adhoc - adhoc_7349e28b.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 257 s
total steps: 369

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe pen lies diagonally near the table center-right and its separate cap is to the left. I’ll bring the right gripper above the pen’s lower-right portion and angle its jaws for a crosswise grasp.

move_to

right_x0.4000right_y0.2200right_z0.1500right_yaw0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3805, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6098, -0.3763, -0.0208, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.5385, 10.4957, 1.7363, -0.0757, 0.0952, -0.0366, -0.7453, -1.2103, 9.7299, 1.7705, -0.0562, -0.0659, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.22,"right_z":0.15,"right_yaw":0.7},"note":"The pen lies diagonally near the table center-right and its separate cap is to the left. I’ll bring the right gripper above the pen’s lower-right portion and angle its jaws for a crosswise grasp."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteThe pen is just right of the jaw center in the right wrist view, with part of it near the fingertip row. I’ll shift the gripper slightly right and lower it partway before checking alignment again.

move_to

right_y0.1850right_z0.0700

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, 0.7994, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3878, 1.5509, 0.9047, -0.0017, -0.2356, -0.1555, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3899 right_y=0.2076 right_z=0.1305 right_yaw=0.6639 right_pitch=-0.0692 right_roll=0.0152 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.7299, 7.0222, 1.7411, -0.0757, -0.0708, -0.0122, 0.3487, -7.2137, 8.7726, 2.0, -0.2466, -0.0806, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.185,"right_z":0.07},"note":"The pen is just right of the jaw center in the right wrist view, with part of it near the fingertip row. I’ll shift the gripper slightly right and lower it partway before checking alignment again."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe pen still appears to the right of the right gripper’s centerline as the jaws approach table height. I’ll make another small sideways correction and lower to just above the tabletop.

move_to

right_x0.3900right_y0.1450right_z0.0250

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, 0.7998, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.3237, 1.6485, 0.7456, 0.1673, -0.2714, -0.1852, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3797 right_y=0.1811 right_z=0.0589 right_yaw=0.6485 right_pitch=-0.1457 right_roll=0.0397 right_gripper=0.9991 state[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.7021, -0.0708, -0.0855, -0.0171, -0.294, -7.5145, 6.8308, 2.1172, -0.3346, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.145,"right_z":0.025},"note":"The pen still appears to the right of the right gripper’s centerline as the jaws approach table height. I’ll make another small sideways correction and lower to just above the tabletop."})

tool

executing move_to over 4 steps (0.4s)

step 27

assistant

agent noteThe pen now runs through the center of the open right jaws in the wrist view. I’ll lower to tabletop level so the fingers surround the thin barrel before closing.

move_to

right_z-0.0060

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, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.207, 1.739, 0.7025, 0.2493, -0.3347, -0.2485, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3865 right_y=0.1441 right_z=0.0243 right_yaw=0.6212 right_pitch=-0.1761 right_roll=0.0516 right_gripper=0.9991 state[joint_eff]: [-0.3077, -1.2923, 7.2821, 1.7167, -0.0659, -0.0611, -0.0122, -0.3214, -7.1179, 5.2308, 1.9756, -0.3004, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.006},"note":"The pen now runs through the center of the open right jaws in the wrist view. I’ll lower to tabletop level so the fingers surround the thin barrel before closing."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteThe pen is centered between the right fingers at table height, and the descent has nearly stopped at contact. I’ll close the right gripper around its barrel.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.1989, 1.8042, 0.688, 0.337, -0.3462, -0.2634, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3901 right_y=0.1434 right_z=0.0092 right_yaw=0.63 right_pitch=-0.165 right_roll=0.0444 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.3744, 7.241, 1.7118, -0.0366, -0.0611, -0.0171, 0.8821, -6.7897, 3.6034, 1.453, -0.1734, 0.0562, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen is centered between the right fingers at table height, and the descent has nearly stopped at contact. I’ll close the right gripper around its barrel."})

tool

executing move_to over 10 steps (1.0s)

step 39

assistant

agent noteThe right gripper settled around a roughly 4 mm thickness, consistent with the pen rather than an empty close. I’ll lift it clear of the table and check that the pen moves with the gripper.

move_to

right_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]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.1986, 1.8183, 0.6769, 0.3511, -0.3454, -0.2665, 0.0451] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3871 right_y=0.1426 right_z=0.0024 right_yaw=0.6314 right_pitch=-0.1752 right_roll=0.0463 right_gripper=0.0451 state[joint_eff]: [-0.2393, -1.6068, 7.0769, 1.7363, -0.0855, -0.0757, -0.0122, -0.2667, -8.9368, 5.7231, 1.3651, -0.105, 0.0073, 1.033] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The right gripper settled around a roughly 4 mm thickness, consistent with the pen rather than an empty close. I’ll lift it clear of the table and check that the pen moves with the gripper."})

tool

executing move_to over 11 steps (1.1s)

step 50

assistant

agent noteThe pen lifted with the right gripper; its exposed end points forward, while the cap remains on the left side of the table. I’ll position the left gripper above the cap and rotate its jaws across the cap’s diagonal.

move_to

left_x0.3800left_y-0.1700left_z0.1500left_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]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.1986, 1.4956, 1.0309, -0.3462, -0.3447, -0.2749, 0.0474] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9998 right_x=0.3884 right_y=0.1427 right_z=0.1479 right_yaw=0.6369 right_pitch=-0.1938 right_roll=0.0484 right_gripper=0.0474 state[joint_eff]: [-0.2803, -1.4017, 7.2, 1.7314, -0.0366, -0.022, -0.0122, -0.2393, -8.8547, 9.0872, 1.5165, -0.1783, 0.0317, 1.0281] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.15,"left_yaw":-0.65},"note":"The pen lifted with the right gripper; its exposed end points forward, while the cap remains on the left side of the table. I’ll position the left gripper above the cap and rotate its jaws across the cap’s diagonal."})

tool

executing move_to over 16 steps (1.6s)

step 66

assistant

agent noteThe cap is visible just left of the left jaw center and extends toward the fingertips. I’ll shift the gripper left by a few centimeters and lower it partway, leaving room to reassess before grasping.

move_to

left_y-0.1150left_z0.0650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3092, 1.4082, 0.7868, -0.0761, 0.2283, 0.1371, 0.9998, 0.1986, 1.4971, 1.0264, -0.3622, -0.345, -0.2749, 0.0521] state[eef_state]: left_x=0.3672 left_y=-0.1555 left_z=0.1233 left_yaw=-0.5876 left_pitch=-0.105 left_roll=-0.0318 left_gripper=0.9998 right_x=0.3847 right_y=0.142 right_z=0.1429 right_yaw=0.6392 right_pitch=-0.2137 right_roll=0.0582 right_gripper=0.0521 state[joint_eff]: [-0.4308, -6.2427, 9.7709, 1.8779, 0.3199, 0.188, -0.0171, -0.335, -6.8718, 7.0496, 1.5653, -0.1929, -0.0513, 1.0281] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.115,"left_z":0.065},"note":"The cap is visible just left of the left jaw center and extends toward the fingertips. I’ll shift the gripper left by a few centimeters and lower it partway, leaving room to reassess before grasping."})

tool

executing move_to over 4 steps (0.4s)

step 70

assistant

agent noteThe cap is now near the jaw column, but its lower end is still ahead of the fingertips rather than between them. I’ll advance the left gripper toward the cap before the final descent.

move_to

left_x0.4050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1665, 1.5055, 0.622, 0.0799, 0.297, 0.2012, 0.9998, 0.1986, 1.4971, 1.026, -0.3641, -0.3447, -0.2749, 0.0521] state[eef_state]: left_x=0.3575 left_y=-0.1089 left_z=0.0522 left_yaw=-0.5419 left_pitch=-0.1891 left_roll=-0.0623 left_gripper=0.9998 right_x=0.3843 right_y=0.1419 right_z=0.1424 right_yaw=0.6391 right_pitch=-0.2159 right_roll=0.059 right_gripper=0.0521 state[joint_eff]: [-0.3761, -6.5983, 6.9128, 2.083, 0.398, 0.1001, -0.0171, -0.1846, -6.7077, 6.7214, 1.4335, -0.2271, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405},"note":"The cap is now near the jaw column, but its lower end is still ahead of the fingertips rather than between them. I’ll advance the left gripper toward the cap before the final descent."})

tool

executing move_to over 4 steps (0.4s)

step 74

assistant

agent noteThe requested forward move barely advanced the left grasp point, indicating this low, rotated pose is near a reach limit. I’ll raise the hand slightly and pitch the tool forward to make the cap reachable without scraping the table.

move_to

left_x0.4020left_z0.0800left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1574, 1.5215, 0.606, 0.1249, 0.3225, 0.2199, 0.9998, 0.1986, 1.4971, 1.0245, -0.3668, -0.3443, -0.2749, 0.0521] state[eef_state]: left_x=0.3583 left_y=-0.1099 left_z=0.0492 left_yaw=-0.5631 left_pitch=-0.1696 left_roll=-0.0605 left_gripper=0.9998 right_x=0.3835 right_y=0.1416 right_z=0.1414 right_yaw=0.6392 right_pitch=-0.2198 right_roll=0.0606 right_gripper=0.0521 state[joint_eff]: [-0.253, -6.9675, 6.4205, 1.9414, 0.2662, 0.1245, -0.0171, -0.2393, -6.7487, 7.0085, 1.4774, -0.1783, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.402,"left_z":0.08,"left_pitch":0.25},"note":"The requested forward move barely advanced the left grasp point, indicating this low, rotated pose is near a reach limit. I’ll raise the hand slightly and pitch the tool forward to make the cap reachable without scraping the table."})

tool

executing move_to over 14 steps (1.4s)

step 88

assistant

agent noteWith the tool pitched forward, the left hand can reach farther; the cap is now a little right of the jaw center and low in the wrist image. I’ll shift sideways and descend so its middle meets the fingers.

move_to

left_y-0.1450left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0784, 1.7199, 0.4858, 0.7654, 0.4553, 0.1135, 0.9998, 0.1986, 1.4971, 1.0233, -0.3672, -0.3443, -0.2749, 0.0521] state[eef_state]: left_x=0.394 left_y=-0.1053 left_z=0.0585 left_yaw=-0.5341 left_pitch=0.1516 left_roll=-0.087 left_gripper=0.9998 right_x=0.3832 right_y=0.1416 right_z=0.1409 right_yaw=0.6393 right_pitch=-0.2212 right_roll=0.0612 right_gripper=0.0521 state[joint_eff]: [0.2256, -6.188, 4.9436, 2.254, 0.3785, 0.1392, -0.0171, -0.2393, -6.735, 6.9812, 1.4237, -0.1636, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.145,"left_z":0.0},"note":"With the tool pitched forward, the left hand can reach farther; the cap is now a little right of the jaw center and low in the wrist image. I’ll shift sideways and descend so its middle meets the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 92

assistant

agent noteThe cap now passes between the left fingers near the tabletop, with its narrow portion near the jaw center. I’ll close the left gripper and check whether it catches the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2153, 2.0113, 0.4747, 1.0763, 0.3607, 0.0753, 0.9997, 0.1986, 1.4994, 1.0225, -0.3695, -0.3416, -0.2749, 0.0521] state[eef_state]: left_x=0.3899 left_y=-0.1454 left_z=0.0036 left_yaw=-0.5719 left_pitch=0.1411 left_roll=-0.0794 left_gripper=0.9997 right_x=0.3829 right_y=0.1411 right_z=0.1392 right_yaw=0.6377 right_pitch=-0.2269 right_roll=0.0617 right_gripper=0.0521 state[joint_eff]: [-0.294, -6.5299, 3.4803, 1.0965, -0.0904, -0.3932, -0.022, -0.3624, -6.8855, 7.0222, 1.4188, -0.2125, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now passes between the left fingers near the tabletop, with its narrow portion near the jaw center. I’ll close the left gripper and check whether it catches the cap."})

tool

executing move_to over 10 steps (1.0s)

step 102

assistant

agent noteThe left gripper settled around a 5 mm object thickness, which suggests it caught the cap. I’ll lift it and verify that the cap leaves the tabletop.

move_to

left_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2184, 2.0289, 0.4755, 1.0924, 0.3489, 0.0685, 0.0551, 0.1986, 1.4994, 1.0225, -0.3691, -0.3416, -0.2749, 0.0549] state[eef_state]: left_x=0.3905 left_y=-0.1449 left_z=0.0 left_yaw=-0.5612 left_pitch=0.1383 left_roll=-0.081 left_gripper=0.0551 right_x=0.3829 right_y=0.1411 right_z=0.1393 right_yaw=0.6376 right_pitch=-0.2265 right_roll=0.0615 right_gripper=0.0549 state[joint_eff]: [0.1162, -9.1692, 3.0427, 1.6532, 0.1734, 0.149, 1.6825, -0.3624, -6.7214, 6.694, 1.3993, -0.2027, -0.0611, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.17},"note":"The left gripper settled around a 5 mm object thickness, which suggests it caught the cap. I’ll lift it and verify that the cap leaves the tabletop."})

tool

executing move_to over 11 steps (1.1s)

step 113

assistant

agent noteBoth objects are lifted: the pen projects forward from the right hand, while the cap is held by the left. I’ll rotate the cap to match the pen’s axis before bringing the hands together.

move_to

left_yaw0.6300left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2184, 1.4048, 0.6903, 0.2474, 0.3439, 0.0673, 0.0673, 0.1986, 1.5009, 1.0225, -0.3748, -0.3416, -0.2749, 0.0549] state[eef_state]: left_x=0.3901 left_y=-0.1439 left_z=0.1509 left_yaw=-0.5562 left_pitch=0.1317 left_roll=-0.082 left_gripper=0.0673 right_x=0.382 right_y=0.1409 right_z=0.1378 right_yaw=0.6384 right_pitch=-0.2331 right_roll=0.0647 right_gripper=0.0549 state[joint_eff]: [-0.0889, -7.1043, 9.5521, 1.7411, 0.1099, -0.0317, 1.033, -0.3761, -6.7761, 6.9402, 1.4579, -0.2173, -0.0317, 1.0281] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.63,"left_z":0.18},"note":"Both objects are lifted: the pen projects forward from the right hand, while the cap is held by the left. I’ll rotate the cap to match the pen’s axis before bringing the hands together."})

tool

executing move_to over 8 steps (0.8s)

step 121

assistant

agent noteThe cap still points up and right, whereas the pen points up and left, so their axes will not meet end-to-end. I’ll rotate the cap farther until its closed end points left and its opening faces the approaching pen.

move_to

left_x0.4000left_y-0.1800left_z0.1900left_yaw1.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7364, 1.7164, 1.2026, -0.3126, -0.9028, -0.8394, 0.0673, 0.1986, 1.5021, 1.021, -0.3889, -0.3412, -0.2749, 0.0549] state[eef_state]: left_x=0.4088 left_y=-0.1786 left_z=0.1731 left_yaw=0.4045 left_pitch=0.095 left_roll=-0.1095 left_gripper=0.0673 right_x=0.3792 right_y=0.1403 right_z=0.1346 right_yaw=0.6398 right_pitch=-0.2484 right_roll=0.0718 right_gripper=0.0549 state[joint_eff]: [-0.3897, -10.0718, 7.3094, 0.8816, -0.6081, -0.149, 1.0281, -0.335, -6.7487, 6.7761, 1.5702, -0.2027, -0.0317, 1.0379] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.40,"left_y":-0.18,"left_z":0.19,"left_yaw":1.4},"note":"The cap still points up and right, whereas the pen points up and left, so their axes will not meet end-to-end. I’ll rotate the cap farther until its closed end points left and its opening faces the approaching pen."})

tool

executing move_to over 7 steps (0.7s)

step 128

assistant

agent noteThe cap rotation stalled well short of the requested angle while the left arm was extended. I’ll retract and raise that hand to give the wrist room to turn, then bring the cap back for assembly.

move_to

left_x0.3200left_y-0.1800left_z0.2300left_yaw1.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7906, 2.1422, 1.6936, -0.9001, -1.0702, -1.4174, 0.0673, 0.1986, 1.5066, 1.0183, -0.3912, -0.3412, -0.2749, 0.0549] state[eef_state]: left_x=0.4247 left_y=-0.2037 left_z=0.131 left_yaw=0.7023 left_pitch=0.0825 left_roll=-0.0775 left_gripper=0.0673 right_x=0.3782 right_y=0.1401 right_z=0.1314 right_yaw=0.6409 right_pitch=-0.257 right_roll=0.076 right_gripper=0.0549 state[joint_eff]: [0.1299, -13.7368, 7.9111, 0.5836, -0.8034, -0.2027, 1.0281, -0.3487, -6.8991, 6.8171, 1.4383, -0.1587, -0.0366, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.18,"left_z":0.23,"left_yaw":1.4},"note":"The cap rotation stalled well short of the requested angle while the left arm was extended. I’ll retract and raise that hand to give the wrist room to turn, then bring the cap back for assembly."})

tool

executing move_to over 9 steps (0.9s)

step 137

assistant

agent noteThe left arm changed its sideways position instead of retracting, and the cap is still safely held away from the pen. I’ll hold its current yaw and request only a retraction and lift, avoiding another large wrist turn.

move_to

left_x0.3200left_y-0.0900left_z0.2300left_yaw1.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5678, 2.1143, 1.6989, -1.111, -1.0161, -1.6547, 0.0727, 0.1986, 1.507, 1.0176, -0.3912, -0.3412, -0.2749, 0.0549] state[eef_state]: left_x=0.43 left_y=-0.0919 left_z=0.1312 left_yaw=1.0376 left_pitch=0.014 left_roll=-0.1065 left_gripper=0.0727 right_x=0.3781 right_y=0.14 right_z=0.131 right_yaw=0.641 right_pitch=-0.2581 right_roll=0.0765 right_gripper=0.0549 state[joint_eff]: [-0.1573, -15.5556, 5.4632, 0.2857, -0.5104, -0.0659, 1.0281, -0.3761, -6.1744, 6.7214, 1.4432, -0.1832, -0.0269, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.09,"left_z":0.23,"left_yaw":1.04},"note":"The left arm changed its sideways position instead of retracting, and the cap is still safely held away from the pen. I’ll hold its current yaw and request only a retraction and lift, avoiding another large wrist turn."})

tool

executing move_to over 9 steps (0.9s)

step 146

assistant

agent noteThe left arm has retracted enough to move freely again, and the pen tip remains visible ahead of the right jaws. I’ll shift the pen toward the middle at a higher carry height, leaving the cap hand clear for a controlled approach.

move_to

right_x0.3400right_y0.2450right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7425, 2.0899, 1.792, -1.504, -0.9874, -1.9785, 0.0727, 0.1986, 1.507, 1.0168, -0.3927, -0.3412, -0.2749, 0.0549] state[eef_state]: left_x=0.3704 left_y=-0.135 left_z=0.164 left_yaw=1.0387 left_pitch=0.0024 left_roll=-0.1032 left_gripper=0.0727 right_x=0.3776 right_y=0.1399 right_z=0.1304 right_yaw=0.6412 right_pitch=-0.2601 right_roll=0.0775 right_gripper=0.0549 state[joint_eff]: [-0.2256, -10.359, 6.735, -0.2564, -0.6178, -0.0464, 1.0281, -0.335, -6.5299, 6.7214, 1.4042, -0.1636, -0.0513, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.245,"right_z":0.19},"note":"The left arm has retracted enough to move freely again, and the pen tip remains visible ahead of the right jaws. I’ll shift the pen toward the middle at a higher carry height, leaving the cap hand clear for a controlled approach."})

tool

executing move_to over 9 steps (0.9s)

step 155

assistant

agent noteThe pen has moved toward the center while both objects remain held. I’ll bring the cap hand partway toward the exposed pen tip, keeping roughly a hand-width of clearance and using the wrist views to refine alignment.

move_to

left_x0.4100left_y-0.2800left_z0.1900left_yaw1.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7208, 2.0899, 1.7912, -1.5005, -0.9867, -1.9808, 0.0727, 0.551, 1.5028, 1.1759, -0.5732, -0.1226, -0.0322, 0.0584] state[eef_state]: left_x=0.3735 left_y=-0.1272 left_z=0.1636 left_yaw=1.0619 left_pitch=0.001 left_roll=-0.1076 left_gripper=0.0727 right_x=0.3326 right_y=0.234 right_z=0.1614 right_yaw=0.673 right_pitch=-0.3356 right_roll=0.0781 right_gripper=0.0584 state[joint_eff]: [-1.853, -10.3863, 5.4359, -0.1148, -0.5348, -0.0073, 1.0281, 1.0051, -7.8701, 10.4274, 1.8046, 0.0806, 0.188, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.28,"left_z":0.19,"left_yaw":1.04},"note":"The pen has moved toward the center while both objects remain held. I’ll bring the cap hand partway toward the exposed pen tip, keeping roughly a hand-width of clearance and using the wrist views to refine alignment."})

tool

executing move_to over 14 steps (1.4s)

step 169

assistant

agent noteThe arms came close enough that the right hand was deflected and the left hand did not reach its sideways target. I’ll back the cap hand away and raise it before choosing a less crowded approach.

move_to

left_x0.3500left_y-0.0900left_z0.2300left_yaw1.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7452, 2.3444, 2.1292, -1.615, -0.9607, -2.0178, 0.0727, 0.5003, 1.5066, 1.1645, -0.638, -0.0128, 0.0494, 0.0584] state[eef_state]: left_x=0.4037 left_y=-0.1706 left_z=0.1419 left_yaw=1.0639 left_pitch=-0.0186 left_roll=-0.1028 left_gripper=0.0727 right_x=0.3406 right_y=0.1929 right_z=0.145 right_yaw=0.477 right_pitch=-0.4229 right_roll=0.039 right_gripper=0.0584 state[joint_eff]: [-3.7675, -9.2103, 7.6786, 0.232, -0.6911, 0.0904, 1.0281, 3.9179, -7.0906, 7.8017, 1.9121, -1.2186, -0.8718, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.09,"left_z":0.23,"left_yaw":1.06},"note":"The arms came close enough that the right hand was deflected and the left hand did not reach its sideways target. I’ll back the cap hand away and raise it before choosing a less crowded approach."})

tool

executing move_to over 8 steps (0.8s)

step 177

assistant

agent noteThe cap hand is clear again, and the pen tip remains exposed in the right wrist view. I’ll set the pen farther back and toward the center, creating space for the cap hand to approach the tip from above.

move_to

right_x0.2900right_y0.2700right_z0.1600right_yaw0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6804, 1.9499, 1.7798, -1.5555, -0.9569, -1.9327, 0.0727, 0.4976, 1.5085, 1.1522, -0.6514, -0.0116, 0.0448, 0.0584] state[eef_state]: left_x=0.3594 left_y=-0.1005 left_z=0.2054 left_yaw=1.0808 left_pitch=-0.0395 left_roll=-0.134 left_gripper=0.0727 right_x=0.3363 right_y=0.1891 right_z=0.1378 right_yaw=0.4757 right_pitch=-0.4502 right_roll=0.0345 right_gripper=0.0584 state[joint_eff]: [0.2256, -10.0444, 5.2581, -0.0122, -0.6422, 0.2369, 1.0281, 0.1162, -6.7897, 7.5556, 1.4432, -0.0269, -0.0317, 1.0281] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.27,"right_z":0.16,"right_yaw":0.65},"note":"The cap hand is clear again, and the pen tip remains exposed in the right wrist view. I’ll set the pen farther back and toward the center, creating space for the cap hand to approach the tip from above."})

tool

executing move_to over 7 steps (0.7s)

step 184

assistant

agent noteThe pen has been repositioned lower and farther back, leaving its tip ahead of the right hand. I’ll carry the cap hand high over the middle, with vertical clearance from the pen hand before moving in.

move_to

left_x0.3700left_y-0.2600left_z0.2900left_yaw1.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6765, 1.9518, 1.7668, -1.552, -0.9527, -1.9285, 0.0727, 0.733, 1.5345, 1.2366, -0.725, 0.0242, 0.0975, 0.0584] state[eef_state]: left_x=0.3585 left_y=-0.0986 left_z=0.2011 left_yaw=1.0836 left_pitch=-0.0411 left_roll=-0.1185 left_gripper=0.0727 right_x=0.2908 right_y=0.2609 right_z=0.1508 right_yaw=0.6457 right_pitch=-0.465 right_roll=0.0306 right_gripper=0.0584 state[joint_eff]: [-0.2393, -9.4291, 6.5026, -0.0073, -0.5739, -0.0708, 1.0281, 0.6769, -6.1333, 9.347, 1.2479, 0.0562, 0.0562, 1.0281] 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":0.37,"left_y":-0.26,"left_z":0.29,"left_yaw":1.08},"note":"The pen has been repositioned lower and farther back, leaving its tip ahead of the right hand. I’ll carry the cap hand high over the middle, with vertical clearance from the pen hand before moving in."})

tool

executing move_to over 15 steps (1.5s)

step 199

assistant

agent noteThe two grippers are obstructing each other despite the attempted high approach. I’ll withdraw the cap hand so I can set the pen down and attempt the cap placement with only one arm in the center.

move_to

left_x0.3000left_y-0.0200left_z0.2300left_yaw1.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.704, 2.1124, 1.9572, -1.5703, -0.9337, -1.9472, 0.0727, 0.7261, 1.5406, 1.2346, -0.7567, 0.0265, 0.1024, 0.0591] state[eef_state]: left_x=0.384 left_y=-0.1351 left_z=0.1868 left_yaw=1.0688 left_pitch=-0.063 left_roll=-0.1413 left_gripper=0.0727 right_x=0.2877 right_y=0.254 right_z=0.1439 right_yaw=0.6318 right_pitch=-0.5044 right_roll=0.0271 right_gripper=0.0591 state[joint_eff]: [-2.5094, -9.3333, 8.0342, -0.0122, -0.7057, 0.0073, 1.0281, 0.335, -7.1726, 6.7487, 1.5116, -0.0269, -0.0562, 1.033] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.02,"left_z":0.23,"left_yaw":1.08},"note":"The two grippers are obstructing each other despite the attempted high approach. I’ll withdraw the cap hand so I can set the pen down and attempt the cap placement with only one arm in the center."})

tool

executing move_to over 11 steps (1.1s)

step 210

assistant

agent noteThe cap hand is now out of the pen hand’s path. I’ll lower the pen onto the tabletop while keeping it gripped, so its tip stays oriented for a one-handed capping attempt.

