923, 1.5368, 1.0733, -0.5285, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3444 left_y=0.0768 left_z=0.0686 left_yaw=1.8203 left_pitch=-0.2893 left_roll=-0.049 left_gripper=0.9963 right_x=0.3494 right_y=0.1774 right_z=0.1139 right_yaw=0.3282 right_pitch=-0.4245 right_roll=0.0175 right_gripper=0.0521\nstate[joint_eff]: [-0.4855, -11.0427, 5.8051, -0.525, -0.3004, -0.1587, 0.0806, -0.4308, -6.8991, 6.8171, 1.2869, -0.0122, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3187f7a5ce695d0b2d1d6dd0c4193c0ca53c3d2bb96549b27cd4c0c76c6c1872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82a7fb6d4e83ff34ad4fd36070a8f6d9182e3a45167d8fb21e018f05d1f1d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08c4d3b46d0f2453a4e49ab13b5317c36e88314bf00944cc4386440392adc77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsxsnOizcmg3mCpHDR939k_sABrh_TMECvShdy_psbIfMSOv0aTfkTUYZskuNKLkDQNgpRLceoHuftB0jBXTBmhbov4ZX8yr1pvKKvwzRSFfXC9fc8ddfZ7m8f7CLZ0POIujeVhA_sVbksGIcQOKuVa2s1h9LqXzjTqWcZIVA30zVuPXc6EbQKbyylwe5LJm5BzakFluMj_1IniSbTS6O8GAqrpxHIRl671eVj1Dx23Ck-fXQ0kEbKifpGoKPG4isoGi5JqLNVST_YVpvFUlBP8l12CWhMJxzryebZmVsEndgsDo3ylTsP52TmDmO61SOaI4ywjz57fqqOZXmUcnuKpCB_-6WnI8kkDhYmN0MwU_dboYF6eWABIvbZdW2OGBXQ32hmwXlwowXI-BdBm9zqs_BPuDb5vnchgjL6Xi0MAcCwgYNnf4bhHiLm-gkQPxRFdB_lEsUQ6N9Y8gQTOSA08YusOKdLb4x9hiKFXkvABxhZSfHqvSj6cM11bF4j22e27lNHCwJzO7c04or2gxS0COXqhDy3ChSRA-nN4z4NMQTvIQuECvcV61cG-NWefSyxG5hVe8USVvprWeDr5rZnb3pg7PqBvejJKnsCdooPN1d-th2jO7snm1KH7cyfsi74n8A-XzILlShxcBE-M5EtQMURZiGVpiVZpeVu2W27XdmymMTNcqaBPhwXmIJKPyt1duUChgeqVS8jck82hTMOJvPYc5RFFbZ-jj_6DmJ_K3uiZhgZtx9aZ34vlF_eKwEZf9CFzetDzB_K1Gq2xSRast-heXvolEg-6ghYGa2U_VuM9qIrJWYW24-hPVjFTqLjriRl6HzmPPyR2UuZlWtyFjNlPmyVfEALkbmY5VqUoqzjfmESIEzxxTh0jKFDsqHSZ-X9CB-wTljXHzA0i45oKuJ8k2OTkRCjr01QD08WscGKBayX5kDfgPm5LSuE54GX3mTEhWVjw67kp37eRoGCbz3S_Lh6JnqmCQCj9lqtCqxQMn8NpV7ttKU63X3PmYSu-3IeLVI6jY8m8Tnq5pW55vmrgamo2cW4XcA0hh2LCB2gUArrOM_GiQKudHbrngQuqQ88c5zRVROg_wBnOEt9TktiFToMWs-TmuyPobnA9sQi0Nh26tSsto0R4e8ZKBI70Q0yRzlCeNTeiDZcR3PR445UmJ8c2Zkb0oKnH1h4qx4HFtqevkVdiT_35EbJgY5npv_aYl_SCxrhe7B42OJK0FvHFB3hSH-NFiAx56-VLcaMxXFbKLRzStf4Lig_45qDs-UZU9IsRm8hEBVdTTsQl484Km2qyQj-vpDzEASnygINmq4-bZ5yvju2dv4jOnysZIHezp3OEOCYdGGB4oDC-s_g9NyYozfGRDkPNTWg9uSCbM-LstTFdm0dc5oxQVssNlOUbh_u2XrUstubKlBoqqoSRxVkaicI6niTS2uNg_J1AYCWmlpo1bCObKdExVFF9ncoMj-P2Wg1dyXlDcjNQe3jljIE-8tmCyJGGYWg3TalgmvCeTumqksJmTbZllDxd4OkeYhYoEtueZmcpF8ycGUhZ39mJKd0qtJAn7KAuCBFD-J7AqQUwuHpuduPuE1AdGF0aRHQ8Vvqu9mZsWCWuPfAG_8S-wal95v15XePT3Z0k9SAN3kQv_lMAKPHRlcu7AgKoa37VYrTJL1LHWwTibneTzk-jV5FAyWWMOF8tn-r1YHwnDgKeFMal5V7X43Pmd_ukLGuj_G0FUvNRB2bqGgk9flVswEKFiGiKfGcEadmvYdkMpP-qQQkk0_TraBqAnFI16xwvYdHKB30hEfZcGVd1KhU0B1XZZlDvQwtNNuu-kDqhZD6CvsPGQukSPWzz99xga66RtioTIy0aWOLiWxBjSDRq3YtlLMxyY305ewJXLAAsun1a1kjNXuv4aJgynukX8eBhet504BoHVRcfPhNLNMjsv0Steru6hIFm9RHTgHBo6GSCduCnkx2Y7g8Y148uI7WVJCv9BSikSCPzR2mgafCcjGO7iebe9v7oQn-3ri1TwEAAXiBXEnLjRcPw6k83yrFB7ACHZNQ9PI0-kwzU5bYMC7UL0xYc6wGuEu0Q33ZSSpuB5q5GEpwEFts0tug4MrHt-WcyV0AFjPKdaUe2o0s8eCAiD1A6TivfsJzrbqCc7BeCNdMcABxHuMgmO_vI95gH8gNIevD9D_2DX-HckTM5iX8PV-JDSHLiaWoJd8Qg73CQKAI-fh-OBOq3UX8d5-jnPnSWrz0u9P34N5xTtgu531_qiL8CngKHUSdrOGvWchPmMHWjdPsIV_kAP_q6k0jWnQF3byPm6eEUwDMb3GI2KonWCbWpuRhbG5h1TtODl1wfyYts6jY8egHnkrnq7HiYoDVhYZdHK7Z9NIvM_7HToaPXmK-h5pxt2bfTivcvrHOLjWmM7ZxhL4Oy6ILBZGKn_rzL9LAgVA37w86n12ifuUQ9qoxbZ2xab4o=",
  "id": "rs_0800d2bbd0870841016ab42b2e2fd087d0ba9dea46cb476ec9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.125,\"left_z\":0.13,\"left_yaw\":0.25},\"note\":\"The large wrist rotation did not hold the requested position—the left gripper moved away from the cap instead of over it. I’m resetting to a higher, more stable pose and aiming back toward the cap before descending again.\"}",
  "call_id": "call_CA4HefeYBMgO6hsFatwJ6ddd",
  "id": "fc_0800d2bbd0870841016ab42b30a02c87d085287960a3deacc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CA4HefeYBMgO6hsFatwJ6ddd",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6441, 1.3983, 0.9585, -0.7113, -0.5514, -1.1572, 0.9963, 0.4923, 1.5402, 1.071, -0.5407, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.307 left_y=-0.1103 left_z=0.1208 left_yaw=0.4949 left_pitch=-0.3351 left_roll=-0.1878 left_gripper=0.9963 right_x=0.3466 right_y=0.1759 right_z=0.1102 right_yaw=0.3269 right_pitch=-0.4422 right_roll=0.0142 right_gripper=0.0521\nstate[joint_eff]: [-0.2803, -6.9812, 6.5299, 1.1844, -0.4518, 0.2222, -0.0024, -0.3487, -6.9812, 6.8034, 1.3358, 0.0611, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0553e45203dab190d536f4f453e188c25a31cdaa30dbc8a5d6c6d27b96482f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1856815902fdede4bf89b2d6e8bbc4243cca7b50aacda53fe01c4c9c9fa4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f895417ef0355151d75caa89c47c655879eed1b8207f2b7f191688b93d80b33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.385 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 1.9907, 1.3376, -0.8143, -0.7704, -1.4864, 0.0099, 0.4911, 1.5333, 1.0767, -0.5259, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3903 left_y=-0.085 left_z=0.0562 left_yaw=0.9514 left_pitch=-0.226 left_roll=-0.0394 left_gripper=0.0099 right_x=0.3508 right_y=0.1777 right_z=0.1169 right_yaw=0.3281 right_pitch=-0.4152 right_roll=0.0195 right_gripper=0.0521\nstate[joint_eff]: [-0.2256, -11.7538, 7.6513, 0.2808, -0.5055, 0.0073, 0.2222, -0.2256, -6.9128, 6.694, 1.2527, -0.0073, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.107, 2.0785, 1.544, -1.3045, -0.6689, -2.0678, 0.9963, 0.4923, 1.5368, 1.0733, -0.5285, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3444 left_y=0.0768 left_z=0.0686 left_yaw=1.8203 left_pitch=-0.2893 left_roll=-0.049 left_gripper=0.9963 right_x=0.3494 right_y=0.1774 right_z=0.1139 right_yaw=0.3282 right_pitch=-0.4245 right_roll=0.0175 right_gripper=0.0521\nstate[joint_eff]: [-0.4855, -11.0427, 5.8051, -0.525, -0.3004, -0.1587, 0.0806, -0.4308, -6.8991, 6.8171, 1.2869, -0.0122, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6441, 1.3983, 0.9585, -0.7113, -0.5514, -1.1572, 0.9963, 0.4923, 1.5402, 1.071, -0.5407, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.307 left_y=-0.1103 left_z=0.1208 left_yaw=0.4949 left_pitch=-0.3351 left_roll=-0.1878 left_gripper=0.9963 right_x=0.3466 right_y=0.1759 right_z=0.1102 right_yaw=0.3269 right_pitch=-0.4422 right_roll=0.0142 right_gripper=0.0521\nstate[joint_eff]: [-0.2803, -6.9812, 6.5299, 1.1844, -0.4518, 0.2222, -0.0024, -0.3487, -6.9812, 6.8034, 1.3358, 0.0611, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0553e45203dab190d536f4f453e188c25a31cdaa30dbc8a5d6c6d27b96482f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1856815902fdede4bf89b2d6e8bbc4243cca7b50aacda53fe01c4c9c9fa4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f895417ef0355151d75caa89c47c655879eed1b8207f2b7f191688b93d80b33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCs5HKWfM9J5ypJJceK2j7Xgumnqy2JyEL2B_FDjrPeYx5Es383qQFtLs-3F5dnA33IU8Blz0E4Wyi7hpEQYjaBdNWIuJ1nZkxPLFGxr6hA-ra4zFcPiiNbszqb191nC8hfId1daMCxJpEI-tqzA2eIdNOK4oaILAQX53mo6csUB-ch6LvVwABij89q46iwoiCkNGeomDJgBHcOtYDljD18DcHT3ZkAXu1I9CHYScKqNWv5Kqy_UCXEuPVy5ZknS3j_LohQr5GZbTZFjGzLuDWkxp88RdMPb2HRS6FHGZ_nb0rK6MAROboj9fLPlq5c3MkMxxuASCqbj16P8TcyE2WKLry5XG4_9zfhTjxjVkhmVoeUdpzXtS1fTlyD3keZlExTf9knbob7uYEW4xkOqT-O5UR4QvaF3qru57fiafzS2sxWihmSb7k7NelTS8UgYafqRqhupzpq93M2_VyvVFv5Y7brRjHiPmCuIlwYtAc2pf0VJb2Mv3BRA2326Qxtgnq94bHjuKZEWQkwlQFjSNIxsp1y1pXTEGCLhKEPpT9HKJozOlr2fZQ3X1kg0eDJ1oCc-SoK2vquVthspexN_lk0SCSdgqDUMoka6bCpGeXuRKMnuwYvwiDHiHVVAUa48Ggxh8O08T7nHFye0--MLA10BZ9vbFbe29zN-PNEp0OpYMrJNcCfcTRE_i7yIl2Tref10mbxjbJWYNHKcooDy7hB-O4uka8kZclOXiflH3R_KzuQmXABnSVkBjYAjB4yEcZCqfUu08p3QrgFKYdGuA38wjTosOYYTj2y_0vgFo3L5fxeBrHE3n6QsVlWJiT9cA5gnm7YNIDwj8jjIkfjebvE7omjAGBDiJyMad-_7NUVTYqrTu26KEKMbv3ep073mvOfbaPLJjbHDdAtH5rjCiE8Kn2ngIIS_008D2BAb6tcun-Gk_ziCkmZ8D0tDpyuLNW90zWXiEDPKcUz1jWDJoAm2IDWOSFUQQanwRKeoFsirZX3lnSn13ovW4CmdV_ffonWIU-x-zsRMQMwqtc61dxfoQlQjmtnTKHrnY8mIy7XvdVzaDh34RCy-50spTCnm3af8cxDIivX7fo5CQb_L5OLsJkG4pupb7Rhig5GidMRYXlpX9-_PkMWL_FYoYF5KEaayiIz6fwdLl4GQBejB-kuuZPzJ1ZHSTVj4EjSDFo8jT5xoOvGhxmWQ5fCzBJDDOEFXMro-fpmsVAuBY3LG301Dyz8vE0wOMeDYSb5uWwRDzTziQWE1lHTIZ2UumOj7w7v1Y8BKAqQRZbzlVTg3hyDdDq30W3frsVhEpKAaE26ro8r-uSciAi3UN2eDGhCnW3T6Cig8G_a0xcmmSA9cXF7tsFSqKdx08qrHa6HuP4nCejQTz1A1yYQHaUs8G5es6fqHG5BTWPo7BOHAM3M8d6ozSjH1qjBD1BceEh86DC11Q6yFKIhcwB--SJfYuACxZ2EagKET0OCW1o84IfKealDPTCikBuy02Xgsj5Et8Tm7h-OBN49YVkRP6nQM7hAxDZk2Dpe-ZGIHgnm_hROa1hOLDISYKEkE_CMnfa1fNxvOmHEq50qMzfKMGnAQnZwbC2f0rF_DI5caSXbixIv4i42DQT_6B9o2oDL9guQ3tzbccS4TWsNmjmvz-lW3JFZvzmDsIY-VqZDc6ahsUetRbnKZwPy51tK3dC5TkGfO6NJuVJp0VCmI5KGTW6vTbNdXUEDKfLKNhiETwQJGMUu1JPVrisE-7DRyjadOJwzPFPr3OlJEL5q_8GH5S_rfjb5KM9t9mmj-OMWvAilNyfejiHFMjv5Z9WceyLgJXwxWuaZsc-QVr3-UOloyj-I8LdfK4YuFj1bXeqeulSJRLWZg4bc9Gnaiop75RA9Z1JOjnbwXq0zmZi_YzzEPTZelDxuGCawlDwt3hKZi-Rb9H2jIAHal6wLTzVPWhhIm0r3WSBFV-Byr0VDUxrJC0Yt-a2A61KecXDdjtfdjXvflc0b6ODAUEh7rEKpLFenwGsaCSeAeHrHo_dIBXrrbELcIKRkuocJFG2NQSH-INeeP6fGARwyzwuJum9N_SbKBCA5N-DEjBdJmaWzLblYRWK3x1HSfi-vCV0N-KsGEbWb1_QHBUwbUlUaJ-fshOnuxF_Ht6p1w2FK6IVoQQU-JZ-prPms9T6ODAkVTj4wjn_6biLiM5T7pB34UT_sgHBgzBOQ6_aZoyzWazNyoTaAHcjOecwfEeGSV5TkP2w_6qwurDaAqDvrXtUr-r47EU_fuP6_17Xx9RyHKVKNSBmSpFqjQzI-YsSMYhPSod_tmXKQfL5NhZYXJQV8YWBlLBEcFmjxKFdW2_B1CSErjjq4Cnyra28Guk0RXX05NF6WRndIztUKJrL6DCyatfebWIv-YMPdf4lk6om3lfEVNo7kK9hzBmITtPcGiJ_4mAHzEAzJKOUSCjmKu_QBelAx2t9vrW0ElEk3iAvEgqVp_edg8DYagNznQFlB6fQdxY7O05efoPjdVxDoSdApSfRXBoeEy9ZGBxZpoADpxAaffNne5te9zHTk6CYfpRlTHdBOdTKVtZ4YJLCgf_bYOHmYgsySlhGEoJ4NT7BYIIRyNTZFkgQHcjpdGLGER_2FYGv6F-KN2mzXeFZh9nLaJu9vwf3lWVaxM4jDiX8AymSjLW8kSrulpbC3y5MsE_U5drnSxJa5EX-JyD4EhPPOsTZpF8-zvN_ERaRaehToElSfCpcPpoFbARNafT1lRcu0q3tFu4IR_pE9n37P6HbRyUaGrQdGY7MATGt2P9weuqDCSHZpgND22EoIdvx3MqI0RCsifH0iPmvySC0ndcIzEeC2ccqJ2_Ha48FsbF46Qf2Yzfb1iWg94VWKQ2zMxwqFDIRrj1Yi6948xnbt0KMFcz5y0Ug5xlkrNp238vz1bB9b5jpnTZ2aJ-SBdeNkCofg3IBeUZ81ZVkgWbLtM0am9CSsZ9Se59BYdHhTkbGJHyjEa1E_asSelqbTnS7uSVvol-_pBL97emJ8UCh2QaKaD19xV04U-Wa7w9DgKjjygc4cuwC9lSWbu6GVZ65dxrbz2LUoMQn-dNinjOCyp9GTJiY9bHbjsKagwgCpIx-__LkPyj52B-KPfl3jX7sxUHLUG4aqwgsYy9kA7Pm7fFxSHhQeHkbcwPwzyWlM4V7U=",
  "id": "rs_0800d2bbd0870841016ab42b3493a087d0b7afca9abb9c6882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.128,\"left_z\":0.065,\"left_yaw\":0.94,\"right_z\":0.15},\"note\":\"The cap is visible ahead of the left gripper again; the pen remains held in the right gripper. I’m advancing over the cap with a moderate jaw angle and raising the pen to preserve room between the arms.\"}",
  "call_id": "call_E8xWw4U7l5CI2iuNNP00Ry1c",
  "id": "fc_0800d2bbd0870841016ab42b382a4c87d0a0e839d68273be32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E8xWw4U7l5CI2iuNNP00Ry1c",
  "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]: [-0.6399, 1.8931, 1.2549, -0.7982, -0.6277, -1.5227, 0.9964, 0.4923, 1.5379, 1.169, -0.6811, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3565 left_y=-0.1316 left_z=0.0537 left_yaw=0.8387 left_pitch=-0.3658 left_roll=-0.109 left_gripper=0.9964 right_x=0.3426 right_y=0.1737 right_z=0.13 right_yaw=0.3254 right_pitch=-0.4817 right_roll=0.0051 right_gripper=0.0521\nstate[joint_eff]: [0.4171, -10.6325, 7.1726, 0.0806, -0.6081, -0.0904, -0.0122, -0.1026, -8.5675, 9.0462, 1.4335, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2f49711383742a138a87ef221a07bd5355ce9f223f56e96810f5d2c08a786f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088a82d466ad77ca53583051ce91188e89aedbe8e1a74b0f55bcd32a57b3fef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad5341adcb10b50713abd56e0e009b9959546787c6502147ce76764feb8376d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.705 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 1.7061, 0.9943, -0.7399, -0.7517, -1.4487, 0.9954, 0.4911, 1.5333, 1.0767, -0.5262, 0.07, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.326 left_y=-0.0379 left_z=0.0614 left_yaw=0.9575 left_pitch=-0.2425 left_roll=-0.0303 left_gripper=0.9954 right_x=0.3507 right_y=0.1777 right_z=0.1168 right_yaw=0.3281 right_pitch=-0.4155 right_roll=0.0194 right_gripper=0.0521\nstate[joint_eff]: [0.294, -8.6359, 5.4769, 0.5641, -0.5201, 0.1343, -0.1099, -0.0205, -6.653, 6.6256, 1.3162, -0.0415, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6441, 1.3983, 0.9585, -0.7113, -0.5514, -1.1572, 0.9963, 0.4923, 1.5402, 1.071, -0.5407, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.307 left_y=-0.1103 left_z=0.1208 left_yaw=0.4949 left_pitch=-0.3351 left_roll=-0.1878 left_gripper=0.9963 right_x=0.3466 right_y=0.1759 right_z=0.1102 right_yaw=0.3269 right_pitch=-0.4422 right_roll=0.0142 right_gripper=0.0521\nstate[joint_eff]: [-0.2803, -6.9812, 6.5299, 1.1844, -0.4518, 0.2222, -0.0024, -0.3487, -6.9812, 6.8034, 1.3358, 0.0611, -0.0659, 1.0281]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.8931, 1.2549, -0.7982, -0.6277, -1.5227, 0.9964, 0.4923, 1.5379, 1.169, -0.6811, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3565 left_y=-0.1316 left_z=0.0537 left_yaw=0.8387 left_pitch=-0.3658 left_roll=-0.109 left_gripper=0.9964 right_x=0.3426 right_y=0.1737 right_z=0.13 right_yaw=0.3254 right_pitch=-0.4817 right_roll=0.0051 right_gripper=0.0521\nstate[joint_eff]: [0.4171, -10.6325, 7.1726, 0.0806, -0.6081, -0.0904, -0.0122, -0.1026, -8.5675, 9.0462, 