move_to

right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5823, 1.5738, 1.4288, -1.4685, -0.9188, -1.8282, 0.0727, 0.7277, 1.5414, 1.2144, -0.7753, 0.0227, 0.0868, 0.0591] state[eef_state]: left_x=0.2998 left_y=-0.025 left_z=0.2231 left_yaw=1.1198 left_pitch=-0.0874 left_roll=-0.1544 left_gripper=0.0727 right_x=0.2802 right_y=0.249 right_z=0.1341 right_yaw=0.6446 right_pitch=-0.544 right_roll=0.0184 right_gripper=0.0591 state[joint_eff]: [-0.8, -6.9128, 5.7504, 0.5397, -0.652, 0.149, 1.0281, -0.4718, -6.9675, 8.0752, 1.3211, 0.0122, 0.0952, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.005},"note":"The cap hand is now out of the pen hand’s path. I’ll lower the pen onto the tabletop while keeping it gripped, so its tip stays oriented for a one-handed capping attempt."})

tool

executing move_to over 9 steps (0.9s)

step 219

assistant

agent noteThe right grasp point is at table height, with the pen tip still pointing straight ahead in its wrist view. I’ll release the pen onto the table before clearing the right arm.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5793, 1.573, 1.4117, -1.4521, -0.9077, -1.8236, 0.0727, 0.728, 1.7004, 0.8646, -0.3176, 0.0219, 0.0898, 0.062] state[eef_state]: left_x=0.2993 left_y=-0.0251 left_z=0.2174 left_yaw=1.121 left_pitch=-0.098 left_roll=-0.1494 left_gripper=0.0727 right_x=0.2711 right_y=0.2412 right_z=0.0069 right_yaw=0.641 right_pitch=-0.595 right_roll=0.0156 right_gripper=0.062 state[joint_eff]: [-0.335, -6.2838, 7.3094, 0.0415, -0.5836, -0.0904, 1.0232, -0.3624, -6.5436, 5.9009, 1.1844, -0.0317, -0.0757, 0.7692] 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":{"right_gripper":1},"note":"The right grasp point is at table height, with the pen tip still pointing straight ahead in its wrist view. I’ll release the pen onto the table before clearing the right arm."})

tool

executing move_to over 10 steps (1.0s)

step 229

assistant

agent noteThe pen remains on the tabletop after the right jaws open; its metallic tip is visible ahead of them. I’ll lift the empty right hand straight up before moving it out of the center.

move_to

right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5793, 1.573, 1.4113, -1.4502, -0.9039, -1.8236, 0.0727, 0.728, 1.713, 0.8543, -0.3073, 0.0223, 0.0902, 0.9951] state[eef_state]: left_x=0.2993 left_y=-0.0256 left_z=0.2168 left_yaw=1.1211 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.269 right_y=0.2393 right_z=0.0005 right_yaw=0.6396 right_pitch=-0.6075 right_roll=0.0141 right_gripper=0.9951 state[joint_eff]: [-0.335, -6.3248, 5.7915, 0.1978, -0.5543, -0.0513, 1.0281, -0.0205, -8.4718, 6.2564, 0.8913, -0.0317, -0.0415, -0.2173] 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":{"right_z":0.2},"note":"The pen remains on the tabletop after the right jaws open; its metallic tip is visible ahead of them. I’ll lift the empty right hand straight up before moving it out of the center."})

tool

executing move_to over 13 steps (1.3s)

step 242

assistant

agent noteThe pen stayed on the table when the right hand lifted; its barrel is now visible beside that hand. I’ll park the empty right arm at the side so the cap hand has an unobstructed path to the tip.

move_to

right_x0.2900right_y0.0000right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5789, 1.573, 1.4105, -1.4494, -0.9039, -1.8236, 0.0727, 0.728, 1.5574, 1.4631, -1.05, 0.0227, 0.0898, 0.996] state[eef_state]: left_x=0.2993 left_y=-0.0255 left_z=0.2166 left_yaw=1.1214 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.275 right_y=0.2446 right_z=0.1882 right_yaw=0.6408 right_pitch=-0.5858 right_roll=0.0158 right_gripper=0.996 state[joint_eff]: [-0.0615, -6.3385, 5.6684, 0.232, -0.5348, -0.0415, 1.0281, -0.3077, -7.5419, 7.7333, 0.8913, -0.0073, -0.0513, 0.0855] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.2},"note":"The pen stayed on the table when the right hand lifted; its barrel is now visible beside that hand. I’ll park the empty right arm at the side so the cap hand has an unobstructed path to the tip."})

tool

executing move_to over 21 steps (2.1s)

step 263

assistant

agent noteThe right arm is parked, and the pen is clearly visible on the table with its exposed end toward the upper-left. I’ll bring the cap hand above that end, still high enough to adjust before making contact.

move_to

left_x0.3800left_y-0.2700left_z0.1400left_yaw1.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5789, 1.5738, 1.409, -1.4475, -0.9035, -1.8236, 0.0771, -0.1875, 1.38, 1.343, -1.2617, -0.2924, -0.7383, 0.9961] state[eef_state]: left_x=0.2994 left_y=-0.0256 left_z=0.216 left_yaw=1.1215 left_pitch=-0.1023 left_roll=-0.15 left_gripper=0.0771 right_x=0.2864 right_y=0.0011 right_z=0.1918 right_yaw=0.6062 right_pitch=-0.6166 right_roll=0.0257 right_gripper=0.9961 state[joint_eff]: [0.0342, -6.3932, 5.9556, 0.1392, -0.4713, -0.0464, 0.7155, -0.3487, -4.2325, 8.4991, 0.7497, -0.486, -0.0513, -0.0024] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.27,"left_z":0.14,"left_yaw":1.12},"note":"The right arm is parked, and the pen is clearly visible on the table with its exposed end toward the upper-left. I’ll bring the cap hand above that end, still high enough to adjust before making contact."})

tool

executing move_to over 22 steps (2.2s)

step 285

assistant

agent noteThe cap hand is laterally near the pen tip, but the tip is not yet in the forward-looking left wrist image, suggesting the hand is too far forward. I’ll retract a few centimeters and lower partway, then look for the pen’s end before inserting.

move_to

left_x0.3450left_y-0.2000left_z0.0700left_yaw1.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7799, 2.3955, 2.1342, -1.5612, -0.8555, -2.0941, 0.0808, -0.2005, 1.3811, 1.3266, -1.2629, -0.308, -0.7555, 0.9961] state[eef_state]: left_x=0.3945 left_y=-0.1976 left_z=0.106 left_yaw=1.0984 left_pitch=-0.1235 left_roll=-0.144 left_gripper=0.0808 right_x=0.2836 right_y=0.0007 right_z=0.1872 right_yaw=0.6254 right_pitch=-0.6181 right_roll=0.0469 right_gripper=0.9961 state[joint_eff]: [-0.7316, -11.8085, 7.8017, -0.4322, -0.6325, -0.0611, 0.7497, 0.0752, -5.9009, 6.3932, 0.9109, -0.2125, 0.0659, -0.0122] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.2,"left_z":0.07,"left_yaw":1.1},"note":"The cap hand is laterally near the pen tip, but the tip is not yet in the forward-looking left wrist image, suggesting the hand is too far forward. I’ll retract a few centimeters and lower partway, then look for the pen’s end before inserting."})

tool

executing move_to over 4 steps (0.4s)

step 289

assistant

agent noteThe pen tip remains just behind the cap hand in the wrist view, though the overhead view puts them close laterally. I’ll retract another small increment and center the cap over the pen’s axis.

move_to

left_x0.3250left_y-0.1900left_z0.0550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7891, 2.3203, 1.8008, -1.396, -0.8452, -2.0933, 0.084, -0.2035, 1.38, 1.3125, -1.2552, -0.3126, -0.7578, 0.9961] state[eef_state]: left_x=0.3631 left_y=-0.1732 left_z=0.0597 left_yaw=1.1023 left_pitch=-0.1041 left_roll=-0.0512 left_gripper=0.084 right_x=0.2828 right_y=0.0008 right_z=0.1838 right_yaw=0.6299 right_pitch=-0.6184 right_roll=0.0543 right_gripper=0.9961 state[joint_eff]: [-0.4581, -15.8427, 6.5026, 0.1636, -0.4615, -0.022, 0.6227, -0.7043, -5.6274, 5.9966, 0.823, -0.3004, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.19,"left_z":0.055},"note":"The pen tip remains just behind the cap hand in the wrist view, though the overhead view puts them close laterally. I’ll retract another small increment and center the cap over the pen’s axis."})

tool

executing move_to over 3 steps (0.3s)

step 292

assistant

agent noteThe low cap hand did not retract as requested, indicating an awkward arm configuration rather than a clear view of the tip. I’ll lift and fold it back first, then make a fresh low approach to the stationary pen.

move_to

left_x0.2800left_y-0.1900left_z0.1700left_yaw1.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3506, -0.8364, -2.0933, 0.0843, -0.2081, 1.3792, 1.3003, -1.2484, -0.3126, -0.7601, 0.9961] state[eef_state]: left_x=0.3606 left_y=-0.1721 left_z=0.0563 left_yaw=1.1029 left_pitch=-0.1195 left_roll=-0.0715 left_gripper=0.0843 right_x=0.282 right_y=-0.0004 right_z=0.1807 right_yaw=0.6293 right_pitch=-0.6214 right_roll=0.0574 right_gripper=0.9961 state[joint_eff]: [-0.5538, -11.453, 5.5043, -0.4957, -0.4811, -0.0269, 0.7253, -0.7316, -5.7915, 5.8188, 0.8083, -0.3785, -0.0757, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.19,"left_z":0.17,"left_yaw":1.1},"note":"The low cap hand did not retract as requested, indicating an awkward arm configuration rather than a clear view of the tip. I’ll lift and fold it back first, then make a fresh low approach to the stationary pen."})

tool

executing move_to over 8 steps (0.8s)

step 300

assistant

agent noteThe left arm is now holding almost still despite repeated retreat commands, with its wrist near a joint limit. I’ll unwind some cap-hand yaw while raising and retracting to recover a movable pose.

move_to

left_yaw0.3500left_x0.3100left_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]: [-0.7891, 2.2955, 1.7546, -1.3613, -0.8364, -2.0937, 0.0864, -0.2165, 1.3792, 1.2854, -1.2449, -0.3161, -0.7605, 0.9961] state[eef_state]: left_x=0.3593 left_y=-0.1708 left_z=0.057 left_yaw=1.1043 left_pitch=-0.1161 left_roll=-0.0616 left_gripper=0.0864 right_x=0.28 right_y=-0.0017 right_z=0.1765 right_yaw=0.6297 right_pitch=-0.6265 right_roll=0.0705 right_gripper=0.9961 state[joint_eff]: [-0.6496, -11.5077, 5.4906, -0.4762, -0.5201, -0.0317, 0.6764, -0.4855, -5.9692, 5.8872, 0.8718, -0.3541, -0.1001, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.35,"left_x":0.31,"left_z":0.17},"note":"The left arm is now holding almost still despite repeated retreat commands, with its wrist near a joint limit. I’ll unwind some cap-hand yaw while raising and retracting to recover a movable pose."})

tool

executing move_to over 8 steps (0.8s)

step 308

assistant

agent noteUnwinding the wrist restored normal motion; the cap is still held, and the pen tip is visible ahead and to the right. I’ll shift the cap hand sideways toward the tip at a safe height before refining its angle.

move_to

left_x0.3100left_y-0.2900left_z0.1300left_yaw0.4700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8791, 1.544, 1.1488, -0.865, -0.8173, -1.2758, 0.0864, -0.2279, 1.3754, 1.2675, -1.2381, -0.3195, -0.7677, 0.9961] state[eef_state]: left_x=0.3064 left_y=-0.1623 left_z=0.1553 left_yaw=0.4663 left_pitch=-0.1404 left_roll=-0.0844 left_gripper=0.0864 right_x=0.278 right_y=-0.0038 right_z=0.1726 right_yaw=0.6293 right_pitch=-0.6284 right_roll=0.0766 right_gripper=0.9961 state[joint_eff]: [-0.4171, -6.9402, 6.5846, 1.199, -0.4567, 0.2222, 0.6081, -0.2256, -5.8872, 5.7915, 0.8474, -0.4127, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.29,"left_z":0.13,"left_yaw":0.47},"note":"Unwinding the wrist restored normal motion; the cap is still held, and the pen tip is visible ahead and to the right. I’ll shift the cap hand sideways toward the tip at a safe height before refining its angle."})

tool

executing move_to over 12 steps (1.2s)

step 320

assistant

agent noteThe cap is now near the pen’s exposed end in the overhead view, but its axis is still a little too sideways. I’ll move a few centimeters toward the pen and turn the cap slightly to match the barrel before lowering further.

move_to

left_y-0.3400left_z0.1000left_yaw0.7300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0744, 2.0098, 1.6051, -1.0794, -0.8307, -1.5627, 0.0885, -0.2409, 1.3754, 1.2453, -1.2228, -0.3271, -0.775, 0.9961] state[eef_state]: left_x=0.307 left_y=-0.2855 left_z=0.1213 left_yaw=0.4657 left_pitch=-0.1672 left_roll=-0.0749 left_gripper=0.0885 right_x=0.2772 right_y=-0.006 right_z=0.1671 right_yaw=0.63 right_pitch=-0.6269 right_roll=0.0857 right_gripper=0.9961 state[joint_eff]: [-0.3624, -10.2359, 8.212, 0.1197, -0.7692, 0.0317, 0.5006, -0.5128, -6.2564, 6.188, 0.6862, -0.4176, -0.0757, -0.0122] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.34,"left_z":0.1,"left_yaw":0.73},"note":"The cap is now near the pen’s exposed end in the overhead view, but its axis is still a little too sideways. I’ll move a few centimeters toward the pen and turn the cap slightly to match the barrel before lowering further."})

tool

executing move_to over 5 steps (0.5s)

step 325

assistant

agent noteThe pen end is coming toward the center of the left wrist view, and the cap is nearly level with it. I’ll move to the left arm’s safe sideways limit and descend just above table height to line up the cap opening.

move_to

left_x0.3300left_y-0.3980left_z0.0450left_yaw0.7300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1183, 2.4454, 2.1719, -1.4559, -0.8024, -1.9106, 0.0917, -0.2539, 1.3739, 1.224, -1.2186, -0.3351, -0.775, 0.9961] state[eef_state]: left_x=0.3116 left_y=-0.3422 left_z=0.0827 left_yaw=0.6589 left_pitch=-0.1872 left_roll=-0.0827 left_gripper=0.0917 right_x=0.274 right_y=-0.0074 right_z=0.1617 right_yaw=0.6311 right_pitch=-0.6309 right_roll=0.1067 right_gripper=0.9961 state[joint_eff]: [0.1299, -13.7641, 7.8427, -0.5592, -0.5299, -0.1636, 0.315, -0.4308, -5.9009, 6.2701, 0.8181, -0.3687, -0.1392, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.398,"left_z":0.045,"left_yaw":0.73},"note":"The pen end is coming toward the center of the left wrist view, and the cap is nearly level with it. I’ll move to the left arm’s safe sideways limit and descend just above table height to line up the cap opening."})

tool

executing move_to over 5 steps (0.5s)

step 330

assistant

agent noteThe pen’s gold tip is now clearly visible in the left wrist image, ahead and left of the cap hand. I’ll move the held cap toward that tip along the barrel’s direction, keeping the gripper just above the table.

move_to

left_x0.3650left_y-0.3100left_z0.0350left_yaw0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1187, 2.7319, 2.4882, -1.5608, -0.7837, -1.9892, 0.0937, -0.2687, 1.3712, 1.2018, -1.2144, -0.3428, -0.7753, 0.9961] state[eef_state]: left_x=0.3203 left_y=-0.3658 left_z=0.0266 left_yaw=0.7201 left_pitch=-0.19 left_roll=-0.062 left_gripper=0.0937 right_x=0.2704 right_y=-0.0092 right_z=0.1564 right_yaw=0.6301 right_pitch=-0.6346 right_roll=0.1271 right_gripper=0.9961 state[joint_eff]: [0.6222, -14.735, 8.2667, -0.3443, -0.5446, -0.0073, 0.2027, -0.4991, -5.9282, 6.065, 0.7985, -0.442, -0.1343, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.365,"left_y":-0.31,"left_z":0.035,"left_yaw":0.65},"note":"The pen’s gold tip is now clearly visible in the left wrist image, ahead and left of the cap hand. I’ll move the held cap toward that tip along the barrel’s direction, keeping the gripper just above the table."})

tool

executing move_to over 5 steps (0.5s)

step 335

assistant

agent noteThe low, extended left arm stopped short of the requested approach, so pushing the same target would not help. I’ll raise and pitch the cap hand forward to free the wrist joints, then recheck the pen-tip alignment.

move_to

left_x0.3700left_y-0.3100left_z0.0800left_pitch0.3000left_yaw0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1172, 2.7483, 2.5034, -1.5631, -0.7773, -1.9896, 0.0954, -0.2859, 1.3678, 1.1759, -1.1965, -0.3542, -0.783, 0.9961] state[eef_state]: left_x=0.3204 left_y=-0.3664 left_z=0.0217 left_yaw=0.7244 left_pitch=-0.1952 left_roll=-0.0572 left_gripper=0.0954 right_x=0.269 right_y=-0.0115 right_z=0.1511 right_yaw=0.6277 right_pitch=-0.628 right_roll=0.1366 right_gripper=0.9961 state[joint_eff]: [0.0342, -15.2547, 7.5692, -0.188, -0.569, -0.0415, 0.1538, -0.3624, -6.065, 6.1197, 0.6569, -0.4518, -0.1148, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.31,"left_z":0.08,"left_pitch":0.3,"left_yaw":0.65},"note":"The low, extended left arm stopped short of the requested approach, so pushing the same target would not help. I’ll raise and pitch the cap hand forward to free the wrist joints, then recheck the pen-tip alignment."})

tool

executing move_to over 17 steps (1.7s)

step 352

assistant

agent notePitching forward restored motion and brought the cap hand over the pen’s exposed end, though the hand now hides the tip from the wrist camera. I’ll make a short, low insertion motion toward the pen barrel, watching for contact or deflection.

move_to

left_x0.3300left_y-0.2900left_z0.0150left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0687, 2.6884, 2.1998, -1.5261, -1.2156, -2.0415, 0.0973, -0.2996, 1.3659, 1.1553, -1.1927, -0.3641, -0.794, 0.9961] state[eef_state]: left_x=0.3625 left_y=-0.3087 left_z=0.0471 left_yaw=0.649 left_pitch=0.2515 left_roll=0.0106 left_gripper=0.0973 right_x=0.2656 right_y=-0.0125 right_z=0.1463 right_yaw=0.6357 right_pitch=-0.6282 right_roll=0.1534 right_gripper=0.9961 state[joint_eff]: [0.4581, -18.3043, 4.9026, -0.4029, -0.7497, -0.0611, 0.1929, -0.4718, -5.7915, 6.1197, 0.735, -0.3785, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.29,"left_z":0.015,"left_pitch":0.25},"note":"Pitching forward restored motion and brought the cap hand over the pen’s exposed end, though the hand now hides the tip from the wrist camera. I’ll make a short, low insertion motion toward the pen barrel, watching for contact or deflection."})

tool

executing move_to over 3 steps (0.3s)

step 355

assistant

agent noteThe low motion did not produce a clear seated-cap view; the pen end appears slightly forward and left of the cap hand in the overhead frame. I’ll make one short forward-left nudge at the same height to try to seat the cap without pressing farther into the table.

move_to

left_x0.3850left_y-0.2500left_z0.0170left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0893, 2.6377, 1.9438, -1.4258, -1.2156, -2.0773, 0.0987, -0.3084, 1.3647, 1.1381, -1.1885, -0.371, -0.7982, 0.9961] state[eef_state]: left_x=0.3394 left_y=-0.2841 left_z=0.017 left_yaw=0.6209 left_pitch=0.2676 left_roll=0.0827 left_gripper=0.0987 right_x=0.263 right_y=-0.0128 right_z=0.1421 right_yaw=0.6406 right_pitch=-0.6293 right_roll=0.1682 right_gripper=0.9961 state[joint_eff]: [-0.2393, -15.2274, 5.7231, -0.652, -0.7253, -0.2418, 0.1245, -0.7863, -5.3538, 5.8735, 0.7204, -0.4664, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.25,"left_z":0.017,"left_pitch":0.25},"note":"The low motion did not produce a clear seated-cap view; the pen end appears slightly forward and left of the cap hand in the overhead frame. I’ll make one short forward-left nudge at the same height to try to seat the cap without pressing farther into the table."})

tool

executing move_to over 4 steps (0.4s)

step 359

assistant

agent noteThe cap hand is pressed gently beside the pen’s end, but the fingers obscure whether the cap has seated. I’ll release the cap at this position, then uncover the pen to check the result.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9722, 2.545, 1.7515, -1.1076, -1.2415, -1.8248, 0.1003, -0.321, 1.364, 1.1206, -1.177, -0.379, -0.8017, 0.9961] state[eef_state]: left_x=0.3729 left_y=-0.2437 left_z=0.0077 left_yaw=0.645 left_pitch=0.2568 left_roll=0.104 left_gripper=0.1003 right_x=0.2618 right_y=-0.0144 right_z=0.1382 right_yaw=0.638 right_pitch=-0.6256 right_roll=0.1776 right_gripper=0.9961 state[joint_eff]: [-0.5812, -16.0615, 4.7658, -0.0269, -0.4811, 0.2955, 0.1538, -0.2803, -5.7915, 5.8462, 0.6471, -0.4615, -0.1734, -0.0122] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The cap hand is pressed gently beside the pen’s end, but the fingers obscure whether the cap has seated. I’ll release the cap at this position, then uncover the pen to check the result."})

tool

executing move_to over 9 steps (0.9s)