1.4335, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2f49711383742a138a87ef221a07bd5355ce9f223f56e96810f5d2c08a786f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088a82d466ad77ca53583051ce91188e89aedbe8e1a74b0f55bcd32a57b3fef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad5341adcb10b50713abd56e0e009b9959546787c6502147ce76764feb8376d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCs-WAH2jwUZFW3J2BK9y84AGxUAKrH1y_SvWGVkCMGVaOJEQMRejsw_n-wWn0omhgv5U3GVXWUXxbXrAztcXwtS0_N67_UTdQAy4fJ93fwO7GcRKx67vUmjWKxI39RXy9gUNAu62eYN3GZ4Yc8B75HNl4Tw4BJNLE3_ChcDr3FrIUH4gB0v80AS-tq5X8VmtlVozPTZkH0gRXNvOw7r8axK_ORLpFJFxgFWb-xU6joYiMx_xvfqPCNeRk7d9s02BAit9FCo3avSmMaX5NpUf-4Ilm4r0S8azgkTHUdsVR05x7cIilh9MCGG2j89rE28HK5CgWfP0duqIiBa5MwsA7-b9OLFebP2ohfqRrf3EAGDNC_NoQbU81tc8VTGJQWsuYCVMjbGpckcM6_Ik8e86nDQ_MIGqSDM7855tHNFoxsNW-qEe77HLQgaMFQRSOm6w_z5Cn0wGthzgButpfMX4mYGcSVV3E6xufhSkO7ptaTM5qGRDvHoj0dUNDSy7ONAdSu_gROMCylVuTUiQCUh5uay_pbWnmIGywO-4sSukbDRKBZNr0bGy4BNim3Fu2pCAFtHS7UGhyBJhwsnI4mw9dmhM6mbja9HbwDWu76xngK6ZeHpmRqfZcU456bRrJlZXdM3vUIVgFhuff4JUH0BMhmwTLyExBa-ewUQGxfj7R4Ku5TK5mDAoSFxdtws1-jZ9Ep1bt-qBULirnXoKfjWwkz4J6eZqIW5HmZfDzzUblNPAIo8nzZRr6BuE2eEn9Te5Go8CbnuwH4jjGFrt94juhw89SGlUutG8dswxiwWRablyFmJGX4nlih91xYTWJN05OTtpeHr75u88BTCRCUT-590UvNC9Zo9hi0cv5HsBMtiIOIUGNhS-Wd1t2RAMX2_PnMtmZ5Df8wLSFJ5xtORTw7od6NHpZWQHktxpHJraEYCwJXpeaq_9EYwS2By4XRPgKmuy4WAKL3og5y9jtn51o1lccIRk4lMDqOD6b3r3RHfSTAnE0SdRwjK6jpwuifdKKqFR1LBBCdwsn4bQjJuPUiXTYJ8S7GbOaggRb3zEjYLJWkNgJfumecA2usSO-mt3BQJ2IC2wy-izzeBVDME1NM-yuMjnuSBMwWlAvSMMmjzppXE1jDYQenRvk3QyeuVyfmsPmni5RDgzl-4WBj650t0Z41oY53p_lpieO7wxa278pxcZNcpIBqVRtL8rDVWEQEMiTeqZ2tf9U5xkqpnXE0BSEjdYqIp2nmLT402FIX6zv-OiLbCoQkfD9qoK4q9TCP6E_wWlRmAgXTUZzveXjPk6tHpY6aseHuF7xQxqmnB2qhr4O6sWPjx34O1V9JcFVbR4alx8K17KAOcLbOZmny2zWcfa03wHAeUJNj-A3XyW9m_Cj8oSoybyiZDu5acY7ceub90e-pLzJtNNU9KFeo2XTqE7A_umnWodqcbBLYb8Muyw_cZHExQcHgPIr1koV_4RBvIMvtg06mGYEkBtP7ZaCbTxQZIw2Yk3yEKIV0N8DY0ntfEfuplTmXBhBpauTsvSxG3fh28HO1iY05IdBDQJ-cf-yGDRB1LhK95DReC6lGfCyBWa0jeamXUyIS9dbuMsDMoM3QSuswJjnicV5_BKwzJ3eSjjY8D3k1XM8Nx97ngmAE0yoI4ISfnX1Fvtq3JggEwRopWQ1rTPbbENp0f8wejLRQh3uNzxVsa3lv3gNKxnx6YdibVef65MHSRjsXM0JkOSgyXY1Nok2BcQ_I4jTY3itYxUqdNBBEvF-QxardONLRQ0groSy7xGBrCxPV2L373tTimQ39HVSiwOo7RMUU2qXcH80QoeeIapR6vvjQgDlpoAc3BtapluSA_4tcBuLNo55atL4jKlm60bX8nuGnxXjOvv50_0Uvq7cI2RJjZhEgOEnTGAF-uVCG3vKUegvEWSTEr8ui1XxokKZgdSpCy3Mvk9-ARpBqfq6r6iYgtBxJ6iYhJhja41_po_MSm90xByuunklifEQZvQW5_FDfcAk8BcrpcYjYnGsaDQIwrcU7ct8nrvYMwZzWHWm1WsQsP-WpvyViqTs3WgFB6yitt9upXZ6NIxGgsx8bYNmp3Gls8gYT8r5Z3vKhlVpcogXyUNFg7OYsBwSTXVCWhoPONzKTvpaOwGv8kogQutxXG6TN-YY93R_X2uhPzr58Qz8XxajqDqXfT-cjkKA_XT5aa5MsDyMgModhKT0iPPA9sY6_yEQOZ46b42-G2z_9p5zJC7XJZVkvMQdv0D1tXmSJcpPF_77U1WJX3VxfU8IVQWhJoop_ycQ37DQYElaBxWh7NgCcBsfwPSrJF-3Ohogsql9Om4p3CndyjbS5tp0yIBjlAFXUyGvwIgR9fDY1auI3cBG82BLi1N4w5CxVbiFfN1Op_K09YJbR6Ild0ubRVor9JAUNE2eIFayCMMbffa92Z9C6o5wwYDKB5f5FSKRVQ2ccdcEhE87PM90p-sIo=",
  "id": "rs_0800d2bbd0870841016ab42b3b7edc87d0be956a2fb31e48d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.357,\"left_y\":-0.093,\"left_z\":0.06,\"left_yaw\":-0.4},\"note\":\"The cap sits to the left and ahead of the left gripper, and its present wrist-image angle would make a close slide along it. I’m shifting across it and turning the gripper back to a more stable angle before lowering.\"}",
  "call_id": "call_reLVgjv4lqxHQLsIBilzOxxl",
  "id": "fc_0800d2bbd0870841016ab42b3d55b887d088f0745edf1ba274",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_reLVgjv4lqxHQLsIBilzOxxl",
  "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]: [-0.2047, 1.5158, 0.7673, -0.2634, 0.0177, -0.342, 0.9963, 0.4923, 1.5402, 1.1687, -0.6968, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3493 left_y=-0.072 left_z=0.0438 left_yaw=-0.0306 left_pitch=-0.4616 left_roll=-0.213 left_gripper=0.9963 right_x=0.3396 right_y=0.1721 right_z=0.1271 right_yaw=0.3237 right_pitch=-0.4997 right_roll=0.0016 right_gripper=0.0521\nstate[joint_eff]: [0.0342, -6.8444, 7.5966, 1.5507, 0.2125, 0.2613, -0.0171, -0.294, -7.0906, 6.5709, 1.2821, 0.0073, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdb27774b6382b1c4287b4dcd2855a3e41c516f275121002503340cba4c09bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9470b08dc6e3f68ca980634f2f497b00044ee0d3fe781008870163a2c6ce14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7571b98d084b5a47c790c0bc94dc7e201b48c5bd03acf11b23157194bc5651f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.935 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.107, 2.0785, 1.544, -1.3045, -0.6689, -2.0678, 0.9963, 0.4923, 1.5368, 1.0733, -0.5285, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.3444 left_y=0.0768 left_z=0.0686 left_yaw=1.8203 left_pitch=-0.2893 left_roll=-0.049 left_gripper=0.9963 right_x=0.3494 right_y=0.1774 right_z=0.1139 right_yaw=0.3282 right_pitch=-0.4245 right_roll=0.0175 right_gripper=0.0521\nstate[joint_eff]: [-0.4855, -11.0427, 5.8051, -0.525, -0.3004, -0.1587, 0.0806, -0.4308, -6.8991, 6.8171, 1.2869, -0.0122, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.8931, 1.2549, -0.7982, -0.6277, -1.5227, 0.9964, 0.4923, 1.5379, 1.169, -0.6811, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3565 left_y=-0.1316 left_z=0.0537 left_yaw=0.8387 left_pitch=-0.3658 left_roll=-0.109 left_gripper=0.9964 right_x=0.3426 right_y=0.1737 right_z=0.13 right_yaw=0.3254 right_pitch=-0.4817 right_roll=0.0051 right_gripper=0.0521\nstate[joint_eff]: [0.4171, -10.6325, 7.1726, 0.0806, -0.6081, -0.0904, -0.0122, -0.1026, -8.5675, 9.0462, 1.4335, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2047, 1.5158, 0.7673, -0.2634, 0.0177, -0.342, 0.9963, 0.4923, 1.5402, 1.1687, -0.6968, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3493 left_y=-0.072 left_z=0.0438 left_yaw=-0.0306 left_pitch=-0.4616 left_roll=-0.213 left_gripper=0.9963 right_x=0.3396 right_y=0.1721 right_z=0.1271 right_yaw=0.3237 right_pitch=-0.4997 right_roll=0.0016 right_gripper=0.0521\nstate[joint_eff]: [0.0342, -6.8444, 7.5966, 1.5507, 0.2125, 0.2613, -0.0171, -0.294, -7.0906, 6.5709, 1.2821, 0.0073, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdb27774b6382b1c4287b4dcd2855a3e41c516f275121002503340cba4c09bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9470b08dc6e3f68ca980634f2f497b00044ee0d3fe781008870163a2c6ce14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7571b98d084b5a47c790c0bc94dc7e201b48c5bd03acf11b23157194bc5651f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtC-Iz6atV9bBGucxHjAdYpOweOqpabfkgzfcaDHgoeUg7JAyTa2xzvi74PJllDmgWdocd8fHmBwLDwZphvRZWk03HteCESuezzfFZ68ExBYoWTIyT3JseMaHlWrwe5Smc7UOgJELw8BKHQDIRu-W2wLga7gkByVFmAhyqAUhbkm1fg-fGedU9mavSrV9xErLyJ7uCAHHK6aCp7eRAnQ3XjAUReqqDuH9GlX1NMr8SJW-TPT9T9I3SYuM5SH_Z5qC8tWcJyyU5pVKCaLRGSlcrFuGOD852zdGvcD7txgOnT2kgAkV3OfCWXPXTfBQndlMOuaRsXL3JrnaMP9H9Q2YhUO0SuLV7jT-Qk7klvyAmHDyYB2BQPYRKZyANqou9Cgub722VH0yT1GjYebqLWy70Tn8rEsbskWCMoYateohNkLSp_POgKt6yYlXSY9x9xZ5sf_rFfBgBODugBsvJbrK8ci_Tm7QJUYfAmIe6WAMkUPCGGm5FofX-reY6-BFb0xyGDXpz4pCjLLVhzYDJsTflhjoCRs61pR17j7q9iWSlyX31cGi9rCwZMZhncO5rI7fdwZlddrY2FEwn6cmmBHXz-C0mNpsnql82ouyY2D8-OD3oP4O-z4zRBMeBPpWkMiv3E_TcoLNs3MfacQJea12xrKvlDsFCVJYnjRo4U0ALmOqPKu4owTcr6cyI9uUlmdBynSVatHuLwwpd844g_fc5mMibzCTN9-XyXqoldUvIgHlkKuNfi7I26nDkEb6d4awIaw44OXjIem9yjU_totgyDMmoK2KMvK_5OsEu5NzgdYnG-j3NRbN41beYlAQiDifktuiMFirRl60CrwoB7ddjCkNh_JrnWZEaRUBWwkzLxioCGWGQ1e2VelvRp0ph4h6viDWjNyR4-bjx6Z7e2SzVRqIjpYq6EPZUaBYYCY8Roa99SPlxYCx29j1hzo-cdPgnRjS67VlHm0LOGvperPXQ71Aj0UwbVT8aaSMYViK08X_ImXP1G5V8ZL-_0EdO6zUxcHtu4tcAjb15kcM0RYJw6YZHb2iGHoamz1p-Nt1Xiuugl0j0GJXO_qB_EndYzX1S7ADpjTwQOm0nSCzNheU28lEjjggSPcOwlUuYcLFtbunLuD_2BmHRS0CnLxX2CfQVu-g8Q-PPuompLAw7AwQzEIWBSE2UifNalaknGhEtjgpNRraP4nCOONPiUsXcbIMNgsD43_tM4invi4Z1XF5XeCj0LCRZdEa89kL2U-6xVOIYkUdypnrn1NwSNnOEjBwy5KjZ6xowz31GGUTJY9P26fmOIIjj6R8viCZNPL-A6e6GuAfqLY4C-jjvQvkAhcvvO7tM6NMIKymvN8DnR5bI8T5xEC4hDt35c5OGB1b-MJqbDkVZ69t_Ak1c47OG_pXFh_uw-IzIfJrsO-0lyidBGi75IFZIrkhaETvYOOKvOX5axqqkpXV5Clz_PuaIdxUA8zbx2uDSWsJElT66CPQaMcMHDVuArU5KoibP-PJ1ET8ez7pOlnhXvtYxMkvP1m-WizRkqYeQhVXzoXOTXcAFQspAxeqsyoFzkLrXpAaTUtIyPoM383YMFTSfaWpfo-a4Gg7uH29zT_634LdKIPEBwZOlTyBDorvP3gLAViI_iOU5n68Mx-AdtacSDD8dFNpD1pO1WVQ4GOY0UmvQCNZB59v-WYciDnEWn-fnlFhJDekdY6xLsWbjnfBNEuN4ZhN8tqM9DouGs5gF2FscdeodxKr8nNiBpJ3AI_RST1EscBTCr4PcBHr_KVEqIQZDCy_txGrzZVCT1fDJZOSHn6hbHWWQLsYIzxiHcZESIauKkMaDb2bozeZBQWsljGDlE360VbQ_4KnYJvxyGufkLcqcLZ-ETcI7QmpxuXGO4QZaUZio=",
  "id": "rs_0800d2bbd0870841016ab42b408e9c87d087a7e70afb6e1196",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.073,\"left_z\":0,\"left_yaw\":-0.03},\"note\":\"The cap now appears almost lengthwise in the left wrist view, with its thicker end ahead of the jaws. I’m moving forward while descending to put that thicker portion, not the narrow tip, between the fingertips.\"}",
  "call_id": "call_uwXwcGG6M1DmSbHUF6wOE70N",
  "id": "fc_0800d2bbd0870841016ab42b41cb5487d0bedfd1a2ce0a718e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uwXwcGG6M1DmSbHUF6wOE70N",
  "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]: [-0.1772, 1.5826, 0.7441, -0.1848, 0.0891, -0.2249, 0.9963, 0.4923, 1.5402, 1.1687, -0.6998, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3518 left_y=-0.0753 left_z=0.024 left_yaw=-0.1394 left_pitch=-0.4666 left_roll=-0.2115 left_gripper=0.9963 right_x=0.339 right_y=0.1718 right_z=0.1268 right_yaw=0.3235 right_pitch=-0.5027 right_roll=0.001 right_gripper=0.0521\nstate[joint_eff]: [-0.2667, -6.8308, 6.106, 1.6679, 0.0122, -0.0024, -0.0122, -0.3624, -6.9128, 6.4889, 1.1453, -0.0171, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf92fa8095b034e1cc6a29cc44ca446ed8e8dc730f13519c8d9544ebd789cbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae60c8bac670e6394176f79bb49e91782a14b32013706c313953837b70a740f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d053aaf4456a26ef5c8c863c3fe394d29e7eb00c5122743655eb37cae503044",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.212 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6441, 1.3983, 0.9585, -0.7113, -0.5514, -1.1572, 0.9963, 0.4923, 1.5402, 1.071, -0.5407, 0.0704, 0.1452, 0.0521]\nstate[eef_state]: left_x=0.307 left_y=-0.1103 left_z=0.1208 left_yaw=0.4949 left_pitch=-0.3351 left_roll=-0.1878 left_gripper=0.9963 right_x=0.3466 right_y=0.1759 right_z=0.1102 right_yaw=0.3269 right_pitch=-0.4422 right_roll=0.0142 right_gripper=0.0521\nstate[joint_eff]: [-0.2803, -6.9812, 6.5299, 1.1844, -0.4518, 0.2222, -0.0024, -0.3487, -6.9812, 6.8034, 1.3358, 0.0611, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2047, 1.5158, 0.7673, -0.2634, 0.0177, -0.342, 0.9963, 0.4923, 1.5402, 1.1687, -0.6968, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3493 left_y=-0.072 left_z=0.0438 left_yaw=-0.0306 left_pitch=-0.4616 left_roll=-0.213 left_gripper=0.9963 right_x=0.3396 right_y=0.1721 right_z=0.1271 right_yaw=0.3237 right_pitch=-0.4997 right_roll=0.0016 right_gripper=0.0521\nstate[joint_eff]: [0.0342, -6.8444, 7.5966, 1.5507, 0.2125, 0.2613, -0.0171, -0.294, -7.0906, 6.5709, 1.2821, 0.0073, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.5826, 0.7441, -0.1848, 0.0891, -0.2249, 0.9963, 0.4923, 1.5402, 1.1687, -0.6998, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3518 left_y=-0.0753 left_z=0.024 left_yaw=-0.1394 left_pitch=-0.4666 left_roll=-0.2115 left_gripper=0.9963 right_x=0.339 right_y=0.1718 right_z=0.1268 right_yaw=0.3235 right_pitch=-0.5027 right_roll=0.001 right_gripper=0.0521\nstate[joint_eff]: [-0.2667, -6.8308, 6.106, 1.6679, 0.0122, -0.0024, -0.0122, -0.3624, -6.9128, 6.4889, 1.1453, -0.0171, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf92fa8095b034e1cc6a29cc44ca446ed8e8dc730f13519c8d9544ebd789cbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae60c8bac670e6394176f79bb49e91782a14b32013706c313953837b70a740f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d053aaf4456a26ef5c8c863c3fe394d29e7eb00c5122743655eb37cae503044",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtH7mMxT8ilMvEwcOBspK1J9621SqTqHwCMGHuT2i5kEMEEoKBzNktZqbg2M4oR7c5MThukzvWMUO-9SsE7Sd2HkKECPVmxdI2vkSbZIZ4nxJoXFXP4GHtVL-4yjXgu77AQTA1tTfOS3WSUUhz8DrRIO_CU0aiv3KZBN-HqHrb836yXVmJRVrYUlqE480vyCibQ4nC7rpUQcBjKltf5WxETqxK0GR1hJjXtlkIFV0RK10oIcdNGjP6iQolvHu2PPULtSWY4l3M-TAKkeU4mMnQSvmTZtCgRtuXDJKOjV1cD32hDSK9pxwWA5vIg558YHX0UT-523jgOyhUIuZnFX5BaN80KQaJ5YoeCfGr_Uba3fHxn89K2rd0xz4PCUjTP_SHq-vW7SZqVvthFVJdpLbZkkVs6Lw4CWKrOvY5jfkOifpctnimmt3QXxizpON0QYjGo_R9r_JtdlfsvHrsC_JscYJm5w2d-KVIHu4y9xIaORzcEb3pYqCeZNMVdHXnNmiEHpO04A3jum2mFEDqKqrZsouCMUEWUuvaVyD26XE0Vam_RmprowZQZXFwwiQMxujVN4BkiWnZBM6QWpeGESpDGpZWgPS4jNKz8tLPBUipL96nKZQnrUexpjKjHCtwVjzWZLCU0IX1oxGkGxwe_B6c4KJL_pd6ChkeQk9e248kduqSPJ3lQDjPkmJzCiIyHLtN4JIQj3C9zW1PtBS2sJtMA_bqDCoyHjnlUUJHqgliLAdNm8ABgBFMavJUtgW52j757qGidyJSJQRxh049uMK583zUlzcTk65GLIEFFzudcp3p4LLr6q-AaKqPK8t-4AUvUyabCjmMaAa4S2Psg2yxbaaHVMxkZuW-HgFpxEUoFISaDEMSb3bOtkBoBnO1QA7IQ8HzADPd70-cYxuLeB5k-vI7ilvOlQQa59slIhxoJtu2QPXakU18OXd5zBHgQ-0aRKRptXRy0H6J4wT6lhUE5mzPY7nYQl9p5QmBSO7tDUJkOoM6cYG7AFl4_yuxH1hgruBYLPB_V8t_pBOwC7NvaxrxIcLo057sxrHDofl8v5NWUknmyAMkbavVmcQtkQMT6OVDMRmp9LdF6TqLENx0DvC_OYxGZ3BMWimYcKnylv1q666IqwQ2ZuNKQN2MVJxBinLSgB4oLHRrsXWoVK_M_C4KZbfc2kB79DVUwpbw9FZijm5eFWtmiwPpfevuxzf29l8X6JPkKKuH4_k3Rt9lE7ofvu5PaXXPTMZ_zjX38OVSgaPQT36zJUmUCadBd-nl9Mjfqpawzwg7bWWjLQeikqlgHCgLegL4lsTncPQNgVvMnoHk8fILwOvW_ztg3DNtEKOKd4tn9sRrNV1ridbQ-CGmQ1zGhOpkmZ8LQvGC0IAaBwboe-m1thNbBpKrF0bim3Y-ajk3u5Hrbh9KmPhhq93aAxZIaU5yET8rgQA9Hl3fydWw5_5VWgOuhdT8IBuGL09UwjdbV-nVKf9emt9w242gIkBEiFd6bIF7DxFpDwSfRYg7cA03DfLyEOd0LvZguh9c93iTGZRYdG1vwB--nOldVwQVOfcJiavXw1CBDDSb-ctE7_fYbM6_aHeLKvJhPAf0qyr9Li0pEQWoHl-RxoZVblKumoJ3Q9R-KZulq5x_gqdp7KBuCtV93Li_Ll5RtoOoQaKUvS_kfcSWEiWGgUHz5ghvrGRJ188qtupmpU3ssOYxChJw36kXRHeUjR3cQ9GuUxNdOVPInnASh-GwkoRTbnlOx0v0wQE2ahpqaS2jOeh6UG06xYsmq0UdPNoHOqNHJmJB43nYkLGzwI1DuW722A6QQEPSLxVec3I2IEz-I52lAGrkDccob1Qwyt7gKSWoumKM6HR7iZLoR3Gy14Tf0dpLvQ3qGT68nJf-WJ6AUnU2y136720UKOMAEOWLevpSfZ-lC2nAyPNsNTmBEiutc2o5TKzCfTu4WCAN4-Ba7wFpRfrJia6A9TDh5X-FVGOjyWUSoipQDLVLa5DRbkXoMaU6jmNskm5rzxf8YDtHmMPA-IBMa_08GyiIm6joF9DYouJnO4y8idDObMbFLfmwcctDZgeXhFECUnXH_ICDkpF6mzpc3DrZxYe3Sq9O3PTg8IriMynlSk5IY-fN91ofvLOu57WaE0R_Hpk7hGYnMQKjBhutbkoHrPdk0hDTUCSDcBqe5LWIKmtf-SV-0Lom6K0boFRXYTCUjLdxB_ecNzPTw2b30oteux8oTpsN40hGZcDy97bvtLI5Nfevp5-V0culWYMC46kni9dF88CwhtZXjnUiqKWI3lcTISOe0fUM_ie8vGSIiJAAOAHgPjJLdUA_pTylsRG7vKL_kvwVCQeD_Rqf4W--hZ57tJOFS3CinERpR0yP0XsNw7g0MQNVCQGVLOyCxsJhAKkAgYc85DEapPFMhozUZtzXa9XgA2CJ0TJwcCvNCNgmLVvkIV5PjBVZmBA91h0xYlOwN9wHJ51c9jJGp-reXkPmVPd5xYqPyg0e5Pirgt4P7Q93DLQ==",