step 368

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9695, 2.5309, 1.739, -1.0966, -1.2476, -1.8362, 0.9933, -0.3325, 1.364, 1.1046, -1.1702, -0.3798, -0.8021, 0.9961] state[eef_state]: left_x=0.3738 left_y=-0.2425 left_z=0.0116 left_yaw=0.6555 left_pitch=0.2625 left_roll=0.0794 left_gripper=0.9933 right_x=0.2596 right_y=-0.0166 right_z=0.1339 right_yaw=0.6326 right_pitch=-0.6302 right_roll=0.1872 right_gripper=0.9961 state[joint_eff]: [-0.4034, -11.7675, 5.5863, -0.2808, -0.4811, 0.0708, 0.0122, -0.6496, -5.5316, 5.8735, 0.5739, -0.4762, -0.1538, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [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 · 8.485 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3805, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6098, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.7363, -0.0757, 0.0952, -0.0366, -0.7453, -1.2103, 9.7299, 1.7705, -0.0562, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0591e777e340d4efa620cad93d2cb9abaf2d7b4fbe9cca9fb843cc0a5e81ee87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbeeb12a7bf2506c82f157b58b2b9ff76bc29977093e6528842d809ec5af0cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e120a0857daf862c92bfbdd571c519f4ba8ab9cfa2f5f930ec1dd176a0a798",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.452 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSPbn7bzg18p7pao6k6LSgt8j2j2_PMDS17BX3xc56eaJYCVKfO7ylmNri6ii9q0OkfeU6E5YZhEPCU4MxBFxLzG5Tth1Mfr1CVVwrEb_ANKd7AYuTfNPgMQ2n5l7QMYnT8W4twa-RBteNX6dAk3PNbECegZpOm0HJ9lCVkISgpFwDxamVJ3UGr_MiSvLpbZZ2o8j-x6BASx4abel038PH--OzjkAUvgOL2BR3C9t0xa-kRkkcuUY3WKFzY5oQuTiIKzqqSiYwjHOFHKyXrZhS9TsRVK5IZqDZHLuphTumNbx1myALdPPiFVl-DnQx0IyVNOSBaR_DqzVv0a80TosJUxspmQnpFtLBQFzdOJ8mOtsDrx-tL6XbhFEcMBAC6SzPoly55stO_ln56JkEHX3QBL8ZSIYMZu8T96zoCCVZw7qzn9-uolIME7lbm9pKSRpfwrsbfJTqYX2KngWWHrG3G08DdqkGkm197c8C50602UVNxvyFNNN2L2cpvVJdzRUiSg2SJ9dSHFyDXUZtLCmM_3lC2dzHJnwEYZXBft3IoQNokK15uKXmwzXbcUMGhhfoi1ANLAbkTyXT9ZkhGcMUEXDg4evOExXifdxNm8dw5U8g9JzbmWJbbqaMnR8OVFfHmYAM7sJSpuLJdjpxloEsHxHHBLfix5mebMUbsE5k1L2H9jVjP-DV5guuUhIUzAG6KFyzThjABjv5KOphH8VE9GlzRrehlzc1lGhvkvkqzDPK6m6iKJpHZJclTszSNfzvs-2OQTNc5MNQ50mMx_a2kwO-cOPV4Jks_Zkpqd9MlLHrLE0dsPkuvr9tx8FBOt5Q0Z_4I3frSMdzXF6jwxxTtwshfj5OBQpEzOdnica5xmCFfSXVCxOYiKfUo0CvapivaCz036eFIbIOuEJoA9-ptGN6uOJbCVt39H4AXkBdPJsP-jZxEG-vsm_Pxxcqre4QE2b46HaMUMq0fB3M-qbyTA-Jhj8sJ6xe8PgcBi2w0jj2d3T6dVgyMkgVP6SzVCsituPi5VENZJwOBpjVOQFOudkxLj70c6eJqbFZQ7Xf752nbVSPnd5n3XySXzruJjFixSoEAMDy3luHKAqx-aO-2xB5cYDwDWV3E4zcWzGbL1uSKiUjE4lFleGy0fLucFVuB8IqaYJEf5xvROSGuyQnkRjo8Zu_3FEgPhQfAyMV9qFGfT5rP793-ikZjcBCKgL62wnWr37_piDKLltBbeN7R2ao_8sQGhHcbbCRWwJ8SWf7t7f1sQfci9niQlax_4uYNVCfSbg2ZfU4F1yClyD-KVNlJhWPBe1_MCRAl-mNU_LpFjvJXVGu-EP-hxqYT5Zh298j5RxcUyLKr_RgtdR1-z12v2Dw2z4zhm7YLgig3-p3NivSylFyBddx35IJ1dqB5Q1R_gMvI5rVr75XhUMt2dNLQpJDFNeyS9qLQgR8JS3Lk3-HD1aIxZzGDVAEyS6VhMeTKr66rtAllUmAGzxVFCd111S0Pz_EpnUJbr8xfU6OFldVJTlGBwjN-AdDv3ySl-rRAScrlCIjiVWZJSs271WLsUj9jmJmdaMvb3NVmmG2_cQbMI3khorNeeVcDvfr_k-cxSTv5ueTh59uUWsvIcPFvpERtC2rix4BBkNZaRrbL-3s0e0vFGdFiv9alI03lehSiV3G4tuUuA0dkfAfVn2dW6c7RisVlk_fepxq3mt4Umn4AgJwWj0wADRkdKH0mixM8KMjgROQjT18e7MDfDENPvgMCBEgBGkHdwUUQbnncoNmhCzU48qfBsB2iFeKQb9WTUEPdJsneCOY2K0funQtPqTHfw6sHuntmJE0QauoyUUkh5yaGrVgXKU_zXVzhjCbj7yx0hJJETgYxg_339uyDhJRwsY_NctoNsfJw7rCfG2AcHnniS_UEfzrmeUtXUR1uZ1C7y2gJzm9JY6Uyy4YHwE6t7HRsdT1YHh6js9RXfwTwdhahkcRivVh1xhiFknKx3uyo_Cq7_03KjgquxlmqgH3BOrX_4ZQo7oRaJC1yJlEqeGDi1xb-qy3Pqn9zBe5V5uUFn9ytwiWilDhNo3xYjnx4O0EUgkFcq2POFY_SIG8Hx-snj6RfaPddnFY1_v_oEHCKZDkt678NxSePe7-csviUcviWauyhF_gAog5-mt665hKUjh1HNhapb37VurXyACeh-94ZFzzkf8ynx61JzpdnGiBHItNbQkcXc54QmFC_097uMykgXoW5gSp1rj-reikf079psr2IcT0iEXMdD1WvrnLE5ICyagvz3PU3KWAfBCPlRCoGEarmBSa5BEzOkWxQKlVpgfla05iDnrQzEqlwzfTPIUUvnb1zoGzx_5z24jQXgJ0c1zcyQJDNuKkz_SY3kE9bR_C2ctH1mtWDenfGyPPioNcXjvZmfydfwoZuKPw67KbtOxSoHdY5dJpycV7vuiwct3JhxlDtzGocRBXOwbxXo3FFaHnh4hSj4UOI_b42i4bw65d-npPY6b2bQ6xgzfvR4vSAWEbaGIZBf8X4JLAS8qw2m5Ll-VsXlPoq8ValgRah9qC7IIkpuaCS4qbkCcbBwjngrWhi0PeE-5zHYhybdTc4gvJ8nQAiX6kD8hWMp5A50H5V3wkbLK_OaTnQGz5WyE1EpK1Br8ItVGltimNArL_YCEv85JpsdzebTq-t2hxJv7onlp-IBzabl9XC58viQ0u8KnMPzFHLo_f2fPtnaAtyBVFE2TG9GjD4menZeqX2oasqQa9n4PwyY3QlNVbjVNByDmy0YgXPmcKqSa9OTUBUznJGt_QNGv67dhbp931XgRjYqdjLoUqPgRr5X0bxrNeXbqLucsJtAWvFUui_ChvyPh6BSnnZ7YydSwvFoT--Rh2qXv9gYAeTn-wjWcGlkk3xRsgRqs_lBLe5ppRQvgKw74JXul8nSgxdktINlkMpJYfwshf7QJmhHujZaKC1Oo_T3uYd9mbRF5wXzGH07oOeVnm3jegyXrA-7L6tvNJfnggKv98CxsHYYVCLIPL_bnmkQiWitFmZ62f2Sr4AhP3ZnBXFIbOAyGzhIg_7FaANAhlGkufnrrVM5P8N9GADnZ9YIDUj2WowW9ldnM9s8kyHI9bpgKBgS58yed-DaqRkXJ8aXW-2h-en_DeXorkU6D8pH8uB6EbW21AQdfJ8zCG9MJcmt10xmqlXpLhRKX2LYvXBMVlMtF-LJAmhW7dU2MsP2xfA96Bd5bGLMFoP3xskSNeaSPliLvqoSL-Hg2EEJLQNsCtri2N--9kEJCMWk0jc8qvliKKfLWPoQx68YfsbmY8MNsqwHUO1nSDJnRd6AM2GlduoxmHydYIhT9Lmach-xHeiGJSkI_I9wskHuAzjl3RFJFmgMtbeZF0dFB8Xtuj3zFybBiA56rkI2hfZR_RuuzOdZ5-TbdXByp4S4TIUWNAvxQYk2JdsmNqtoLTkDdJ3CeDYxwP64Y3IZFMcJo3KyYsWkcrQWPOhmUjZ09Tb1A8ueUwNnd3g-iIIoPP57Ebp_lrJmCeyt5dCM9IINdmwPYEkf3gYnUTV-srMKYpOJYaoGksoMRhY3YZJRtkkWnZIkglIK8YhcpPnOWAYpusTIonDxsQ-MEFVl9ImdAQaw9oYDDapnaILZUR7G6G4S5yNdotJMEvPr0YRmdpC7XIhqBujU2JnCXHS1TdmBQVIczIRvD3C9gDSkaWNValxzJ3s-TuZbrm37ZkyBQJFE_75rMAVWw==",
  "id": "rs_09f2c132a2135c8c016ab43487fb9087d08c1a5eb4c52b96f7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSPgdy_kdHrOXOzDBuVm78NIeQMxvipz90rbChAUYTju7GJeIugRY5GHKLeVAkAZa27uYv740WO5X2z4ipsxTld5jgep60AHgUmkVU0Q6GZMNs7IxSx6jaSaZkIi-dHj9DLi7O7rhRLaKJqeL4dWpv2jKSFw_HBjAhbjijbCgTK2oVGGtV0Y2t_gyM-Qa4O6NYzyX3f6d9HT4jCB0WgJYkuRy8tvwyYiQUvMQNHffJxJP7NqjjyxdbDUQ6xAqat1-XuhQf8sIetNJHXoN1rJ5XnXNHVCuir3LxF63C5uX7gD_hk3c8m_lJBETNQ35Zxdl5JZoofeo9m9I51qD0sg7m4m4uSNHM4Az7x7nBdHcHJRkVhT5RW8vMw_nKCfa1k1gY4vnAAWGYg2dlDAxebSvOaFO5crLCy6-pZ-v1dOcwH4pw_L2mfYmfQ6zK7FIyrDn-W5utC2M9igPH7LP8N771UMuGF1WbFEGhBhvKFvgftFfwURmPSjL5pdgFG7JpuKqD_R-o6B3t8rxZTW_NwFqg-b7HnxBi1gEai87exQfEah6PKWI5wlTgqvZr2238hqSGEXJ2dcI77C5ItMhpGkSFKMJKbA49fqJdE9gvBCw-yIt0euCbcj8PMRLsAwII8JSD6fD5WJeygpfdaKKGCEwgaOp4Nk68U6pcTaZFSs6Ok9ustLwwY7tSfPMGsfthXQh-M6UCsxp4rqTStwVQgd8DclxzX1YMFJAS6U4KE64yJFdsVVjrTp8hx0U2k038XakZdEdqEkV-3e7UEqZRlkAUgNIwprOm9Q_SPPVSB32OOxkOpb1K_Z_SLo3RiKXJMPubxZ2ppybwvhbCvLbu2DPrxaaI3qi3pXYweBmEHwThz92WFLnJTgRBgDirQTyTRbbVpwAH2ft-6k1fyMn04xY5ThG5Bl8TRGzaA4EcoDwpXercT3knBPcD8cViJ8hhLHI13WV9W3ufDj90Qkuwc-3cYAhkfXslzmOiPHrssKV1ua2UUk4UcZlf2AnlyUa4eVy8DYgW1eH_4AaBHMHt-QE-BADHJwqhTZ7eSLS7itxgtZLdbPGSfe6gLZELvicaTpn4YIcpARHLMbeLmy1gAu5Q6ochBsZ32zwn79NyLa-q5Vq1P73TUpiZSwLmlhmmKwxKY63U57qHmykqELn9Q7VNvzNiMmZC8C6C7iOQhj1L7ySvsP1QcAEcH2UQcgnlN7djj166HbkcOdGceGxFGPVxBiZWasxLBIqZtVgwx1BNDK0zBXERrjqBRsQXcTdceLcbw23zY4YLWnkPm6JtCPHTpC_2kLAoQztrEUYKJybqTA4Z1GtvePeGgiQWLVQYLjmGtSSfrPZyq1KG8H051nbrFDVafAipFfc-mdD83xhWpRaxrdpZUEY6uxitDdoabEwi6nHZ56ck4RjhYRlniUo4-Jzh3iNA5XebsEL-HkpLATYXog-DGM0LCjHN6MyF1eNCM1rpkUH9maqU6Cj_wtEZcU_e4AiuH5wG_sUBc6bhgljXaOmP5FDYzFITmuOZpYu4j2UK7ezon8gK85zF_tPXNyN35ZOSbpFOe7u1SAsTw1qSydB38OkwXqW8AzozHMFKY3xgNyrBqtj8JSW2ry0v-4zyTw_ooZ2jImfsPI9FtrDQ7lXfrTjhsvgWpoxMGRRUrOOuTU-4hLmiHXS_nKv6s1BsoiOJhnDblxL4nwYYq9aSDXCMohYyShtvPNWsj1dSLVuGAn66HpgsAGzjCAuLT0COMWiNLFmNy1j-Y4rHTQQc7d2SlCgP_yXRJ26L4qc5cTS8DnYWWEpyGI7Znx1qj23a0p_osm_VP0BvHXDd6owks36Kcm8KbLDdAvZyJBvd-bAnGI1TzmFPyvbKNIFQL_ysOMGulyoQX3rfDWHNACeMWG1nisvn9moqMAYRH7PGiEoRjibT60G1sZC2eIG8TVTgONC03QnXJkmDKny9DH8spanj9qdu8y9WTljFm696JJobnVxX317dss0g-lAPGd3dxOb68zfaWgafGUqyEmmTM-XMuZ23azUPt79cCKhT_FHB0yJg9aVBX_2xY3euCcs3J-unm6XcO-4QjWSBNW1dXZhFTU0CV2BImLVjyGos8Ljsag11wMvJC5V8Qm6reug==",
  "id": "rs_09f2c132a2135c8c016ab4348cb67487d080035fd37c131f40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.22,\"right_z\":0.15,\"right_yaw\":0.7},\"note\":\"The pen lies diagonally near the table center-right and its separate cap is to the left. I’ll bring the right gripper above the pen’s lower-right portion and angle its jaws for a crosswise grasp.\"}",
  "call_id": "call_rHRm44VTUjw16uDhkYWPqJ0t",
  "id": "fc_09f2c132a2135c8c016ab4348eb60487d0a2c5ce4afa996f9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rHRm44VTUjw16uDhkYWPqJ0t",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3878, 1.5509, 0.9047, -0.0017, -0.2356, -0.1555, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3899 right_y=0.2076 right_z=0.1305 right_yaw=0.6639 right_pitch=-0.0692 right_roll=0.0152 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.7299, 7.0222, 1.7411, -0.0757, -0.0708, -0.0122, 0.3487, -7.2137, 8.7726, 2.0, -0.2466, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6fd17c486cdeb31447380711330038f9fc3bf018ce81c503063c59c03e160c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11caa7acae027160089a9bec3bd1df5b335035be4c258ca7228b0fc2f7db6582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5205dc2a9c5b0dcd094f06d21c50dbedd7be5db3681228fe9510162e26901d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.271 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3805, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6098, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.7363, -0.0757, 0.0952, -0.0366, -0.7453, -1.2103, 9.7299, 1.7705, -0.0562, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3878, 1.5509, 0.9047, -0.0017, -0.2356, -0.1555, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3899 right_y=0.2076 right_z=0.1305 right_yaw=0.6639 right_pitch=-0.0692 right_roll=0.0152 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.7299, 7.0222, 1.7411, -0.0757, -0.0708, -0.0122, 0.3487, -7.2137, 8.7726, 2.0, -0.2466, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6fd17c486cdeb31447380711330038f9fc3bf018ce81c503063c59c03e160c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11caa7acae027160089a9bec3bd1df5b335035be4c258ca7228b0fc2f7db6582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5205dc2a9c5b0dcd094f06d21c50dbedd7be5db3681228fe9510162e26901d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSX70IvKGOLREFzk07wZwuL5t216cHxnYWdxAUyt9MlhpgqmRQzy1PINAg1yovqiYlr_DIgxwsGQGdW5USCtlrJsgTobdKGdpUb2PsXx2_1f-DS-1i1Us-SljPpg50s4xD-sMNxErt9RuLDom6vHaq3238560nqfftW8MdXVtZMqEIj3J5YA4KzHXanVHiGprUN3u6krHyf-YvBzxDNYjiuW64clRdTjIRrGQMrj5om0_AxvyE-1PzzVjWOHn3H8Llro13kFi_tZpBzEY_cOhfc9N5YRHjLSIA9t_AHJdIyZJU4WKMJjLHzlviiEUZJbdZ3r1YFMmK048PeDvcqrz-VNc8pzLmTj_1D2SmKc4UNimrSYMEaxiDjN9eWdoM4xK60FaYusSoyk1A-7dn2oWQAhc3VurKJnJxrFlCuVzRJMNrabZLQ3278cmZCJwGnFLsT9UNyqk6WM2nQwciVWK77uMPcYlavYfyCQe4fb6ixaUVqJV0xaZwVJbBQZJxArxiQL6MrptfxdFCSw_7YZxGTT7VL3ucLAmPH8nji7spdN0iGGpy2_jYzqe4EuDCtxiptLDLvMrDFk62jvfpE1O7w1iV3Imnk9SyZs6May_drZWlHMGxh4RaKXMBs7doOev8JTVOLEv78-hmwDfxZZodOFaPThjaFiPD0XsfJPjTYL21qsvW9i3ZvA41GsVSN9bxxFedWLlCQZKUnDOh5wjccHEapiK8EuIwQoeIAg6HFe07OrEyM1myWV4no-brjj3J4zIHHz9rH9LB_w0MYQ2lFvMfTBN-By8PqHL8V4TdysmPr2kwQaI1tIs8cJ5faBvRmkL1sSki_lXCIToinpE0-KwFy0gWAEworU5v4gtdI0P0LXVPt5N48zzDOQ0twfSdQS8Yz5_R5VMhVYkhZWMwyE5iSWzXx7qSwY0n203p1eaUfU-Z7Q2Q0wzUa-eRzKRnHpNQMf09IN3ui8I2xIGNpLfAAK9KY3sya_dfWYCtPvXXUCsP3B2TxLSaiTtJwFfoD44Rms8gce7_E6hp3tU9sBnSxLbxpPVeVKOGhosPom89saEosIBEBM4XZIwq7NS5s6rRRr8Jq8jtkn3t2nG6-JK5kbPuqK0iKj5jVQv0tLlSBaVD0s8j5Of9jHs8uRdyax9SVkZ_L4AshO_RyF-LnAvAuh7M9tpYyLYkn5bsoyXDcUJyNmwArtJBHLCVaLSz6FIonlMVnDYPf5GjekeQBlKpzFl6fdleLYLVxQjFZF5XQo5C2yXID426zbbNm-MrkaCKWwSUQOF1V1h305miDyPCBMGxuAGGroOkkl0GzkaDXQrthxgOEaWdX-VQRBMFULS4tuBMyA8Ut-8Zd9fRIXZNef9VFtjuZkvRFH6s6kXE0nj5piwPHwO2Rw7o3UvdQj3WLZYOH5HVFX5y7-zSwynvnvaTKQfWl4pTCkHwbn54jDoJPXiEXitigaeVsfKKnFzlGO4JwXoEKHir46EN0nG8SYiISX5LJUPzYgkU9sOsQbQh4A7y7CQdsI1EiC3t7GtMDQvbATifAdiKHtwFvXcKKfbF7XgdwiabJZpe-_FJmRSiU2nXE9CybdhbkE-fvQ5IBpAxg9qBzGIAskRKQ7jr_FY5FDlLNjCXxmMi9dwjH2JBg91pMGy79yv5_nT9Of9tok7gYqPpePwWRLWpTxgoyyHk38BrliA1nvJjAqJnOgDn_IftK3hdz56rgba_jc6IXp54sbrQe96uLyC0OWvgOC-Yxy3b_R1jU3OmLa9dPeVKTjZzMFpPGPTrHkKoVbcsGNrDItABJ8RlVvezP_9f377yjrBYLVxYSARaUw1UiMX12Mq4y_t7kDYHsmbzYRMswswVvV3VtTdf35NqpWu69fcobTZPrHFNI7wW7LGemKh2fzVvZCnA7hhAAyVmYFSclA4Jt6HMZGig2YUWzxKIlvovVuvTprcSayNT2exe-vp_FLZnPueAonW1X8ZfW96PnGpNXOkja3gKhkl0262zhUueGdA91iT1sbSgIursnfacY5pKFRfPBibM09HXn-9HbnPP6f5mYLZIbQljirJWYTryHkLplRDZbLtI2HrSr8vL2lmQcwuwCI_V-6uzndr17jBfdi4MTpvXu6FQb7RWVgK3Od2GM9YSfZHi_FPD0NYrzo0SibXI4btRAJ1_mqTi-xYdJk2j8V9LMFeZA-RcsHKFUVrW3tKEH1lSBMArp1h4-F2AbWpQYFgd3X8VbGn8cFeuQ92TKrISzz1UKmn22Hn__MJ2XMDdpw5C3ExLKwhLWrvLrzQH9DCb51bpO5gkXJIlsLOAehsl3BcVJDh_8Ar4Pe9s7pRJlJDbrelCxp2Zb59_fF6FWTwV5IfSHVaNMHfreRM7X-0Ouxz3hMUOnAYyz3SpABUVvRXBYcCGlLXHD1yW9Q2FQy6JdR-e4mYSyGmd1BWqlt13bETLTfIt_h0AhL1iYlk_5VOuSjLzzSj6eyXI0Qbynl_7-MCr6uzPcxQf7v7NlNxPStG5I69F_RB9oPZyFJD5Fvxa-9AtZ4Wr6cBoTAaTUIJe9ro6Fmwmrl_qbInO6kPZdtl-5V9s_nlASWOHk8PXPiX3t92nPx6du_LAeAIJB2W6sFpHAY9V2Rv8pz7xm69sCoE7z5Ew2NX268MkZAFzew4GAxlS-tlAgGxlO89aYB4XxYErkOS8lIh-azU4n_1q4etee0F3mD-zyN81U3_BvxnfNwy3NqcWUV_kj3WqE0kCXWHxYoVjS8540_i0hlKrOOs8bm1Z_eLmAd9wZ2OSuGgVY7DPPhqxS2dF3x51W0Ff__Oe2NlSR3HPrZ2YX8XfmlPPcDdpxZ6-fti5slP8uIEG2vRk2vcS9VyZQ0c4cphu8XKRPAamU60zX_8DR_FSZ2HlkeoDFNDTrJ9oDBJqdKyI061FGJNUHSxVMVtmoE7qslrq5DDXeu1LupNHUThVliCHRtfLjKfvBkiOZbbqE2agUnkWTta8rhUb4wLLSE5zzmdAuYRS6Nv_LFl1X7QaxkgrEBg==",
  "id": "rs_09f2c132a2135c8c016ab4349358ec87d0839586063134e5e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_z\":0.07},\"note\":\"The pen is just right of the jaw center in the right wrist view, with part of it near the fingertip row. I’ll shift the gripper slightly right and lower it partway before checking alignment again.\"}",
  "call_id": "call_OdSUGrrRkcPll3I9dGtSkax7",
  "id": "fc_09f2c132a2135c8c016ab43496e6c887d09e52bf08924b1a7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OdSUGrrRkcPll3I9dGtSkax7",
  "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]: [-0.02, 0.7998, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.3237, 1.6485, 0.7456, 0.1673, -0.2714, -0.1852, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3797 right_y=0.1811 right_z=0.0589 right_yaw=0.6485 right_pitch=-0.1457 right_roll=0.0397 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.7021, -0.0708, -0.0855, -0.0171, -0.294, -7.5145, 6.8308, 2.1172, -0.3346, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7eaa86d087b795725f7d583d7765f8e6d3e04f55f49b811c50ba20d637cef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5aa0c8aa0fc09b722989a130a0dc17f267a5035942d4aa784a635eb9e489fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6f5bbaec8ff740467b27520a20d823d097faa2f870b591e33eec0341f0ec0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.026 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3878, 1.5509, 0.9047, -0.0017, -0.2356, -0.1555, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3899 right_y=0.2076 right_z=0.1305 right_yaw=0.6639 right_pitch=-0.0692 right_roll=0.0152 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.7299, 7.0222, 1.7411, -0.0757, -0.0708, -0.0122, 0.3487, -7.2137, 8.7726, 2.0, -0.2466, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7998, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.3237, 1.6485, 0.7456, 0.1673, -0.2714, -0.1852, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3797 right_y=0.1811 right_z=0.0589 right_yaw=0.6485 right_pitch=-0.1457 right_roll=0.0397 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.7021, -0.0708, -0.0855, -0.0171, -0.294, -7.5145, 6.8308, 2.1172, -0.3346, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7eaa86d087b795725f7d583d7765f8e6d3e04f55f49b811c50ba20d637cef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5aa0c8aa0fc09b722989a130a0dc17f267a5035942d4aa784a635eb9e489fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6f5bbaec8ff740467b27520a20d823d097faa2f870b591e33eec0341f0ec0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSdMv2DsW4nCAHWNjodiyC2olUlRynwyk3mjtKtD0ttULUqFe5eWThkv2kN9EqPfXKQ972d6mcUi_ickmCsiZ29dBVKAUC0t35rcLJnqH9F5w_qdMhusXKxR-Y2UswUss6SzQiJ7LODkddD64x1WBbEov3BDnQvMG2zBQ0aBszcayJLkEcaJqShzVgYMzrztYYcxe1sk0_9-H9niPkNYaJ9EZlbVZW1D79hkqXNgdSQcmi9YIh7Lljz6DPmgzl-WofsbBGEEDx51sfLMB8uAkzdwt9WPNYOyxasXf9P9db0TdCIqggFyKc08lA0ZqiUFEJnMdVfU9YrFTPpMmJ8m_Rn8xt5wXzGYsPiHYLLKXIURbtiHMZxxwFN4uBWa0pXmtIVFsXJNbrdXqqgxaDkMtjDmYeC_jGBaM40sQCGR976H0iNIOi5krUuiqlGyq82oIRQEpiuBkiJtRwpWx3C3GPP6kPYw_TO85mRaC8kmM-IMqkfaVnMAV4MEGk5QxwjHyIbdopDra1YDCj2NGtl5LZeS8vvBW3DAH1cG_qw-jo7e_vP-nUekPxWRueJmW8T3cZaPvOwkzVO4Mcf61FldGB9uBms1ALKuQD8xY1WWUHFUFeD0splptOwtFQqT8oREoSzDQalfgqPp2zNMqdXRQ92D79QpdePCcxbhsjHK1T-lPnWfDXt1y0DduFMwCqqbXGuUMHNHEHox9KijpUkE2ckOjq6Rd4Kq9kknuHM5PdoP4rbNMR3o3xILdXPEJSulsTNEbZdBDbgNTqSvexNUKiDlUOlzKOZLb9JwQDoZnJEPjjpaNQEpgOl0vYDZHR0zJJl4I0otHxvYBgHh2aOIkgqSDZJlDSPZYT1bVfRVMcI6KWxYeTKFusDEdbv09LRSLUhbL2oxSxZFxdBX0u8uU_i0K5_LFCPBemo6zjIQi3moydAqijY4PeTfmoFyiA4w-0m4GPSYScxAgh7G0kfRTI3COYo6_eJnuWukksHy_lTaqVTF-es1g2TWeYa-0Piv0tun-iKBXPvdM8PGXSVjso502VpoTJkNIgzocUwnfnBv9IeOKYxklRhC5nzcmvGRwR20VtxO3W9CnbmOLYU0ybpr2w69xEWU7d7OD-oNOBcMaG9r2j_xZb6IP83-tCJS_fwP1jhtiqlCVrxMK-8ZNJLpmMB1j6fCjVMYnzL2_7TIOGbApB2O9PNkt6uAKZyBp8G0RAowrSP_nur2dhb9jct25l5OiwHm0di0pKIp6jjbYn-XRfOo3HPbB_qhPuhaszNbYGoRn6sWQRyCtiRseS0fsfV6eh9LYykG34TS4PC2rfodmejrECM4-mhMTvwkheictoTdHuX9Zm1j9SyQ9EqW0N0uGA4jf25Ofm7nFgZ3wojEke2KEvDrcZz0JuHJOwfX_sNqAk0KpTNmA5uvfXoYzOx_9xdxKxaQZwlBNw6E8C5U6r3M2e-wWnRiAl7iYtmfZJbtYGZKhh52_EV_897ZZZW06bCM_-SozMnVo_m0hxOHN841E4QQdyJeJryJ9d-ujNJ5mmTQ4OZqDgqDhpldvHGX_lru431U6czY5xd7jHzrIu4epXwYDHRfffO_fEXfyv-CxQjsHVEjp8-pI2vLAgdU5ihZBRHER041ed7nleazcEabzY_yLAObRMwXTzJmY39TAklpe1NZmNYHy5cL8ViWuKMerrc5ZRqM_lcKVAB77iH5g4S_02GmFMltCp4RF1QE_dxCeq8AoAKF2oqyMpnzfFUHtN797Gjil_YRlWN3Uc2l1qtDe-zk8i3MZ7kJVexq_aD-pnT7Lp3h0lbB5C1RTTqwhrFdtBhP30tLUo3FRXLZO3EJHo839eg_j5qWTd8QAZXwxETnIcT1Ay3z9sO8eNUaAzQZ9YF0pdgH494leCCYroZwdFnq1K_4SGJ5-SHWNqzo04qmm0cS18YCii9uLZgzcmicsTl-QIZfgDxitTfZj53hh4yZL16-fIIVooI_VgtXXrhtzEC5OTzr3nzJlQMtwk1v6_RkQarMYHaq4I4mlJ7cBjsv8wnwTDesB_7Zm_o27PoEv6zuE2OGD4vGLMU2tlVBOj4liTDw1SxY9Db3RMBgzR1rWxEV6yh5_ZSELgi_qT88zjXIpppeqwhSXbECvgqGiJSUQG4nNcKrXf_wmU8JGpSYpYhcejmjB2jCRAu9rS8-nY5ax3xuSvzo44Lfq6ATeqZ1gClhN3Cfpkz4-PUSJr8bolt7in1Jffe3TEgSeMyn0k2_CuN0mfKdcl6K8-J29wZStRtwqUftGv_EKEKooDpFq9ZH961VWBqsVbtJbdMzjitiXsuC0_C5rqqdjM9AdfXo_YL6fdLby6RekunBqKuBickDXqllR4gYDmxPFncgJxIgC8eoyh86hC-OHYeMqCRMq6NjfKzkeieqwxpmO1oxZnMO5RHjEhHxGfpW7w48iHzYB4lNeQuRpKy7988274FSU9AAZ8JSqSt5naoRodqZ3mqFCBDMaqbjHc1fIQ5JnFpuuYtQpbhR_Es2THtgb5rUyES2pfL7GuBiiMvUUkxnkMj4CZcpSFCa7UsKyyTyo7oEOxco1BQ8AIjombB8FUTwd6YA6lRRkVhzdY2-jrk4_IZI6osqQ3nld3sADIzujuT4uHALUGyhTltPqD76FwR0WIJNkIhJhfp7JRWOI9HOGJPggo-ydNxJkQsXX8_K95nJ4qENbdJbVDk9D73RLEuW1sHYAtBNJpJFac2j9YbiC8-SKxgQ_71oeyAuagRAsdjz76fXJgqlUdXmZcwL1pX56IoNQ8=",
  "id": "rs_09f2c132a2135c8c016ab4349912bc87d08b9d6e963943c056",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.145,\"right_z\":0.025},\"note\":\"The pen still appears to the right of the right gripper’s centerline as the jaws approach table height. I’ll make another small sideways correction and lower to just above the tabletop.\"}",
  "call_id": "call_AFHUFXUopAS32DIwa4WgwlNp",
  "id": "fc_09f2c132a2135c8c016ab4349c8ebc87d0aaeec46d7569c30b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AFHUFXUopAS32DIwa4WgwlNp",
  "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]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.207, 1.739, 0.7025, 0.2493, -0.3347, -0.2485, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3865 right_y=0.1441 right_z=0.0243 right_yaw=0.6212 right_pitch=-0.1761 right_roll=0.0516 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 7.2821, 1.7167, -0.0659, -0.0611, -0.0122, -0.3214, -7.1179, 5.2308, 1.9756, -0.3004, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418e58b64a3043933ca12e010f63419a9aaf8b02c022ea4f3de911b2301007a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5316ef1f2c7ecc7d36b32f1a281c985ad60aeeef20136ac92abdf3a458cae48e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f58806c92f5bc1523ee7c43c5f9358cb15e3ba2b0fe8dee2549a0e8c07be80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 1.947 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3805, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6098, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.7363, -0.0757, 0.0952, -0.0366, -0.7453, -1.2103, 9.7299, 1.7705, -0.0562, -0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7998, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.3237, 1.6485, 0.7456, 0.1673, -0.2714, -0.1852, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3797 right_y=0.1811 right_z=0.0589 right_yaw=0.6485 right_pitch=-0.1457 right_roll=0.0397 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.7021, -0.0708, -0.0855, -0.0171, -0.294, -7.5145, 6.8308, 2.1172, -0.3346, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.207, 1.739, 0.7025, 0.2493, -0.3347, -0.2485, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3865 right_y=0.1441 right_z=0.0243 right_yaw=0.6212 right_pitch=-0.1761 right_roll=0.0516 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 7.2821, 1.7167, -0.0659, -0.0611, -0.0122, -0.3214, -7.1179, 5.2308, 1.9756, -0.3004, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418e58b64a3043933ca12e010f63419a9aaf8b02c022ea4f3de911b2301007a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5316ef1f2c7ecc7d36b32f1a281c985ad60aeeef20136ac92abdf3a458cae48e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f58806c92f5bc1523ee7c43c5f9358cb15e3ba2b0fe8dee2549a0e8c07be80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSg7UpQKsIbSopEj9k9H0ns5y7PeTgN1esm1Rx8Wb77fJDLvI3OdVvcgEY3_OOzkmfFOEMoLOHMz32gtxRqPXiOz6csbAF0kS5LiPOglZ-t6CjbBkMC697hXpvo6pdPP1B7e_NtISagzj0eB8bEUTSKBHSFFtcjTp4xyyhYzvxpKXtdiRPfCw_sRw7WEdfIZArg0i9NMbVJDMT_f-TuVYJeNNtQj3cA1RhEseDW8Qr2bLGshza6hpygEZpIbSo4A1HODCbBrvWPXAz8o9vwrfpkhwezfdcYVVXBZQJGkjbYo9uJtG7BWKrvdII2sSYolGunOnmf0MPTNGUdFiPxTvhuifSJzRLKwHGsTPu-FG5DZnHIkU9wb2OXLvSRaFlsC6p_ECjrK3XMt75BtgYCVrvtkj3zDgvoYKqu67YVj7RU-gGP10SkAprqSCvleGXtsCaQ0Mq_K__bQGiFsRx7CuSnpb8rkLw-SXq-N-s25O_iy1BTAS2pasTnzKveXE-iOX360btTfmI_ml-LNwlOMReSZh2Kczn7WdgIQly43JUJaJiCSJs4ucmXs8d1YlnRzqzu3eL3qxI1-x8pLbSLNuZMysjlqG7qrAWy15Ekq4Lt7frREsuviGS04QnHBlKvC8h23b8iIbVa3iiZVEokmkplOLuoQITAj_mGmCJDUttNUYycUHDCos55UQKHrnRNmDsqYBKZlATpDIxc8camHfAHzEE0rQVYLfNoRMdPpI2NELF4URktpITbRxieq-XOiyB6WoayPoZ57zACeNnk7IiDBY4OTnRHTD6S-5A2J9j3FLeaocgjWVJ6gXtwKCrvD2oS2s94CtIXHr1U6w940q13A8iXE92qvRecnw-dFlyFO6ybdb196V5jlDbKcuUdomu0WmyusY8cRmalbv527KTj3HCCfFz_cjBByYNr1vMYndPVCA0e93e6z9uasmAejtWfj-8aFrSPzbwSbrp0TMhozQTVlQSw7xrWc0XlnwBZDTh146xN1CtF92usHRL-5nSh3VpVIx8TnMBsTOW4djwcleFOJRNfPCtEmt5STxHMkflMKfPzEeHtYlrQQIM-Tbjpu1G6_Umh_sAWvS9z2qGlOzQZo2qWlNNMnpOuQkIXNIEj9AEvOM85gPh1t7lS-7yh5irNHOXfgZ7k_w5mYiyfW_KnEaFhkkoT7MQ1Uz4oLqh7TVQCgwyV8lRaRvfNPoCCjxj3jWXH7ytc621ub3EmNIF5bOLorTvQ8Fn1mTmSlJe5X_wbwsELQi43HCL7CcmJzAKKiboKg_D2brp6LOdudsogOUNIIk8y7E7QzkRNr-nAiJGT4-keDyOPr7rbdfg35IiCGvA1XvD9Y1LPJDXCopVXK7Gp4uU4Fzob_Qpiz9HQN2Hh7Z11CXJ4KdvAOyWongeqPxZiIPOCFE3kViZpMraAeFBLhiHb9Xn3BgXwiEyhimX3XUZ4qA-6dDnWtqB6SqcZB_Ya4kjjbohZOjq3JDiVkcdYt0otMTSey0XZ4xey7JbHvab0qC2RqV9AJelREQgG8wZPw7Y2G5Y9IdmBpbEPb9r0OSuMk9Gvnl8UfGBTM6HPtaZQkojEG97yBiTMbXjGLD6jiVzf35-j36tXhptQw4AiJOMQK31JBpL0jtyCGrcmWm3R7IgBvUySyFpVWupD0pnm8ZR9Va_KGPDOag==",
  "id": "rs_09f2c132a2135c8c016ab4349e9c2487d0934a85baf4f38fec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.006},\"note\":\"The pen now runs through the center of the open right jaws in the wrist view. I’ll lower to tabletop level so the fingers surround the thin barrel before closing.\"}",
  "call_id": "call_A2M2EvL4xgj4tnvnDKkRn689",