  "id": "rs_0800d2bbd0870841016ab42b44eca487d0af79d0d9593b5c51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.062,\"left_z\":-0.009,\"left_yaw\":-0.14,\"left_pitch\":0},\"note\":\"The left arm did not advance as far as commanded, but the cap’s thicker end is nearly at the fingertip row. I’m making a smaller forward and sideways correction, with a slight tabletop press, rather than repeating the stalled move.\"}",
  "call_id": "call_5zlT60C6TVm2PemXP59H3wbj",
  "id": "fc_0800d2bbd0870841016ab42b47269487d09b426c9f5c0f5af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5zlT60C6TVm2PemXP59H3wbj",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1223, 1.824, 0.345, 0.9607, 0.1051, -0.1715, 0.9963, 0.4923, 1.5402, 1.1683, -0.701, 0.07, 0.1425, 0.0526]\nstate[eef_state]: left_x=0.3773 left_y=-0.0614 left_z=0.0076 left_yaw=-0.1303 left_pitch=0.0438 left_roll=-0.1916 left_gripper=0.9963 right_x=0.3386 right_y=0.1717 right_z=0.1265 right_yaw=0.3235 right_pitch=-0.5043 right_roll=0.0013 right_gripper=0.0526\nstate[joint_eff]: [0.5812, -4.2598, 2.1128, 0.6569, 0.1685, -0.105, -0.0171, -0.0479, -6.9402, 6.612, 1.1209, -0.022, -0.0317, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ceb30783bc0ee8bf8577c3588bba6b83f5ce7a83ed1c18bb29a074795b8bff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de09dc0a2bcd72be0cc9e3bbc333e4ec62ff95547b4e010b0958cc0027a3d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f90597d47084a5bac8d81b482004bb5f3e23f3f3fae140c79722f5339154f34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.608 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.8931, 1.2549, -0.7982, -0.6277, -1.5227, 0.9964, 0.4923, 1.5379, 1.169, -0.6811, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3565 left_y=-0.1316 left_z=0.0537 left_yaw=0.8387 left_pitch=-0.3658 left_roll=-0.109 left_gripper=0.9964 right_x=0.3426 right_y=0.1737 right_z=0.13 right_yaw=0.3254 right_pitch=-0.4817 right_roll=0.0051 right_gripper=0.0521\nstate[joint_eff]: [0.4171, -10.6325, 7.1726, 0.0806, -0.6081, -0.0904, -0.0122, -0.1026, -8.5675, 9.0462, 1.4335, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.5826, 0.7441, -0.1848, 0.0891, -0.2249, 0.9963, 0.4923, 1.5402, 1.1687, -0.6998, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3518 left_y=-0.0753 left_z=0.024 left_yaw=-0.1394 left_pitch=-0.4666 left_roll=-0.2115 left_gripper=0.9963 right_x=0.339 right_y=0.1718 right_z=0.1268 right_yaw=0.3235 right_pitch=-0.5027 right_roll=0.001 right_gripper=0.0521\nstate[joint_eff]: [-0.2667, -6.8308, 6.106, 1.6679, 0.0122, -0.0024, -0.0122, -0.3624, -6.9128, 6.4889, 1.1453, -0.0171, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1223, 1.824, 0.345, 0.9607, 0.1051, -0.1715, 0.9963, 0.4923, 1.5402, 1.1683, -0.701, 0.07, 0.1425, 0.0526]\nstate[eef_state]: left_x=0.3773 left_y=-0.0614 left_z=0.0076 left_yaw=-0.1303 left_pitch=0.0438 left_roll=-0.1916 left_gripper=0.9963 right_x=0.3386 right_y=0.1717 right_z=0.1265 right_yaw=0.3235 right_pitch=-0.5043 right_roll=0.0013 right_gripper=0.0526\nstate[joint_eff]: [0.5812, -4.2598, 2.1128, 0.6569, 0.1685, -0.105, -0.0171, -0.0479, -6.9402, 6.612, 1.1209, -0.022, -0.0317, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ceb30783bc0ee8bf8577c3588bba6b83f5ce7a83ed1c18bb29a074795b8bff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de09dc0a2bcd72be0cc9e3bbc333e4ec62ff95547b4e010b0958cc0027a3d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f90597d47084a5bac8d81b482004bb5f3e23f3f3fae140c79722f5339154f34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtMCHNgTM2bRnVWyTaVHwQJEo0iykaCjopA_c9MIklrV9p3owPQ725xI4EB4Ray-VWedtXsPXcY-Elidh1XUxfpNF_xoKQObTBchoKxcUGq53Hgm70UGBayiTwSIVwGDAvKw9aHu1bK1ssWCwCOZDJgFseJrTYM7Wu-6eQ-SQh5EDDrJrZJA7qDBKjdGlYVk3QeV1j-VU4KEGgMX9_P4Mk0-e1Igocmrq0GnxNwnlq8r10MeDvAs6xzK5YN6uyBtl552TwDUnPxVmd--vuPq1HcN4_i1LZxkbmqOz1wLoXf3hsmgnFzXspFJQnh3zXiKDoqa8nFXh_byNkRfZsOVZypoIdqUJ6KS37KihZYzSLROmzm37ope3xSP5Y3t_oY3GTBb0Cxer30G5px2JiIBd--cvHzDOX7sKAG0urqrf6lx3UdyT6S6DPwDouXdnsHxaZipWQ361qbMpx_v87A1B0eVwIFcr4KQcFkvTYMN6rxhI5qLlZxtSEojb5JdGDtpbOrMW-zucJugiG_KA3va_3Kfbbeb1XXZ_5JS6fjD3JWLrHOQNIsnm8wtzE4OKtyMCt0YpWAFhDw-H_-Qrqt2nYebFjY6_8k2hLonl2xl1CTkHsYJsCaPtzXL1_ORc6G6NqRjA-N8dStEdf1a8FlS7wcyicemnGQeO03N0O7CLGx3xneN1-1pkjC5IRlXNHRIgJECheaR8ey0R8UH4EunQE5Qu6E3bly1rphbuulrHqjx6VSQWNbralEsUiqOxZi8g4JeZ6oDUa4LUJPOz_NqM8Q0ca2Nn-DpFhTEGyrf6RnToCKpA2Aomgvw_MpY3_Gwtzu9CNW6MDxN4D6iFmWJ6pW5MNrdtlsXpMvW2R34bsHRqAzBv60uqqVkUb2s32222g3YKf73XELhMgiPmvkOqLTkH_liGvma7qBH5mg_EsvHZRiBJKEQau0buTHb-VqfbOV9iyGYJ8KzRp6ODj3_2pDe2voLSkZ6TxhAN3glPgH8EUmqjdhBD_P2X3FY96wm-MiBFwZZq_tTCFcMXnC08RbXnhh4BW1qA7NgHp0KY-c4tLLbTwhgwmxrt4BLgmgChzixFdceddN3jcm4SaMGSxo286MA1y69Iu_8thBIM3Szf_cT5C45hStmQiqUsLj4f8BNryFVpPdo4nbe7Q6UUjcl3Z6v7qj8c6th9ZnsAoVfQLcezQB1vAOg5tEY8M2dACJD-dPUCyRXHHZau0_qbVfg3F4cUAK_P00qNek5KoRKVC9Kg5Wd6QcHOGx0p5mRX53tlFOkUWiG8mnmkw6PcRXxNR94VIjt4sFCeT652M2rkijFTJOpQdHO_2XVGvVU7WNs2OgtUerWFQ9L4DPVD4TPM6KiEc9YP42-D6Ak_n8nA1CJ89doi11JBllwLWHzscAknWUqFuKKV6--wdLTqXrxaRabkHimPIAuspnB_P41HlnDbSt_wjFU8noc6LHgb0x_rfJKyJ7F2S239wrWUgAcAdMdLVWzVjpeXhQH5II9tXK7stemA6zcgw_Z-3qvKlWtvxxel-jHAAvk6_kuWJyvfP-g-vk21vWvszeo8_tcBZENlUtA1oRuEUPwfIqOHBoVIAs9E0vyI9onW3h_YW_or3OLO8py1kPYFnNsO0UpJ7YTWEDASdx65x9558c7S87---p-Iz_ukBm9_UM6MjkyLzC9bVHN4Ssj4re0NBI5-FBiA1Prug5NJAVW2cU8X03bC6sjxY1gGBlRIga75NDxRyft6OtBux4l0DmzpLq5A3qxJlStlk3omgL_1NmE30W2mDRWPxiTcvoZoPf_XhZZw==",
  "id": "rs_0800d2bbd0870841016ab42b4a75f087d09a8930058c6bde67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.353,\"left_y\":-0.086,\"left_z\":0.007,\"left_yaw\":-0.13,\"left_pitch\":0},\"note\":\"At table height the cap has slipped to the right and partly below the left wrist image, so advancing farther would miss it. I’m backing up about 2 cm and shifting right to centre the cap between the jaws.\"}",
  "call_id": "call_3PxUPnoLyVhfhVgiLotzUYTA",
  "id": "fc_0800d2bbd0870841016ab42b4bad4087d0a55858cec6fa9595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3PxUPnoLyVhfhVgiLotzUYTA",
  "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]: [-0.2379, 1.7557, 0.3012, 0.9398, 0.0418, -0.2119, 0.9963, 0.4923, 1.5402, 1.1683, -0.7002, 0.0696, 0.1425, 0.0536]\nstate[eef_state]: left_x=0.36 left_y=-0.0912 left_z=0.0139 left_yaw=-0.1707 left_pitch=0.0441 left_roll=-0.1954 left_gripper=0.9963 right_x=0.3388 right_y=0.1718 right_z=0.1266 right_yaw=0.3239 right_pitch=-0.5036 right_roll=0.0018 right_gripper=0.0536\nstate[joint_eff]: [0.841, -6.4342, 3.5214, 1.6093, -0.1929, -0.1343, -0.0073, -0.2393, -6.8171, 6.4752, 1.1502, -0.0269, -0.022, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21430e60d08950442d73b39c06d844e7aeb4ba4d1858b89108fb05ade7217fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb2a9b7dd24f8d29598d08483497760ef1bdf863acb62cab50c19a11ac3b4b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2810dbcc6742879afb34f21c64432c68db6af80106ff3c0f3025fec74f3449a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 7.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2047, 1.5158, 0.7673, -0.2634, 0.0177, -0.342, 0.9963, 0.4923, 1.5402, 1.1687, -0.6968, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3493 left_y=-0.072 left_z=0.0438 left_yaw=-0.0306 left_pitch=-0.4616 left_roll=-0.213 left_gripper=0.9963 right_x=0.3396 right_y=0.1721 right_z=0.1271 right_yaw=0.3237 right_pitch=-0.4997 right_roll=0.0016 right_gripper=0.0521\nstate[joint_eff]: [0.0342, -6.8444, 7.5966, 1.5507, 0.2125, 0.2613, -0.0171, -0.294, -7.0906, 6.5709, 1.2821, 0.0073, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1223, 1.824, 0.345, 0.9607, 0.1051, -0.1715, 0.9963, 0.4923, 1.5402, 1.1683, -0.701, 0.07, 0.1425, 0.0526]\nstate[eef_state]: left_x=0.3773 left_y=-0.0614 left_z=0.0076 left_yaw=-0.1303 left_pitch=0.0438 left_roll=-0.1916 left_gripper=0.9963 right_x=0.3386 right_y=0.1717 right_z=0.1265 right_yaw=0.3235 right_pitch=-0.5043 right_roll=0.0013 right_gripper=0.0526\nstate[joint_eff]: [0.5812, -4.2598, 2.1128, 0.6569, 0.1685, -0.105, -0.0171, -0.0479, -6.9402, 6.612, 1.1209, -0.022, -0.0317, 0.9304]\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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7557, 0.3012, 0.9398, 0.0418, -0.2119, 0.9963, 0.4923, 1.5402, 1.1683, -0.7002, 0.0696, 0.1425, 0.0536]\nstate[eef_state]: left_x=0.36 left_y=-0.0912 left_z=0.0139 left_yaw=-0.1707 left_pitch=0.0441 left_roll=-0.1954 left_gripper=0.9963 right_x=0.3388 right_y=0.1718 right_z=0.1266 right_yaw=0.3239 right_pitch=-0.5036 right_roll=0.0018 right_gripper=0.0536\nstate[joint_eff]: [0.841, -6.4342, 3.5214, 1.6093, -0.1929, -0.1343, -0.0073, -0.2393, -6.8171, 6.4752, 1.1502, -0.0269, -0.022, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21430e60d08950442d73b39c06d844e7aeb4ba4d1858b89108fb05ade7217fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb2a9b7dd24f8d29598d08483497760ef1bdf863acb62cab50c19a11ac3b4b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2810dbcc6742879afb34f21c64432c68db6af80106ff3c0f3025fec74f3449a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtQ4nT97bW_GmmXawrgYYgWYPy3bOuQJie1VIfn22hUr-e91wA4XO1duJPOGG8PW65lF7uKHVFygFFIkq7XeLOO9l1Q02DJuQeJuhJg68pCmJAyqoBSoMNyqwVzgHFnvvCIxEIoGfA2LjP_cFi-_NT_-oEPSXw1syWeIGfrX_WrQcO7HAhA7XG7suS7c6VcZHZ4YVHHRPUo5pg2AURSXF7tL0sjYj_FTUtLbwYtNUF7Z0Hj3RVALKITh7qfwC8fiuwizQPIFFVkID7a3aNGuXmOws32VHTn7UXaL-_99LEpzuAYRoyjkkILQ1xi-xQpCtDnZ7jitLXtDRFH-aRIAT08UtS10UkEuqg0kNJwPS6UYzvd-8PY5hhbid98udompYKlPOtyIXbWnzHgdIHT6WVFWVqhykF7ZA8hBAXjnTeWdyg4IcKhFrj3IVW0h9gZ9wL48XV61mx3Nx4H-RZB7I2nkNzjwdOvYey9UkcA41QAIdc8rgJ9SmLo8wdBHBqxtZ5K6Nd5z_J1Gdzd3naT_sM3bZ-FQLfw6LplsQS79lqTSwcvFYPdvXXv8J-PtSc91RdYDCBWmlZjFwM-NyoXNs4Psk9pz7Q4uqAx2hqNYssNel-fWsGvPs84sAbGYrCpXx8gQoMCXLXEy7Of50La3yusBXtqHdD1VEKsWtQAASggrAqJaF1bLPDaqWIeJ1XGgtdXC2onvY9MERk6RSldGw7phmwDN2U9IE6cL5OhR6_yLTng6epZOPDxgsxU31MQnOUGwlCn1SAwKl7wzTatkIk4rUV5i3zSvCq7fRlfRT8QB0pQetxLx2WaDN8JyelxoUViifX6ooCTTWMar8dOfZsEi-a591yWjHvSGZRCK2JvrQNZB5bZXlyEfAInGjbgpSryTEu20tb8sjLiIjB676C9WhjPqZTM5-gN4qdGty18nXskyJXxDFbnJIYLTkRhYPmaqldEgho3XF8HXRdI4TpxDGxdJWbIy-MxtijM0iBJq07r9jImZ7RhT3pB6MO1GztOCxXyQ_Tjqn-iq3NnIHO6KXtQ7ZxW2-J4ccwLVU_2C3PyJSpTvXeEAiyMef7HV0haz9Ngd00aaSBQ_BSM4r3zifZxbMIe4Azc4PtEY4M2zWLUt4AyjWB2Pp33RzvCU7PfjWT5MDduaDLejbnGOYznFdxoFhyHh-yfkhcTcHRlMH4WLkJCCIZdUmvMI1P72KR9I1AqjXcAYAwEYySzVIwmkrW_fNGn2F56SMgBg5KOpg8R6E9am-L7YGmE-g6F9dMcXcJV7IZCNz-_bAruqDWf3oDc95_n3Wvtg0mgBdYA7er4NjPhKaSTAZfOPZv_udcWIj8IaUGB8tZTsy2na3ORbwXRNqnZy3rBFZ_u4rUJPLVZJRBAq3ryzm-DeT3_lWcIIboY1WQNxX1OjnMCcgTWEhnB5mIcZsWgyP1FZpUKmkg0tHDDJuVRthXBGSCAMbm7ulFkO6Y8kg_f2gpYHrld2NIFqioTx17lP8UgYeSSgcVccpSwlho0ywLh4kbcai_VZVD7Oxa7ekCdNYLVkImIwHzwKxG522fzCnBIsX496tWfKyafO4KTTWJEfYzxRJypu5kbFBuf_RF5Nuc5O33UGB_ohfOIyoMfpksGWwK-ErlqEv-aBOgMBwznZL5bHrcOYA9Ggf8pVk78t9vZBPrfnjw81kxrXId7Q_2p94jNPDA4cmec3fGNRfkEEXbJfQpj1PiybFvdxZI9B2DwXtiIBTgcvM36mmRDG3lFHH2G7v2QT9cpfwgR8nRzEBrWg2KkZgEoKz-zAA73gQbl9J-1XLZPbBIFFYhe6MKTf3dgkjc=",
  "id": "rs_0800d2bbd0870841016ab42b4e04d887d09271126f8975ae2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_x\":0.36,\"left_y\":-0.091,\"left_z\":0.014,\"left_yaw\":-0.17,\"left_pitch\":0},\"note\":\"The cap is now aligned with the left jaw column near the fingertip row, and the arm is already lightly contacting the tabletop. I’m closing at this height to avoid pressing harder while checking whether the cap is caught.\"}",
  "call_id": "call_bw4dvfXxgxBobfds2Sh3YS6S",
  "id": "fc_0800d2bbd0870841016ab42b4f4a1087d08ae814bfd19f0ec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bw4dvfXxgxBobfds2Sh3YS6S",
  "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]: [-0.2379, 1.7493, 0.2962, 0.9123, 0.0334, -0.2237, 0.008, 0.4923, 1.5402, 1.1683, -0.7006, 0.07, 0.1421, 0.0555]\nstate[eef_state]: left_x=0.356 left_y=-0.0887 left_z=0.0088 left_yaw=-0.1574 left_pitch=0.0174 left_roll=-0.1994 left_gripper=0.008 right_x=0.3387 right_y=0.1717 right_z=0.1265 right_yaw=0.3237 right_pitch=-0.5039 right_roll=0.0012 right_gripper=0.0555\nstate[joint_eff]: [0.0068, -5.8051, 4.7521, 1.9267, 0.1099, 0.1197, 0.5592, -0.212, -6.8991, 6.7077, 1.1258, -0.0122, -0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57087295aa9589e3ce3b38321a4024917898539c2f78fac31e4ca02097a1df3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b9db78e196a8f392fd6e1015f9953bcf040d2e8addc8b0e5bd9e6ebda60174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6cf2e1b97133abe924d0ea7b0aa7fa33276e84d99145870f6839bfa1451840",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.844 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.5826, 0.7441, -0.1848, 0.0891, -0.2249, 0.9963, 0.4923, 1.5402, 1.1687, -0.6998, 0.0704, 0.1421, 0.0521]\nstate[eef_state]: left_x=0.3518 left_y=-0.0753 left_z=0.024 left_yaw=-0.1394 left_pitch=-0.4666 left_roll=-0.2115 left_gripper=0.9963 right_x=0.339 right_y=0.1718 right_z=0.1268 right_yaw=0.3235 right_pitch=-0.5027 right_roll=0.001 right_gripper=0.0521\nstate[joint_eff]: [-0.2667, -6.8308, 6.106, 1.6679, 0.0122, -0.0024, -0.0122, -0.3624, -6.9128, 6.4889, 1.1453, -0.0171, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7557, 0.3012, 0.9398, 0.0418, -0.2119, 0.9963, 0.4923, 1.5402, 1.1683, -0.7002, 0.0696, 0.1425, 0.0536]\nstate[eef_state]: left_x=0.36 left_y=-0.0912 left_z=0.0139 left_yaw=-0.1707 left_pitch=0.0441 left_roll=-0.1954 left_gripper=0.9963 right_x=0.3388 right_y=0.1718 right_z=0.1266 right_yaw=0.3239 right_pitch=-0.5036 right_roll=0.0018 right_gripper=0.0536\nstate[joint_eff]: [0.841, -6.4342, 3.5214, 1.6093, -0.1929, -0.1343, -0.0073, -0.2393, -6.8171, 6.4752, 1.1502, -0.0269, -0.022, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7493, 0.2962, 0.9123, 0.0334, -0.2237, 0.008, 0.4923, 1.5402, 1.1683, -0.7006, 0.07, 0.1421, 0.0555]\nstate[eef_state]: left_x=0.356 left_y=-0.0887 left_z=0.0088 left_yaw=-0.1574 left_pitch=0.0174 left_roll=-0.1994 left_gripper=0.008 right_x=0.3387 right_y=0.1717 right_z=0.1265 right_yaw=0.3237 right_pitch=-0.5039 right_roll=0.0012 right_gripper=0.0555\nstate[joint_eff]: [0.0068, -5.8051, 4.7521, 1.9267, 0.1099, 0.1197, 0.5592, -0.212, -6.8991, 6.7077, 1.1258, -0.0122, -0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57087295aa9589e3ce3b38321a4024917898539c2f78fac31e4ca02097a1df3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b9db78e196a8f392fd6e1015f9953bcf040d2e8addc8b0e5bd9e6ebda60174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6cf2e1b97133abe924d0ea7b0aa7fa33276e84d99145870f6839bfa1451840",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0800d2bbd0870841016ab42b52d0ac87d0b4a884357c08d16d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtYNdtTv6WXrvG9NXyhe0Gi3Uz2P7-_pnC7oiHG30MBOok6_BKV7FuyzImC57PBff0B3T5tvMvQeeNWgvMsjOB1nAK3ByfdT3p6KKvH55UAreD12Tv1-iMmmftUdcyV40CE-QiE3giv-hoJ5Spl5xaM06VpTv1oFYIaug26zJ7ufwvwfe5770wCkH63it1nL6-JlhF_Zy2kdlDJQ-XlJpm7A-wo_pCaYNcI_bwYLJASVBPxlZqhYy_DUN9zOCzFpJfG5JiIlWO4PXrUm8HPkfLOVrG6WIxqiGD6b3M_NzoiekjUc5SeC5-FF_6Oz0KTbXH9q9ybyyiuX72vuAl_vBF4XzsdZycA6YbpPe6lkKexfWCbKWS2To57mJ_ETzNPzX2O70m8RGLtJNbsnSSESPSqtb3mjVU6sqSx_t_Ph8XZrypgVUvotwcNpZ3smy-rxkI6kj7ewoBbXBMfp2WNKc6nt-sQ74obKGymEDNIyeDKfTChV_5JDIfFI7cM9R370kWPNzAMhfAdgwVvYWrpH0lDNNjaqINEksCudfibPINaNwP9knFE1IkwhoWc0e-AQRJsNRO-9trCWPmqS-fnlnM3Eo_BcUoUM46Apfn3tKLfmzqF-7VanyWzZS_aU1gKM6ZGsOnoewd5VqV-vnaXCHTnf58pd5X4y7UnRJDZTG6vOfWJlmAD0AaQzShCA1qMiGTX0QiXP14ogDH5K9p8L_Mfe5hV2PCg2nPNs4qgINr3uqbrNXfyuWU3JIYp0Dc--JhKef0YaooLYHlpGxMGrEmF-fhe1HkqgwhyDaQffzF0zltXrfDuYqjGM9vjaPSsM7B5UmipqTiBDDQMXlzSUESh7kiVAQ3I4bUW1EgRLPu097o2y8h2Hx_MhuA-YzIW5RlGnkUgTZVN3lcTB8GPkG7OaEwe7GIBPL1l0q4RmYy95dotocvMSJK95jJ0OVB2DX3503GQ5693o9eLXV9hV23Nm7u2IblnuiUfGPsaw34YuIJ9dcyYM1t5C89t3qR8ipBfk72QqiUX3SqHyCDV5j5brGr-6VlRiCoSBKJLykiZq4O8TxQ2XVCDygCrTmIwwhg3dv5OrN8eCatbS759aCVATvDefH6oV6dNhw6wVGEcVk8p70kHRD7uIToTh4FwBKZqSdyiU7oOf6ENFXIUc-Rp5FklPLbI5aLiJYdwMsmmXh1aySpOelCRZqvYzH5A1Dy-RroRjQ7HPfck0OH016755bYVPM5kk_gVWP83TS8vpHQ7vYqPumSmcDeVD0OaT84OLluRvtqqQDcq7aKfk_3GH5Jd9tCZfmXbjqBrlq5odX-WgW6wbaNgSsm78Mc9tn40wJnnTFEhqoqoBlzSWdBQZFhBjTN_pGBdi0JdANZX5yT25x23DA7UM5mF84Vh2nbmgDQ2A62lTt8FD69O00yVSD2OjBU5iSwD768tVnSAwIvB5hQvVFMooVMSbuG0-AFzEFLhcaoKmTaBY5YDqQ6SDkaq0s8Yl9JFrYdO7sAWXkhQ4z7An3opOwA7grE6i1DA_cQ6St6M0ew4I03DxLktk_vNG87K_6Uv_-JZ935XZgxbbf7eEMSR9ym1FPzLfRTbYwiRyAB2BwVoQl-quIRaN3L4Fc_Pb5jlXUEjDuWCw0B1LdmEyeHUT2YeKbkWyhhbxZ4satj6OT7_C8Ud6tbsFVHa1-xc71niQF65myX_bb03UXi_6VAZ3BveNBydA1t5",
  "id": "rs_0800d2bbd0870841016ab42b56bbd887d09290257f427af09a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.313,\"left_y\":-0.056,\"left_z\":0.065,\"left_yaw\":-0.15,\"left_pitch\":0},\"note\":\"The left jaws closed empty again and swept the cap to one side. I’m lifting and reopening to locate its new position clearly, then I’ll aim at the cap’s centre rather than its trailing edge.\"}",
  "call_id": "call_L2AatymlFo7VOpP2duHwApFM",
  "id": "fc_0800d2bbd0870841016ab42b57f3b887d093310a24d3d08196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L2AatymlFo7VOpP2duHwApFM",
  "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]: [-0.1234, 1.1851, 0.2348, 0.4297, 0.1062, -0.1818, 0.9947, 0.4923, 1.5402, 1.1683, -0.6998, 0.0704, 0.1425, 0.0587]\nstate[eef_state]: left_x=0.321 left_y=-0.0551 left_z=0.0701 left_yaw=-0.1269 left_pitch=0.0405 left_roll=-0.2011 left_gripper=0.9947 right_x=0.3389 right_y=0.1717 right_z=0.1266 right_yaw=0.3232 right_pitch=-0.5031 right_roll=0.0012 right_gripper=0.0587\nstate[joint_eff]: [0.4308, -3.2068, 6.1333, 1.707, 0.149, 0.0904, 0.0464, -0.2667, -6.9402, 6.4889, 1.2234, -0.0122, -0.0366, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b739877a3c583115dd7c4a3f922515f4ea099df7d9c3f05a6894aec7e6c5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f746a477d77a048668228dcb449f93df3ba29bb9d4fda098cc8fe3db95f0a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41376af8d71f5e752c461b675a05795f9237381a39aa15b995d85afd76f9e8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 6.227 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1223, 1.824, 0.345, 0.9607, 0.1051, -0.1715, 0.9963, 0.4923, 1.5402, 1.1683, -0.701, 0.07, 0.1425, 0.0526]\nstate[eef_state]: left_x=0.3773 left_y=-0.0614 left_z=0.0076 left_yaw=-0.1303 left_pitch=0.0438 left_roll=-0.1916 left_gripper=0.9963 right_x=0.3386 right_y=0.1717 right_z=0.1265 right_yaw=0.3235 right_pitch=-0.5043 right_roll=0.0013 right_gripper=0.0526\nstate[joint_eff]: [0.5812, -4.2598, 2.1128, 0.6569, 0.1685, -0.105, -0.0171, -0.0479, -6.9402, 6.612, 1.1209, -0.022, -0.0317, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7493, 0.2962, 0.9123, 0.0334, -0.2237, 0.008, 0.4923, 1.5402, 1.1683, -0.7006, 0.07, 0.1421, 0.0555]\nstate[eef_state]: left_x=0.356 left_y=-0.0887 left_z=0.0088 left_yaw=-0.1574 left_pitch=0.0174 left_roll=-0.1994 left_gripper=0.008 right_x=0.3387 right_y=0.1717 right_z=0.1265 right_yaw=0.3237 right_pitch=-0.5039 right_roll=0.0012 right_gripper=0.0555\nstate[joint_eff]: [0.0068, -5.8051, 4.7521, 1.9267, 0.1099, 0.1197, 0.5592, -0.212, -6.8991, 6.7077, 1.1258, -0.0122, -0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 1.1851, 0.2348, 0.4297, 0.1062, -0.1818, 0.9947, 0.4923, 1.5402, 1.1683, -0.6998, 0.0704, 0.1425, 0.0587]\nstate[eef_state]: left_x=0.321 left_y=-0.0551 left_z=0.0701 left_yaw=-0.1269 left_pitch=0.0405 left_roll=-0.2011 left_gripper=0.9947 right_x=0.3389 right_y=0.1717 right_z=0.1266 right_yaw=0.3232 right_pitch=-0.5031 right_roll=0.0012 right_gripper=0.0587\nstate[joint_eff]: [0.4308, -3.2068, 6.1333, 1.707, 0.149, 0.0904, 0.0464, -0.2667, -6.9402, 6.4889, 1.2234, -0.0122, -0.0366, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b739877a3c583115dd7c4a3f922515f4ea099df7d9c3f05a6894aec7e6c5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f746a477d77a048668228dcb449f93df3ba29bb9d4fda098cc8fe3db95f0a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41376af8d71f5e752c461b675a05795f9237381a39aa15b995d85afd76f9e8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtdJqwzjxQ9VqqTZEdwNwnyAPGOYPHPfsRe2VbzpPTaG9wPFVV6NLGvdbrpzGnr-t0xJadq3zPWVmgZDcXGrlat58faMQcX_nzULy_yoEHaGy7Hw69mi3vYzT2ghepd6HbSVuqtZPVBYjbTTZSoXMOudXmswu_lYsHEg8KtOiJnBMRDF0r49uqGRS4CBgMVmB1EG0w1_tnVWyUhgkGd3-bvPndeL7kxfHdACwiVq5mxW5a71Gl0pYbQI3vUD7_b0fxbNlLndaP8feMJqBOFmHHYARxDcX1KCruKliPzHgWNjbzMhNGSzrG6h1P5pw63uVmVWwe6Yv9MkGzDJmweKnX9K7G8f8AbtRasHcpizY2BW1iCzcCCP_T70limQ1YG9lH19Ujo6NJ7MddUJPYIWccBpUglcU1f9NLTutrYYABrOGPJrFpdkwkMhC-ikug9su10Z8xnQILQAmrW04KCG4lnPQZ4G15LfsmOf_vPshwPhpdAG-1GRxCn1D-hsXXzYpdkSNza3gos-_Uip75UIK_J8AOKdFcVorPRE7-5sdSJf-aKVU-YPZ8DnI8LNoDagwSQZZUwmAgjkaiV3_1fAKOPCBMlOiIBpqRXDjqiDoid7fIZD5gCHcjuTvv-ov5g6HePfbkFMQtoPluth67G-kIeT-C4yOld39DoDh967GTKVOVJaLBIEf2mvyXeQXDPSj_jsitClFGq4nJ3gmJFHXGcccvsPOI3Wp-OHfbrQG1PMQgmZEBxSiraKJ1nWpXqg3SACkIsgp0epFlqQQpr03_zRT5IGX7Qk1sjjH46p3DndUv_asDnKfEOhew5k8SAXwXeIo21oVBLlnoUwPqnsfFJcm2MS1QpdXCBBxhGbIhOfZSpUZ3fW0ZihpbzUYSQKoBjKdRPCQaqUsRzeWJjux3TTEeB6gB0auJO8XpdjN_N93UHFGqeWUVNXwdjybkPiXu-WkVpNNSCegFcjbpnQDSpPb1Zo8kGvXAe7FqD0pen1MBqlpnV_f3DTW2fDcqpnNLnW0w2l4Zz3mMd8gQawdl_et47MFhzbiIX6up3QmEOtwQwOTpNEk4yT-kKlg1-M6Nerk-FAuPOWXGEfRRLhpNgTL3kiCbqflB67sTM3Nx1VhWeYJ6rgOr-EB56vwxK5m9sZk9lxUs26avuTdEL1o7VsEiUt_LYSwLIBUSCLwFYZQXeWo-sZI9I-DqL2FLQhvZshpPHMRfLDlRvVTt5osfQVEvbFFP9Q27F_Jdlj8eaQZWUrhxsQE7HP5GAgV6pCXfcLmzJvZyig0DGJWGcswPyOmYGOCoFpu71FduP8S6Ps7OO8TiCYSHEtopopMPwu66CINDy_YzepY89WQ79jF3i12y8tXbCxtmo3gPB2Hq-igOnFcg78NzmxePbCHmYTrDEOOjNT-KJU9yn0Okd5YaSiZLSqtwm2h6RH6FBDsViuGlc87UyeKg9CjJ_h8OKmrcxXHEtzgTJPX1tG7I4HjKWrvSLVA92jQyUvzA-z5xxJ3n43dHL91dz9QrZjv0hMukYHJMDrJQKCe16oHfjthAyQUe4L3VL0A_f0w4jVdK55qdKOJ5JKJJZAGXwSWgYHDxTorw1Juxc8_lhBywnClSD8R4ekBJruwZNUGhxCt1Lnqv2E3lKo3VVBaUWzlenWscr1o8BqA0RtQjl5cDjqXav-q5CoSzZxAf_k-hf52J_BwoFH9r0NH-Seo3jmJp4yEpIf3bnxlIeSxoK2q4OKE-IWfUnmAZDo5iPvIB_o2fhGROPnBi2WHC7VS1hehkJdp3XuLDAgX6ZoJs-o73WTcKncorB1MRbXgtrlNzY5Eh3yVEqo0T_vvtS4Juc3oU7D6W9Hpe5WEuMW4nbjMdhidXAOGt6Fxjtsce4ogdPyaD0KJd-GIdltnUONvNACVKop0lFDORuWrliaZ4tNHIlCLLS9AyJHqMsVWTqIV6yCArqHumEExRBm0CWn1SHxjuI7RKyti-kVSbZ-KMujyuul-wJaDsPT0TdKQWmUJME6kK9oZlqmG0S6T3Rh6ZQG8HfC5VonYtVb7oKN5y2cxKVQ1GYK3MuK2ctGmXgAsyCNk6reGM=",
  "id": "rs_0800d2bbd0870841016ab42b5ad29487d0b96d777b326af092",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.069,\"left_z\":0.006,\"left_yaw\":-0.13,\"left_pitch\":0},\"note\":\"With the arm raised, the cap is clearly visible just ahead of the left gripper, slanting nearly along the wrist image’s vertical axis. I’m descending while advancing enough to place its middle at the jaw pinch point.\"}",
  "call_id": "call_yIZBFe8EuS0c0V7IygnrYQL6",
  "id": "fc_0800d2bbd0870841016ab42b5c849c87d0b84f7051e57b8c8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yIZBFe8EuS0c0V7IygnrYQL6",
  "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]: [-0.1516, 1.7245, 0.3264, 0.823, 0.0761, -0.1822, 0.9955, 0.4923, 1.5429, 1.1664, -0.7036, 0.07, 0.1421, 0.0617]\nstate[eef_state]: left_x=0.3627 left_y=-0.0654 left_z=0.0081 left_yaw=-0.1295 left_pitch=-0.014 left_roll=-0.1852 left_gripper=0.9955 right_x=0.3377 right_y=0.1712 right_z=0.1245 right_yaw=0.323 right_pitch=-0.5114 right_roll=-0.0003 right_gripper=0.0617\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 0.9939, 0.0415, -0.1343, 0.0611, -0.1026, -7.1179, 6.653, 1.2137, -0.0073, -0.022, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab668e1765ef630e90416ddfc96d6f5b2a6718521a074312598991a85dba55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485933450907dafec9544939416f7b7386aee5c7c75d1369631684670eaedd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5628fdf67462da09b1fb70b8c2b2256678146b66b0cf03674213ff299506371",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 1.883 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7557, 0.3012, 0.9398, 0.0418, -0.2119, 0.9963, 0.4923, 1.5402, 1.1683, -0.7002, 0.0696, 0.1425, 0.0536]\nstate[eef_state]: left_x=0.36 left_y=-0.0912 left_z=0.0139 left_yaw=-0.1707 left_pitch=0.0441 left_roll=-0.1954 left_gripper=0.9963 right_x=0.3388 right_y=0.1718 right_z=0.1266 right_yaw=0.3239 right_pitch=-0.5036 right_roll=0.0018 right_gripper=0.0536\nstate[joint_eff]: [0.841, -6.4342, 3.5214, 1.6093, -0.1929, -0.1343, -0.0073, -0.2393, -6.8171, 6.4752, 1.1502, -0.0269, -0.022, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 1.1851, 0.2348, 0.4297, 0.1062, -0.1818, 0.9947, 0.4923, 1.5402, 1.1683, -0.6998, 0.0704, 0.1425, 0.0587]\nstate[eef_state]: left_x=0.321 left_y=-0.0551 left_z=0.0701 left_yaw=-0.1269 left_pitch=0.0405 left_roll=-0.2011 left_gripper=0.9947 right_x=0.3389 right_y=0.1717 right_z=0.1266 right_yaw=0.3232 right_pitch=-0.5031 right_roll=0.0012 right_gripper=0.0587\nstate[joint_eff]: [0.4308, -3.2068, 6.1333, 1.707, 0.149, 0.0904, 0.0464, -0.2667, -6.9402, 6.4889, 1.2234, -0.0122, -0.0366, 0.7204]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1516, 1.7245, 0.3264, 0.823, 0.0761, -0.1822, 0.9955, 0.4923, 1.5429, 1.1664, -0.7036, 0.07, 0.1421, 0.0617]\nstate[eef_state]: left_x=0.3627 left_y=-0.0654 left_z=0.0081 left_yaw=-0.1295 left_pitch=-0.014 left_roll=-0.1852 left_gripper=0.9955 right_x=0.3377 right_y=0.1712 right_z=0.1245 right_yaw=0.323 right_pitch=-0.5114 right_roll=-0.0003 right_gripper=0.0617\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 0.9939, 0.0415, -0.1343, 0.0611, -0.1026, -7.1179, 6.653, 1.2137, -0.0073, -0.022, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab668e1765ef630e90416ddfc96d6f5b2a6718521a074312598991a85dba55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485933450907dafec9544939416f7b7386aee5c7c75d1369631684670eaedd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5628fdf67462da09b1fb70b8c2b2256678146b66b0cf03674213ff299506371",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtkaBhYy46PnYtLkPuSgCE9xiBLsx5QszTlRLDzVqjeZaQUBTvz55xtR_hv3dTFijMCKVJqA4FOpE5Tyz8MCm7Kp-Sv8wb1HApud8C-lvo3KshrjB8a-61RDSEdcrOeIgI2I2bBmrFQre1d-KYPdHUf0YRY-WnVIDq1Jq9pRZLNQOpNbMZZ0s1iqQy7y06fjWpRDQTY0HnFfrrFQOFJs4mBzgRSk3sX6NsgSRN6LTBH0OQAXZyp8xYtSENynofDIRCzXlluEtJiURlF3KIsKXN4-bm1g4eeVQ3Ty0ngfZacM2cNIYMAx84OpiPrY2cYYTdkLmKrQzXQe2Qln0ieKBhp5EDv_jKyU-40DzIZzfZy12AtP1Q3m-IiryVcohiU2o6k-Z3kEv79K0jlxd-BOp2CJm7389TUCEcgVhYbf-HMIJhTRo4SBwi2NaiyucfRzY9RVLAHDB94L_aQi60ZuBBgFAYignFNLXMCRQVYyQ_TlWanmdxvE0Zd33IeQJy2V0y6AScJdV-y-0VuSsRR0kqLlbVW1H42-53b1BH3TCjG1OjRS-FQMgOaaKzv2OaaytpC63eNTwtPPHDRS9Qe5isoutEb4b0HL_qzlYtkKqGn8vZMgzOHzMU8-jZ1Uyv1ah3LEzITAKcYf6n3unxin-FnbBSI_gRloX3lvxD7YviKc9Mh2ZtVnQS80P3lGFtKZgm310FQWRMYXrJx557oGA4mXNytjGNiTXlN3RVDe4Y9A3sLlBjSgJ-gsukw9a4IOq7WdOqUF1uZkEgr6Z881aL2NkCsWpLYeP9_0JuvpPt5YsDtlLLsKb2inxLAfUEzNRaDQRIhWn_NbnAnHB5pRVobRo38LrZhGrNirhCvSB_atGtRWoiBnrrdy3p7ezfTHziboKHa9TQUsAX5HOCB0W9-_sTjHfudP43hGzcNPaljhRLpA_e-LjfsFAxK2APfUD-tWbwMpX6pORvCYmUSJ1qpdh0CYeuAc7eC9HYzQtNgd3urF2h5-OHWjVGm5xRLfqBXwu2t8gp7iRQlRDOmWSAg2gMdQ8WtOIDA8VmI-FNkHk0grcYtcLQA8miby7IUIrwx8g7qc8uFTLYQqJFIut6P1tCIdL6YtlNQqsi3P3Vt5s6Ltqo5tn16K8K81jIgNrwlfcPP201sFDGZZQq35dWVscukLrlEtrhy8NIeTHmSn7P8vw7dLkjt1WGqqyQIk-fTVgTG6Z-sUdStJFMCKWzwvgYSpwpFvrbOBRQ72cdcCBmZIVwiQ17igZWCWDqOevXJDo7QeQX4Ua8GnLcjZeCtH2kabMJ_VMcLXONetjOPUojLQ48wPdzTBWdfBDerIXoUqh_7TEHDUqYLw8-Z0tk5apFUbDFNCwuEWgcEfyhFPkFQU3wcHK93rYC2aSsBrq2MvoBwZLAWRbTcrfBLiYvzTnKinNU6Zqk3RQDNOq_q-H2P3ScZkuIEJqvq4nCOy78gTdVjgBYD6dwHQtcUhuco8jQV4Yp05InO6DbuESGJ6nP3SHLzLswX7DoeiOIMctWsPF6B3EnL-eJJq2xSvUDqD2EcB3Nqpo5putMLjzLRWIxiUzONoQRtCb0UzCjHM5RsXN_yczVAm3XmpqXPeRVnIW9_KvnKNnaaEC9q7wLpyHPrqhRJxMXzJmlk6y93YIUSwHLym7G-4VZVjotntImNnh02twkrtU5Vru3D4y2BSy_ON4jqJQZyTSLTOh5zcbv9gHFD-yk5J1LUNTOTm48yohhQ6dTK1IveMPJzVPykuuYU8TeO716J8eE8OC7J4Og6GRLP9tjan8CKxkQoa_291qi-GCaccEELOpfcHQYlBf_K8x3fntL1GpqbCeDzDr8Uj5PNURC1jdopzLUMpXFpC4xm7EfjScA1PT4kB9waSo3Vj9eems4yBk-Nxjlzfx6kp0BLp_dRK_4HFbKAWKylQ9SHU1jkoomH6DOy24j8rKte8Qlkb91-oU_zCwXXadCIk7Ecw9ofDybrWt7Fvyf5jVqsIvO4VAuuq2WH2HVqsn02EHGyse5ZtBngTRq-DYrSeube7VoMDEQLPrZUJC4XUeXEOT90SbK8rG__YcRAlEivivTRXVP8IDj8wWzWrXWtam8rosSmwAesVnZT4HAv-9e6SDpQsrCUjPWNUXMhUzzbn4g9FMBLgdu7c_O-MqDSJnbX1XV8D0OFHcHjqbHVpQ==",