  "id": "fc_09f2c132a2135c8c016ab4349fe94087d0b8dd5e6b2c8cdd35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A2M2EvL4xgj4tnvnDKkRn689",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.1989, 1.8042, 0.688, 0.337, -0.3462, -0.2634, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3901 right_y=0.1434 right_z=0.0092 right_yaw=0.63 right_pitch=-0.165 right_roll=0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3744, 7.241, 1.7118, -0.0366, -0.0611, -0.0171, 0.8821, -6.7897, 3.6034, 1.453, -0.1734, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d84282320e3ef7368788e6aba7f373bc6d4039764f7e4a4e8dd738df260ecb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95b6086b710a26d253db83c8ba4c39dd50db8779489b36390553cc272ed494b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4640ab7079fbd308b0fb39b2f3b5949847bd736b22f457700e08f1673ad43de7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.685 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3878, 1.5509, 0.9047, -0.0017, -0.2356, -0.1555, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3899 right_y=0.2076 right_z=0.1305 right_yaw=0.6639 right_pitch=-0.0692 right_roll=0.0152 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.7299, 7.0222, 1.7411, -0.0757, -0.0708, -0.0122, 0.3487, -7.2137, 8.7726, 2.0, -0.2466, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.207, 1.739, 0.7025, 0.2493, -0.3347, -0.2485, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3865 right_y=0.1441 right_z=0.0243 right_yaw=0.6212 right_pitch=-0.1761 right_roll=0.0516 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 7.2821, 1.7167, -0.0659, -0.0611, -0.0122, -0.3214, -7.1179, 5.2308, 1.9756, -0.3004, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.1989, 1.8042, 0.688, 0.337, -0.3462, -0.2634, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3901 right_y=0.1434 right_z=0.0092 right_yaw=0.63 right_pitch=-0.165 right_roll=0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3744, 7.241, 1.7118, -0.0366, -0.0611, -0.0171, 0.8821, -6.7897, 3.6034, 1.453, -0.1734, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d84282320e3ef7368788e6aba7f373bc6d4039764f7e4a4e8dd738df260ecb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95b6086b710a26d253db83c8ba4c39dd50db8779489b36390553cc272ed494b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4640ab7079fbd308b0fb39b2f3b5949847bd736b22f457700e08f1673ad43de7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSiapy_rQKx_zd0cQ6TbvG0bac5N-r-H67HZuatxByry2tHyL1CZMBRzJyJA8jR50SRR0o6iz85mU9PylSuKqTKPy-eUHmB4SBw_3I9rtJ1sUxAbyvxXPXW6afHxTSo9yS8esMLeFPqaLVs-LphtdOMiG5EpYpMK4pB451jsy2Qc3YERuzb9K2VsDeThD625t-9ECk8JNmq8U0lpUUFTjKBwpCkvOnUTr6ZFN7YTK37R8JyRefcc_i-pg_v0cpKW6VFrZ0MxA9FxLm5T9AmqcXsWSwlEg_urDSjay_lQ487GYF5K57r38NIgg9nidzubKiEM71ZiVqs-uEqhbTpUegJ6a6lbGL0Mby7dTBXmMT_aVWfgT6IZRaxNWH2TRhh91xbo2nNQk74NJ69RRXkiz6nOJO_TO0UkE3BKSW4Ix_-3weuPrDrxg6tY3EAgx4xhkXQjZ-s8gCwqfyAEo5gW-HxYFyxgZe3IR_4YrFlUle3I86m07c2eJyCSwYt_qP1wl2omQJG1AmrV4xfoqcaFYHK5ky3HeF-cOEYL2FUIQQDdgKcN3LYgHoLh3EqN3jVysQ8_vg8gfa682b-BCjtM41opShahnlI7x6hs6lyGyhzf-0OU8p1CLF97CV7jllu63fT8cIGwqzvKq_2SnVdUzrvZghGsg_ZJMXgyIecccdmkKVTH5QaIXNwDkvX2ljUJ74Wr_C5-iQAcjQQc9seS9OZZqlumUNYW42AjnmfBDYR57dQwMDhmGeww_vxgxaG2KPuBGOokRP2ZJIV416vvG4ORve3mBipdemWtrpIOSMcti69_kOKiptaLKmE3e8ysZXzuuuxrnicxlX-11XAQpvRy9m42PoNwJCnT69vC0VPR8qL7NhMCqiYB5XHFincuTymf6gBipLL4Ibyy5OREGL1UFHCSfjGJjZzs4EQNF2FINVCuaaIKl7eqbcnl8MA70mcK2gYiJUaznddc9ayGIzNjkLXY8yfRpSTwYzpdt8JALz_-pdXqXWniMlLlnT8sKn-0QYJ-S989z8DL1g9yxwcLZDPin1XRWVvq2uVGS2jTvbjleBqaAeffrWgqOnkdxpRuHHB6jp-561IIO8Y1MGMJmckR0PBca_SQkfWPBO40T9XlqE33bRX459wSMzHTpiBWC1XEe3PM-GLnv5eVarv2tJdsvpXC8PkrgGP6-TQdYqm16eY8yIyY_Cn1acuEf4wYkd7SbPsB9tiUV1EKKhqPXE5bedWIEuBViDmQMYxfG0=",
  "id": "rs_09f2c132a2135c8c016ab434a1cd7c87d09b1b7eaff2efb030",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is centered between the right fingers at table height, and the descent has nearly stopped at contact. I’ll close the right gripper around its barrel.\"}",
  "call_id": "call_OP9STkSYAKxPqYWHRCGWN9v3",
  "id": "fc_09f2c132a2135c8c016ab434a1f9f887d0934acb481f0a2134",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OP9STkSYAKxPqYWHRCGWN9v3",
  "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, -0.0254, 0.9998, 0.1986, 1.8183, 0.6769, 0.3511, -0.3454, -0.2665, 0.0451]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3871 right_y=0.1426 right_z=0.0024 right_yaw=0.6314 right_pitch=-0.1752 right_roll=0.0463 right_gripper=0.0451\nstate[joint_eff]: [-0.2393, -1.6068, 7.0769, 1.7363, -0.0855, -0.0757, -0.0122, -0.2667, -8.9368, 5.7231, 1.3651, -0.105, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ed89e42b44ec2d89288a841e67971976faf550dbe7b348272fa5b1566382dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04110da9b268a5aefd33145dad0053e6606f86673827fd7531b0c9537020fe68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7a60e1f89ad06167605a1a6bad2e017c14f7bc4121d4e72e3fb5d2cc56ee4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 5.807 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7998, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.3237, 1.6485, 0.7456, 0.1673, -0.2714, -0.1852, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3797 right_y=0.1811 right_z=0.0589 right_yaw=0.6485 right_pitch=-0.1457 right_roll=0.0397 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.7021, -0.0708, -0.0855, -0.0171, -0.294, -7.5145, 6.8308, 2.1172, -0.3346, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.1989, 1.8042, 0.688, 0.337, -0.3462, -0.2634, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3901 right_y=0.1434 right_z=0.0092 right_yaw=0.63 right_pitch=-0.165 right_roll=0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3744, 7.241, 1.7118, -0.0366, -0.0611, -0.0171, 0.8821, -6.7897, 3.6034, 1.453, -0.1734, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.1986, 1.8183, 0.6769, 0.3511, -0.3454, -0.2665, 0.0451]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3871 right_y=0.1426 right_z=0.0024 right_yaw=0.6314 right_pitch=-0.1752 right_roll=0.0463 right_gripper=0.0451\nstate[joint_eff]: [-0.2393, -1.6068, 7.0769, 1.7363, -0.0855, -0.0757, -0.0122, -0.2667, -8.9368, 5.7231, 1.3651, -0.105, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ed89e42b44ec2d89288a841e67971976faf550dbe7b348272fa5b1566382dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04110da9b268a5aefd33145dad0053e6606f86673827fd7531b0c9537020fe68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7a60e1f89ad06167605a1a6bad2e017c14f7bc4121d4e72e3fb5d2cc56ee4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSmd-lJfczjG1Vij1XVEqFz6fG39d5X4cRlWB6Xmeq_5eNZGubeIGTsBodfdXa3XeqoDII7SngbefFaGoIfDA6KNvP6GaKMOJCYLvz_oSm6nBHdl-_aHLjyfyjjMcj8gDvYZ7tAvK6yIN6NYSDXNzOUqMVZnP-br3jL8XKNFbQtIYu9LK4jPvKb2tQJgnmG9aPy8ZyaAaugJG3C8mznv3__eNxb_ACZKY0bXNPImMHP2aXXue5MZkFa3TmXWU0x6-Qsq9cU2-8-WQHxkcE82Hka1JVATMWVD4E6bNuZzXBRHCRYpArjH4Szv2fg7z6yj6v_IlzU6TVhhjfYV5JhP9MC_DcXBjzb79J1E6YGXQ0XBniEIoMRxR7mE2rw4lShiVvc_nlNymmF7Am83z_ep8WRC8nAzz_B67Y8Pzq4P1iFYPB1tsEB5ArWGg8-M__PT-DmG3ETzR0e3YYycwZOqZRnM2XmlgkoqdMVUqOuNOvUSl61YTQA595WOateJSU54t1tp89ewvTRR2sDRH3hWMSDY4se0Yipv-Ft_Vb_k3iMwhX8SALNw8rcFXA_p8e22BXzxdCTi8Q3yF9vx_DxK2P5HJu8JtfmNS86EKY38uCIr44AKYuB2lJyJ1Vt-rfkZdnxTFABUMFNMYa8kdhxvOS5D9m1Jp14DHaqoiikGmo7JBkZjmTiy9WoCW9_LCX4BPN1eQvCbRCGkQy763q1m6b6pTjDuGqiRtCoaxDM2lP18pMbOHqaZPjD6o943pm2EYhSz03rxPWQh-PoaLoyhFKGJmoaxZ-KaY3V7v2r3eGAXi8OoaTeHct2dam8PSOXv6PiRcaj2bmFGoq_9_QJQ1TZ3Z-M4oXMDBeuH-AS0sxasASiLkMyMxKxZ5MU5tbDrLJP8us-8r7pw9gXbvE4UfRd_c6nP5XkOPbkROsJK8RgpAWnoVF-LEdBNMaSGdDE0TY2m6E-9zPZHz4OaxBxV73SWAkZpNWKwerAlKAaj7fhzl0MiTKbPdhYZRJLx72be0bxKUKxpch88tH4DvHLdzOHz3Ihv3katAiEvRXzuCwFAq0F3Gjn1ZsmdaOlQht4xiFH0peMr6Hpwii3TXrDzt4XUGUrCCLl90EYJbmxOLkLHte2iJf_ytxyNoQEYOPBiYZjs7ffRS1mprj-_1LRjK-hvr68jHDvaQsIpeV0ecw08epgog_r_038a4j0va_lNuDegVvvcI7cNLMcXL_QHA1JUrkAz7m9U19WaRcVue36wmc9B7hXhN8XnVfq9mN-b7oOcNdU93ndTRE4TJjy6tettV0KV2j6aKmsxq4xFVC0sdikNMwtNsA9Qii0U9KHq-KbIn1gh0Gr4mC2EjIaMMO_OssgTKPpBRMHF7vuJSSYhS31tT5BE0ExBPBl2Fe_zVQIj1SmWL9WryOfvYVMPhAErQG6i1RDM_-LpNgCfGsQLxV-yTVQ2tiITk7ZCl2OEiCBxUPRs0ScbUzC3muryqEdh0GF7ROJbTALwnEktw_or6vViRxvymQn2nq3D5xaL2QTAz9wII1-6fBPYSrgdZzw_Q==",
  "id": "rs_09f2c132a2135c8c016ab434a5124087d0ba19a5de3bcd7867",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper settled around a roughly 4 mm thickness, consistent with the pen rather than an empty close. I’ll lift it clear of the table and check that the pen moves with the gripper.\"}",
  "call_id": "call_SG1nr8BMG3RYXSuo8EyoC5TA",
  "id": "fc_09f2c132a2135c8c016ab434a5d4d087d0bfd2e9002d25aff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SG1nr8BMG3RYXSuo8EyoC5TA",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.1986, 1.4956, 1.0309, -0.3462, -0.3447, -0.2749, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9998 right_x=0.3884 right_y=0.1427 right_z=0.1479 right_yaw=0.6369 right_pitch=-0.1938 right_roll=0.0484 right_gripper=0.0474\nstate[joint_eff]: [-0.2803, -1.4017, 7.2, 1.7314, -0.0366, -0.022, -0.0122, -0.2393, -8.8547, 9.0872, 1.5165, -0.1783, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e048ad4d110835e812ba70b5de5ad8fab1eb8101eb19b9a5b27c4360b5e0e9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad266a8439b195bb9993d3b4d6b40782db2c3b23109ab3d57d653a2956efbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e10f4d6547fcf8ed6487d8a888270a6c4a0ce6e90edeafcca4768cc08269a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.873 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.207, 1.739, 0.7025, 0.2493, -0.3347, -0.2485, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3865 right_y=0.1441 right_z=0.0243 right_yaw=0.6212 right_pitch=-0.1761 right_roll=0.0516 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 7.2821, 1.7167, -0.0659, -0.0611, -0.0122, -0.3214, -7.1179, 5.2308, 1.9756, -0.3004, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.1986, 1.8183, 0.6769, 0.3511, -0.3454, -0.2665, 0.0451]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3871 right_y=0.1426 right_z=0.0024 right_yaw=0.6314 right_pitch=-0.1752 right_roll=0.0463 right_gripper=0.0451\nstate[joint_eff]: [-0.2393, -1.6068, 7.0769, 1.7363, -0.0855, -0.0757, -0.0122, -0.2667, -8.9368, 5.7231, 1.3651, -0.105, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.1986, 1.4956, 1.0309, -0.3462, -0.3447, -0.2749, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9998 right_x=0.3884 right_y=0.1427 right_z=0.1479 right_yaw=0.6369 right_pitch=-0.1938 right_roll=0.0484 right_gripper=0.0474\nstate[joint_eff]: [-0.2803, -1.4017, 7.2, 1.7314, -0.0366, -0.022, -0.0122, -0.2393, -8.8547, 9.0872, 1.5165, -0.1783, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e048ad4d110835e812ba70b5de5ad8fab1eb8101eb19b9a5b27c4360b5e0e9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad266a8439b195bb9993d3b4d6b40782db2c3b23109ab3d57d653a2956efbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e10f4d6547fcf8ed6487d8a888270a6c4a0ce6e90edeafcca4768cc08269a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDStO3574Qzt7E9gW-C-AB1PDTx9a1dKMn5j-JolN2luobwZEmDSE5I1-T5Z0iksUou8Vey7eWQQrgvke_waFoYDf1_UflYUTLd0aZG4fqUPRTeNTMMrZdjptCKWm9EI1V1WQ4pBFnWfVH9P0nOV6p0opjuNXxxJg6-khDP2UzRCMZ295vsNVAC7LPu_lvB9Irt0cW0xesiiKew-fsTOhkSRUL7i_U7z8kIKnIaf146L_6p1Kf5cbPF23xhiMq0qD5X6AxRh8KUuvbJ-9aH3pW-mCrXVD0UBgPfkNlyH07Bi5rHCPizQoXCqDbsdV_MaJ-CFWfLCbWQlrVjgCPQgIo9ee5tSSMydu4iZVYrAvvYomTXSdS3X0n7ZLbu-S2s43pBsLRCELKj7jaunTAv_gUO2c7xU4iDUwnAbpPXV_LvOOCvJx5sC78hEdlCaqqMlqi8gX6OMRlccfS-9u3q5PMzWKYrQVDZnbjLcS_yqSKItvdO0mAyr4t62lrq7dQb9IHTQNYRLJ5xDDY5FETZT5H7XfXEHi8FLuTAQXOLdA6lBh5Q7ZOA0FAPNq0axFXdSFWjDL7RzcjlW-G9DEec-ghT4W0IetzSxG7l-NKf7_TrJk3CXm5EN-ZROrtH01JI8uHG_sD0a6j_eyzyVhUPrm9sl_j_H6q0VZgRI39veztfaQBSWCQs4-ugoornm3kIXI1-y2rDdUg4QdQjIyLDWJST-JokUHnbRqHYWjBgMNEjkApCRlvl0B59s7qrKz5ZntiE85F5RAYFWHN8odQ0l_9tMd9KQVtvSr7uefV_jb9KOuDt1FAVp8mp67Cwl2sU9eBEgC8FXJXMAkbhGh4CeFLFG5OfkZu4ne3_CwfQuLhNKBHIl90TAfwwaa6NSX_MgRosR7NUGumEFjq97KyyjsdqkqdSTC3V-8_SlN9an1EVLJbftrBnScHfn7D8gQORO5TCDS8xE-aDjl6mj1PilGtt6mo_opzi6F_-hq4RKY5eTokOAq777DGa4l7LEO3FWy6krGGk8ewmJoptCwOwBIYuOKhOhpyMg6n5Hw7_DRhqcqBf5QSiEm5A2YlFQjqA_DYEmXkje7UbOQ73jdwhQzuLwldCUbw6ZfWJimNrm8zkcPyfioSDXNDTEkm85wC9bs8XwYRRdpG_cL1dyl9uScI7X_983wKqJltbCCV2BC3GwKa9DU6oyfqmQhY767l3QrAVibG2sbJYIP9q6zydv1AWKcevnbQMEs264WObHwyHm0FshFplskY-GXTU3jOR6N1nd8r3qGVy2FXlILAGWHFnQy0ktneJ32GbhfN7IntAXHFJf_AhFzrQHNyYzT89-EzlgtUe89N_o6TNt188Q8Ex7Fgz2fidi3c0Y1SysEtIFlca0JUzbhBvUmGpJaeGlHns4dgai0e7qIRNf1wNouM_HxSBbUGIceeRyE2_fyBFEzsDDBHx3KqLKyr_HUpiMGi8UDdFk19k-FqiEcGlE7kWv64_DZAGQa6-xRPvPO3jq_d_ApkBYyRyYvbQWXkrPJCW5zZq8n7n_Dv77Mw_AQyiICslagOjtXfa8sg3Rgp9k4_fCoHvCrWiOyoJDI-b0JBabI2Sv7MMf-kMRFPh4xtElyEZ6clsGXYtnn2xkn415qvU9xALZ3RIRoQ6vxyZ8hXwd_DriVqkKXkAfNk0f4ZwdGdMNVCPfhILg_lb8b6qSH1EfCsP2rVuhkQJ3_QUk2qN5X5fs5Zf2_rnUt3N-h8ga0YIj1jafWL3fXDWSrwoedDWn8GCBV4pF0kqtSChp4IaO7497rPqIXV2Ypf6M5D5lGeGcgybM5E84KaLAxNeoY1s8NepcrFC4zt__0kAVdhSkk8yv55yysM4DoN13cjd9hvGMsGucV_heoj58mgRcPkKnninSPp4FZCWlSwiJitNAtt52x1in4hXvAbpqcyIVp1Tc_4PpkmGm1hrkwwsJKLOAUu1jpKhj1oQKR65e3ss4F_9jv4EmTdtlunRSZeP4C4CmqhabodSBQ1KmMf_QUiUOgwAgMg4Src1rCflJJYkaGkWV8xcClDf7VX_VNL5Y0817C94VrzlUjqyBQJglkPmz0asm6z1ZMkj-dERfv4OTD1oB2Zxe9VjY8KR8Pf04KV_yedMGyppInZaLGGFUWBvuAF4TAxdn64iYSkUg780Xsej-A6eTIsaqCkazzpzBGjPCTS5yW5yuMHhBsjmhz2tvjVlWxmGrf_XXCWRzsC72rOAYx_MrsE9CyhdVq3lVq4251KQwKZWKxQI4z36O4ULSq-3k6ebfXKcTc56VTP7Yibpusj4mCNT97cU2hp8FS_oBw4EyiSuggjBGfc2HUJz-Iwui9Gmwz4WIuKoEaNy1JkZFklysOF-ptU6o3y3GMluZVCGndRfcqhJye4NqQXtQiJ6H_jwxKZQJ43s8BPX3g_JvaQFCZBFfKpbjyhSI8W4q_HWFJzLvpFyM6wZrJL9Xs7nR2MNZNxcZPv9CjfaNzzYfU2rNNn9bOL3P8VIapIz_zAwqMJEP3itF550ml_0tXNlzbmsBJMxZj3uhK5xUboyI6AzW-h0JXvSUscPK4gITKWlNillJQyCYrLUL1Cs3g-7VoGIRWmhH4fjQ524o_Hyv-TxbfosQHiq8fNf9SrrW0ioxZXFuK7BzQ_xc9PO_lTinKMFky5LCwbXYVLUDP4l6N_OA4Oy1EyBqVXf7QaXPvN7yBuQqZL1D8wmEnabCM1fBk0sNQA-y_-KRQC4sjFuVz2bgRGxe1_c6Mi5NHgWB6VjkfitFubaQk3Fd7_IAiEgDQYQyzXEghIBYWDtQ6eqPC_-wZHA3qtuzOKeZ0tBIiGfWTrppd_YXsWqSABR8qjrTDa6NTO5poNqLYsyel_n1ajtd9BGFCDI6l4JSuqOdMtM-EtOiAPYB3fz9SyY=",
  "id": "rs_09f2c132a2135c8c016ab434a881ac87d09d01cce0e96c28a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.15,\"left_yaw\":-0.65},\"note\":\"The pen lifted with the right gripper; its exposed end points forward, while the cap remains on the left side of the table. I’ll position the left gripper above the cap and rotate its jaws across the cap’s diagonal.\"}",
  "call_id": "call_IeZ2K5CEvMYph7SBMJT5zeA8",
  "id": "fc_09f2c132a2135c8c016ab434ac43b087d0ae389c673866e9cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IeZ2K5CEvMYph7SBMJT5zeA8",
  "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]: [-0.3092, 1.4082, 0.7868, -0.0761, 0.2283, 0.1371, 0.9998, 0.1986, 1.4971, 1.0264, -0.3622, -0.345, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3672 left_y=-0.1555 left_z=0.1233 left_yaw=-0.5876 left_pitch=-0.105 left_roll=-0.0318 left_gripper=0.9998 right_x=0.3847 right_y=0.142 right_z=0.1429 right_yaw=0.6392 right_pitch=-0.2137 right_roll=0.0582 right_gripper=0.0521\nstate[joint_eff]: [-0.4308, -6.2427, 9.7709, 1.8779, 0.3199, 0.188, -0.0171, -0.335, -6.8718, 7.0496, 1.5653, -0.1929, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756a06897847f73ae7abfeafd5b99e79c0fa3ca516628fa7b5e38aba2d04524f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940866dac01fa1207da81132775763d94eeb14cc78cdab5b9ee308d2b6fb83f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf568f8e8765040eafe27dba0b5ef879b5791ba057e17bc004e76c4db351f60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.998 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.1989, 1.8042, 0.688, 0.337, -0.3462, -0.2634, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9998 right_x=0.3901 right_y=0.1434 right_z=0.0092 right_yaw=0.63 right_pitch=-0.165 right_roll=0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3744, 7.241, 1.7118, -0.0366, -0.0611, -0.0171, 0.8821, -6.7897, 3.6034, 1.453, -0.1734, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.1986, 1.4956, 1.0309, -0.3462, -0.3447, -0.2749, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9998 right_x=0.3884 right_y=0.1427 right_z=0.1479 right_yaw=0.6369 right_pitch=-0.1938 right_roll=0.0484 right_gripper=0.0474\nstate[joint_eff]: [-0.2803, -1.4017, 7.2, 1.7314, -0.0366, -0.022, -0.0122, -0.2393, -8.8547, 9.0872, 1.5165, -0.1783, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4082, 0.7868, -0.0761, 0.2283, 0.1371, 0.9998, 0.1986, 1.4971, 1.0264, -0.3622, -0.345, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3672 left_y=-0.1555 left_z=0.1233 left_yaw=-0.5876 left_pitch=-0.105 left_roll=-0.0318 left_gripper=0.9998 right_x=0.3847 right_y=0.142 right_z=0.1429 right_yaw=0.6392 right_pitch=-0.2137 right_roll=0.0582 right_gripper=0.0521\nstate[joint_eff]: [-0.4308, -6.2427, 9.7709, 1.8779, 0.3199, 0.188, -0.0171, -0.335, -6.8718, 7.0496, 1.5653, -0.1929, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756a06897847f73ae7abfeafd5b99e79c0fa3ca516628fa7b5e38aba2d04524f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940866dac01fa1207da81132775763d94eeb14cc78cdab5b9ee308d2b6fb83f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf568f8e8765040eafe27dba0b5ef879b5791ba057e17bc004e76c4db351f60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab434afe63c87d0bbb7107bab12dce5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.065},\"note\":\"The cap is visible just left of the left jaw center and extends toward the fingertips. I’ll shift the gripper left by a few centimeters and lower it partway, leaving room to reassess before grasping.\"}",
  "call_id": "call_nkFLVgjdkhQY853K1G49kPsm",
  "id": "fc_09f2c132a2135c8c016ab434b1927887d09aa16c548df013d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nkFLVgjdkhQY853K1G49kPsm",
  "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]: [-0.1665, 1.5055, 0.622, 0.0799, 0.297, 0.2012, 0.9998, 0.1986, 1.4971, 1.026, -0.3641, -0.3447, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3575 left_y=-0.1089 left_z=0.0522 left_yaw=-0.5419 left_pitch=-0.1891 left_roll=-0.0623 left_gripper=0.9998 right_x=0.3843 right_y=0.1419 right_z=0.1424 right_yaw=0.6391 right_pitch=-0.2159 right_roll=0.059 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -6.5983, 6.9128, 2.083, 0.398, 0.1001, -0.0171, -0.1846, -6.7077, 6.7214, 1.4335, -0.2271, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e0b3632b544770c78dcc2d26a6fcf473d20097aa83d1e82e3348118e95eacb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6c1eed3ac5e01c277a32e68333c436257a9dc384aebc52d41577ab924a90fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8ca0b59dd7d31a76534ffa07b416f5c082238712e161cbfbdd563bfdab7978",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 5.286 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.1986, 1.8183, 0.6769, 0.3511, -0.3454, -0.2665, 0.0451]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3871 right_y=0.1426 right_z=0.0024 right_yaw=0.6314 right_pitch=-0.1752 right_roll=0.0463 right_gripper=0.0451\nstate[joint_eff]: [-0.2393, -1.6068, 7.0769, 1.7363, -0.0855, -0.0757, -0.0122, -0.2667, -8.9368, 5.7231, 1.3651, -0.105, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4082, 0.7868, -0.0761, 0.2283, 0.1371, 0.9998, 0.1986, 1.4971, 1.0264, -0.3622, -0.345, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3672 left_y=-0.1555 left_z=0.1233 left_yaw=-0.5876 left_pitch=-0.105 left_roll=-0.0318 left_gripper=0.9998 right_x=0.3847 right_y=0.142 right_z=0.1429 right_yaw=0.6392 right_pitch=-0.2137 right_roll=0.0582 right_gripper=0.0521\nstate[joint_eff]: [-0.4308, -6.2427, 9.7709, 1.8779, 0.3199, 0.188, -0.0171, -0.335, -6.8718, 7.0496, 1.5653, -0.1929, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1665, 1.5055, 0.622, 0.0799, 0.297, 0.2012, 0.9998, 0.1986, 1.4971, 1.026, -0.3641, -0.3447, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3575 left_y=-0.1089 left_z=0.0522 left_yaw=-0.5419 left_pitch=-0.1891 left_roll=-0.0623 left_gripper=0.9998 right_x=0.3843 right_y=0.1419 right_z=0.1424 right_yaw=0.6391 right_pitch=-0.2159 right_roll=0.059 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -6.5983, 6.9128, 2.083, 0.398, 0.1001, -0.0171, -0.1846, -6.7077, 6.7214, 1.4335, -0.2271, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e0b3632b544770c78dcc2d26a6fcf473d20097aa83d1e82e3348118e95eacb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6c1eed3ac5e01c277a32e68333c436257a9dc384aebc52d41577ab924a90fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8ca0b59dd7d31a76534ffa07b416f5c082238712e161cbfbdd563bfdab7978",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDS3ADMdqhOEoqcM3WkSDZQw2LpAxu5auN6CZqy1QsZ3_17PPPlg12PU663YhCma9ID5-6R6dcy7gT2pYFGUx6iA7uS2HOXe9sYVRNobpf-YgS9QtZUv5Uo2DWVqK9RdTStBqlRFop7QMLD1iSFvlKpTHHBl2CSTVZEMX2A9XF1VxSUV_A0S4SfPBiObSmPO3vAch_TmfiTkqD3v_eeflA-6Etwkm-lIZjUgVvbLqcVpV8R6Fyz40phU3W9I5ZAvqu_7lkS04w9FWO2HhS2VSNoJZuGIODd31PXgB9ffLh3EEozx0XeH1OqHI-ubkxO3L2tBnb94VFbQqMb1jdjr2gPfZVxGqfLrHcgbpf7KTacK6z83wefvWqf-u1TA8jF87nCkj28v4zfsYX6aRGvdin_-fr85uNbaNPGJSMQTSWLnVeDV6rISfAHOGe0Ez2jYYMdHz4RAZiyAA7porHg9nFyzAuNAO1IwuCkU4QdaRA9Dv4HDxlbf8ShTTWeOa6Okl5mA7Pq7_yJc_mUSVpNhqtYtZo5Zn8M1vMAGH00CNuzmUzjnaDaZolsuImP8p8je35SR08mU2PH7bDdXXwQCdByf82YXVt8CqxFLfjCZvw4XGXhkm3uE1NxFyLFqxxSgWp-XVyNxvzvMw2uIwMUwNtlgEqhRv0O3b1FtqBKZT9AMnGkC53qxjHk2C7yN122cq75JLkSJPA8im2-bPO6eyE8PEwBF_feJ3-fTTAY82kHliAeqJ1IRgTqQ7WLwRNbQCFIUhKskE07g-Oa9fmraLNks7fKsaqpcEMzlrhYokI3Ir0Q8JOir4_CJMLa8P0QEthYnRHopTMVmcsMTtQYInd1XxiFwmnlaYPoz5RcV-PlwIoJTAKgNWDQ7aGJUqg6NxipO44RHIAeHgMlpoUKgkDAy-8E6h9iUjhXesUERldS-_JG9BqcTY86VkWvGEWDtoqwG_SRMyR4rK59ePN-m39LBhaMs_M74TSBa6l-TdZkj-RIzPeOMwzOUcLwo_pdy1pqYSAv8aqqJItY9I-Pt_SfXMc9zpciYQPplxm1mudNk3R0nZVlXzieDVzhrMTrnnDUSgk3EIbPkNCtRs54DIHac1Oz5082uprfDmLOWyKuBqd7OPV8UtRyhPwpNVQO8FllZ-3UMcxiNm1CgXQ6QfhIryWuwwjweHj4UmZZiXAYTR5AsxfNmXO3UnXuUPx0UL280nuIkBNlGoW3eMeWr13r5Fwa78EA2wJqUTFKpOVtx5jahZe-w2jnD94NZ5kNUcv7_NgU3HWbZhlsZPN84cVLG-CpzckY-BAr25VCZV1kF5fXbCncGIlFne5_6eTu9NwOh8yOcttiuMVLUOmQnMYRfALnquCcWzNMh2uEOlme7AnDbJYcrQnZri-swLFb2QMxNzl7ZULiDqY2LbZwzS_vmjlJmLODPle8ZxkKazs4cy2IsGruCRTCWlKZmKsWgqIEvHFrxixIdzF6IwyNQYmz0-RKRqMynXZi_qGOU_OR8UvBvjJjE9wSzLwtUJeSOhvUSdG8-6QDPRsEhpciKezN3Myie0vD6yKa7IHoGeLjcAmja6LSjKPYoE05bk5Ea_oOl08Rdl7aYgtLEPoAcDh8K--0tK97deO-mahOGw6cdtnDcsqdtwlZ1cUKne7AIzSjkSBS7-wmTLsbotxMkrvUYwhCxuz8mymedKPD80b6U3ofP0dzJm-X4NdAh8hl9sIPwLpODZJ3qwYth2vguwPAdSRnT5yOGhgZl9t2k5WVtQ-CKS-xBVLRQw2DSxcVUqdHJjKLfK4uD93DeQwLbALhN3seHVuMyXfnLB3q9gRUF4KbgRVf5OfsOu0C2q0z3Vkj3XODKKvL-vxu-Q6WsJtNFFCdUWOHa6QrxwDuzxpBuR5OHKi-cY3bP4LfFcxWR2d_5LRvRhcG6sqVukwGRAaYW7u4BEGkneYl8-mvpodPJePWVZKCcotBcCt-4xQWhQYemkoRCraUnatvDyHLUCBO19U-xw5Pb7IOA0-WwLpkUq4E1KITH-qxES13gRuICs6fv8IQfiynzQw5sNPGCgwXAP_NQwSYeLZ2Z1uYMjTnex2qsF-VCC8CiP8g-3IcJDitlqrJhCIXC8hYb3oo5l6D4G4X5MPSUTabbLc5Ix149qruXjry0-bIdmnYMCJyRkuv3HGxyr217WXNsQnNxJ72EOdMvcLgsBFZCYfiGja2NSFBKSJL6RHjSO9hqTPaD-Z4irldLb2aIivb35_hgT1AZN8UhEiiF2SpNYd3EXCUUfr7fYNnXaVXUNsE2sqmrqWqN8RxzPUP-CQMP1Ma4N40T69mBwxzsrV03Xc3266Zs96T2DgSnqR0ECLqLn_sqzC_ychRLPeUtii5j5LUeUGFFUyGSmYpOiWbkkmI_on6KhDBXzZVfvOEo0jiWK7sJX3r0MMFX-aNgn-DVHMHYH8ZnyJpm1-qSht1V22MRBN-hLS_WEeMAHbU-XE3c4ewJyym2WwZHZ8Dpna2yExat6lrgJTYBSx3Y_J14LUCjv31-6UqE_OroexSN317gRWNEn-zvkdAFDMdErz_IJZ2tZSDIklN7nFqVz1hqQ9rErNsOZXFtvsXcyriu0GydMmw7692X-xWxmH8XmCwdr1DB2WT5qoLBPRfVxQbFRxTBBQqCIONlxmaIbOAqPSWwn9VDUOL_il-uYMdzAXMXhlGp1G-QLTh0vFayIjy5yhqoNcnsmbk=",
  "id": "rs_09f2c132a2135c8c016ab434b3e2b887d09b9582a4c9fb2c82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405},\"note\":\"The cap is now near the jaw column, but its lower end is still ahead of the fingertips rather than between them. I’ll advance the left gripper toward the cap before the final descent.\"}",
  "call_id": "call_vcLenpFlnvNMoTUgzw4UFYZH",
  "id": "fc_09f2c132a2135c8c016ab434b75d1887d0a44279c925221e93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vcLenpFlnvNMoTUgzw4UFYZH",