  "id": "rs_0800d2bbd0870841016ab42b5f301087d0bf766b331cd51d8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.104,\"left_z\":0.006,\"left_yaw\":-0.13,\"left_pitch\":0},\"note\":\"At table height the cap is just to the right of the left jaw column, though its middle is at a usable depth. I’m shifting right about 4 cm and backing off slightly to centre the barrel before closing.\"}",
  "call_id": "call_1KiYgdBEG5XDEjX72npdNxmh",
  "id": "fc_0800d2bbd0870841016ab42b627b0887d08bb13adaee1aad41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1KiYgdBEG5XDEjX72npdNxmh",
  "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]: [-0.3161, 1.7535, 0.3256, 0.8753, -0.0326, -0.2462, 0.9955, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1421, 0.0633]\nstate[eef_state]: left_x=0.3568 left_y=-0.1068 left_z=0.0084 left_yaw=-0.1677 left_pitch=0.0074 left_roll=-0.1831 left_gripper=0.9955 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3227 right_pitch=-0.5144 right_roll=-0.0009 right_gripper=0.0633\nstate[joint_eff]: [-0.2393, -5.5043, 3.2205, 1.746, -0.0806, -0.0659, -0.0024, -0.212, -6.735, 6.7761, 1.116, 0.022, -0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009c20769b686b8b09e21d29bf4e885df94996a0a74983bd113201d690ac1e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe60bb9d404510c1d1e2e98a4d7a483b17a62917d2355b580050d97c74fb426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba3fbac63aa47328c9cc102db923ca640a1a7b2617a0f881c303951acb4eb9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2379, 1.7493, 0.2962, 0.9123, 0.0334, -0.2237, 0.008, 0.4923, 1.5402, 1.1683, -0.7006, 0.07, 0.1421, 0.0555]\nstate[eef_state]: left_x=0.356 left_y=-0.0887 left_z=0.0088 left_yaw=-0.1574 left_pitch=0.0174 left_roll=-0.1994 left_gripper=0.008 right_x=0.3387 right_y=0.1717 right_z=0.1265 right_yaw=0.3237 right_pitch=-0.5039 right_roll=0.0012 right_gripper=0.0555\nstate[joint_eff]: [0.0068, -5.8051, 4.7521, 1.9267, 0.1099, 0.1197, 0.5592, -0.212, -6.8991, 6.7077, 1.1258, -0.0122, -0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1516, 1.7245, 0.3264, 0.823, 0.0761, -0.1822, 0.9955, 0.4923, 1.5429, 1.1664, -0.7036, 0.07, 0.1421, 0.0617]\nstate[eef_state]: left_x=0.3627 left_y=-0.0654 left_z=0.0081 left_yaw=-0.1295 left_pitch=-0.014 left_roll=-0.1852 left_gripper=0.9955 right_x=0.3377 right_y=0.1712 right_z=0.1245 right_yaw=0.323 right_pitch=-0.5114 right_roll=-0.0003 right_gripper=0.0617\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 0.9939, 0.0415, -0.1343, 0.0611, -0.1026, -7.1179, 6.653, 1.2137, -0.0073, -0.022, 0.6081]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3161, 1.7535, 0.3256, 0.8753, -0.0326, -0.2462, 0.9955, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1421, 0.0633]\nstate[eef_state]: left_x=0.3568 left_y=-0.1068 left_z=0.0084 left_yaw=-0.1677 left_pitch=0.0074 left_roll=-0.1831 left_gripper=0.9955 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3227 right_pitch=-0.5144 right_roll=-0.0009 right_gripper=0.0633\nstate[joint_eff]: [-0.2393, -5.5043, 3.2205, 1.746, -0.0806, -0.0659, -0.0024, -0.212, -6.735, 6.7761, 1.116, 0.022, -0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009c20769b686b8b09e21d29bf4e885df94996a0a74983bd113201d690ac1e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe60bb9d404510c1d1e2e98a4d7a483b17a62917d2355b580050d97c74fb426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba3fbac63aa47328c9cc102db923ca640a1a7b2617a0f881c303951acb4eb9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtmkvJ6t5XE0TPy-lyXOLGaKT7wOif7QPanifeKDLV9LsoACtl9JiEDqFm-sOQeiSR4hGmgH91LrSs6DeZUv9COpqzV5i9hn4Ge08JxBeGafpN9i4JEz-lBUDRZfNli_DhGAIW_yky_2xgR4EKslPLo5_Iyz_eRwWAnbVeUmi_qQ8WAHf4vraMBcKfs5ePlOlkBK4x5OWNUGHqGBB1ZfrsEhueG31ELHrkoYgOKT4xguUtMDNUyBTbRmD7rKQnwUHaZlLeQWHgPW1vrZHQp4sTz36Bha29hYRhtcmZ-qUUHfBQIxPSS11vLAkPIDH3yzC5XvGFo1IFfDWYZV4HDlTZy56uDis3_-6JQVa0sX6yJAVvFtyGlWUQ4xLihKEtPtxi-8cLVgqm5sTRJRgMDdXM6a3yqathoP7EWUzftvWEhmelM2ADJRrXCmVdBhDc24ctBqP9J-C4ed4jrSEwfdU6E2C-SHQ_dvoiLVDCXor7zTngYKH9Vcf5gVsh7PWGWgi9ZOQnisQOcdkMv7CJtzqW8C76Ytw7qVBmi3aQBe8Jb8kPD6UZ-FH05TEZbTrOPrktp4iJut8D8uRV2ABwcvd0qLhfqQ9lpJIzv6BLxXlDXZxvUMlNXnAJ8VP-hYmFgvgj86BIAoQqx4Q-e9qxmHis2aRHuk00rA7uRFBNVydtb4SwAOnIWqztsCT8-W58TpdvJVBLGmXgTZNSTMLQceTnCIKRqYcApIDvnUrwsoHlYmloBi5HFC3ld7V9oNjIPQhjqJr46cduHLYczK4gGbevC4qlf_7NplHxALnbkekb5c1Y5YXr5R7q2y20COIpGUxDFePXCl3WLqnQlN31d0e2IAkgA6maKxfTWt9UqkwtuxGyGCWw8jpBmt0BZvkL2ufiH4mq3bCFACL4_ZAjZHzMFEwLN7MMZVbNNFVuebNoeoAEMpWzo_rGqEiU3fu8IGdCCx8up5q2xwupyI0rn8ikWwcLEwbviK2I9VXD93o_Y3M4tekRsU4XqZuIjME1Zlstov7bc5ZWbiQjUxnie3DNF78vrmHdxnNlvwCQc84z_L_h1cWZ_24ZA5q6Zswn0o3ta8ouneXp3Tayj5ALx_xpU9f5ULr9o0W0hldMIDHls6k2rtYyG2zupHc5OAKUXrHJsIji3TQ72BjKU2erAR6Pj6k2FvNxRTTk6kjhBN-4_NSQSOKN2QktWxf0mbrOwZO8Hh2C0cTcBH9L73BNdTbQpAf11zJlpRt3SxdcMGVY4oZ4=",
  "id": "rs_0800d2bbd0870841016ab42b65aac887d08845bda4022ac605",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_x\":0.357,\"left_y\":-0.107,\"left_z\":0.008,\"left_yaw\":-0.17,\"left_pitch\":0},\"note\":\"The cap’s barrel is now centred on the left jaw column at the fingertip row. I’m closing across it while keeping the arm at the same tabletop height.\"}",
  "call_id": "call_cFOh2hJijfKbKmgUJA91quAR",
  "id": "fc_0800d2bbd0870841016ab42b65d09487d0b34a932c54fa67b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cFOh2hJijfKbKmgUJA91quAR",
  "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]: [-0.3164, 1.7493, 0.3283, 0.8753, -0.0448, -0.2535, 0.0077, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1425, 0.0656]\nstate[eef_state]: left_x=0.3587 left_y=-0.1053 left_z=0.0107 left_yaw=-0.1539 left_pitch=0.0145 left_roll=-0.184 left_gripper=0.0077 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3225 right_pitch=-0.5144 right_roll=-0.0007 right_gripper=0.0656\nstate[joint_eff]: [-0.1709, -6.065, 4.4786, 1.58, 0.2076, 0.0806, 0.569, -0.3214, -6.9265, 6.5573, 1.0867, 0.0024, -0.0171, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136734cbc01bf16306c16aab7ea21bfc3c569e0dcdea621db6f9cc33cc57be7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6e02d778d60e5b6f7208ccf8d4eb3a3060cc63a13a075d0d8fee04b6e18a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b41a518c761b4452aa8ce7d2aab840c294ec407c3556fa93767b5cfce6ee37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.745 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 1.1851, 0.2348, 0.4297, 0.1062, -0.1818, 0.9947, 0.4923, 1.5402, 1.1683, -0.6998, 0.0704, 0.1425, 0.0587]\nstate[eef_state]: left_x=0.321 left_y=-0.0551 left_z=0.0701 left_yaw=-0.1269 left_pitch=0.0405 left_roll=-0.2011 left_gripper=0.9947 right_x=0.3389 right_y=0.1717 right_z=0.1266 right_yaw=0.3232 right_pitch=-0.5031 right_roll=0.0012 right_gripper=0.0587\nstate[joint_eff]: [0.4308, -3.2068, 6.1333, 1.707, 0.149, 0.0904, 0.0464, -0.2667, -6.9402, 6.4889, 1.2234, -0.0122, -0.0366, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3161, 1.7535, 0.3256, 0.8753, -0.0326, -0.2462, 0.9955, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1421, 0.0633]\nstate[eef_state]: left_x=0.3568 left_y=-0.1068 left_z=0.0084 left_yaw=-0.1677 left_pitch=0.0074 left_roll=-0.1831 left_gripper=0.9955 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3227 right_pitch=-0.5144 right_roll=-0.0009 right_gripper=0.0633\nstate[joint_eff]: [-0.2393, -5.5043, 3.2205, 1.746, -0.0806, -0.0659, -0.0024, -0.212, -6.735, 6.7761, 1.116, 0.022, -0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.7493, 0.3283, 0.8753, -0.0448, -0.2535, 0.0077, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1425, 0.0656]\nstate[eef_state]: left_x=0.3587 left_y=-0.1053 left_z=0.0107 left_yaw=-0.1539 left_pitch=0.0145 left_roll=-0.184 left_gripper=0.0077 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3225 right_pitch=-0.5144 right_roll=-0.0007 right_gripper=0.0656\nstate[joint_eff]: [-0.1709, -6.065, 4.4786, 1.58, 0.2076, 0.0806, 0.569, -0.3214, -6.9265, 6.5573, 1.0867, 0.0024, -0.0171, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136734cbc01bf16306c16aab7ea21bfc3c569e0dcdea621db6f9cc33cc57be7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6e02d778d60e5b6f7208ccf8d4eb3a3060cc63a13a075d0d8fee04b6e18a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b41a518c761b4452aa8ce7d2aab840c294ec407c3556fa93767b5cfce6ee37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtqB11fBmVY0lSm-NVKWD95xVGXTVhApxfW6fMLS8_CtLff1Xnl35HVJE8NtNjv8fKdr1rDtd5LGyXDuqEtHWq1I1PWXwyw0f2NRF9xMPfbn_dQkag-qYYWf3ORcu6ssKblSaDME_5ISkT1Xp5myXUT3EOs_qtWIRTI1e2ym2T15QvIHtRhRPrXTSrXHYlnwu8QF2vOwwL_AqpcbFKDboW4hXa-gaJEjtbcT8b8ciKXNA9kbiAk-k_5Ya3GoycwKbBQyyo2BVHysbz9APsg435pq0clIGnMqYvVns_MpyfXMpWcoHV7SUfz_EwgszuUtIkrMH0bQOyWuepy_3VaKpGsSO3rFYm9-B5iJnzuS74iWqtQyHCQTAwaOO54WumJxbHJAhVKLKcFXU355IZZOzkgMeSwZ9RT-GWwS1fdDn6Roc0F-QI6boGTI_dQ_jJEkKwEXi1hD4UqZGrJuNF10JT8lEFjR64zgtX3RUScGKPsSF6NEXfEg6jw08WY4a6w-7s1vWMODwZQnE1Q9bF7CfxKCqYjHzuujghdoDzh56NWi1fOCWeFrctcJhGnUxh3ihniunXxi_jF35HwQEWxpXd_BD91r_aYM-rctR8QyOZ_esqXUC_x0Os2sD_UTFHHHP5FPkAuLK2fRjqgEZE3KWgfCKUmAapTzbP4s2b92l4SJd_UHgElsfUkoHH2Jrl0BvTrtqnj4W58salcTB7Xf_aUdZBmOobfod-U2o7y1gA_Tc-Sh_mBx_IpFjeEVr0varS1dMOx_PAP9CzlVdmo4jdqfvA7EWD1JEudMVwXJjLEBj0j-qJ4IenSlH75vSHMXNGmS3lCMjrpt2ORnGg67SXTkG9aCVihAF3-kGa4R8q33NoLPBjOz6rFyp7BFtGyaf8do1mzbasoV7_Oqly3QOm8AalWhRB8q7GqDoFCX6-bhppXd-BJiZSU0MGC_0f2aw_rr4rEKoyoJgyRM5Lbg2q2DAl0f8SxXG1mS2bpsmwzMTRpXcAiWc6EOwOuMXVmuAyuQEYGlfjkPJ4SKDUvXub1q1cVEhfcDW-VRttTLV4nNYwTypEl4r-o27YvmPBZA2pIlHmfLubbrZu_j6LkM58zJaTFzXWLHVYTzB6-VEF58UX7y-n0jPLB_SpdmmByxpXdk50I48VnZb6ycMJ4iyvD1IrfGaEnjXzsm7O6CbHxg4v_2eZpFCenx2AJHyGtsf3Xz49z39yBx6F8BgQMRePTaqSfW6eS-4-KF0Meb9lDerRw8rOZSo6cKphtCbusI0g4YlvvABW-8phjBeviXJJM68qFZFU1--p-aBRpZgcfZoc2OWi5ZMwMw_Yg35JwXkRJL6lrF_eK4rT4epoqCHqoQd-thFlocfjhPcb__slRd0RdM7d875ArsWHrhs8z9nll6mvn_t8O6CId_WZy4v-QPCPuJEPgmn--e9IwuEsGwye6zb0HaOV6jb51dW7LoKMYIBfo4EjBlKhYNLWVy7mmG5NevFqJbo1ipkpRrusngaCsH0aTeiKoTU0o9ArcYpgu",
  "id": "rs_0800d2bbd0870841016ab42b68ee4c87d091e2f45e218e9696",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.105,\"left_z\":0.08,\"right_z\":0.17},\"note\":\"The left gripper closed completely, so the cap is not confirmed held despite disappearing behind the jaws. I’m lifting to check the table and keeping the pen high while I identify the cap’s new position.\"}",
  "call_id": "call_wNluHh6osIMqdcWVwnSffYbA",
  "id": "fc_0800d2bbd0870841016ab42b69aa1087d08ccb1c8cb88b9142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wNluHh6osIMqdcWVwnSffYbA",
  "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]: [-0.3164, 1.4101, 0.395, 0.5011, -0.046, -0.2543, 0.01, 0.4931, 1.5436, 1.2976, -0.8669, 0.0677, 0.1406, 0.0653]\nstate[eef_state]: left_x=0.358 left_y=-0.1049 left_z=0.0751 left_yaw=-0.1524 left_pitch=0.0457 left_roll=-0.1892 left_gripper=0.01 right_x=0.3333 right_y=0.1696 right_z=0.1536 right_yaw=0.3237 right_pitch=-0.5441 right_roll=-0.0052 right_gripper=0.0653\nstate[joint_eff]: [-0.1573, -5.0256, 8.3624, 1.8339, -0.0171, -0.0269, 0.2222, 0.0752, -7.6239, 9.1829, 1.1844, 0.0317, -0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9772f31bcc6120eeeadd65af812207b081cbfb594c4200cd68c590ac12943b42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716929acd4f1359a4bf51ade21e224000dfb489e622759200efc96f1e1dd3f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecee0a812ab87e695bf3b0a57962a7b67747a2352c93fbc67987c4c60afadfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.873 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1516, 1.7245, 0.3264, 0.823, 0.0761, -0.1822, 0.9955, 0.4923, 1.5429, 1.1664, -0.7036, 0.07, 0.1421, 0.0617]\nstate[eef_state]: left_x=0.3627 left_y=-0.0654 left_z=0.0081 left_yaw=-0.1295 left_pitch=-0.014 left_roll=-0.1852 left_gripper=0.9955 right_x=0.3377 right_y=0.1712 right_z=0.1245 right_yaw=0.323 right_pitch=-0.5114 right_roll=-0.0003 right_gripper=0.0617\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 0.9939, 0.0415, -0.1343, 0.0611, -0.1026, -7.1179, 6.653, 1.2137, -0.0073, -0.022, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.7493, 0.3283, 0.8753, -0.0448, -0.2535, 0.0077, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1425, 0.0656]\nstate[eef_state]: left_x=0.3587 left_y=-0.1053 left_z=0.0107 left_yaw=-0.1539 left_pitch=0.0145 left_roll=-0.184 left_gripper=0.0077 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3225 right_pitch=-0.5144 right_roll=-0.0007 right_gripper=0.0656\nstate[joint_eff]: [-0.1709, -6.065, 4.4786, 1.58, 0.2076, 0.0806, 0.569, -0.3214, -6.9265, 6.5573, 1.0867, 0.0024, -0.0171, 0.7253]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.4101, 0.395, 0.5011, -0.046, -0.2543, 0.01, 0.4931, 1.5436, 1.2976, -0.8669, 0.0677, 0.1406, 0.0653]\nstate[eef_state]: left_x=0.358 left_y=-0.1049 left_z=0.0751 left_yaw=-0.1524 left_pitch=0.0457 left_roll=-0.1892 left_gripper=0.01 right_x=0.3333 right_y=0.1696 right_z=0.1536 right_yaw=0.3237 right_pitch=-0.5441 right_roll=-0.0052 right_gripper=0.0653\nstate[joint_eff]: [-0.1573, -5.0256, 8.3624, 1.8339, -0.0171, -0.0269, 0.2222, 0.0752, -7.6239, 9.1829, 1.1844, 0.0317, -0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9772f31bcc6120eeeadd65af812207b081cbfb594c4200cd68c590ac12943b42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716929acd4f1359a4bf51ade21e224000dfb489e622759200efc96f1e1dd3f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecee0a812ab87e695bf3b0a57962a7b67747a2352c93fbc67987c4c60afadfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtu6jUYi3uqACAjhKs7WDTz7of8v9scQG3e1H3GnvUORSsV0OG6yxYyXegjKvy0UiVsHQlZ-c5agsWOcdLQ_1jya0NHrVhIceK02TvYdeJ5rGfOqoo58m9SQvdtUjd276wRbq41_JtkpVob8G1wTZS0i-BWvh7dOy7CmVElEACFGp8rw2B0G_dkfu_tul6n0peysHQoLJIkeCQhFS7eINdAZaBF9ElgpO2KmpJHQbsnwxi2P-togHnBuRQWgNYIWyMptCVf7aasclaIRbuMSqWycCQn6KVJUuFm_KiBHkvzTuEic90Y8-cuCDnBIY5U6y3Q5CnLNhI6NwKdOlXDR4IestQ9RTcCTQXRf7WOUvCOPtmM8a9-Jbzc3_dx5NuTNXa22qpaxejjBdcGXGa_BKb8WPhvT5v2QWInRfbi-jZMHPcMqBnh2ejzDH0QsH5DRpGvY-rfppD1Cp9t4gQI8qADTL-17NPsInM4aT_E0tOqZiXLBR7yTZm3l4xfg8hdWBaOSXjEDyzGz50WN3WPUnAOrHOL-EpfcdkDD0UKIUBjuldtMh0g48RcrGKDFAOn1X2jlBtTBfBPGSJhjdOhJsoyEih20RkhUwmURnITiVw9Q8Qu1vX7QhIat3SMxCi8sC1rIJvmYcZg22Lbd-cq10A2C-LlpQSawguq4KVlRKMw5hwQCMmXuO-R9_xHhRKOyMRj6t3KqiNnTFS11q2fDi43TzrtSC3CcDOCBDQr9gdtXeF3RxhPvGGh3nZnffexP7Qwpdogsn9c9qznxp6bJFKtUDm0fGjAQl5iFs7Ymob7YS21oRciZLtGd9ErPKuQlNsjJRsw_M0KFwIG1Nnf5A_rGRgSqyXXEE-oKvbVyYTP4wEqrTSTpV8pBrfk0pvh7pQvBDbsLNYBtSepBF433EUpr38tDyqSdjyeAo5rq-EYaxmZQpwpVNnkyz1HhQgqA05ZTNIQWG7Tn_EkFY1ilutjPLpbNs_XxuAavi-2wwAa1-l21TMVW5W7XImbijld1ilnNnVcKL8AWh5USMCfrPlOCmnrNe8-sZal0WHDuXYEQqx25MlRJJYMiMvJ9Bsv-_VoEhnNPfwHduSdWzSZ-d84pveVyPVunErjr3mVj5Saom5WB7wGxzb4grkhf1ec5u93PMGAFQIwa23nW-AaQAVvD7KVWfJyXlaJULVoOQalcN66T8ZUEfgBpOAlUqQuAR5LUv23iaeAYbaDLGTVuYEu-VoqY4YrfVdp1o2in75zCNLF5blIAtn-oHMRW1E14uXmp9FA74MKwUhIsK99fumKxtz7CoSo03cWrUTHA3bwARaPWgfNP8pQD7K8UL4vDv7EvqgH10ADMKxQAMzLiIXwWLxxIc5qaAbZmPAtZtAYLAZBHnHG8mtdsNFaWXkNCr_A6YK7Puu0LwCFUnAdia8hhpzVnmDe-7c5xX1O_U_UUElPcRIOGUCjFstE9y2C9VevsK49FWhXdCB9XKrONz0yqrnjxsf5-lm2kLz8eRmprn82I9Qo84Rmm5qJ5SW747yzmPWwxOKuwYckru6hzGoguqwje5WEf2UgwfukpZxxOH8zmcFz8-gi4fJp8l439hdW",
  "id": "rs_0800d2bbd0870841016ab42b6ccf4887d09f239b56e9119a9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.265,\"left_y\":0.003,\"left_z\":0.13},\"note\":\"The cap did not come up with the left gripper and is still obscured beneath that arm in the overhead view. I’m moving the empty left arm clear so its exact tabletop position is visible before one final approach.\"}",
  "call_id": "call_u2EhaJQdxoQacd0hCje9H2eH",
  "id": "fc_0800d2bbd0870841016ab42b6dd6c487d08b2b5e22ba939801",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u2EhaJQdxoQacd0hCje9H2eH",
  "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]: [0.2874, 0.6987, 0.3096, -0.1635, 0.4004, 0.0105, 0.9951, 0.4923, 1.544, 1.2964, -0.881, 0.0666, 0.1379, 0.0675]\nstate[eef_state]: left_x=0.2732 left_y=0.0127 left_z=0.1224 left_yaw=-0.0642 left_pitch=0.0549 left_roll=-0.1877 left_gripper=0.9951 right_x=0.3304 right_y=0.1679 right_z=0.1515 right_yaw=0.3241 right_pitch=-0.5597 right_roll=-0.0085 right_gripper=0.0675\nstate[joint_eff]: [0.0889, -0.8137, 10.8376, 1.6142, 0.315, 0.2564, -0.022, -0.0068, -6.5846, 6.5436, 1.2527, 0.1099, -0.0366, 0.5495]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41589555c471db102fedaee6fa2d865045e50507d07eea3d7e32a3ca861e2333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f290c54a4c1cf2ac09c0142e18bd3d76603d455863a432a69d10bf84077ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81ea5d5184add3bd196e8fcae0e242e40e18b992683721e4dd6e5272204a741",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.069 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3161, 1.7535, 0.3256, 0.8753, -0.0326, -0.2462, 0.9955, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1421, 0.0633]\nstate[eef_state]: left_x=0.3568 left_y=-0.1068 left_z=0.0084 left_yaw=-0.1677 left_pitch=0.0074 left_roll=-0.1831 left_gripper=0.9955 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3227 right_pitch=-0.5144 right_roll=-0.0009 right_gripper=0.0633\nstate[joint_eff]: [-0.2393, -5.5043, 3.2205, 1.746, -0.0806, -0.0659, -0.0024, -0.212, -6.735, 6.7761, 1.116, 0.022, -0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.4101, 0.395, 0.5011, -0.046, -0.2543, 0.01, 0.4931, 1.5436, 1.2976, -0.8669, 0.0677, 0.1406, 0.0653]\nstate[eef_state]: left_x=0.358 left_y=-0.1049 left_z=0.0751 left_yaw=-0.1524 left_pitch=0.0457 left_roll=-0.1892 left_gripper=0.01 right_x=0.3333 right_y=0.1696 right_z=0.1536 right_yaw=0.3237 right_pitch=-0.5441 right_roll=-0.0052 right_gripper=0.0653\nstate[joint_eff]: [-0.1573, -5.0256, 8.3624, 1.8339, -0.0171, -0.0269, 0.2222, 0.0752, -7.6239, 9.1829, 1.1844, 0.0317, -0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2874, 0.6987, 0.3096, -0.1635, 0.4004, 0.0105, 0.9951, 0.4923, 1.544, 1.2964, -0.881, 0.0666, 0.1379, 0.0675]\nstate[eef_state]: left_x=0.2732 left_y=0.0127 left_z=0.1224 left_yaw=-0.0642 left_pitch=0.0549 left_roll=-0.1877 left_gripper=0.9951 right_x=0.3304 right_y=0.1679 right_z=0.1515 right_yaw=0.3241 right_pitch=-0.5597 right_roll=-0.0085 right_gripper=0.0675\nstate[joint_eff]: [0.0889, -0.8137, 10.8376, 1.6142, 0.315, 0.2564, -0.022, -0.0068, -6.5846, 6.5436, 1.2527, 0.1099, -0.0366, 0.5495]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41589555c471db102fedaee6fa2d865045e50507d07eea3d7e32a3ca861e2333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f290c54a4c1cf2ac09c0142e18bd3d76603d455863a432a69d10bf84077ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81ea5d5184add3bd196e8fcae0e242e40e18b992683721e4dd6e5272204a741",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCt046ASdejp9XpXuqAGu_H_nrZCaaeA3xFpUp9krPfWBv1pPcjTXQqLDmPAapUkhQov20Rsw9dxG8sCoiEDG_HusvvagsHrCPuGtEpRKbISrGfb71Kq7nbEw6mOp3TLTLiMdkwlIkiWlNv18Upy_Xqv23PYPbTdkSvi-Ao2TGqIy6g26FhflY2L2Xpr5pyvLcC5ACSSvme-O0qMHoRE_fmEDa1pstGN1czVHgWEBWpFKisM4k7SleSRora42JxpjnDZRbwhrT_ULCCrEQIbIfLpcOBvBanlZ_uVo6ZMXDIVwyH4f8AtAN5wqdfG2KT9IkBQstlH23xqjw8I6n0lk1lXGoc_AOSHo5MPJQRvxORZ3TATt7zUKVuhFZT-_6ShBT-_0E_QiwrEEQRA7qYPel0kx-xvMY0WXb-zXKMJOQEzybXwnUqe3ClHT56q7flQuxJ4vGrzqiyWYH8BGIQwyUkO43DUX4BQGjv89DKr09p6d6d71MEDoz_zB4E3_c90XasCq0Q2ypns9yxg1xjLAVhnnOjzcDV_GcVWthrNnLWP2z1AqxRyvqy2SdI6ZtXhBAUjpenuak_sMaeEi0XyUjdTztM-vQC14O_MsvgAtuaDr1ckpTqZI8a9m9HZPtAXZZU2f4WpRtULlCfGYXXo9MWTug6ImDTvnXWbR7hORr7N107jdTX8iOQIyzyDcDcmiORmOaAqgrMx9r9Z9PPiXAvHzaQn-htVP6RXvwk5YHfNQEJfsV9Q23Qd_zS2nYHooCLs5YDEeMpt0jD3e9KXzDe2CcWe2ndbbIZJkmJCRjnjFBYEqQTgx0DspxBkm1xEnZSwfElSwYLhngp_7DerCd5NfZpSxRAZx-gVx6-xAZYqX-bARbBoQ3NHyku7D9I77A3Nmeht_QLz8afGyQHggqanLjAOLAf_6IPvu-QYBDB8yEfUzfrchXAXe5wZ0LTteKqn9DLw5OwvVeSeSYaIwEfSIPgBdBhiL00EfzyrH3Xo4MMQY9eMo598re6cvyAIyFgyYsnsMCgHEhpKggEtAbSVAMJoPFI8HeGUs1MrawZ0J6JpuWr3aRRbwXkHQsxL2miEJxmeIQ07B2jBL6bxgoMMTucWhlPXC4eGkztDqRftjT2PybB9b9JnOvVobmgyvrxgq83vHMCqZA2vJriYlPqDg8JSHvN_BjK1csCvDre_OSRW1qwkohpOtBBxOUcUMDRrTLQSQNx0_P2bG0FfGdPlVNiPW-E06D0bVxnFiPW5lH0b7pJuTip8vo6LHyw1uvJcXJjMeu2aYROlMOVs2wyihnRnIibxhne6icp8HKszvkw00TH1PP6pXcYJ_4rs6t-3Ty2QYFqLXeGc2_7iKHdzZjgPJ-j0vKdxYVRMqBJv_BsIgBQkqEJFS2Z5lJEZ-J9uaYncGyC8VcmuZLYFDa6HYLgjEXEceeRnGIOhW-lublDtl_oSTE56PqmCvDCd1naFbCrmlSDbGQbzLTVTn7kRWaWWA7XPnl_oHSvX18RXFF2aygQKgTdyYvynGag77h6Jn6p-T0CKZX9vS2UUk4GbAol1P3SshkkfY3ArT7dpGq5bXnjlvYpg_bhFOsdSIjvr0Z4glloxNr-ECi84NpSHNINFZ8lRqTBIYk5Zb8XTQYcQIQi9AuCMq0NvfL_QH_lxkvLlfHilt_QUHBxxIWyHWHonWg0oa6L1MWKJLCSvrPCh8LCmvPi2rAtNMF6xnsznZPsVM5l--UjaB3Q7nWcVA95N_y0zA08jHafrTehlgvobwsR1Xv5gv-_lhEk0ZIVuQswTdTHbDUAWGbXX9KJcw8ZgRClNlO_qEtf-7_jKQeh7TvdFdwSrkA2t01wtl6XXQA3Qx-VyilKcpImkOdInz7ceTkAxVILGCXkDzGJNsNSUMveemki7kd3W9HdW3ucp04w5HaoaB-Wcwv3wB4LNxg1eaW20mo3skjde5xyKKNFSjsCsyTAIEVJ3v933fGgvDFUMWR2ZCy5jJpQ-eyq_2222hCfLTYyC-hCvEs5rcbLQrSSbdBlj7jpGWwmOzLn2FKvllxqPFb6_F94xL377aAZ5tMM9uuTVazz2pPdj4rLIm__os4MtHNOuPawcU8i3PiNHJsLo0MSO3SxFQ92C2wZlB3L73O5Mll1d6wVJljC6f1ixdS8MmMxDKCwrstuOSmKKfAAh-9oQAXqBGBgPup6MYkkN2LCBK8je5F7QZ1cD7p_KaIb04Rqyk-X6Qz1h7kHu1rDbda9wWgPljuwNJxWxR2xkDOrWz31bO8w7p_v9ikRDlNbBhYG5CdNZLOLfLxA0PHGrlp2Wgd7kmRg-WuWcQ62NjuUwtbis8bTb_NSMS40_nxkWteuvyO7IQw9vkJBusWZ9PCS87rD9EQa_vURrIdY6IputWaLoGWLuOH8OCT59xd0CllRD1vpDLeut9Pfk75K9YmqvL6lXyZABycJiT6FL3ws4rjrj_X6ynMZPGmVwObwTWv7sCuBIKNZs3pDSXlph8oo6rLWEidyFWDnjHPfcD_M5gYjuTg7CEO70VMXNAhEUlD1JEKUnoXou",
  "id": "rs_0800d2bbd0870841016ab42b72389087d08754086f3c714134",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.177,\"left_z\":0.065,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"With the arm clear, the cap is visible as a short black piece near the left-centre of the table. I’m placing the left gripper above its overhead position for a more direct, centered pickup.\"}",
  "call_id": "call_qfV3nQGyWP1x8XfUJWNtjjV0",
  "id": "fc_0800d2bbd0870841016ab42b73a4f887d0a31295ab25d9d803",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qfV3nQGyWP1x8XfUJWNtjjV0",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.5795, 0.5732, 0.2432, -0.572, -0.4625, 0.9963, 0.4923, 1.544, 1.2915, -0.8867, 0.0669, 0.1379, 0.068]\nstate[eef_state]: left_x=0.3355 left_y=-0.1686 left_z=0.0501 left_yaw=-0.0248 left_pitch=-0.0512 left_roll=0.0207 left_gripper=0.9963 right_x=0.3283 right_y=0.1667 right_z=0.1492 right_yaw=0.3226 right_pitch=-0.5701 right_roll=-0.011 right_gripper=0.068\nstate[joint_eff]: [-0.3487, -6.3385, 7.7607, 1.5946, -0.4957, 0.1294, 0.105, -0.1709, -6.9128, 6.8718, 1.0916, 0.0171, -0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249a9b82c596963effcf697a263905c0e8684044f93c52d3f9592547eb069625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bed0f1d0491c0298423894c955c8246d3ebf14559bf67600110a349a4bb4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7095311a0a28e0298b184a570845880bd86db9e1f97bdb93e412d3d74b7ed3ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.261 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.7493, 0.3283, 0.8753, -0.0448, -0.2535, 0.0077, 0.4923, 1.5429, 1.1629, -0.7033, 0.07, 0.1425, 0.0656]\nstate[eef_state]: left_x=0.3587 left_y=-0.1053 left_z=0.0107 left_yaw=-0.1539 left_pitch=0.0145 left_roll=-0.184 left_gripper=0.0077 right_x=0.3371 right_y=0.1708 right_z=0.1233 right_yaw=0.3225 right_pitch=-0.5144 right_roll=-0.0007 right_gripper=0.0656\nstate[joint_eff]: [-0.1709, -6.065, 4.4786, 1.58, 0.2076, 0.0806, 0.569, -0.3214, -6.9265, 6.5573, 1.0867, 0.0024, -0.0171, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2874, 0.6987, 0.3096, -0.1635, 0.4004, 0.0105, 0.9951, 0.4923, 1.544, 1.2964, -0.881, 0.0666, 0.1379, 0.0675]\nstate[eef_state]: left_x=0.2732 left_y=0.0127 left_z=0.1224 left_yaw=-0.0642 left_pitch=0.0549 left_roll=-0.1877 left_gripper=0.9951 right_x=0.3304 right_y=0.1679 right_z=0.1515 right_yaw=0.3241 right_pitch=-0.5597 right_roll=-0.0085 right_gripper=0.0675\nstate[joint_eff]: [0.0889, -0.8137, 10.8376, 1.6142, 0.315, 0.2564, -0.022, -0.0068, -6.5846, 6.5436, 1.2527, 0.1099, -0.0366, 0.5495]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.5795, 0.5732, 0.2432, -0.572, -0.4625, 0.9963, 0.4923, 1.544, 1.2915, -0.8867, 0.0669, 0.1379, 0.068]\nstate[eef_state]: left_x=0.3355 left_y=-0.1686 left_z=0.0501 left_yaw=-0.0248 left_pitch=-0.0512 left_roll=0.0207 left_gripper=0.9963 right_x=0.3283 right_y=0.1667 right_z=0.1492 right_yaw=0.3226 right_pitch=-0.5701 right_roll=-0.011 right_gripper=0.068\nstate[joint_eff]: [-0.3487, -6.3385, 7.7607, 1.5946, -0.4957, 0.1294, 0.105, -0.1709, -6.9128, 6.8718, 1.0916, 0.0171, -0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249a9b82c596963effcf697a263905c0e8684044f93c52d3f9592547eb069625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bed0f1d0491c0298423894c955c8246d3ebf14559bf67600110a349a4bb4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7095311a0a28e0298b184a570845880bd86db9e1f97bdb93e412d3d74b7ed3ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCt7JBnPfN974VTgKxExOWpPt0yU9x_xiOGyey2UF77jOE36hdcmZB8gq013ru9ywSAP4jTKKCyW3Efp0NXZbJ--cfsLudfjG-P0RQ6vcSLKrhvpUEVHmzaRono5kiQiOhJ8MH0hTKuxrHMSBKHQ6tljwYVk1ZbWE2z9KHOJblwS_jaTQK836S1N_FF6Rw_j1Q8FVTqlKl2HBw7xybt8hjM_cfgr4r_0QcPJ4PMsyr_5lijDWQ_AWQ-PaUcjVJScBs5IEAbGYcaruCOWErxo5v-WLcJ9tnqIxYs5Cpqw1pfjNnFLscSfKhviGdDDx_MEMmutO9J5cIBwBBsgHwuQa6Z5sECWtctsWgz72IqPkCteBIh0C3uceTFxjLH3lqo9EyfYF_hmjC5GkpiV8rGBtbXudyhw-E11U5s3jDKTYLmKwyyn9KoyDQFPIexCdGoKEVmgvh_fGHx2q1Cy2jYlBBd0vbCYmTlOGi3ER8veCS97KIMC_90sIT456TeHNnK1dDYAetDy9MuBafizlnSR53UDSLw_HjfASmcm_YUL_YHM4HkEBjOYJL7R5GVOXc2AHoJzjaHESLs7ucvk59WtcLzdaAhFr3nqbYBM0bxyCfWX6iEayO1MddcDyQrrNUUlBKk9-Eimu6kLkSI5ZfoVxj-L8ZhCysU7cnQtNo882YDOmJ4D9_Bf_mvykE2gJmYjtGz6fCVJlPPzyw44mM2dwn_XYWMbDNqZ5lJj-RQxqiNVbVpzoK65OBjLJh_iZIdUl6y-HA32gZ_QPKA8TtXhVt6mXw9-zoi5pEVZRsMbqmQbRfiJ3ROHPrm4yoMhjzX1SdPmO2rwl8rVvle1SinL-lz7b_k-c_tuoQQegrU4xxjhSTIaPyID8E8lgZ7hlg6AoSiJ5sTCI4AEGfZx8LZvqzEFG4pPeGt3dymKri7EdK6SuGFCy6NTSb8zIBdjCMy0Qk7FET138uUzLhLWK7qVPyUzjuNzbG3FrNSKXD-WGFinpuZ_VmwVpDGpCs5iAPLlvM0UrPYAKAj3wen8FY1htsWmcNQRdIcAyYLcW5bDeNBA3XMIwRDDYiBmOut3fOLBKCGmZz0JI2gIVD8dBlqVnH7gj7ulngTRaXED_2BFlPG8JEzapaxT48h2Zm0E9oPBSYcNyOIXOBzU5k70MVJhVOZFBM3QeQ_ceEZYGqObWCus_ppSUGOl5vP5vqF5A6MT-CTv5kyvUIJ3rKQphYR9pmptxCnaQnX-0c8wvFAf-8e_CFgGfGqIo5m-4cqzj6X7T4_UNZlUwd4MYHLlLbx1gED61ewl0JtbBpOCfLQximZDo8e15JKUqkRSU3SXB1badllULvAn5TgZ_zb1DJ8Val2lQ0GZDGBQ4FXsNJUNJ8Cw300gZRYUBMETSRhIvhCy4bwL2V9-kgbg6A78eD_NNr86HPsJq4mPapo4mZ21a90yec9hv2gyKdQQt3LhZRwhtQGsNl5gVmzuyzcBhA4kFsWTUwWplU_SPsulzSOzQchTJdYC0QN3NGGDwF7OuKP0Xn7wazTfJEdyCxbfuLlr9mNvYD6SRKVM4vjbRm-NEQrk-2X1bf4JBg25BELQj0r9k5zv3etXQTQ1Ge2xF6ipvDr9mK_QkdZPdgGoYmieyfgljldS-tQiXPugxTt2lDQgb1v3RswuHKXKhUVtnEaaPDJpa6rZgDzvsDlFEKkwOExKIBQTiF_DoDq3_dWYjUl2Ej-WndY7HRhKrJlR0MZ571SvszbmtwA0AYNdOIG9j1Z31c2PZ_6ohegJSneniFW_q7Ou0XtE4FMmwF_nO5A6s3vD4uQW500UXOIXXRPEdIz0ucZU_z64hlX7Ip4YBPJWaFuZfJECsULcFdMaQYkxa0V_EQApf-JX64IvAO7FH2_y7WGNkv-2x4DUj6ik_c5HQf7r0UBEeno5TBBnWCD4JRNyuiStXklAiBFbXrfiuy6otQt9C4VfSf4nWd3A7kkUvXR15VTizxBRYHUNK3Wk6oIob0nWpuDFpuRyr9mS8hVyt0Hn9IZaS1pj7B4zXMnfPPtzL5BJUATEXzWEws3HG4R8VVon3U0IWhpYxO_S3gXUq7cKjL2nBWlx_OOC_0oAF176R-f9VlidKGh88EEwWIxrLC8nA0mSQrUi2wl_qjjiFhVGCYWGX9xI49syH3qPQWz3Zz8zQhbwwRMAkV8Z1yZ7gzPCKm9oalHt-LWZHhvvxpISelBqrW_iKoHLT6dza4w-UhgJ_Zt37mSw0vYxQqAmcDDEJVSUWkt9K5tOkBr_UKJlGSZLi10xZ9trWf6Y7t9ybaYJREcliC8j0d3SGiRbNVbZ895ix2fMd9Vst6Nheq7Wg-zSRDpYH832xJq8FDgAANN8CfJbwS7_aPTuMZMjmUoePZwa2pxjFhyLoZetxYGuZiA7WswuWUrGIC7Pn0K_N_EuTPzZ78SOM4_RbhZ9PyArMYABzic-OYO8gjoekZ2K4bFmizdLPvVDNXoV1uIRdPi2NAOqx4ngbOeoFY3VDjsJEy1fp3C3_pMPfNdB_-inkYSkAymWSMAIbTXBAoGAfF6a6iJc12SLiLMm-lmQgyylpht-XH9zBGLo_MomdP500r0ZB3UNJ50O1Ckpfxx8b05eD-tznNdB4b2KHZF9C5-iu2g6bEuxDHEAaMeNWo1OspszdCB_StLHY__reX-nwB0v9Yc0HsyZAm2K8pUgXMX3CT0-1sgevX22FwYGbKBCeY17802Nts_Qaf0ZVSz7-Jujk31YV1A9SYKifUSEp92tGaeOJE1gqaHssCQkPC5X73xSZLFRT6BPgBUEErp5U6UlzN4VgQwjp8IbtT69-4-s7DBPpQhbnI64xz73tOZBHqYr9FdsaGbm_CmqAbfx",