  "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]: [-0.1574, 1.5215, 0.606, 0.1249, 0.3225, 0.2199, 0.9998, 0.1986, 1.4971, 1.0245, -0.3668, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3583 left_y=-0.1099 left_z=0.0492 left_yaw=-0.5631 left_pitch=-0.1696 left_roll=-0.0605 left_gripper=0.9998 right_x=0.3835 right_y=0.1416 right_z=0.1414 right_yaw=0.6392 right_pitch=-0.2198 right_roll=0.0606 right_gripper=0.0521\nstate[joint_eff]: [-0.253, -6.9675, 6.4205, 1.9414, 0.2662, 0.1245, -0.0171, -0.2393, -6.7487, 7.0085, 1.4774, -0.1783, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edd936d100b748ba5bca21932fc6813c678244cce3db1c5873d98f6cd4fcf78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20dc291c8ef593b6956035e12c3a801955ce41984715851c3041da17c288d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed077c73fed568ecbdd3a6c74d0f8d08fd66250fa8bee9dfdbf137ac52719551",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.092 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.1986, 1.4956, 1.0309, -0.3462, -0.3447, -0.2749, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9998 right_x=0.3884 right_y=0.1427 right_z=0.1479 right_yaw=0.6369 right_pitch=-0.1938 right_roll=0.0484 right_gripper=0.0474\nstate[joint_eff]: [-0.2803, -1.4017, 7.2, 1.7314, -0.0366, -0.022, -0.0122, -0.2393, -8.8547, 9.0872, 1.5165, -0.1783, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1665, 1.5055, 0.622, 0.0799, 0.297, 0.2012, 0.9998, 0.1986, 1.4971, 1.026, -0.3641, -0.3447, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3575 left_y=-0.1089 left_z=0.0522 left_yaw=-0.5419 left_pitch=-0.1891 left_roll=-0.0623 left_gripper=0.9998 right_x=0.3843 right_y=0.1419 right_z=0.1424 right_yaw=0.6391 right_pitch=-0.2159 right_roll=0.059 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -6.5983, 6.9128, 2.083, 0.398, 0.1001, -0.0171, -0.1846, -6.7077, 6.7214, 1.4335, -0.2271, -0.0415, 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 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1574, 1.5215, 0.606, 0.1249, 0.3225, 0.2199, 0.9998, 0.1986, 1.4971, 1.0245, -0.3668, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3583 left_y=-0.1099 left_z=0.0492 left_yaw=-0.5631 left_pitch=-0.1696 left_roll=-0.0605 left_gripper=0.9998 right_x=0.3835 right_y=0.1416 right_z=0.1414 right_yaw=0.6392 right_pitch=-0.2198 right_roll=0.0606 right_gripper=0.0521\nstate[joint_eff]: [-0.253, -6.9675, 6.4205, 1.9414, 0.2662, 0.1245, -0.0171, -0.2393, -6.7487, 7.0085, 1.4774, -0.1783, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edd936d100b748ba5bca21932fc6813c678244cce3db1c5873d98f6cd4fcf78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20dc291c8ef593b6956035e12c3a801955ce41984715851c3041da17c288d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed077c73fed568ecbdd3a6c74d0f8d08fd66250fa8bee9dfdbf137ac52719551",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDS9_SWsN7MwjVLOWz1pTMz5c2_G4TBvslmFNkb8bFLD2fvH-FRJaRnHK-1tfIIFvu_qebgTFMy9YpPMO8dY65AdTx5b-j1-fWHY6SMcVgfA6Hzi_7ODLAN4aOT1KtWUWzyIK3-mvXvVSAyLXL4sVUu1bhF2dPX2otvlYCwHYIqFDvJoHy6QePAMsfsIDDoJnEXy0j99AkhszAJllwN4n5lNqrqC9JaYaVyZ-P02EViggFmuope8v0SQmQHwy321wmiBI9mouLnwvQ44XshIN0ox9XsiK4_I9dphejtT48s_k4Mdu8deSX0l6e-wUke3eYYCNe9mAcvxSUze5M_74ROrmJl-Sy8I5QdiSmZLYFqIzxG_xRVjYRQ8ZzImHLsteyBlOObdGCj-iK2pGC4q7pubmhJk1Xb4Jr4UBkKQv_zUnh7k9k97XHDYSyd7HU4SOIkJdYeLZziv0O07AXakDJo6txf9HV9D4DHuwSf2MioVlSLc3eAG8BQdL6Kga2h6cf57CIEJtNQA6_uZzE--qR_Vrvo8X7PaLqg2Lq6XxnvssBKVAKiG78_JhKhp3tfHWr6UUyHhsVRXt497Zj22Fp_dnXYuiCSemJPTGWX0H2TCAO_mEF3EuumfuH4kF2oKNpRPNJhuM2lDWKn0Q9U6rzZlslbypN6lgC8QIZCQ-A9D_1Z53eEF3WEHCTzxPKWSLie0szpg6rtsd2vtRn9IXvJtZAqo6IM4eNaD4rMYu7N_Qg9BpIYkQZf10gwsySjYtMZH-XuMKCYKcsZ4ipZro9Ws_sADcIZFWcrc5NVQMpr5pQMf3JnzCSoIfHTzqkGhOYh4aEraQiVHIunF7FkrgKxSZGgaJxDtKeQY9wyG3wrboX8t1MCFi_j8DFaAsGx1lNm6gKwGqtsg8S6mLr55wOTWSKvX9jOMbG6O_APL9mnlxAZ1SAR_rpWxFWZ0EuPlICKILPP9mkuiUmFof6WzLeYfEEUvWKI0V6s-iRyz3omHZ-dNYAwAcsunUq0NXpG91zs_vjE49VmfKb-wQsQSFLtYpFG5pFNcKL76-4Py4p7S9N7yVnIzhPXKSCakxg9WXD7_c3WG9p_Y2txGn7XQxxIGeU4jKpAd1bv6HOpqUP0KCHciJ8KaSWXl5iVnLpNCEN7NHxhEPnIyEyZRrvSIIubsOp15wZz6kKUL8IZqPA7OksyQAmjhElR37qRgIj5M0tSuemIgP6bMtKzFOJhFrehCXrbGhpml9eY3PR_zJpD6VvMSIXfLF6OTrcICcMLYrIqKIf6Fh6Y_E9YNpYHatxjWOWOfL3oCmBIO5ljnNa-FTHtsH01bdot6ha3fEauWQfE9JSbPL4psuCQM2Ga-XN2wWp_NTlmGclrE5DPRPBDBWILIY4oVuiq3oMY2m7sL9fkArIDujRx13CcQbvcvHEsAFSI0eTd3tQ7hEtIdBOukafKM8DK8cWMERHYTSfdoH3AgdjZKrROplNi3q0iC0M4c-9FdwPXVXPK-nUJ1JPj8ftBcswqep9VNfmhZXRxtfU2Yv3l-EsE6fuagegOwvnx2ZL0gF010O6bCsLOY91EXv8cj2WCRoiUG584cl3spJ-p31OrE-wc4wV3ZtoyMW5WAdfAKr3qa4YjGGdEVi58V0WUjtwEhrU0ko9__MAyAyRNQwfeaYQvDRmcn7CE3LAyfVCfT6Q2v5ik-JGupb_xs-EutNFfj8n_syZdSM3nrF70HSyIy0zsR1qK2DYraoRLIjgXVSNkdebqYDAKdHS_U2FfGMv12J59YaNBPjpN0d0Q9lAnCNl_otFE8rUyAKxmQKLHCwm1u2VCbm4XF7O7z4YZ3RYddFxJQJCovSF5w5dmYewkjzwtQxoyDnto76Z98gmPhMMRQTfeUazznoBr3vhOuhE8rxVbdRNhRLDa8sHDBWuN-UyYF50gxRDwydTFXPSPcZNZaTPQMvuY7DLLOY9LSaXQmVtrqGBrIWEDeD0qBAWMHEpxtE-ptRJEcB3Vs6yZ-HL9Vo9CpdcPS3arGefQjJiU57HXEQ9x-NZ8gPjlB5xAM2emzEODAZlxs6nxyU_Kdm2_8Cdks1YA8crsiX2E-cSFvNIO-vdis2lpslr6jYfsk1qjIV3r7eZvfI3BC1r17jPRxWvZGnMxEouXvbisGDUjXGvBK2HP8tYQlrlI1Itv0_fUf0xdt-ns-2RX_6LgpjxPnzA7Z42N-pJx9dHYsP-gOJd5NrpIaYMewhvhPN4Anp3JtAYS0EicGBgrvjxxb26wBjtxPvxNrPqtyL10=",
  "id": "rs_09f2c132a2135c8c016ab434b9a11487d09c532fa061326c60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_z\":0.08,\"left_pitch\":0.25},\"note\":\"The requested forward move barely advanced the left grasp point, indicating this low, rotated pose is near a reach limit. I’ll raise the hand slightly and pitch the tool forward to make the cap reachable without scraping the table.\"}",
  "call_id": "call_CqZGGYAKyK5N0dZ1No9eNMkS",
  "id": "fc_09f2c132a2135c8c016ab434bc679087d0ae6a7244a1ebd792",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CqZGGYAKyK5N0dZ1No9eNMkS",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0784, 1.7199, 0.4858, 0.7654, 0.4553, 0.1135, 0.9998, 0.1986, 1.4971, 1.0233, -0.3672, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.394 left_y=-0.1053 left_z=0.0585 left_yaw=-0.5341 left_pitch=0.1516 left_roll=-0.087 left_gripper=0.9998 right_x=0.3832 right_y=0.1416 right_z=0.1409 right_yaw=0.6393 right_pitch=-0.2212 right_roll=0.0612 right_gripper=0.0521\nstate[joint_eff]: [0.2256, -6.188, 4.9436, 2.254, 0.3785, 0.1392, -0.0171, -0.2393, -6.735, 6.9812, 1.4237, -0.1636, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3af8444ff30e4a507f349952d16988c2569728be246bcc9425c2169db0adbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa2fd630d4677792a1e26fe58c7a4253f3e00581e4ea56ad49930bc87d37a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb45d40a12895dacd7b66eaa1a170d644d6475fe2ff88e25877cc1509fbce95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.569 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4082, 0.7868, -0.0761, 0.2283, 0.1371, 0.9998, 0.1986, 1.4971, 1.0264, -0.3622, -0.345, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3672 left_y=-0.1555 left_z=0.1233 left_yaw=-0.5876 left_pitch=-0.105 left_roll=-0.0318 left_gripper=0.9998 right_x=0.3847 right_y=0.142 right_z=0.1429 right_yaw=0.6392 right_pitch=-0.2137 right_roll=0.0582 right_gripper=0.0521\nstate[joint_eff]: [-0.4308, -6.2427, 9.7709, 1.8779, 0.3199, 0.188, -0.0171, -0.335, -6.8718, 7.0496, 1.5653, -0.1929, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1574, 1.5215, 0.606, 0.1249, 0.3225, 0.2199, 0.9998, 0.1986, 1.4971, 1.0245, -0.3668, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3583 left_y=-0.1099 left_z=0.0492 left_yaw=-0.5631 left_pitch=-0.1696 left_roll=-0.0605 left_gripper=0.9998 right_x=0.3835 right_y=0.1416 right_z=0.1414 right_yaw=0.6392 right_pitch=-0.2198 right_roll=0.0606 right_gripper=0.0521\nstate[joint_eff]: [-0.253, -6.9675, 6.4205, 1.9414, 0.2662, 0.1245, -0.0171, -0.2393, -6.7487, 7.0085, 1.4774, -0.1783, -0.0366, 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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0784, 1.7199, 0.4858, 0.7654, 0.4553, 0.1135, 0.9998, 0.1986, 1.4971, 1.0233, -0.3672, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.394 left_y=-0.1053 left_z=0.0585 left_yaw=-0.5341 left_pitch=0.1516 left_roll=-0.087 left_gripper=0.9998 right_x=0.3832 right_y=0.1416 right_z=0.1409 right_yaw=0.6393 right_pitch=-0.2212 right_roll=0.0612 right_gripper=0.0521\nstate[joint_eff]: [0.2256, -6.188, 4.9436, 2.254, 0.3785, 0.1392, -0.0171, -0.2393, -6.735, 6.9812, 1.4237, -0.1636, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3af8444ff30e4a507f349952d16988c2569728be246bcc9425c2169db0adbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa2fd630d4677792a1e26fe58c7a4253f3e00581e4ea56ad49930bc87d37a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb45d40a12895dacd7b66eaa1a170d644d6475fe2ff88e25877cc1509fbce95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTD0WWxTAzHxPpffC2qsx6C-a5ZshI5ZK1tfIiU8HhWfmEeuSPPmMcpzf-ZjoUg5yWgEm2dVYfmGmW34-H8Dm59q2qS6ZD1WBpfB1Js2TzVFZod7mqhohWh19qqHtD_4ioo-08MU1F9tQuDDQOYiW2leT4vWPSCGuEf-ADuKMl5tg-YHS4fkZK9K_8thbUmyJoLGEp7YiQHqW6vlj1dLjomvUoF3-xn5QbItpAouwQlc6jbLvoi0R4o7rQ51uix6YkZszjNTdLfmPIZnrtzR1GcuHpYADvY_c7DWMOkb3LIh3f8bHWsuB19Jee20m0YcSmIvpgSHJtqL2gV_iwDxcTDZ75pkBs3TqKeMCaZAFHdaS5RpaXVZLjwGw5_YQzZ9B7oRBXzfENrakQx8NLQfJ4oBd76w73JBjh1A9nPQb6TwkVHbJMkpBYWOa3pOGaGClABsmRmkj7u5w8mQhynSCVTq2XJI1XqdAPNWbHhgKJikyxBvRepe8mVgfNBsv1KkKXlrAV-pi4yBbke6Zo-AnFdV31SjYi4e2cdsjRdnG0KwVLqasuCuhyZRLQsXfpB1dBIeQIQB9D9vAdeoRYW4cTHDGbHV7sJIfFdhgcyA8C3S9H9afxNevVG_guV-FEwgOMqmsk0vsxuAj51FOf_E1G5hmbhSm6pbtkTFPM8jhLRgWwKmcrLWddem3GUq-eRMMByniK3NorkPf9GpH9XxOPay7Wg9xUAn6IUf836W05FKyYD3LBGUUpjsRfIvZ7GiF1dwktk4eU7Yxa44DSE8jC2AvZlIRfIxZa12pJBbjRg9oajrAHBtyVsL3kgWkhD3JDfE2AZoq2T7PqHyLBdiFjOSyD6TZCzZ7wdjdJGF7XnIqCclqzIBz30JewbQ7ieCelEQBDfsW4YitHTKh-3dHvrAb9Fwv4IEOhtsDk12rDGShdfq22jh71h9dUYsch7ILFZsR7ud7iWDtnZ-ZFofLcsggP8-ca0-Gnma00pFQx8L5wF_L_0Ii10-YdCxlq6AURrHHcX4d_FaL3wPOYKDf0moi8vPDsMoDD3BpoKecjVmVLPNgOKEpgsAd4VPTW66AHSyXPFRAAtPeb14R5HxhzQg7cUG25Ayztsh6x1U51koxRUn8LDc1v4Dxsx5ESZrJOlWYhBDmK0Fn39N_kr7sZ3YZ3_SNzBSfKvR94jDbIyE0ToMOpn86i0VOlwLbpmZz_TS0gKYRuLf1_-rwsKmIwLDOTSRh5m8qkLEoJffcjoQjcPMJQealbaTzcXRChc_uvHEKkwubEf20Q32FdZ4x-rFzq-7deI17mpGIlvd8UnDh6skKM1vlMuJGmJiNjnVEbFuH4A3UXRaxDE5QhxxcU4vcASaHGX5HcOsYyE7ki_JA7kHloLx7Whf2_wh2ZxXPQNC6anfwcaFMA22PXe1-0SCS9Dgcq2JZpHunFTNxE5s6Ws4RJ3Kj3DrGJxCng7RNuIiklrnJAd2d3rKk_Pk4y1Ok7PjzJwSCmVdcSlnw2WC84nNqtYuebSSQYrDgICALRstDoad7FUxc6Yjd58n_ptbhNy0ORGtbrn8-q2dJTcEmt4banT7F8Pvq_fA1JDbzFmgUKdX8zQTDfzWvAolK2H3Tv-xbE1U2Cbhv5YcNtSRockzrL7cF8UKeV_-m7QhpmwXJU4F3_cZPHEOrX4rDPDeC42SI2zusXPk5lQeLgycbVbmM2ybODB42K10cgRH6Uq1KtfyjgwvK4ujVkzvAopvHCnvhvLSjVVm8UopP49owcikdHR98LsnjOx8Irefs7glrCdnEnnmXoPfi_3wiFHeHrVzA_lWtXa6Qk08l3R6KAB5cRYLLzh-rgCwysVH-Oh9tGhVSFjiaoGrjOBG952GOix2hYNnlLudoiCUqQwV7S_oxmAQGRUohqWTAp9UJya_xfc0aYeygX4TPXcCOOyjhy6XxuvyJDXPhsxBapCwHcSYn6Ut2H-gEaxLz7uJGpQAiZT0Nz6rxDDCsB4mVzDdlwuHmpKLHetR2fdP9AC8_9eWEWq2qgLARB4m-z5gJ2hgyu18_M1Z9-kpbbPeyI05McNe88oXd4oEMmZ2h3aDNi1xEZ74GLrmDu29VZsFMNCX_4w7xPhqwama0DtGNIrgUGZAGXAvqI_YVIrw1tIRxeLPxyG9DVUJ9peTXD_26uIY7F8P_3Fq3hzm185HS9e3K22VOCzMy5PNEAJgKc_D18Qi9Z-W8XiIqpa4TTZpidnAvyP_B4tA_zAwI3UD1nB6w==",
  "id": "rs_09f2c132a2135c8c016ab434bfe99087d09eaba1293b4de86b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.145,\"left_z\":0.0},\"note\":\"With the tool pitched forward, the left hand can reach farther; the cap is now a little right of the jaw center and low in the wrist image. I’ll shift sideways and descend so its middle meets the fingers.\"}",
  "call_id": "call_5kdaZ6ghtUp171pUEIUQfwHg",
  "id": "fc_09f2c132a2135c8c016ab434c2101887d0bf2ee23682c77fc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5kdaZ6ghtUp171pUEIUQfwHg",
  "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]: [-0.2153, 2.0113, 0.4747, 1.0763, 0.3607, 0.0753, 0.9997, 0.1986, 1.4994, 1.0225, -0.3695, -0.3416, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3899 left_y=-0.1454 left_z=0.0036 left_yaw=-0.5719 left_pitch=0.1411 left_roll=-0.0794 left_gripper=0.9997 right_x=0.3829 right_y=0.1411 right_z=0.1392 right_yaw=0.6377 right_pitch=-0.2269 right_roll=0.0617 right_gripper=0.0521\nstate[joint_eff]: [-0.294, -6.5299, 3.4803, 1.0965, -0.0904, -0.3932, -0.022, -0.3624, -6.8855, 7.0222, 1.4188, -0.2125, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66994239546d47b2d25743e821904e17017678681dd2c69174fab81a4556dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590d3b5f4d9c0dfd5f296b6ea2421455509d745f196e213fa14ec61f2ed29dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672795759ee8f25afcdcf5fa91955d458dd299371e974f3be86cd38fca56858f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 1.62 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1665, 1.5055, 0.622, 0.0799, 0.297, 0.2012, 0.9998, 0.1986, 1.4971, 1.026, -0.3641, -0.3447, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3575 left_y=-0.1089 left_z=0.0522 left_yaw=-0.5419 left_pitch=-0.1891 left_roll=-0.0623 left_gripper=0.9998 right_x=0.3843 right_y=0.1419 right_z=0.1424 right_yaw=0.6391 right_pitch=-0.2159 right_roll=0.059 right_gripper=0.0521\nstate[joint_eff]: [-0.3761, -6.5983, 6.9128, 2.083, 0.398, 0.1001, -0.0171, -0.1846, -6.7077, 6.7214, 1.4335, -0.2271, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0784, 1.7199, 0.4858, 0.7654, 0.4553, 0.1135, 0.9998, 0.1986, 1.4971, 1.0233, -0.3672, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.394 left_y=-0.1053 left_z=0.0585 left_yaw=-0.5341 left_pitch=0.1516 left_roll=-0.087 left_gripper=0.9998 right_x=0.3832 right_y=0.1416 right_z=0.1409 right_yaw=0.6393 right_pitch=-0.2212 right_roll=0.0612 right_gripper=0.0521\nstate[joint_eff]: [0.2256, -6.188, 4.9436, 2.254, 0.3785, 0.1392, -0.0171, -0.2393, -6.735, 6.9812, 1.4237, -0.1636, -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 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2153, 2.0113, 0.4747, 1.0763, 0.3607, 0.0753, 0.9997, 0.1986, 1.4994, 1.0225, -0.3695, -0.3416, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3899 left_y=-0.1454 left_z=0.0036 left_yaw=-0.5719 left_pitch=0.1411 left_roll=-0.0794 left_gripper=0.9997 right_x=0.3829 right_y=0.1411 right_z=0.1392 right_yaw=0.6377 right_pitch=-0.2269 right_roll=0.0617 right_gripper=0.0521\nstate[joint_eff]: [-0.294, -6.5299, 3.4803, 1.0965, -0.0904, -0.3932, -0.022, -0.3624, -6.8855, 7.0222, 1.4188, -0.2125, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66994239546d47b2d25743e821904e17017678681dd2c69174fab81a4556dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590d3b5f4d9c0dfd5f296b6ea2421455509d745f196e213fa14ec61f2ed29dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672795759ee8f25afcdcf5fa91955d458dd299371e974f3be86cd38fca56858f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTFbImTqQMMXilGhZFnFUegazOlHnzXqhnjkI84uVJGcQZgahrK3Uoa5-I4LWwRcuajuiguoolAxzc1tY-hgexDvnTE2kh9aup7EevDj1Du8LLd30wKVxfN4rar1oWY6spKv_tV2vjTeZCsxbxj31vbM3emryRQurLcKrvbhAfz8yTGJWJUhY4ghCRsyhIs8j6yTOIuSW8xIIuxRFDnk0w3T6jttiMvvlSQ0fHERHURoIyHkytZzkQ7ga_4bS4-YPlyanMfpRnJh_sZbWVYKlQe8BisGPJUcY96LcezeXaZ3yz4zlFhDYJyUyX7lFQMQ8X9C6MJGFUgNVyrte6M1X7qslEz0cLfSpX__mM_Vc0uThUtM9ecrH-cKu_ZyvH8xhV5OrhMsXXu6O1MBv-ykPAjjoyKjh2pBizNB2A2rbYXAzKNvkoGSbbgeR0BNyEpfbHZlTBnyoADdNUrUHX9AhVz6PatAnhH6yJtMeuSswcN5eYUA6QYT10KAnHgHA3tMxQ_i-rX4WIy3feUJVk1SWiSBS_HsBOnXN18DiYdkV1ryGHrUzlFfZRMgrs9lwLwU0H9uPe1egZlZGNr5Sibhe6Gl2NN0Wfl96S3h4GIo4rBbKemQwOd1BUWcLFti5H9LHKYDsLM9i86Mc5TJ1f5lNT21YS2UbxFcXiNMBWCd_EnTOzOUpQpc9oyJJeuzaAqVHiYuevh9PbYVlJOE36KiGfPYL85Ufr9Labms7CAIS0bjF0gU5reR-YnNw3z7X1z4RA9e4og-8lOeI7jttwfveUMrcYMXJJ-dfkzyNaBt-Ocw4ndnJKTJ0DFpnP9KESs4DK8hSqfAbayRWtGA693iEHUIDxF_bRFbt9AEGBEEAm7NDzQcFegboSSZ0F-uIb5-J9ie9idOJpMpsHANP_rXiS3FyYUJIsZvm_VV0RxWisKPZd8etovrzzJmDvXnCGHV14Vi4d2mdu5tA32hzUvrmyY4lPP7XD25-n5jzGKU_oDGM-sX8pWNrPJbYfD6S1YF4I9DWgF5me18jVDhOalFJrI5wNIwy4WVz5UZIGhbnZQ4B96lNwR-sLk3PiNQbVsabqcb1unoEktXj1V11POuf6x80xwqHy72wSSB7e3kmeA5FgZhsOfrfpMuz2BNOBAJv2bU9hxhn9hZeorhY0mHJRBMKnmY-OT96yPgKoGz7VzUx75Nj4N07Jxr_WmenbSjzLeaQ0MQeZ0S1o4FTnPdGtfL2jPLdjHLBCgl5HqTZtkPFwDnM9MvfbNWWTmvObjm6wrhl71l7ZaMKC-6Y5h8OGtAJT3ssrKxMVCISNPkbfwpmzgYF3oNH7uOPV1Xaf9e-Hb3MzH0BXV6buG6evUKlgVJvrNkCmiqmDan-cCHcT9TlauKC39ddsccyMpVVSSNDsXiVEg8CXO0aPwydZCFt6L2fqf_biYJKrCH9s9ZZGAhjeQ-GGU-3Dj-7O-hmsdmwtjhrLmIGQ89tfzgd9nDDm3SsKXk-1Kl5NeFL-mTTPmYPsf5_gH19cqj_yJOXfz_w-DqcJyfe_qkx0kKJoMNQU-jb9OHQGg_1F3Z2TA3XOVJQCqXoXIpgsUGTLWhTNXKvxG07NFmk1OzwphLuA_qwowNqwt6Opy_8wZ4PVzwrRpuTUXtl3bFTPJmdIzGc-oj5CPcDoGlJHzOSaXrAYvQJQQkvW8oBUq14YWZio1dcW1gaWUfHKqWuLWxMkQ6EzbqDiwNfJMVZnwudkFoGabsH5tEw==",
  "id": "rs_09f2c132a2135c8c016ab434c465d087d0b0b9272db074a9fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now passes between the left fingers near the tabletop, with its narrow portion near the jaw center. I’ll close the left gripper and check whether it catches the cap.\"}",
  "call_id": "call_8APxemg4JsVWmtHt1Q4X8nHm",
  "id": "fc_09f2c132a2135c8c016ab434c5264c87d0847c6cd1f1e8456a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8APxemg4JsVWmtHt1Q4X8nHm",
  "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]: [-0.2184, 2.0289, 0.4755, 1.0924, 0.3489, 0.0685, 0.0551, 0.1986, 1.4994, 1.0225, -0.3691, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3905 left_y=-0.1449 left_z=0.0 left_yaw=-0.5612 left_pitch=0.1383 left_roll=-0.081 left_gripper=0.0551 right_x=0.3829 right_y=0.1411 right_z=0.1393 right_yaw=0.6376 right_pitch=-0.2265 right_roll=0.0615 right_gripper=0.0549\nstate[joint_eff]: [0.1162, -9.1692, 3.0427, 1.6532, 0.1734, 0.149, 1.6825, -0.3624, -6.7214, 6.694, 1.3993, -0.2027, -0.0611, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36daa63d2110e0c0a74c66903607cad79178ef3d35cc3c06fce2991cef1884cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a52334fb0972e5f5a9f8e229834454b65d58151ba76bdffb1255a31ff681e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48c8e508fbe147de9b55f066c91f48450e3175666655e76a0fa56c058a38628",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 13.55 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1574, 1.5215, 0.606, 0.1249, 0.3225, 0.2199, 0.9998, 0.1986, 1.4971, 1.0245, -0.3668, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3583 left_y=-0.1099 left_z=0.0492 left_yaw=-0.5631 left_pitch=-0.1696 left_roll=-0.0605 left_gripper=0.9998 right_x=0.3835 right_y=0.1416 right_z=0.1414 right_yaw=0.6392 right_pitch=-0.2198 right_roll=0.0606 right_gripper=0.0521\nstate[joint_eff]: [-0.253, -6.9675, 6.4205, 1.9414, 0.2662, 0.1245, -0.0171, -0.2393, -6.7487, 7.0085, 1.4774, -0.1783, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2153, 2.0113, 0.4747, 1.0763, 0.3607, 0.0753, 0.9997, 0.1986, 1.4994, 1.0225, -0.3695, -0.3416, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3899 left_y=-0.1454 left_z=0.0036 left_yaw=-0.5719 left_pitch=0.1411 left_roll=-0.0794 left_gripper=0.9997 right_x=0.3829 right_y=0.1411 right_z=0.1392 right_yaw=0.6377 right_pitch=-0.2269 right_roll=0.0617 right_gripper=0.0521\nstate[joint_eff]: [-0.294, -6.5299, 3.4803, 1.0965, -0.0904, -0.3932, -0.022, -0.3624, -6.8855, 7.0222, 1.4188, -0.2125, -0.0073, 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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 2.0289, 0.4755, 1.0924, 0.3489, 0.0685, 0.0551, 0.1986, 1.4994, 1.0225, -0.3691, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3905 left_y=-0.1449 left_z=0.0 left_yaw=-0.5612 left_pitch=0.1383 left_roll=-0.081 left_gripper=0.0551 right_x=0.3829 right_y=0.1411 right_z=0.1393 right_yaw=0.6376 right_pitch=-0.2265 right_roll=0.0615 right_gripper=0.0549\nstate[joint_eff]: [0.1162, -9.1692, 3.0427, 1.6532, 0.1734, 0.149, 1.6825, -0.3624, -6.7214, 6.694, 1.3993, -0.2027, -0.0611, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36daa63d2110e0c0a74c66903607cad79178ef3d35cc3c06fce2991cef1884cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a52334fb0972e5f5a9f8e229834454b65d58151ba76bdffb1255a31ff681e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48c8e508fbe147de9b55f066c91f48450e3175666655e76a0fa56c058a38628",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTItatBdiMHvSQY3zr0-rsAn1EwDNYCK_cptE8B-6c9gp_PB4pc_TZ7haf9F_67xeQQ6B0eUXsA403A1K7Mxqp43TzOUgdsekhgFWhDhcOeTk-EKjs2QRzu1GYCvYO4ECJMrz60PXOXDoBU1OTsDHpUNsJ01_tNnqabr-XzWjuBMLfSibFjp67ZwYtL2-5D8sE759IvG2BpbczHeoeQqfgQCX0_WnCaxD7m6Qpzd5134OqaKNyxDERq4b_v0OfvIXmh_f2uU8MLYzfaoqMZv3W-cdQ2PstU5V2kvM0zXnxQ7vqeeEGpNiliuh5ZJ5xSK6BZ83PQrJeI49b5QRRmmrZHzKrnA9hTr7z_3kLgpK7VugNUY3vM_NABV7o06KJn1XNG5zh_-Kc1YSt12faqwXvks2gVaGi-ZgUSSUCot39nDO0oSWFUSb-1tCLghtEy9I_zDKt2TW-KJKtwqLtA7z12XMHeF8FpoFYpBhsnIgbVJQSLEZVo87TDaPUjrdfw75BlgXm8-y71xrkJ7pS5cTj6vE8f17P3nRce_-pfZAy2SZDlmHv7KiPYsDAi8W36uRd-AY9fL8gmhZH9X92eCQFyOVMGuX2XoMKoMZB5_TfWRIwxF-ykGG3FlM8do4UcaOjuY1QIXa9zjrE1VCod4NF2mjxH70WIVS_ACGCNDZafC7-G97AYhJVTVqbmFzP386TCXhisMEO3dY18RiUrGDgNZ61jFK_QQ2J0TwjnvO3k2NSpfkTe2hpDYK7pDG_aoVMGulSE1ZAEO5WD61wKpiEb4FVYgitn21B1qdHkNWjm601g1wbnzdppsmDuJtarwgXkY670NbIydxpbKMKtD1_dGpKWo7uormvw1IrOC8Bfc3ISldePp_ZDdfZOT5ypThDKCKF8T4vvbaTrfy6WyC4YcOL35wvh-UtEHxl9Teg01oMK89fjiG1MIwFUU8nhwDGtgCzhYg6Ny9YzNEy1EQRlpUuF7SKhdH9L8HZvBhn0zIBhjTzQzIVzxUHezT0I7il5PeZMDaI4jXbtoJV86tAeUhdoEP0AWtcRzp1rJLIZSTtS__TcRCo9gG6jS2Swsaed_Mw3mOM6rKFgASPFsF54oOrokLQX-ulGXbqE38rCMmL7r67cu4ynxkwkLkfj5E6I3gzQ-I4IaRnDjlhEpXr-qyJ-Tepq1QWPvikf8gGugkvykqxinCy3uexG7n2Y4xmrnmVtdUQQbZDRY7AL-PBYzg==",
  "id": "rs_09f2c132a2135c8c016ab434c7aee487d096801e5ae38259b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled around a 5 mm object thickness, which suggests it caught the cap. I’ll lift it and verify that the cap leaves the tabletop.\"}",
  "call_id": "call_Kf9OGmVic7FcpobSh5irbt1b",
  "id": "fc_09f2c132a2135c8c016ab434c7d28887d0b35e6f7c10a9b2a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kf9OGmVic7FcpobSh5irbt1b",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.4048, 0.6903, 0.2474, 0.3439, 0.0673, 0.0673, 0.1986, 1.5009, 1.0225, -0.3748, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3901 left_y=-0.1439 left_z=0.1509 left_yaw=-0.5562 left_pitch=0.1317 left_roll=-0.082 left_gripper=0.0673 right_x=0.382 right_y=0.1409 right_z=0.1378 right_yaw=0.6384 right_pitch=-0.2331 right_roll=0.0647 right_gripper=0.0549\nstate[joint_eff]: [-0.0889, -7.1043, 9.5521, 1.7411, 0.1099, -0.0317, 1.033, -0.3761, -6.7761, 6.9402, 1.4579, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f090fff71d255e6f15812f9c44d5f9f5b563da3724b33a82a7b1eccf5c64f19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51233818511d1b49eaaf054fe1ff87f716d5ceb30aae67b81342020e3d33758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d918acd1314514e2ffaa2ea47cb6a325a7165485ed19b1e37f330d7bd1b2cd4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 7.924 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0784, 1.7199, 0.4858, 0.7654, 0.4553, 0.1135, 0.9998, 0.1986, 1.4971, 1.0233, -0.3672, -0.3443, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.394 left_y=-0.1053 left_z=0.0585 left_yaw=-0.5341 left_pitch=0.1516 left_roll=-0.087 left_gripper=0.9998 right_x=0.3832 right_y=0.1416 right_z=0.1409 right_yaw=0.6393 right_pitch=-0.2212 right_roll=0.0612 right_gripper=0.0521\nstate[joint_eff]: [0.2256, -6.188, 4.9436, 2.254, 0.3785, 0.1392, -0.0171, -0.2393, -6.735, 6.9812, 1.4237, -0.1636, -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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 2.0289, 0.4755, 1.0924, 0.3489, 0.0685, 0.0551, 0.1986, 1.4994, 1.0225, -0.3691, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3905 left_y=-0.1449 left_z=0.0 left_yaw=-0.5612 left_pitch=0.1383 left_roll=-0.081 left_gripper=0.0551 right_x=0.3829 right_y=0.1411 right_z=0.1393 right_yaw=0.6376 right_pitch=-0.2265 right_roll=0.0615 right_gripper=0.0549\nstate[joint_eff]: [0.1162, -9.1692, 3.0427, 1.6532, 0.1734, 0.149, 1.6825, -0.3624, -6.7214, 6.694, 1.3993, -0.2027, -0.0611, 1.0379]\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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.4048, 0.6903, 0.2474, 0.3439, 0.0673, 0.0673, 0.1986, 1.5009, 1.0225, -0.3748, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3901 left_y=-0.1439 left_z=0.1509 left_yaw=-0.5562 left_pitch=0.1317 left_roll=-0.082 left_gripper=0.0673 right_x=0.382 right_y=0.1409 right_z=0.1378 right_yaw=0.6384 right_pitch=-0.2331 right_roll=0.0647 right_gripper=0.0549\nstate[joint_eff]: [-0.0889, -7.1043, 9.5521, 1.7411, 0.1099, -0.0317, 1.033, -0.3761, -6.7761, 6.9402, 1.4579, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f090fff71d255e6f15812f9c44d5f9f5b563da3724b33a82a7b1eccf5c64f19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51233818511d1b49eaaf054fe1ff87f716d5ceb30aae67b81342020e3d33758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d918acd1314514e2ffaa2ea47cb6a325a7165485ed19b1e37f330d7bd1b2cd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "summary": [],
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}

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  "id": "rs_09f2c132a2135c8c016ab434cef9a087d0bf9fcf1adbe3fcb8",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_09f2c132a2135c8c016ab434d2f65087d0bb208b5682eb28d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.63,\"left_z\":0.18},\"note\":\"Both objects are lifted: the pen projects forward from the right hand, while the cap is held by the left. I’ll rotate the cap to match the pen’s axis before bringing the hands together.\"}",
  "call_id": "call_khm37lLOyoDi0fkmQIH4fSu6",
  "id": "fc_09f2c132a2135c8c016ab434d61e1c87d09fa9139c8559f4c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_khm37lLOyoDi0fkmQIH4fSu6",
  "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]: [-0.7364, 1.7164, 1.2026, -0.3126, -0.9028, -0.8394, 0.0673, 0.1986, 1.5021, 1.021, -0.3889, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4088 left_y=-0.1786 left_z=0.1731 left_yaw=0.4045 left_pitch=0.095 left_roll=-0.1095 left_gripper=0.0673 right_x=0.3792 right_y=0.1403 right_z=0.1346 right_yaw=0.6398 right_pitch=-0.2484 right_roll=0.0718 right_gripper=0.0549\nstate[joint_eff]: [-0.3897, -10.0718, 7.3094, 0.8816, -0.6081, -0.149, 1.0281, -0.335, -6.7487, 6.7761, 1.5702, -0.2027, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b055d12afd051a60265cc4589a9555a00080fc39f11b0a2327ed62edbf62835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c27bd7630c7b732422d7ddfd03218ecb26031c6533aecf699828f124643838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12469790c5c7e2eac5526f50b6de591102e50bfd56b5a58910482edafba4c08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 6.061 s