  "id": "rs_0800d2bbd0870841016ab42b775c8887d0b95f32696275fc52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.136,\"left_z\":0.006,\"left_yaw\":-0.7,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap is clearly visible at the left edge of the open jaws, short and angled across the wrist image. I’m shifting the jaws over it, turning to pinch across its short axis, and descending to table height.\"}",
  "call_id": "call_zxTIg13QDO71tidFp5rpxOYq",
  "id": "fc_0800d2bbd0870841016ab42b7a36c487d0bc99f28c308d7b15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zxTIg13QDO71tidFp5rpxOYq",
  "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]: [-0.2199, 1.7729, 0.4454, 0.6811, 0.1211, 0.1055, 0.9963, 0.4923, 1.544, 1.2896, -0.8875, 0.0677, 0.1379, 0.0711]\nstate[eef_state]: left_x=0.3731 left_y=-0.1016 left_z=-0.0004 left_yaw=-0.3905 left_pitch=-0.0719 left_roll=0.0198 left_gripper=0.9963 right_x=0.3278 right_y=0.1663 right_z=0.1484 right_yaw=0.3216 right_pitch=-0.5727 right_roll=-0.0123 right_gripper=0.0711\nstate[joint_eff]: [0.0889, -5.8188, 4.5744, 1.1697, 0.2808, -0.0415, -0.0073, -0.1983, -6.7897, 6.5709, 1.0574, -0.0073, 0.0024, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5fed3621972afa17ced2516a3b3a7a1dcb1e1206f786c44eaf8a659e44776c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0bf6385a75f308c828d3b12a21d40a7f032e301f8832059a7942c2651525d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09595acaf0adeabd2a12632cce7e1a75bcefe46b21363942eea2462f01ad24c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 4.428 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3164, 1.4101, 0.395, 0.5011, -0.046, -0.2543, 0.01, 0.4931, 1.5436, 1.2976, -0.8669, 0.0677, 0.1406, 0.0653]\nstate[eef_state]: left_x=0.358 left_y=-0.1049 left_z=0.0751 left_yaw=-0.1524 left_pitch=0.0457 left_roll=-0.1892 left_gripper=0.01 right_x=0.3333 right_y=0.1696 right_z=0.1536 right_yaw=0.3237 right_pitch=-0.5441 right_roll=-0.0052 right_gripper=0.0653\nstate[joint_eff]: [-0.1573, -5.0256, 8.3624, 1.8339, -0.0171, -0.0269, 0.2222, 0.0752, -7.6239, 9.1829, 1.1844, 0.0317, -0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.5795, 0.5732, 0.2432, -0.572, -0.4625, 0.9963, 0.4923, 1.544, 1.2915, -0.8867, 0.0669, 0.1379, 0.068]\nstate[eef_state]: left_x=0.3355 left_y=-0.1686 left_z=0.0501 left_yaw=-0.0248 left_pitch=-0.0512 left_roll=0.0207 left_gripper=0.9963 right_x=0.3283 right_y=0.1667 right_z=0.1492 right_yaw=0.3226 right_pitch=-0.5701 right_roll=-0.011 right_gripper=0.068\nstate[joint_eff]: [-0.3487, -6.3385, 7.7607, 1.5946, -0.4957, 0.1294, 0.105, -0.1709, -6.9128, 6.8718, 1.0916, 0.0171, -0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2199, 1.7729, 0.4454, 0.6811, 0.1211, 0.1055, 0.9963, 0.4923, 1.544, 1.2896, -0.8875, 0.0677, 0.1379, 0.0711]\nstate[eef_state]: left_x=0.3731 left_y=-0.1016 left_z=-0.0004 left_yaw=-0.3905 left_pitch=-0.0719 left_roll=0.0198 left_gripper=0.9963 right_x=0.3278 right_y=0.1663 right_z=0.1484 right_yaw=0.3216 right_pitch=-0.5727 right_roll=-0.0123 right_gripper=0.0711\nstate[joint_eff]: [0.0889, -5.8188, 4.5744, 1.1697, 0.2808, -0.0415, -0.0073, -0.1983, -6.7897, 6.5709, 1.0574, -0.0073, 0.0024, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5fed3621972afa17ced2516a3b3a7a1dcb1e1206f786c44eaf8a659e44776c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0bf6385a75f308c828d3b12a21d40a7f032e301f8832059a7942c2651525d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09595acaf0adeabd2a12632cce7e1a75bcefe46b21363942eea2462f01ad24c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCt-5VqRLwTrG80KraTvtpmNG5j5sNre8qkIz7gHJVq6IUiOogaLZJLpyxyYkV3EmHxu62g8i89R3zSTqbc_wBK9ROAc0S-xQ116ZPUmthtTrPQ8rRnxL0gimuAjSMXkSmpVj5TwYG0Z2bGm_TDOE_bnEec6N1TCsJnAgkgNy5NqXKukUbkwGQ1xYsKWfg5a4Eayy2iZlIpxdORo5qxPmdnji_43d0MOpjdPeMags3HJ9UsnryGWBZdVYdpRgtA569DKHypeUJAPyqvcz8FGl-UU2aPF52sie2FXnIbGhMYbyJ2T1ZpCzUy9bjXcTGzBHhIXlhtrc-td0PFv4hDpob_dRQKMWOOYVJSiD2YP1WDrNF1LPzIuFbBZjCBzyFL5NiOLAuMf1Q1wVFdIe_o3ov7hbSDc0rEHlEa8-uSjHwnUPkxQj9YiPINCOfUFvLyNMGjQj5Jvfi5s7lJWiia8AtYJpjJZzhtVdZ_dSDb5ndCWGS_2d6NGqMssKEvOSflXkAkOpM_DW5navksT-b-Wik5OpTRGvOXNxWyDv5x7EM6r-WXqZTld_oW_Bzk86ZjvgGNGaCAQImbu6jwzQCe1phJla79bu9V9D-dFqaPRBYm4cLaHFBl_637yqysOZUJPDvHd-UiyuMDDbHv8X_zJEMuh7xURQt9chdNp1KUpXlLJvHl4t-D8GKRQf0_dNRv45ONqieKQWX8uinpQZGmUmcMtr8TktHI1uCTxGiIDnk-_ypM539zTmeGgXSg6a_kHrK73YCrSMgg3MGyUm6mF2d9b8Xb7jQ5nEpyax6NZYe7uIrTnzq5oSXVu89-La8FT-PYAjDQ5ew0OSRVNkQL8PChSxw_0DuGltqcChUfLGkCT3B1VsIY9dtZg8kbAefI7Zfbe0h4ioOV2T-5FmFOkSY_A5gt6eIomH9_ndliUREn0wv29z3tmb-Kvla0bnkyo5GqT-0D95WU7IjiK7-VWSFTqpFVXzwktBFI3ZtvSFx6pRWF0r-vdfQ-uy4e3eaKHSsoduIT5jDIXvyCRIxudWTlIXNxgnC3B4Z_Ijokeln2vqpPjESm56e2HU5h5YHRBH7Q1wfOjfek1mv4CN2nGFOJtMMWH5qpKIGzpIO-mjFay0ip3WuvSWUHFjsUulF0xEB8gDvjuvCctQfB2WPi_qHUM-fr7aIcaXr1cZv1Ddb9RWKNCcutOcVbgAoh2AAyacFqz5fKUIMK7fCCZrkOt4NVGDA5A8dR7A4GG3uOxIQRRYNNujl8DlcufTvGM5jZtnnL3TQiTXEspvmjwYCegwKv3T4Q0zR3oP43kBUZGTYpksfTBJYfGaOuIQ-g2ZWqFAlmvQCUTs88ot1t2MLQ9RzC62KT3RTmg7gvuNLrGlvObbXAhDISDdNNMHvsxNdinqyzeRvNwhUCMURnaws_CJTn6XqnZNwn_SdwraSPN7J9r8-hurj-pZKDbrhVIS52m6YYG1Ahx5UBPH9xuyLRFXh_LyxRPOQ7njOL5E2I8AIBlWNz0vzjlw0P7LOyKS3AGIHyrvuvglgl_6IpX6D9vEYfYnznMO9DCXoY5FH6lM_WUsPvRr7mBBqKdzPpuinjkWWuCEVQTpOkFKZJfNos-CJMfXQ4EsTA66f94vIEtQsya6SsSaCJVn2T1joNNRzyUnjZ1",
  "id": "rs_0800d2bbd0870841016ab42b7cede087d0b003bb11f930161c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.135,\"left_z\":0.002,\"left_yaw\":-0.39,\"left_pitch\":0},\"note\":\"The low approach has put the cap below and to the right of the fingertip pinch point, rather than between the jaws. I’m backing up and shifting right so its centre lands in the jaw opening before closing.\"}",
  "call_id": "call_8xnEn61Lq7FD3OUSnC3RRXLS",
  "id": "fc_0800d2bbd0870841016ab42b7dcd1887d0b6f36946f031b3e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8xnEn61Lq7FD3OUSnC3RRXLS",
  "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]: [-0.1726, 1.8133, 0.4644, 0.696, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2865, -0.8856, 0.0669, 0.1379, 0.073]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0002 left_yaw=-0.6428 left_pitch=-0.0318 left_roll=0.0078 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1475 right_yaw=0.3222 right_pitch=-0.5739 right_roll=-0.0117 right_gripper=0.073\nstate[joint_eff]: [-0.4171, -6.653, 4.4513, 1.7656, 0.2808, 0.1197, -0.0122, -0.335, -6.653, 6.7624, 1.033, 0.0415, -0.0366, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858f11876296689f99328bdcfa989556a8b05ccbe27f81513ca4b8a796999f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bfc6de296bbee80c904e1845dca1337c5662a363b8621ae9e58c40ae107ef45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a90afd4c24085eb5e5356e378ca4f31a707ec21b88da1de297477f3ca926fad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.346 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2874, 0.6987, 0.3096, -0.1635, 0.4004, 0.0105, 0.9951, 0.4923, 1.544, 1.2964, -0.881, 0.0666, 0.1379, 0.0675]\nstate[eef_state]: left_x=0.2732 left_y=0.0127 left_z=0.1224 left_yaw=-0.0642 left_pitch=0.0549 left_roll=-0.1877 left_gripper=0.9951 right_x=0.3304 right_y=0.1679 right_z=0.1515 right_yaw=0.3241 right_pitch=-0.5597 right_roll=-0.0085 right_gripper=0.0675\nstate[joint_eff]: [0.0889, -0.8137, 10.8376, 1.6142, 0.315, 0.2564, -0.022, -0.0068, -6.5846, 6.5436, 1.2527, 0.1099, -0.0366, 0.5495]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2199, 1.7729, 0.4454, 0.6811, 0.1211, 0.1055, 0.9963, 0.4923, 1.544, 1.2896, -0.8875, 0.0677, 0.1379, 0.0711]\nstate[eef_state]: left_x=0.3731 left_y=-0.1016 left_z=-0.0004 left_yaw=-0.3905 left_pitch=-0.0719 left_roll=0.0198 left_gripper=0.9963 right_x=0.3278 right_y=0.1663 right_z=0.1484 right_yaw=0.3216 right_pitch=-0.5727 right_roll=-0.0123 right_gripper=0.0711\nstate[joint_eff]: [0.0889, -5.8188, 4.5744, 1.1697, 0.2808, -0.0415, -0.0073, -0.1983, -6.7897, 6.5709, 1.0574, -0.0073, 0.0024, 0.3004]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.696, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2865, -0.8856, 0.0669, 0.1379, 0.073]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0002 left_yaw=-0.6428 left_pitch=-0.0318 left_roll=0.0078 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1475 right_yaw=0.3222 right_pitch=-0.5739 right_roll=-0.0117 right_gripper=0.073\nstate[joint_eff]: [-0.4171, -6.653, 4.4513, 1.7656, 0.2808, 0.1197, -0.0122, -0.335, -6.653, 6.7624, 1.033, 0.0415, -0.0366, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858f11876296689f99328bdcfa989556a8b05ccbe27f81513ca4b8a796999f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bfc6de296bbee80c904e1845dca1337c5662a363b8621ae9e58c40ae107ef45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a90afd4c24085eb5e5356e378ca4f31a707ec21b88da1de297477f3ca926fad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCuDnjbLCDYlh5frnBVQeGY5AYkPgSw3BAdG4s7gGScCg2-K9iGDDLAleVKX-tpXgpLh7h7Pdh5sohppAxdi0X-94YhvliYDMVE3CJ0QypRvdAlcSCzCw0QMtPDD6TXf6uTzY3esv46q2K_-YEHMph2IyF5iu0WMvoXMw9N8qQA89FEmYyAqLUKu9_Knkh55oHAjwr2UR97ShUfzpTurHccCm4YT-dK6rq_sxBBatIo7RiYpfVFpmnJQOAQBZYiXT8-rte50foGymiV1SziYni67kzc4Y8uawdauhdKDot0Nrw32MzJVIoN4yxe4uL0LZ8EnFtqc6Kkg96PuxXpvK0HUD56fAKWmi5Z2rZ6Vb64q02bqNQgmYSqO-JgIEgyWRAu-ejVZGCniTigTlp6mUZ6QAsB8duaPR7i27ua-jF_z4eisnSNKdQNUAiJiMolvR9xmQk4CYg7Jvi8rHVvjFg7wPZzdgkQn8YWlecYSORVasg8R-YqLUGK3hiTpT3COMd_rSAbdrK0IMp27Mg10-4LrXU12W-FJo50W4MFJPYDS9IPCQ2_Iig6gNGlCkoDY96sLusk5ckwNA-79J0Ud5kKUCFSihzjQ0mywn76fk2l3QbfyIY64VTj3fDJcL2e8iMxpmpZWueOB5ulN3RN-mCm6nUI3L6CIXl6_ND1NRYidMVWD1meVzzuv2kPR-Qr5zr7cRH5c2ZAFZOyq05TFWuHMV3cC1NgOwETEJtOhkzC0HjnMOQggKIAREV3YGUEw5AFf1bQEmLbes6XXQZgmmaySCTBtg5v02lH-egt98YPczp8PHU5INcD8AWoKYyO8RkOuh0m9YNAgcUatW-0d9ld79H9tUkKaLiyFgHiyu42OUJieQADpr2lBx3gIedmscZvFHv7W-Fwljnun7rgSNv8sJ1pfnEW_iS_Z0WwFfCUOTlBjvKCp7vIeQAVHAAmRWHL3n5HZqfb5o_LHVeXUEEDhw0WXwEQDjl1hTHunMgmqK2jIUvluqs_Jkzc6J0zfGNgCHQzWe_W7gb4HEyKKLYuYBuGNqyAT8zSsC1TOy4RMCZgRk7NF_KzmaPWd-02yiL5XqZNoF0h09ot5qVQ3jJRDl2kZEDWaEH6rlXG8nileNOLPukG3NIisi0WtKg1ooJf2qCpqaz0t4se2oULV5sOg_V3pLqx0zeoJtCg2afaiOoWbfA-4mDylmwKbEn8YX8oeg7QbXrFLJBXR4953nE2zcP_WKEQYxo27Fkl2tQ8lEadkNWsAJVXr6qBERYp0PAFobCbzl1_8XT9tRoDx7Rb5LkDeSDDOEzrRcmR4497rLV7elIr4utlt9m96zhm7Yw0VjvNLYNMEM80Vctbtu-nvjQBQFunjRoMQgm3y0Wry6m6uglWfpa-RUVUECg2INznhek-LT-wO02P3noC67Wx7fq9FihaNAd8PCGak3NaLBj_wBawyxwAMCCyzuDAF3bCO9EmV0Yh_lBD7zNgVTJUHzG_p3WUvnce2O61DdME65FZ8iSw2tnF60b5S_xP1kJ780cPVNMUeOAB_H3HqReb4EV_J3V2EPTzE2NYTWtxlecC-NO_-jid_zyHIZF_Kff5kQv3_F7qEVlVQ_thUjr8Ys1S1Kwavtr3OwY5O1MtG1D5QDu863Gb7Kq48QuX_wpGI_6OzjoZEH42-xGJmKIL1vsnsm-6ZweJ4FxcninR-LqETCzBqi5BE1WcziqurrS8CvNl2baBfYX-obtP3woItb4fytPfDx5JDUfZFG8FgHRZ5lyxP6SYP_Dra24E2GLEi68HABzKhHaeixwLp6nPjM-MKgQKLdTOvRdTcFLYf4Y-GsJUQcGHOBZGQsCQD0ri8syV_w_vKsMdqnCLc2EFfToQ9kC0JPrOW_kRA5azFdoS58F1D6_DqtzFwuadXzTJNmcBaB9yV43TWGp2dvEsZh7goMY92-OBcGa0RaM01PQ1z9m9GlpqNgZ7xUo-D8FjPwzMviMdMJfIQ5CcwC1Ch8vNLC4mrahAK98OjJ36tmjltgzykhLfrUnfGvVn3178zooSXhBxaaxolcauuTqRpP1Fsj5_UK_k-1BmdI5rksdqqBVBNYSVBWlyfKyHUXiyL-BB25BhLG8R10_Cjp9-Boh-GwOAXRAtV5HoIpgS4KYMUbBkRyYGgiJTdgFxUCoGSL7tvoYouUojDLvD1GUtFZM018PbRSW38cknTEJUP4Xp5DXwNqN38z0RZ92yPIxAJxLsIQktFa4Q-wnRvMIsf5y39TWIhtjlUQTzmiZffVgFXHLM1WTLAB94iAIFLw56r1r4n0ovmMnuIqk6tfeUMc3LAcU2pXb7I4_lqkj-CWuY=",
  "id": "rs_0800d2bbd0870841016ab42b80a04487d0b668ed885b64fe2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The cap disappeared below the left wrist image during the correction, so I cannot safely close without seeing it. I’m lifting and backing away to locate it and avoid pushing it farther.\"}",
  "call_id": "call_oioI0SxVeBzv4wuedA4QicOp",
  "id": "fc_0800d2bbd0870841016ab42b82b60087d0938d75a9e402a41d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oioI0SxVeBzv4wuedA4QicOp",