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

message 47 changed as sent

message 55 changed as sent

message 61 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2153, 2.0113, 0.4747, 1.0763, 0.3607, 0.0753, 0.9997, 0.1986, 1.4994, 1.0225, -0.3695, -0.3416, -0.2749, 0.0521]\nstate[eef_state]: left_x=0.3899 left_y=-0.1454 left_z=0.0036 left_yaw=-0.5719 left_pitch=0.1411 left_roll=-0.0794 left_gripper=0.9997 right_x=0.3829 right_y=0.1411 right_z=0.1392 right_yaw=0.6377 right_pitch=-0.2269 right_roll=0.0617 right_gripper=0.0521\nstate[joint_eff]: [-0.294, -6.5299, 3.4803, 1.0965, -0.0904, -0.3932, -0.022, -0.3624, -6.8855, 7.0222, 1.4188, -0.2125, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.4048, 0.6903, 0.2474, 0.3439, 0.0673, 0.0673, 0.1986, 1.5009, 1.0225, -0.3748, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3901 left_y=-0.1439 left_z=0.1509 left_yaw=-0.5562 left_pitch=0.1317 left_roll=-0.082 left_gripper=0.0673 right_x=0.382 right_y=0.1409 right_z=0.1378 right_yaw=0.6384 right_pitch=-0.2331 right_roll=0.0647 right_gripper=0.0549\nstate[joint_eff]: [-0.0889, -7.1043, 9.5521, 1.7411, 0.1099, -0.0317, 1.033, -0.3761, -6.7761, 6.9402, 1.4579, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7364, 1.7164, 1.2026, -0.3126, -0.9028, -0.8394, 0.0673, 0.1986, 1.5021, 1.021, -0.3889, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4088 left_y=-0.1786 left_z=0.1731 left_yaw=0.4045 left_pitch=0.095 left_roll=-0.1095 left_gripper=0.0673 right_x=0.3792 right_y=0.1403 right_z=0.1346 right_yaw=0.6398 right_pitch=-0.2484 right_roll=0.0718 right_gripper=0.0549\nstate[joint_eff]: [-0.3897, -10.0718, 7.3094, 0.8816, -0.6081, -0.149, 1.0281, -0.335, -6.7487, 6.7761, 1.5702, -0.2027, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b055d12afd051a60265cc4589a9555a00080fc39f11b0a2327ed62edbf62835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c27bd7630c7b732422d7ddfd03218ecb26031c6533aecf699828f124643838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12469790c5c7e2eac5526f50b6de591102e50bfd56b5a58910482edafba4c08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTf7QQGf7GLjcKCFUpIBYWvWiljMLH1pY5KkEhJjX1V5erdNO3jB3Z3U6tgGDIpPjofYI-Mh-_fZN6822vHMRGoSfKuS9PEhy_qke66Z6ET7UqM1KRJgJijoAOEPAc6hVvaNtpD_GXyOeJ2qGyqPwfogamjqLJ6qUlNLMMZatXTzTjG-C29sR1Qx5QFeAzj_9hrIxY4aHKoYG150BD0TAFaJ9fg-Domi78cVxhm3Ib5pDD-7Ne0qfCEgtKEpaTLeJCv6w4-RO8rekiVN5F3ex7gs4SNt35hsl2IxV9IRTkESbcjFqdiLVjMUnZoCFOb3IaHeHQg8JEnYt7soF9oJ-HclYHIRPQfasluvs8vu5HkYxuKgE221K156OuX-nZwZapm3NHYlVAi7Up8ajWPCqfGnXK94Fj_gYI7KYRsQu4N6D31owbH0rl4IlV0L27KYsPc3eqWmm_151DzFntqP53bcAkM-q-CN4eQwx_3s4FWVs24HpMwsgTMCesOv-R2tNKEAiXEjpwGqGw4-_FRl3Li_VII8lYrJ4yAI66obKwD0VfvxmW793wVGSYqCRlcB9GQJlGgCYSfOetgO2hKFEOjv0Ksqmh6A6OsAo2GWxOcVZtPjifzDz0pQW2eaUTHjuomc7Jo3e76lhfKPMFT0j0dXoIPFRSqkQpNs7iFBiP9GSS4i_zBzshKKelEWDnM8ho7r53BRHpgUMnXQ0yR9Vudl-mJdp4-3wEKvlJ48uaTtM-pE8woj41jIyuFrBFSNTsaC1nkCyAd9H10L9wb472ICWoniRpWdSMDIEshoAwcjsy_n2SteQ7PNYmz-mVcDeRbD8nI2kx7L76fqw-mjhB5pclcpPZfr27RPyj27W2vC92bpmmFBHc2sYxsLEWs9mJfySw9pFmCKJtJcYRAIlfHDn5raAzapviUSaIiHarYGSVhdpewEzg4YEqv8bEDsNARz7LbADISjBgMaHnu09MNxnW9QIRPqDzQ6JGMRe7WnnaxjIynDP2Oz2YyPzN_ZlBJNroIOwYBiXK1TaoDPvm80FUr4xqde1cCLJnnSAFCEmFzxpMfiek0QALFM_xgGCAbB0UEAjeGuNO069vb3gDQGE4SKPTcQ54uZRbZv6bx1D05Uc-YADOhuy4oBETyTpVOPBgi0eQASi9fEut7vek-O3bUx4Ttql2Si4NpE3FSTCC92nWFSxmiOJM_RDzTl2hd2smU3VxFN8AYeoCqVitHpIbY_VASk4qBMPmrjV7bj0iTBnOMapGv-lIRfykqvR6ZF03vROA0xXTvvXTTzRCTp_oiXEKclL8OXrxx4d-WYsyFw8kdIvrIVVpByBp15V_0WQel5X39qh_qrahu_RuHe0X8RCTBx62F0VD0MgmiSQzFnUq-G11m27ED3enIA7QhgsvrYKM6bRBQo8l4n3KXaZpTg4qTsoxol3nGeqdocYTK_QZIXXMbyBKCEAF6lTdnyJkiLImyUb6aFvxv1hhhhhAtV7dYUAsWL_5xuq4g3YAYvtvFOGEBtttP4eE5Mp6BK1j0x3QIEH-OnWWBabM--a05v1PHT2uoj6CvvSZk6bKw1rRpXW1ArUK6RZs43P1rI7-yZmGQbyUCixkSLNY_lAFyeJCOSHiacM7Kg-JVVVLmHnqXIU7cYNYYkVd6J55Qm0SDgQGgOWTnCs7_IeT_yMWa-ESHLFr9AdITZ8lt2He4sbqCuAPDfsSb-XfCjhQiV8H3wyDBX7QqJciUs4ZNvA3YMM9O_qPqK4PaA-IYCnE3UDAmTC35BW6sl8njUdHjmWrsCKAAQDm0IettR0BAHipNEAGCRLk-ZhSxgjV-uGFYZxTr__1howrIfEuyQJ-Pb_QWB2wIFd4exQlc0cyybFu8H_SzHjeKFcY0aEhRaT1p4YkM9E9c9UnAER92fICZQ6JtLzypJjdwEaWYwhUdBchkpALY-nZnP85BQ5ilwgJNSVosRt13kpwbC-j4sXdrg6IDnxbevABZjAgTyT0Ig61gd-N5fLoqIcVaBS_Xbx6huTKgTUFNfByzNzKp534f9Rl5LYsxdUTcbUKZGewLMoJHwyjIs-_oh_QuZVysDW8Z3hhiT1ifCJdyD3GFXW-DUHVtvXhE5AvVRl3oTwy2Tt-CmmJpq-Sw3f2yhKxnByJEesP5CQBaLQXugMbfWqwdLsx-SksuR_15rB-FUmXjF7mmgWLrQyG7bymFK6QyBLvOA__ix5kJ7l0JYNSs4F4WKDRfDy2vcfthS83JJex7x-ZoEEXJO0arEuU9jO5wIY-JoYhuk3kH7O3xGmPE7MT-0gb_RovANq3tj0ehpIMXRD2EZ4mr_s-HJsQXZrjDLqEDSbksaeLGN05dDLr6hVyhSeSC2uzc3V0xXwO7sLhWu-t539XWVHXktqSEeV9V10efi2_5AFgOGzNR38H5IMOFBPQcC7xD02GZjZgVZZk1TxerUzoW2IIfXFIx3-LriogFvORA5jaoFkUJEy-7hkmlL_XpiPpj3Nz3Bn2jlctPtpWfSQ73Urzwjux3e3JLbMcHe0FjkOQfzIlLuKzllhpBv0w0OSqgXnHWpI1FbUzpuCa8HPwEU6FhIVxGLy0K66qHmqtL_r1XDYx380dRcpplvglV4KNtMI59kPLK6J6Vhi7JkSKobR-YfLu4kf7V6792fJWlmi9k4UGe_Ww7h_JblQSmwdr6O0DHgB2O4xKfy6CCD_vtEBWo1Ou-sf9GYN3ZGGL9FhnsItMvKls2V2ZyPzEVHla56Jn-SesOlSss17z1O0uauLu-82T0TCacJYJ9Z36UYtvMpGkTfojiMd6RV3SmJQ-KlP4Pw3QZRguQY29GYldLLzeWRKArsUujqHB8EvbQKXvNdgb5bAfAEeDEcapS5wXqiOcdlXjjeSAxfwOptEKoY2AlLDL8t0sjUIL8z15SwO9rcGN1z-5iJR5OMX0VhLj5V04ctMOVutzuMBrYUpJSN8IC_biy1TlZ9szcWj-vr3C_Zt1hQ_2wDnoFMuoV83ODYsDLTSQRv9vl_xngVbsbHMO8KEjP3jW8BZe9cGwND3lWYxqrXugt9xrXpeem42RxXmRUZ9CIPB_ByLkBZlApHTc8mGI9gpd6ZypnxRrzyMlEwQf4fBf6g43jeGoLNHkry3oyVe0n05fcnY0_2i6s7LvM8F1ziWT3dH9GFb3D5tNSX1TN5SMota4bVjr4PDJtnHrpKmp1DTj36JucQKVnUEHryaoVeg9lkc6cad-CM7ymNfWw1GUgzlYEbgnZApYhf1K4LKNm8udGMdPmomJxdII6sTaflHGE1ilNHDKX28AhvqsmTzR0I5TV1EoXwziVn93qP_VY9sfwEmrIBolDQJm6k_FuXpqQhO1ivAR55Rpqv4gmRCZTJ6w3rgpLKKXd8OteR-9y09cnQvCXsxS_4teCueoqlbWm2DBWP4hXYz_p47xjdkQV2ZOcYMXYZkBa4VRGVRAyAiTjdysgWSuMOVDpZSDO4o2UOD7gmdZj6A91E3gO-IbMalk0vtPkhcEF9oo5DwtftriIRrG_VHhUra8rKGLrxqJ65Zz7hylgsm9BstkBoNd-lnbklwg8Of46d87NtX9be5b9najq1ibkgRV9saQj2HOXgzn1nH78CPlxm5zbHKfbBK7Z65v7hQfIGldiclJmxO3Mwfciezpc-5Kw2J9fxvJeZ120pRh4BoMFmM_7JHtR5SKym3SaaNc4EwlmZ_NEXZt_JEfVSHu_0t9YrY-NpEq4YDi29uKe4AfFOshp62ifVwuOa0en0hmE069QNprp6c_WKioYk6GMAHlWUUuA7HhmJVOAtNLzWLOXIAmmISQTPxsmnlUrjB3Ik1ektRQ7jWfCQTr6PWmQLObnj5Gi8yfnsQlYuf7RvD6YOsXvr3rOHAPWufbTTmugulLB0Ea7EDNVdQbIM4QBgMBIRH92E0O0S5rDrLMJWQ46MkdxDoue8QVCNJ6-Bz5Jnm1ZEULFTa-HKPNf660mnM7lqU9A0H2ZC_8=",
  "id": "rs_09f2c132a2135c8c016ab434d9275887d09515e7be05e1247b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTfeuwfZItaWbvmHddbMAjHddaLUOSqnan2d2he_hLSi3tXROtuOxasNCWBLMnZOqX8eyGQSCM1umHr-1zcp_Ac7EVghB9tXDv07ztg033RXNAt_TPdrqWOlO1Dfas8jfhcGWQH79J0GOkbfUhru-vZQfxEo3xcu8rEnFhQ_PkbexwJO2AnR9jMWvZ_GQN-ADkLUeFcKoU9iL-ZE7MC5XzGACJ8QuedQVs5mmmn3dZeNwjkYEA3Jx8mvaMLh7NMEgY_xQ0HN2gIthfxA6izV0Ax3poU_ZFZBrgq2QhB_NBTwDzKiIju9e1MJum0h7_n9aDchIgzH_4hFZb9iBgGevSKImUuDKr40N01CUtFZNjXr8prFzoj789c5Ve1pan9KzzWmi5MV5UVwnFvsjnFz_E2HdmXiT69s0lvJiFsAW7SDyMJaXAkW1SYY5xXePd4GEwHlW3MQ-Oauqu8MkQGHCcPxzrvgR-lr4nBk5SWlc3oSYxih2xn1dSgcOU_Jg2TZrJYXgRlDakmg24U1TI5Yw_Z9lQhFJ36QDGi6F9W8BsKU_YVMdlrVmX_J4XN41Uac7SpWrNyYo1hi0Vf9N4vH_3AAN59aadqPJtgwDcK6iLAY66kd_KiPRu2dpClZXwGUOWjyrSXNSY34YNgzpQvOw7XfxoiRlts8kCCAAa30pYv8XLIurk2_nKyDDgOBm01RyLiv-m6nGrHxvFNkVOQ0E8aFw72-zF4viEsBhEV3V-TTfPoX4Qt7oLpJEPJa0DCxISi5pPVRdj6MVO2GLFUiXmKn1m4Co-4SAQW8Zo-5zqcByVDBFu73i-esybHRoKsxD4Wu8e69kFPoX_3r8LTkTM6UTbLRRXklphHq470YOkf9Zsj0y0RtJy0o_RZxUxboqNL2PWN_JKNMUwSl-abEzLcnXL2TvYYKiYxmjL3XU9Nj70lqdDPmRQrEN0gA7sbsGjNWlbwKI4nbthbAw2QLYCsiNcTKEk9WWGACeZ3_lUIzhesnn1VH9pb4yCAztv_HHYoO0wOZjMZXtaTzQ7IP-29ZrJmt8dldVAcuG7PsrZSqkhjlXcbxP9Atqyt_7NZqDheFQe1J9_UHPCNsj9hcU6Liuu_237LiSFVsv4ecNZ0oM_DDedL3Ibnb-ERc-QTuvVUOIevQ6e7ZtM8IHd0p6_dMoHjOWdhT44ZTFh4PQBFp39Ei7IF1SJxio-3i_xQzoAshbJDXfUBx3DvC_UZytDFhs0qIUtibTeVKhHVz783kp80GQgWxnCUm5lUAL77WEaAMRGizp4foyz66m8ahCbf6H3FDEeh9uc-a5IYD4WGjFlLlMPoMncwAASUFZnRmOiTWliE0wuZOsBFvBeKiP1WTAt-53yOoZwf6eTfRnkjgsQ0iRW6_IboMJ4p1uD8HASe4LPMcIOQ7qr2xMzwKxkaTKvKQSjd5jt8L6dRi7tXTpI7Qb_IdLt0W9MeTrhhtFKb9JI-K-q_TEhnqornxRMc-kjE01PWj8JwAutC8B7igLXnUjzlqMBOOGc5tUtJpRJKCjXGguF-Y5PuhUZH2fqVbAu52pD0Oz3lU-meOSejk9Q=",
  "id": "rs_09f2c132a2135c8c016ab434ddec6887d082ed9a3ebe05bde2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.18,\"left_z\":0.19,\"left_yaw\":1.4},\"note\":\"The cap still points up and right, whereas the pen points up and left, so their axes will not meet end-to-end. I’ll rotate the cap farther until its closed end points left and its opening faces the approaching pen.\"}",
  "call_id": "call_RAcLHieZh6om8i97UjFfHBxj",
  "id": "fc_09f2c132a2135c8c016ab434deb79087d0846cb09139cbc820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RAcLHieZh6om8i97UjFfHBxj",
  "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]: [-0.7906, 2.1422, 1.6936, -0.9001, -1.0702, -1.4174, 0.0673, 0.1986, 1.5066, 1.0183, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4247 left_y=-0.2037 left_z=0.131 left_yaw=0.7023 left_pitch=0.0825 left_roll=-0.0775 left_gripper=0.0673 right_x=0.3782 right_y=0.1401 right_z=0.1314 right_yaw=0.6409 right_pitch=-0.257 right_roll=0.076 right_gripper=0.0549\nstate[joint_eff]: [0.1299, -13.7368, 7.9111, 0.5836, -0.8034, -0.2027, 1.0281, -0.3487, -6.8991, 6.8171, 1.4383, -0.1587, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f426bec899d05c4bf1da187ceedc0f91e24045f02339973f0c007aebce6cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006c11dcf03ce9c4b48246ca44569bc8a6a3ca800903c6920f8f4b8bf8183fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d7189ec1c4c87e18818dd35ff48f491e21ca615959c14d05f9542e702a5b60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.635 s

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

message 51 changed as sent

message 61 changed as sent

message 66 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 2.0289, 0.4755, 1.0924, 0.3489, 0.0685, 0.0551, 0.1986, 1.4994, 1.0225, -0.3691, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3905 left_y=-0.1449 left_z=0.0 left_yaw=-0.5612 left_pitch=0.1383 left_roll=-0.081 left_gripper=0.0551 right_x=0.3829 right_y=0.1411 right_z=0.1393 right_yaw=0.6376 right_pitch=-0.2265 right_roll=0.0615 right_gripper=0.0549\nstate[joint_eff]: [0.1162, -9.1692, 3.0427, 1.6532, 0.1734, 0.149, 1.6825, -0.3624, -6.7214, 6.694, 1.3993, -0.2027, -0.0611, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7364, 1.7164, 1.2026, -0.3126, -0.9028, -0.8394, 0.0673, 0.1986, 1.5021, 1.021, -0.3889, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4088 left_y=-0.1786 left_z=0.1731 left_yaw=0.4045 left_pitch=0.095 left_roll=-0.1095 left_gripper=0.0673 right_x=0.3792 right_y=0.1403 right_z=0.1346 right_yaw=0.6398 right_pitch=-0.2484 right_roll=0.0718 right_gripper=0.0549\nstate[joint_eff]: [-0.3897, -10.0718, 7.3094, 0.8816, -0.6081, -0.149, 1.0281, -0.335, -6.7487, 6.7761, 1.5702, -0.2027, -0.0317, 1.0379]",
      "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]: [-0.7906, 2.1422, 1.6936, -0.9001, -1.0702, -1.4174, 0.0673, 0.1986, 1.5066, 1.0183, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4247 left_y=-0.2037 left_z=0.131 left_yaw=0.7023 left_pitch=0.0825 left_roll=-0.0775 left_gripper=0.0673 right_x=0.3782 right_y=0.1401 right_z=0.1314 right_yaw=0.6409 right_pitch=-0.257 right_roll=0.076 right_gripper=0.0549\nstate[joint_eff]: [0.1299, -13.7368, 7.9111, 0.5836, -0.8034, -0.2027, 1.0281, -0.3487, -6.8991, 6.8171, 1.4383, -0.1587, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f426bec899d05c4bf1da187ceedc0f91e24045f02339973f0c007aebce6cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006c11dcf03ce9c4b48246ca44569bc8a6a3ca800903c6920f8f4b8bf8183fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d7189ec1c4c87e18818dd35ff48f491e21ca615959c14d05f9542e702a5b60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09f2c132a2135c8c016ab434e1761487d08d0c0fad66abf3ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.23,\"left_yaw\":1.4},\"note\":\"The cap rotation stalled well short of the requested angle while the left arm was extended. I’ll retract and raise that hand to give the wrist room to turn, then bring the cap back for assembly.\"}",
  "call_id": "call_xJ3qaS4e39adRVyCFQfZ9m2P",
  "id": "fc_09f2c132a2135c8c016ab434e576a487d0a0a76612748d3752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xJ3qaS4e39adRVyCFQfZ9m2P",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5678, 2.1143, 1.6989, -1.111, -1.0161, -1.6547, 0.0727, 0.1986, 1.507, 1.0176, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.43 left_y=-0.0919 left_z=0.1312 left_yaw=1.0376 left_pitch=0.014 left_roll=-0.1065 left_gripper=0.0727 right_x=0.3781 right_y=0.14 right_z=0.131 right_yaw=0.641 right_pitch=-0.2581 right_roll=0.0765 right_gripper=0.0549\nstate[joint_eff]: [-0.1573, -15.5556, 5.4632, 0.2857, -0.5104, -0.0659, 1.0281, -0.3761, -6.1744, 6.7214, 1.4432, -0.1832, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1400af1141dc10505f2b2f1fba46303d2c0d15f8242c2c4a9503f85cbed8ce1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed02a07ff6830f82da53a4ef50a015f46ecbc3749afe500ac9f40450068eac23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6fbf06d3669e35b5e021fd3a166e18768e12ce148c0ee8a21b37caa539c312",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 6.199 s

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

message 55 changed as sent

message 66 changed as sent

message 70 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2184, 1.4048, 0.6903, 0.2474, 0.3439, 0.0673, 0.0673, 0.1986, 1.5009, 1.0225, -0.3748, -0.3416, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3901 left_y=-0.1439 left_z=0.1509 left_yaw=-0.5562 left_pitch=0.1317 left_roll=-0.082 left_gripper=0.0673 right_x=0.382 right_y=0.1409 right_z=0.1378 right_yaw=0.6384 right_pitch=-0.2331 right_roll=0.0647 right_gripper=0.0549\nstate[joint_eff]: [-0.0889, -7.1043, 9.5521, 1.7411, 0.1099, -0.0317, 1.033, -0.3761, -6.7761, 6.9402, 1.4579, -0.2173, -0.0317, 1.0281]",
      "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]: [-0.7906, 2.1422, 1.6936, -0.9001, -1.0702, -1.4174, 0.0673, 0.1986, 1.5066, 1.0183, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4247 left_y=-0.2037 left_z=0.131 left_yaw=0.7023 left_pitch=0.0825 left_roll=-0.0775 left_gripper=0.0673 right_x=0.3782 right_y=0.1401 right_z=0.1314 right_yaw=0.6409 right_pitch=-0.257 right_roll=0.076 right_gripper=0.0549\nstate[joint_eff]: [0.1299, -13.7368, 7.9111, 0.5836, -0.8034, -0.2027, 1.0281, -0.3487, -6.8991, 6.8171, 1.4383, -0.1587, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5678, 2.1143, 1.6989, -1.111, -1.0161, -1.6547, 0.0727, 0.1986, 1.507, 1.0176, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.43 left_y=-0.0919 left_z=0.1312 left_yaw=1.0376 left_pitch=0.014 left_roll=-0.1065 left_gripper=0.0727 right_x=0.3781 right_y=0.14 right_z=0.131 right_yaw=0.641 right_pitch=-0.2581 right_roll=0.0765 right_gripper=0.0549\nstate[joint_eff]: [-0.1573, -15.5556, 5.4632, 0.2857, -0.5104, -0.0659, 1.0281, -0.3761, -6.1744, 6.7214, 1.4432, -0.1832, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1400af1141dc10505f2b2f1fba46303d2c0d15f8242c2c4a9503f85cbed8ce1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed02a07ff6830f82da53a4ef50a015f46ecbc3749afe500ac9f40450068eac23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6fbf06d3669e35b5e021fd3a166e18768e12ce148c0ee8a21b37caa539c312",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTqI2B1nyCrzFMOjiX4KDGKvkh1mU3o-t1kEiSgwOKSuQzi6rAwCxoP6wYiHpuyLLvgDFDEt3730degzvjJbLgxpyc1OV6wEYRTruDEGFr1NKhfzupA0sJOzIm3sFFihSeBKwvdM3Ky3w6i21PsgLMIVABjomTNKWYQkidEZdMmthz3cOX77E6Xb77MdQmhnnB2ODPjL68sZqQd-eyNevPrGHqYEWiVerFcr0FTBlexDHsq3odzpYoLChoUBmaL7IA3g3onEEZvxPZW-ziBt34UqvFl0iZZdgHfqJf0hpitZM4XzK1XF_mQ2sZ0WoB_QYGIZhVYn20VKFwTk137jnarIPCnXRDinkNQlXEThhD_jzAVKgsCGCB3ykEDClpcDCu9WWzxLC8ikspavARmFcHToe42HmVo_VJXwU55PJXgO0TYxxEpDe8cpOPlkE89ISVxCHlkSFqGOxav4f64tlZcGpfw8tH7OQvlQ4DngCcBAzZWqQ-r6fFX_WjeBoge8H-EbsM0OwpceajB82EVuEzvGY7OxuA4S6V-gaWvgUcEJx3myJxq3NXjdqnII0shBZO1FXUGkvvtnkAdLnoK0PhzoVyT0SSb6kbV9DYRhm6JRHsPuzYlYu7AH8FV1B7uWP-iAM-leIU0wng4RAYliRAC8ByDBeDc2iDRN5ZqDcIlsMp2w75UMZwOpanzXZJpAE5DQw0m7V5VMgu_mdTE4hyg7XT6hCHd-rKFe0kelSnzt7JWevS_rHHNgkeiEq_FvaMs1sm3bn4HOA4iZkj--1n8JV06rKuSU6wz0mqwQ662kkZXSYVEeNMStt3l68gmsnoUHFJZ4Q0mk0kIqsYQyEizZ5MFauaLo7tuB9N0qeDAms4wfS1Pu9CvilDCkYHXXW4Rl-vAibhGpHano5L2x7REsotS1U5pdPhzYAku789QoYRdYl7t9SOhQrjgYySgnn6V3kQKZR-NiGYt7l1YTx4hsKUrghNn01H_dZOLeYsEbTKt0C2-EgzsjjLmEw_J6kLRif6cPKnnx9T6sYw1I_NWChI3MbSNo44Rvs08grK0LKUCuqLEbUs8j0EgbE0MZprxIrvTSIHdEpdDEDC9Kyxf5aZAOOgptcmxDPhqI6oq7mbYJ40HFqCan-sSu5KYF8OpliJ5MMBZDHc6UO2_8ScieAIzdQp1zBVBtPdakxuutKcYaUqvnUkhRJsitvbbf7Dlo1frmdBV1bjvGzISNXNs8PmBgs_9FZ6L3s4l9QrJmpbzqG2ICtE1Whb08LyVYC7sn7McuzmhTsid1806x9lq52p-Ckj_okCIhfiN1f78nCpQ0xaqJPbap_r76KB2c4ycawfshwGqXhjaHdRUg3_S-8StmPN-qrhG6jTPHyKX1m65zMuUqGycfH-NTrd8qKSHDUQKkwGo5W8jGNlVqoOcUem9LowdvO_GCCLcWbT90f8YEHkode31B9iG4mhCASpSAyok5dH42xasaGHgobqXRF6sfo9ZGYmgfIMwgrp3jT9qJagUqTtwb0unc2ycXde0hFKu189GwdNjTEkkzwNBhM6xFm8F7uOUSOrBpy7sWzLO2sZ36QJb9c7VKixKrOt-KC6L6ocVZy11TpNI2QUospO3-SyPsR7JmUbCzR-7amUdYHuPaN6W2KoAM50dc_eg4I-BC78tOsx18P-QGeCEbCDGHxQ_z0V3zUMBNO5fXM0=",
  "id": "rs_09f2c132a2135c8c016ab434e8fd9487d08ccfb2ae7a06464b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.09,\"left_z\":0.23,\"left_yaw\":1.04},\"note\":\"The left arm changed its sideways position instead of retracting, and the cap is still safely held away from the pen. I’ll hold its current yaw and request only a retraction and lift, avoiding another large wrist turn.\"}",
  "call_id": "call_Gszd0BdSvuFttv3hG67FfUn8",
  "id": "fc_09f2c132a2135c8c016ab434e9f09487d0aa68a7ebe919e82c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gszd0BdSvuFttv3hG67FfUn8",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7425, 2.0899, 1.792, -1.504, -0.9874, -1.9785, 0.0727, 0.1986, 1.507, 1.0168, -0.3927, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3704 left_y=-0.135 left_z=0.164 left_yaw=1.0387 left_pitch=0.0024 left_roll=-0.1032 left_gripper=0.0727 right_x=0.3776 right_y=0.1399 right_z=0.1304 right_yaw=0.6412 right_pitch=-0.2601 right_roll=0.0775 right_gripper=0.0549\nstate[joint_eff]: [-0.2256, -10.359, 6.735, -0.2564, -0.6178, -0.0464, 1.0281, -0.335, -6.5299, 6.7214, 1.4042, -0.1636, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daff75737bcecb388ebc863c20203c1332b241850d3f90232d435883b9edc27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86460bcf3109950dfac7131d16c82d3a68892ac281126dd4f05c9d518f821895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d023e1fdd0594fc676099ccc62b6fbf2ab9cad6e1908a06698b16de86a1da3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.291 s