  "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]: [-0.1726, 1.8133, 0.4644, 0.6964, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2861, -0.8856, 0.0673, 0.1375, 0.0747]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0003 left_yaw=-0.6428 left_pitch=-0.0314 left_roll=0.0079 left_gripper=0.9963 right_x=0.3275 right_y=0.1662 right_z=0.1474 right_yaw=0.322 right_pitch=-0.5742 right_roll=-0.0124 right_gripper=0.0747\nstate[joint_eff]: [-0.4308, -6.6667, 4.5197, 1.7753, 0.2125, 0.1001, -0.0122, -0.3077, -6.8718, 6.5162, 1.0623, 0.0269, -0.0659, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57934cf10ab7dd750c495958376b8ce77140826ac1a274adfff91b79f8cd2a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6d219e8d4cce5c4f363a89ee0d45ab82c0c082f5e1cfb0ca9628769ce04eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6442a0baa9f6cb23f4688d65874ee24173532bd6aae3c2b525cf60475a2ed6e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.951 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.5795, 0.5732, 0.2432, -0.572, -0.4625, 0.9963, 0.4923, 1.544, 1.2915, -0.8867, 0.0669, 0.1379, 0.068]\nstate[eef_state]: left_x=0.3355 left_y=-0.1686 left_z=0.0501 left_yaw=-0.0248 left_pitch=-0.0512 left_roll=0.0207 left_gripper=0.9963 right_x=0.3283 right_y=0.1667 right_z=0.1492 right_yaw=0.3226 right_pitch=-0.5701 right_roll=-0.011 right_gripper=0.068\nstate[joint_eff]: [-0.3487, -6.3385, 7.7607, 1.5946, -0.4957, 0.1294, 0.105, -0.1709, -6.9128, 6.8718, 1.0916, 0.0171, -0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.696, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2865, -0.8856, 0.0669, 0.1379, 0.073]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0002 left_yaw=-0.6428 left_pitch=-0.0318 left_roll=0.0078 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1475 right_yaw=0.3222 right_pitch=-0.5739 right_roll=-0.0117 right_gripper=0.073\nstate[joint_eff]: [-0.4171, -6.653, 4.4513, 1.7656, 0.2808, 0.1197, -0.0122, -0.335, -6.653, 6.7624, 1.033, 0.0415, -0.0366, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.6964, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2861, -0.8856, 0.0673, 0.1375, 0.0747]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0003 left_yaw=-0.6428 left_pitch=-0.0314 left_roll=0.0079 left_gripper=0.9963 right_x=0.3275 right_y=0.1662 right_z=0.1474 right_yaw=0.322 right_pitch=-0.5742 right_roll=-0.0124 right_gripper=0.0747\nstate[joint_eff]: [-0.4308, -6.6667, 4.5197, 1.7753, 0.2125, 0.1001, -0.0122, -0.3077, -6.8718, 6.5162, 1.0623, 0.0269, -0.0659, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57934cf10ab7dd750c495958376b8ce77140826ac1a274adfff91b79f8cd2a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6d219e8d4cce5c4f363a89ee0d45ab82c0c082f5e1cfb0ca9628769ce04eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6442a0baa9f6cb23f4688d65874ee24173532bd6aae3c2b525cf60475a2ed6e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCuHzDvfSvsKqyPNCL-12RcTiQL0WzUuLhKWLyiHh-XJeyrAQqnvbEtno2X72OFlvFsD1ytULDRo96SXSXIbc88VhCAZNBjTUdfLWk_nbyt7b_a2GQtKayIEb2IdZaN9os4bes1T66YLKlWnRDTtsfhdHPY1Iil3K1yt8j7U1OX8zIB56S5FGE54Kfz2G6_cVG0PcGrzrD8yMOG4d7nvp6oU_M8rN2oYmZ-TiKCncKbyHDbNAJJAqERJ3LAqo1mXA7Ekpy9GYZDNJo9ERHghWBUAkX00Y66uZyhnZGQU4I2uOgoSPfR1VATHZPmJQ0ky7GqbNyNK7aElMQtgWq6-o8i0qp2lu-_gDM2HOMG4VjVFPf03qgIpEVqOAHtr27t-TjhI2LqV2XDGoCRE8y5Z09z0otmH5qWHliuwOdq6exqaD3gpcJxd_aBUrcxq0twbLnRXjMSWkS5pkSXZz2W_9bIJy9wOenbI6mMbQ8BL7BKUPYv9Y_DT12Ziht1QmeM6HU8K18zyJfsbCByNgimzVJRawLPCxSDLJMVAcrb2XfYDPg5_SsWU5LblffPEt3h_4u9pcsGPzLcFAG8S6HkuY__cWA1jh_NB41cEkMABLWQej1K7eQcEneXZ99d_oxPi1oq__HGl8oRGQwjbQme7sMrT3QiDVc8q00JRta_JczekEzYYhQTnHG-vvF67Rg6d0fTzl85uFleuSuK61Hbgij7h5wV7W-E7ObK7TFOQUAo4J6OTmnT5-uiFu3i9C-e1HXfpRTHMt7Wm9Geryv6PuRFC8msYnhbZPnq5YYj8Hk5C1hlriIXXViSZlGylMTomtP-FcspvV1MnkNTOUIwMVlZ5xB_ehfTBWv-Xp04yxLUqI6lTFM1sDe_qNqoIpFFs-AXJcFcbEQNddrtXXLw_kpmIm7jso6OZyaQhc-wgwersQneMPQxNXlUkYlDTdeml5IfU1pNFMBYigE0UTB2-tDCMcUowQNdOKgckdLp9Ihfgv5OIfSm2Ho3ax3rNtZza_Y7agSWm36iSWtgz2xQzn2QCJPaAn_K48agbruL9z3Haqb9LqBzQgI_7OpURqE3M180WbdFKBSUsjMfOLMTpaic5U37CIwCgxJW3zSL9VZ9LfLyOhIluBylFG2LdHq4tPUAz3edyxDIAIyIDFY2tfPPBukVzV_R3NNpQ7mTP-u2t4lSu-5bmDLkuJrYqxOogzMcY74aGlu7-TCXgiu5f_cdUhPlsNgzz88DpQpGimkjnVi3fHobGGGW2ddDfYfckjalQLE-8HGdLOGK5bVXU2SdicodsnfSB_Af7rr35_FExI4hvoiohP83esiz0adIZ7_D8lcCGk0TwN-I4ZOnv-m6rBfMvDmpwcK6RAx4a-FXlvTxTOVYGsL5C0Jf_BqDhpSkt5uIu8ZIOD6Rce3w_k-SasXS2uLpEyvQio4wFDXcwxaVBVCbtaP1YcCUpFgFjwxzvdsE9J90qKGPwWkvXeoqMrD_ihlMHlN67RWmbQTTCNysL-PUmVrRys9vbefiwLfSEK6_Mg7vql0SzQhe42p93Y4ZNdJmt-LRItRsIc5KgegC-i9NHHnKf81QrnfMj6054lBirL4sSpc8gYDanZEq9jKE7X5G5Y1WoHSkL-Zt_z_k=",
  "id": "rs_0800d2bbd0870841016ab42b85682487d0aef4f0e845c2e7bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.126,\"left_z\":0.15,\"left_yaw\":-0.64},\"note\":\"The left arm did not move at all when asked to back away, likely because its low pose is constrained. I’m trying a straight lift at its current horizontal position to free it before any further cap work.\"}",
  "call_id": "call_83S7kMlzThbA6Y0mCGSusZ5Z",
  "id": "fc_0800d2bbd0870841016ab42b86564c87d0b17c5f64cef97032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_83S7kMlzThbA6Y0mCGSusZ5Z",
  "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]: [-0.1726, 1.3518, 0.725, -0.038, 0.3676, 0.2638, 0.9963, 0.4923, 1.544, 1.2854, -0.8848, 0.0669, 0.1379, 0.0768]\nstate[eef_state]: left_x=0.3653 left_y=-0.1245 left_z=0.1298 left_yaw=-0.6332 left_pitch=-0.0442 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1472 right_yaw=0.3222 right_pitch=-0.5743 right_roll=-0.0118 right_gripper=0.0768\nstate[joint_eff]: [-0.4581, -6.6667, 9.3744, 1.6288, 0.105, -0.0269, -0.0122, -0.0479, -6.8718, 6.4889, 1.0379, -0.0269, -0.0415, 0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094601588cf5b558cfb723a86d1af014f037957a042ead0a30aefc86b24f0f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3989f2f1941497122f381ded014e549c58c09eb993258ce555936d21f0337823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c828cb6af9b17dc84a7942d2d3646343473158a10b9e30d0142ddc838dea4c80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 7.58 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2199, 1.7729, 0.4454, 0.6811, 0.1211, 0.1055, 0.9963, 0.4923, 1.544, 1.2896, -0.8875, 0.0677, 0.1379, 0.0711]\nstate[eef_state]: left_x=0.3731 left_y=-0.1016 left_z=-0.0004 left_yaw=-0.3905 left_pitch=-0.0719 left_roll=0.0198 left_gripper=0.9963 right_x=0.3278 right_y=0.1663 right_z=0.1484 right_yaw=0.3216 right_pitch=-0.5727 right_roll=-0.0123 right_gripper=0.0711\nstate[joint_eff]: [0.0889, -5.8188, 4.5744, 1.1697, 0.2808, -0.0415, -0.0073, -0.1983, -6.7897, 6.5709, 1.0574, -0.0073, 0.0024, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.6964, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2861, -0.8856, 0.0673, 0.1375, 0.0747]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0003 left_yaw=-0.6428 left_pitch=-0.0314 left_roll=0.0079 left_gripper=0.9963 right_x=0.3275 right_y=0.1662 right_z=0.1474 right_yaw=0.322 right_pitch=-0.5742 right_roll=-0.0124 right_gripper=0.0747\nstate[joint_eff]: [-0.4308, -6.6667, 4.5197, 1.7753, 0.2125, 0.1001, -0.0122, -0.3077, -6.8718, 6.5162, 1.0623, 0.0269, -0.0659, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.3518, 0.725, -0.038, 0.3676, 0.2638, 0.9963, 0.4923, 1.544, 1.2854, -0.8848, 0.0669, 0.1379, 0.0768]\nstate[eef_state]: left_x=0.3653 left_y=-0.1245 left_z=0.1298 left_yaw=-0.6332 left_pitch=-0.0442 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1472 right_yaw=0.3222 right_pitch=-0.5743 right_roll=-0.0118 right_gripper=0.0768\nstate[joint_eff]: [-0.4581, -6.6667, 9.3744, 1.6288, 0.105, -0.0269, -0.0122, -0.0479, -6.8718, 6.4889, 1.0379, -0.0269, -0.0415, 0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094601588cf5b558cfb723a86d1af014f037957a042ead0a30aefc86b24f0f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3989f2f1941497122f381ded014e549c58c09eb993258ce555936d21f0337823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c828cb6af9b17dc84a7942d2d3646343473158a10b9e30d0142ddc838dea4c80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCuLJvXd438zvs9Tr4vTyRz_1pRSU9V85qw6PoV6OyZYN7kw02fmIZsTq9XfIBqnRMfxbhnw4ilmZb1ECz62vbNuOJtY0DeX992VLM1u4UcuEMUKUQB8JDrXcOPOQUNOy4CN7bu_rXJcwgwfwMJ1Fmo77xR7Acopn-9pXWp3PhSwLgr_b4U_vFRjPjggpZSu5wIb-lwcSWTUgoBQyLjGGVZG7sY2onhm9uS6hRKyXEhATFm6FmsJk9jOj08ZnTiQoAaKCLMcnM035ZpWg6DXP67_qpkdKfdng-K-hDVIJWF44zq2V1bzFF4oYV0nrKAtNCSGn_MSVeu7xZ6zzvuW6FJpPrkNcaetIWv0CN7TKj_91YAinMRf6FW5sghMitfscqwz_gPwKQUVyqKczmioM8ZoykfL4j9oYOzYp0ECa3bTtI0NZ0nM4yGasEERDflvIa5aWZOhz79Jv9wszwyK_ooMzTcIt4aQmKkApjqGMIOhirFDYm4T5XuzaNRtL9W_oTffip50C7fI4shhThg_RZ2nlww_83NDmUHPmOICUVSJApDTe9PvzOMKNqTEQsZhrl3mTowyDxIExLn-SxmjYRDQsK4QUhWKB9I4dOqAzUfo9cCMzeVA2zoIAjxkoea6k8LszcFxlTa75MzmnF27U4bjXMq2-bosbwf-LuHZlK8tkwNG_nHax6LxV5pSifTjAT3P4i7U_9DS1gxOjfi25sFuTgAbuK553qZdUJ--Au0xPxERanJgTRsj60wr9bxfizgQ1LUTs9cV7WWCORdbisIZ57ngzqH1cFixPXdXsm0JN06mh5f0WZsbI4ptIDzC-EKLVF4FwjiArHHi-1nxewls1FzIFF2qybY9LjS7BE4yTSe5HhWmtP53wlkelJ0hDjqZ6UxpxLDoVTNxIMtrjDY2lTvOUJP_wAzHokyJJ2W_Nzt9mhdGBKxY-mTvb-KAH2MootFDo8cs7i8hw8YzEKl8q8RU11wkZGStz_x22FoSiFwqalr73agTmSNvRuM_xx6jJ3dTWMmXx4KWOkY19aIGIHn7MetdOlmPqNGKHZxp5YHsVjWYOdiXW1DVJuEivFru1Nuk6lhl-JjkWsfxKWKmYnn9GPVWhABGbq-O6Ep5AQjEY32Z-guGkTdUR12QIbveCKNBSIiH3yMywa8NRd102dIba0JqZ5Vjbd4tKRIwrxEoCL4SLfzXVxBOv_rBE1oxaaMCQKrAac1TMvGLyODngJd-g_IkeH_0Vpbx208Dp-FrD44pnWKrO-ZAhqAwackBB_AQbAkmPFyhYkdu9RbyYZ_kVQ_PAtMqd_GTEQd2sWilZNbLRj4yjB8zzS-hYbxiRzT942QTjtNERO-5YiM9bqJ9JpiCKkEdgbY0WJAfbY2XHfwYIuymPU17NhF-YdZztib9nKFbGiwicafGAppGBeBqEjQ18f3eGoaiv9RduYBnFNDt12f19yfkQsVmV7nmoxEb_VgXbRNW98O8IE-k5w==",
  "id": "rs_0800d2bbd0870841016ab42b89aa1887d099fe021255e6c50d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":0,\"left_z\":0.15,\"left_yaw\":0},\"note\":\"The straight lift freed the left arm, but the cap is still hidden by it in the overhead view. I’m parking the empty left gripper away from the cap to see whether the small part remains reachable.\"}",
  "call_id": "call_jrtWL3RcxnraHD5zLVcjqnDB",
  "id": "fc_0800d2bbd0870841016ab42b8a5ae087d09e971e0e9758a069",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jrtWL3RcxnraHD5zLVcjqnDB",
  "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]: [-0.0441, 0.6804, 0.4904, -0.3943, 0.0025, -0.0093, 0.9963, 0.4923, 1.544, 1.2816, -0.8845, 0.0669, 0.1379, 0.078]\nstate[eef_state]: left_x=0.2725 left_y=-0.0089 left_z=0.1548 left_yaw=-0.0524 left_pitch=-0.015 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3268 right_y=0.1659 right_z=0.1459 right_yaw=0.3218 right_pitch=-0.5777 right_roll=-0.0125 right_gripper=0.078\nstate[joint_eff]: [0.335, -0.335, 7.2547, 1.7265, -0.1001, -0.0757, -0.0073, -0.3624, -6.694, 6.735, 1.0818, 0.022, -0.0073, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d168aeb4861ac4f5a4950dbc6f75d52aa60d0d96d78103091624ad90d4185876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8bd0123141a501da3633cc4c28c056d699cad12096d4fd5ae33358dcb657f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6cf28bb6bea367b91d1b626971c6be142a93138e4807f3c3440088393911b27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.618 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.8133, 0.4644, 0.696, 0.3744, 0.2718, 0.9963, 0.4923, 1.544, 1.2865, -0.8856, 0.0669, 0.1379, 0.073]\nstate[eef_state]: left_x=0.3661 left_y=-0.1258 left_z=0.0002 left_yaw=-0.6428 left_pitch=-0.0318 left_roll=0.0078 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1475 right_yaw=0.3222 right_pitch=-0.5739 right_roll=-0.0117 right_gripper=0.073\nstate[joint_eff]: [-0.4171, -6.653, 4.4513, 1.7656, 0.2808, 0.1197, -0.0122, -0.335, -6.653, 6.7624, 1.033, 0.0415, -0.0366, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1726, 1.3518, 0.725, -0.038, 0.3676, 0.2638, 0.9963, 0.4923, 1.544, 1.2854, -0.8848, 0.0669, 0.1379, 0.0768]\nstate[eef_state]: left_x=0.3653 left_y=-0.1245 left_z=0.1298 left_yaw=-0.6332 left_pitch=-0.0442 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3275 right_y=0.1663 right_z=0.1472 right_yaw=0.3222 right_pitch=-0.5743 right_roll=-0.0118 right_gripper=0.0768\nstate[joint_eff]: [-0.4581, -6.6667, 9.3744, 1.6288, 0.105, -0.0269, -0.0122, -0.0479, -6.8718, 6.4889, 1.0379, -0.0269, -0.0415, 0.2027]\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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0441, 0.6804, 0.4904, -0.3943, 0.0025, -0.0093, 0.9963, 0.4923, 1.544, 1.2816, -0.8845, 0.0669, 0.1379, 0.078]\nstate[eef_state]: left_x=0.2725 left_y=-0.0089 left_z=0.1548 left_yaw=-0.0524 left_pitch=-0.015 left_roll=-0.0004 left_gripper=0.9963 right_x=0.3268 right_y=0.1659 right_z=0.1459 right_yaw=0.3218 right_pitch=-0.5777 right_roll=-0.0125 right_gripper=0.078\nstate[joint_eff]: [0.335, -0.335, 7.2547, 1.7265, -0.1001, -0.0757, -0.0073, -0.3624, -6.694, 6.735, 1.0818, 0.022, -0.0073, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d168aeb4861ac4f5a4950dbc6f75d52aa60d0d96d78103091624ad90d4185876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8bd0123141a501da3633cc4c28c056d699cad12096d4fd5ae33358dcb657f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6cf28bb6bea367b91d1b626971c6be142a93138e4807f3c3440088393911b27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0800d2bbd0870841016ab42b8e890887d0a075b4bcc5cbc816",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.344,\"left_y\":-0.133,\"left_z\":0.045,\"left_yaw\":-0.9},\"note\":\"The cap is still reachable on the tabletop, now plainly visible to the left of the held pen. I’m making one careful fresh approach with the left jaws turned across its length rather than pushing at it end-on.\"}",
  "call_id": "call_bI0AM7aiwSQWmnHlm3Pfkk8L",
  "id": "fc_0800d2bbd0870841016ab42b9353e887d0b7e7fd203c3bc690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bI0AM7aiwSQWmnHlm3Pfkk8L",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0803, 1.5856, 0.5026, 0.2329, 0.5709, 0.4374, 0.9963, 0.4923, 1.544, 1.2804, -0.8864, 0.0673, 0.1379, 0.079]\nstate[eef_state]: left_x=0.3277 left_y=-0.1185 left_z=0.0235 left_yaw=-0.8016 left_pitch=-0.117 left_roll=-0.0815 left_gripper=0.9963 right_x=0.3262 right_y=0.1655 right_z=0.1453 right_yaw=0.3211 right_pitch=-0.5806 right_roll=-0.0136 right_gripper=0.079\nstate[joint_eff]: [-0.4581, -6.8855, 7.0359, 1.8242, 0.5299, 0.2222, -0.0073, -0.0205, -6.8581, 6.9128, 0.9939, 0.0073, -0.0122, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c0366d5e7c843a8fa63337a446494107adaa59d3518eb85168eb4411c3bc9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38e6eca7521e2dbbcbaa352cfec90dc54fe02892cf062050404efd5f352aa1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036435462585d0d0aa8f65f665fe1ec1baeb6e7609ac9b6fbdc039d1e701c196",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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