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

message 61 changed as sent

message 70 changed as sent

message 74 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7364, 1.7164, 1.2026, -0.3126, -0.9028, -0.8394, 0.0673, 0.1986, 1.5021, 1.021, -0.3889, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4088 left_y=-0.1786 left_z=0.1731 left_yaw=0.4045 left_pitch=0.095 left_roll=-0.1095 left_gripper=0.0673 right_x=0.3792 right_y=0.1403 right_z=0.1346 right_yaw=0.6398 right_pitch=-0.2484 right_roll=0.0718 right_gripper=0.0549\nstate[joint_eff]: [-0.3897, -10.0718, 7.3094, 0.8816, -0.6081, -0.149, 1.0281, -0.335, -6.7487, 6.7761, 1.5702, -0.2027, -0.0317, 1.0379]",
      "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]: [-0.5678, 2.1143, 1.6989, -1.111, -1.0161, -1.6547, 0.0727, 0.1986, 1.507, 1.0176, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.43 left_y=-0.0919 left_z=0.1312 left_yaw=1.0376 left_pitch=0.014 left_roll=-0.1065 left_gripper=0.0727 right_x=0.3781 right_y=0.14 right_z=0.131 right_yaw=0.641 right_pitch=-0.2581 right_roll=0.0765 right_gripper=0.0549\nstate[joint_eff]: [-0.1573, -15.5556, 5.4632, 0.2857, -0.5104, -0.0659, 1.0281, -0.3761, -6.1744, 6.7214, 1.4432, -0.1832, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7425, 2.0899, 1.792, -1.504, -0.9874, -1.9785, 0.0727, 0.1986, 1.507, 1.0168, -0.3927, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3704 left_y=-0.135 left_z=0.164 left_yaw=1.0387 left_pitch=0.0024 left_roll=-0.1032 left_gripper=0.0727 right_x=0.3776 right_y=0.1399 right_z=0.1304 right_yaw=0.6412 right_pitch=-0.2601 right_roll=0.0775 right_gripper=0.0549\nstate[joint_eff]: [-0.2256, -10.359, 6.735, -0.2564, -0.6178, -0.0464, 1.0281, -0.335, -6.5299, 6.7214, 1.4042, -0.1636, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daff75737bcecb388ebc863c20203c1332b241850d3f90232d435883b9edc27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86460bcf3109950dfac7131d16c82d3a68892ac281126dd4f05c9d518f821895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d023e1fdd0594fc676099ccc62b6fbf2ab9cad6e1908a06698b16de86a1da3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09f2c132a2135c8c016ab434ec7c0487d092c06714661f4446",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTxE3bAA5BBP-Lys2Udt6zSRFzXUI24hrT_7b56d0l1qq8qp0bLUAhsoWWBBcVBsnjfLJtWt4jklPK87JDsK730YIoDfDT-mAisFrbguzwlY0AaT-oIVO-uaAWqC-OR7S71yQR7f1wZ68LB-fpyOwXAeqJRenNzuymRLCRHR7b_RJ657i2HooUaHMXhdurcw0z3JtzEdwxRPgqPIUwL4MPDs3DvbQfS1XH0QcDr0qOCTAbCsrgIcCiaj1mSvehbE2FpJwij1HaB0359LKFHrG5j_tOAzwT_xRmk5OWRmi71GLlv4KKBBoXDXT8euXy0T44B9pzEgkYAnAalfMCnKQuBIVKyaDd5MoYCqJ9AVl7M_bSnScToX1JexPf3vNCBLQ43M83QgKG2XuKSXIcu3N2ZwFNqKDVRPEH9AVqNgPCy0e85tEUitfLytrKXAz6Z_jYiNg8kD6989NMQp4oUIz8AvWxRdj_3U-wbUPb_6s0jWYOXb3RH2C8ht7o55rzJLLsVbr7RJlNaBSlP9YYUkFvu9Hm2bHT5abathGCA8g1AdNb9Vt9FAOeJKHybC-avDEzbzAKmBF6ejCRdzLAEqASP46AlcWmzKEkC3ai5YG2J6iM52IyE5nLt3_C7x-75sr1mtd64HbTh9P-0cS01Yaxx-oEfrp2cg1mQPXjytZUtT3u_NcZ6C606V3R8pr1LBT0zLdLpgujZU_ogfLOpYeNEUofaOyrdwlTU51XzJfl4H20C8A_m0bB4jRBuFMsk4zXvTLbrYwv7dU5y4eBJC432m4EtcKNV8AYq4XsK8YdiJjUvIhLgmJ0r8W42r47fWc0ibONsMZuaMXRItvs-kNLS-g6jSw-LbDhay0KCrxL4ibp6qnTMM1q4VDMb5_RJSX3oLaHcJBRimzdFXfsRakpJBysGcPjvl6rP2_e01VM3hDl2e5yfw8G9kRrsmDh1B8s_yOEr_OgRI-2ADmObKlWg7UqtkStKK8NyTgxAowDJNhWTvPPUUO_JEbR6JUf_ML9HH91VtZasmb1xVRuyKqVTIPoZnFW4G9A_o3W0-54UsXwZs3kpsjz4NAhDuUZlNTYaQUOfuFaJ5lBw3Nr6q-uEKsJ2n9DwySAqCSGF1LFSr5mHlhgMeOy33k4GcTjh8As0fihCcKxwjxckJ5G9PBYfNzFtJuNs9hAWTbWX2KGgJSq0QozFqsaJlLhuSxbSKCV3-oSCqSgQtQn8shFUC-RnVGjcpewPet4HLxF0zi53acUdXbFHKjmoQIpSYXRrdu8xL7v1jN5Cxzu-Bcq3vAyiVvjyHoBR4KpEwaZ2gY5ll4yb1_7Q4MW7llL4DaFZHfYWD9ar8QNGRLZ0Bt9ELUIt3DvRdxrV0VN8tyLMmCVJHUmvvFrGc7cF9uuCPAUsBPWFwPVE9PgsBrj-EUxu53OTvE2GmON94XzliiwBlsHNsNyheoJe0adMhbHDnJsVwXpj",
  "id": "rs_09f2c132a2135c8c016ab434f0787487d0a85967476ea0e831",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.245,\"right_z\":0.19},\"note\":\"The left arm has retracted enough to move freely again, and the pen tip remains visible ahead of the right jaws. I’ll shift the pen toward the middle at a higher carry height, leaving the cap hand clear for a controlled approach.\"}",
  "call_id": "call_X9qqYjuCvw8EHqD4hQCEnwkL",
  "id": "fc_09f2c132a2135c8c016ab434f104c887d08d1dcefb3f86e865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X9qqYjuCvw8EHqD4hQCEnwkL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7208, 2.0899, 1.7912, -1.5005, -0.9867, -1.9808, 0.0727, 0.551, 1.5028, 1.1759, -0.5732, -0.1226, -0.0322, 0.0584]\nstate[eef_state]: left_x=0.3735 left_y=-0.1272 left_z=0.1636 left_yaw=1.0619 left_pitch=0.001 left_roll=-0.1076 left_gripper=0.0727 right_x=0.3326 right_y=0.234 right_z=0.1614 right_yaw=0.673 right_pitch=-0.3356 right_roll=0.0781 right_gripper=0.0584\nstate[joint_eff]: [-1.853, -10.3863, 5.4359, -0.1148, -0.5348, -0.0073, 1.0281, 1.0051, -7.8701, 10.4274, 1.8046, 0.0806, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a9095d7fe67bd65329a250a995c50bcc719bc76193cb7e8db6801fd765c065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d324a142dbdc711472fcf28722633bf3b364f0459cf6d8f3937f597a5d0885a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa7887800a06db2b4db5bd38dc0eafc4c2971a39647f28351d95d72670ecc3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 5.489 s

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

message 66 changed as sent

message 74 changed as sent

message 79 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7906, 2.1422, 1.6936, -0.9001, -1.0702, -1.4174, 0.0673, 0.1986, 1.5066, 1.0183, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.4247 left_y=-0.2037 left_z=0.131 left_yaw=0.7023 left_pitch=0.0825 left_roll=-0.0775 left_gripper=0.0673 right_x=0.3782 right_y=0.1401 right_z=0.1314 right_yaw=0.6409 right_pitch=-0.257 right_roll=0.076 right_gripper=0.0549\nstate[joint_eff]: [0.1299, -13.7368, 7.9111, 0.5836, -0.8034, -0.2027, 1.0281, -0.3487, -6.8991, 6.8171, 1.4383, -0.1587, -0.0366, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7425, 2.0899, 1.792, -1.504, -0.9874, -1.9785, 0.0727, 0.1986, 1.507, 1.0168, -0.3927, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3704 left_y=-0.135 left_z=0.164 left_yaw=1.0387 left_pitch=0.0024 left_roll=-0.1032 left_gripper=0.0727 right_x=0.3776 right_y=0.1399 right_z=0.1304 right_yaw=0.6412 right_pitch=-0.2601 right_roll=0.0775 right_gripper=0.0549\nstate[joint_eff]: [-0.2256, -10.359, 6.735, -0.2564, -0.6178, -0.0464, 1.0281, -0.335, -6.5299, 6.7214, 1.4042, -0.1636, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7208, 2.0899, 1.7912, -1.5005, -0.9867, -1.9808, 0.0727, 0.551, 1.5028, 1.1759, -0.5732, -0.1226, -0.0322, 0.0584]\nstate[eef_state]: left_x=0.3735 left_y=-0.1272 left_z=0.1636 left_yaw=1.0619 left_pitch=0.001 left_roll=-0.1076 left_gripper=0.0727 right_x=0.3326 right_y=0.234 right_z=0.1614 right_yaw=0.673 right_pitch=-0.3356 right_roll=0.0781 right_gripper=0.0584\nstate[joint_eff]: [-1.853, -10.3863, 5.4359, -0.1148, -0.5348, -0.0073, 1.0281, 1.0051, -7.8701, 10.4274, 1.8046, 0.0806, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a9095d7fe67bd65329a250a995c50bcc719bc76193cb7e8db6801fd765c065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d324a142dbdc711472fcf28722633bf3b364f0459cf6d8f3937f597a5d0885a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa7887800a06db2b4db5bd38dc0eafc4c2971a39647f28351d95d72670ecc3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT3Dvms1-fyyVa1pNTWUYKH7g_AohUw1IcYiupNoaduzG4Sg74WOw1Qd2hm1IWm9ydSJnUCB3kfNvap_m6KnuExWHvJ-JBBblamNP_9wWVJXsMBE-Uxrxzx9j5gnfqfav0G6NGRcojvqs2VOkweyArDkbckS68HynyTVAwQBco0Pin3Bm8r87H1ZVVrEspdthNhcM-ImduDPiwamg1UyxiwI5trK29d9lPFPZyI_bfGn9cPvQ1AUKdQFjQNc98SJkjx7GsRup0lQvfy-fYvf2wiwU2y6751niYJCxTDKC7GBtgk6HdmbJieOa03oyznnyzLF6JB9YW6IxkiFfiQ0IeiYywK__XOHl6Zm3VnEFa_Npx4hvpiFjGZgtlhoX2bgh8240tg_RyMpP1HoJPYuRZtYJ2mPufeDc3-yhCO5S122a4YXvXhL1Gzqyqgb6i8RK0j-MUJIE6d8TMj8UsPYJx45gpF6AyeUQzVFYh1ysCf4OZCEV3VTQ3cRIj9IopVgZqK5nk5-3_d0p2Z5Brd-pXVMRodcMrPzqpFDEOrSfbbR-WGl4SL47eccfBuAKKo-FS5jrGGiSQt9HmN6J0_cnsptrdabOOw6ggVoVKZsqmQd4WkxX_8DkqS6fK5C56bbdMd3ke6eTJwLVp938RhVxObDhh5i9F991qSK5YC5daCngefRSj-fkbGTMUEtXhH8372O-52WlUcMSfKtxGUuxgcWdhXzQGSsjscv4cCRlaoy5aBIBKb44DsRBCtDs1Hv7FJf2WAdn4QUuEH1ILGTpM9YYG054nsm2BCZG9b6G6CzW7AMO38YfgxnZhfxFNa3AGpC4_vJ5jkBLtsw2Av-8xIUWhDZvttXF0XZwpdihI2m2lHfLcm9nDulq-PTa01DL0tvp-_xoRva4as9iUHnIYqjowbgvtqoFwFG5MSkg-KF9CmGl2R9YLO2vthnQOZoDh5rePVMq5D5H6ov_rosOZwFgSY-2o-zmLjjCZyIVlWdwza6UzTLsad0Lm0nxpU3IRCepqDJWYDUerugsMuvGjTvTsQY01jJohl3B3XybqWCULb-6iCDr5sIMwEdK5PKIc0ra-X2HDwb8ueP5voC1QXipOB8yRAshXhU4RCEIntDj0Q7Qfymes969EtiXAgXqoa7ibfszPD9C-yENhHmiTKTlnNDqdb-Jl52FqJEIKpPKOQCREwfo_9G6NzOH6t1Nm2OA_IRaCBxLlnKZdA7DQBns2Gf8rx9SpS5l0mtVT7hU0YXh7NBINFFXTWIYbzkH0GCE8J7an7-1FDjxpzmBaG2WtZ15iwJUjqTLa_RKuNM5cWbQr1raJ_lUttio6bC_yIdVmTzZsa8_x1M_uLHrDG8nSOCJDP7MEQ87gOQdHMQgwNH-4uXUapW5SD9d9uEnmN5hUG5NOg6nPfdRH6FULVCUWL0QwRtBECkS5CvDur5Z1YV8rZPZTQIvUoLAO5FmAJHgbAexHPftBRrrtRIehyYhMn6MjwuzxeYxlbj8lM8fnsNSfPyc4eulQV3QEcY2Ot06GDj-fU3LaYqmaWiiPGSEjRaMASbCzSidapP7L9wJvlq6XGjzgYKa6MhK1hQxRsoet4WebzwXeMDDBQzF6BuEZ0KuKgu4b1mjZca_7_6PycwlLSzgsDM1BvTxiFllShU79pcsMzNXHLMFUruzAy_ysLwX0U0jrSr5DPDT4FkCNuHUgxKT3kgCgijXUeSkResVIL-EX4nAloXsCAIpq1TbujOd1GhB_576xRsV9GyQJbWwuQtXhVb1OFCXrhy_F_qnZRTXjEXB15q7JIxf3Sg80A3qddKenlnXjJqnXt86EYw_qdCBBQIWd8DWtWapOSDVNXkek-A5Dt-ZSrZhMS4g0Pv38Cn5w9Ro-XgC3rQ-FDlf1I2g2wGZWfS_1JO-vgnWPq7hV9dWDR_2V0HD6yNKigb068uo3A7f8uaqHn5LA67-uziuDaSbavEd1yfgaDjBsPGaPRJjTQ-PHMM9lefFGNB9EcmxlxSvbsNqp-2MZtD_WJamvh9gtn153kdvJdQmb1iFMdy-8vZI5DAjJrnuydhyCQBtlKMQ-W-UwcxHbcVovXwtT2aqfN8ijZsOt_1X4FDDPbVBI1O_DI_mT2EyS0uqPv53YNuhljPXbrOJV9qeyPumj_XLsGNdpv40jX5Qq6LvUzag21iIvVdJRr8Aa8oPzO5ybJvVg7flMyqUvSN8tyfjnmiyI_dn9xhfskD3SZf2-YjX_Q9jcU3xqBcjS6NwyPOezpA3kY2A_z95kTNHQCc6vIXf5d3ANFlb7GQ7bNc5r0T0w4_Gxic2SQsaNGgscdS60rvLn8DkqNhz8se0X2_wTS7emlYGROPQ1KQpohtapOk0RwcY8cbhTI7Eu_tXLe67cfHLYNTTNAm9e1IC9dWHb-Q_ldPcRViA4MDXKAF5aOkg1mSdHLd0EfGQ4f7_VgXdX-IImh78twoBNn02-yM4VUUP8fWlsNSEgd7-1eG82Ji-hnU90k-Grwn82S4S5pztwn8685eI7pq7ZwgisSC9QhmmSladjD3mAtvHOALa2BCgh0y8pYfJvj6bIhzMBYCGdvbRlGv_VOV1uWgT7V2bwJFf6MYEEWElfbC76afe5W1TBTwpuAQerWJWwZCx2PvdqZ3622tVBvcx4=",
  "id": "rs_09f2c132a2135c8c016ab434f41eb087d0849ce8b5c427779f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.28,\"left_z\":0.19,\"left_yaw\":1.04},\"note\":\"The pen has moved toward the center while both objects remain held. I’ll bring the cap hand partway toward the exposed pen tip, keeping roughly a hand-width of clearance and using the wrist views to refine alignment.\"}",
  "call_id": "call_FNGpgJwa8m2MjX1gX3VPPZUN",
  "id": "fc_09f2c132a2135c8c016ab434f725b887d09ffadf4bce528cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FNGpgJwa8m2MjX1gX3VPPZUN",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7452, 2.3444, 2.1292, -1.615, -0.9607, -2.0178, 0.0727, 0.5003, 1.5066, 1.1645, -0.638, -0.0128, 0.0494, 0.0584]\nstate[eef_state]: left_x=0.4037 left_y=-0.1706 left_z=0.1419 left_yaw=1.0639 left_pitch=-0.0186 left_roll=-0.1028 left_gripper=0.0727 right_x=0.3406 right_y=0.1929 right_z=0.145 right_yaw=0.477 right_pitch=-0.4229 right_roll=0.039 right_gripper=0.0584\nstate[joint_eff]: [-3.7675, -9.2103, 7.6786, 0.232, -0.6911, 0.0904, 1.0281, 3.9179, -7.0906, 7.8017, 1.9121, -1.2186, -0.8718, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f0434d210750eb09ca2b98547c43145b199efaaefb447bd0e973bc8b6bcee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329c1ba8c9a1c2493793bc3de02451fb6e15cf16e3991151e3641bfbab2c4ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4f119ef2defc042cf69b93406922f859f3e71667a789929ea54729db1e4a19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 6.734 s

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

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5678, 2.1143, 1.6989, -1.111, -1.0161, -1.6547, 0.0727, 0.1986, 1.507, 1.0176, -0.3912, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.43 left_y=-0.0919 left_z=0.1312 left_yaw=1.0376 left_pitch=0.014 left_roll=-0.1065 left_gripper=0.0727 right_x=0.3781 right_y=0.14 right_z=0.131 right_yaw=0.641 right_pitch=-0.2581 right_roll=0.0765 right_gripper=0.0549\nstate[joint_eff]: [-0.1573, -15.5556, 5.4632, 0.2857, -0.5104, -0.0659, 1.0281, -0.3761, -6.1744, 6.7214, 1.4432, -0.1832, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7208, 2.0899, 1.7912, -1.5005, -0.9867, -1.9808, 0.0727, 0.551, 1.5028, 1.1759, -0.5732, -0.1226, -0.0322, 0.0584]\nstate[eef_state]: left_x=0.3735 left_y=-0.1272 left_z=0.1636 left_yaw=1.0619 left_pitch=0.001 left_roll=-0.1076 left_gripper=0.0727 right_x=0.3326 right_y=0.234 right_z=0.1614 right_yaw=0.673 right_pitch=-0.3356 right_roll=0.0781 right_gripper=0.0584\nstate[joint_eff]: [-1.853, -10.3863, 5.4359, -0.1148, -0.5348, -0.0073, 1.0281, 1.0051, -7.8701, 10.4274, 1.8046, 0.0806, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7452, 2.3444, 2.1292, -1.615, -0.9607, -2.0178, 0.0727, 0.5003, 1.5066, 1.1645, -0.638, -0.0128, 0.0494, 0.0584]\nstate[eef_state]: left_x=0.4037 left_y=-0.1706 left_z=0.1419 left_yaw=1.0639 left_pitch=-0.0186 left_roll=-0.1028 left_gripper=0.0727 right_x=0.3406 right_y=0.1929 right_z=0.145 right_yaw=0.477 right_pitch=-0.4229 right_roll=0.039 right_gripper=0.0584\nstate[joint_eff]: [-3.7675, -9.2103, 7.6786, 0.232, -0.6911, 0.0904, 1.0281, 3.9179, -7.0906, 7.8017, 1.9121, -1.2186, -0.8718, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f0434d210750eb09ca2b98547c43145b199efaaefb447bd0e973bc8b6bcee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329c1ba8c9a1c2493793bc3de02451fb6e15cf16e3991151e3641bfbab2c4ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4f119ef2defc042cf69b93406922f859f3e71667a789929ea54729db1e4a19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab434fa7bec87d0963b3d99f843f76f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.09,\"left_z\":0.23,\"left_yaw\":1.06},\"note\":\"The arms came close enough that the right hand was deflected and the left hand did not reach its sideways target. I’ll back the cap hand away and raise it before choosing a less crowded approach.\"}",
  "call_id": "call_KHTTUwo4L4HyTsaMKdoi3pQ9",
  "id": "fc_09f2c132a2135c8c016ab434fdc58887d092755aa62fa58385",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KHTTUwo4L4HyTsaMKdoi3pQ9",
  "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]: [-0.6804, 1.9499, 1.7798, -1.5555, -0.9569, -1.9327, 0.0727, 0.4976, 1.5085, 1.1522, -0.6514, -0.0116, 0.0448, 0.0584]\nstate[eef_state]: left_x=0.3594 left_y=-0.1005 left_z=0.2054 left_yaw=1.0808 left_pitch=-0.0395 left_roll=-0.134 left_gripper=0.0727 right_x=0.3363 right_y=0.1891 right_z=0.1378 right_yaw=0.4757 right_pitch=-0.4502 right_roll=0.0345 right_gripper=0.0584\nstate[joint_eff]: [0.2256, -10.0444, 5.2581, -0.0122, -0.6422, 0.2369, 1.0281, 0.1162, -6.7897, 7.5556, 1.4432, -0.0269, -0.0317, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d369748999a2e1c8021ad2c0944567d1f7046ad0421b44eeb62e8f4921b398ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a078c0c6bf2b04165e9975df107ff532bd22cad60203254b7334496bf72d24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb417b02cf5bedd92d5dccceb0e6c8f108b92e913d642a022c5f6f703a1f6d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.209 s

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

message 74 changed as sent

message 83 changed as sent

message 87 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]: [-0.7425, 2.0899, 1.792, -1.504, -0.9874, -1.9785, 0.0727, 0.1986, 1.507, 1.0168, -0.3927, -0.3412, -0.2749, 0.0549]\nstate[eef_state]: left_x=0.3704 left_y=-0.135 left_z=0.164 left_yaw=1.0387 left_pitch=0.0024 left_roll=-0.1032 left_gripper=0.0727 right_x=0.3776 right_y=0.1399 right_z=0.1304 right_yaw=0.6412 right_pitch=-0.2601 right_roll=0.0775 right_gripper=0.0549\nstate[joint_eff]: [-0.2256, -10.359, 6.735, -0.2564, -0.6178, -0.0464, 1.0281, -0.335, -6.5299, 6.7214, 1.4042, -0.1636, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7452, 2.3444, 2.1292, -1.615, -0.9607, -2.0178, 0.0727, 0.5003, 1.5066, 1.1645, -0.638, -0.0128, 0.0494, 0.0584]\nstate[eef_state]: left_x=0.4037 left_y=-0.1706 left_z=0.1419 left_yaw=1.0639 left_pitch=-0.0186 left_roll=-0.1028 left_gripper=0.0727 right_x=0.3406 right_y=0.1929 right_z=0.145 right_yaw=0.477 right_pitch=-0.4229 right_roll=0.039 right_gripper=0.0584\nstate[joint_eff]: [-3.7675, -9.2103, 7.6786, 0.232, -0.6911, 0.0904, 1.0281, 3.9179, -7.0906, 7.8017, 1.9121, -1.2186, -0.8718, 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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 1.9499, 1.7798, -1.5555, -0.9569, -1.9327, 0.0727, 0.4976, 1.5085, 1.1522, -0.6514, -0.0116, 0.0448, 0.0584]\nstate[eef_state]: left_x=0.3594 left_y=-0.1005 left_z=0.2054 left_yaw=1.0808 left_pitch=-0.0395 left_roll=-0.134 left_gripper=0.0727 right_x=0.3363 right_y=0.1891 right_z=0.1378 right_yaw=0.4757 right_pitch=-0.4502 right_roll=0.0345 right_gripper=0.0584\nstate[joint_eff]: [0.2256, -10.0444, 5.2581, -0.0122, -0.6422, 0.2369, 1.0281, 0.1162, -6.7897, 7.5556, 1.4432, -0.0269, -0.0317, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d369748999a2e1c8021ad2c0944567d1f7046ad0421b44eeb62e8f4921b398ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a078c0c6bf2b04165e9975df107ff532bd22cad60203254b7334496bf72d24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb417b02cf5bedd92d5dccceb0e6c8f108b92e913d642a022c5f6f703a1f6d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUGgeg0lg07mXJf6DxFm38JprCKkx2jUD9Pt1tXf-v_U6SV0NyAOHplz9fTpgC5mwUyXtknfd5ipDiCdRC9ZXtMt9C8ZSAiy5mwdUdHQpEotDiJiPtMZzi6Wk2Hq4ZH7pIeINAZpwOPr_yJoq8KYPUeu0mBCG-RHbpesSD-FG19i_YR1h_ykdn2h4A0dndWTiJqgvdOfsQL_tWppgvuEk-SGJnb4-iEiIMBbHDrOXtHC3WieUE2MooY0R7Phc1pu8YNXq5N4sMp3cXaeYs9acLKQ7kW0qXRBnUaN32L59kEx9X4o14GRmfaL3LV4BF6-JVKVleo2PY99TpMo5yyDUpT010x3v8j6S03prL71_KH2YqH4P07anjw0NeGi26DAYVis99P7Ru9iXmAtxCtsJiwrpzQC9BVjCkguqT1ZZS4QAN6XlcB8bWHHoFTg6xl_FsEqdmZvko_6lWniy35lQT2qkbPbU7B_tdb8d75xjj3xFjNCpgBz8lAn541SYhHOfA4yLC5FToPggA5ANA2SpQ2xkl23FXlPRS6f3Q8MdNtaAuCk0Qj_p05p1mnyUMqsybbTT1rRd9LKZxxM6RzUWc9V4GdRdtDbilzdSM42AJFjvvxw6A37qD0IIGXfwwyIuxZG-OOtmO9KoscME5qM20dT6VU-OJZTGA-zjXNcsTC_0KdUmh-ixolhlj3vKljwHWwuSzOcu23PGtw4A8-kLPcqZ-Dg0JjCbtbzIfUgMdOGZT2cFh-GxhAorEyMVA9sEUShSapYKhZClsMKTJYZjXq6zdQZG7j2ZOyVMUvJNDtDCLGK7PKBBspaRX_HHAqc78an4qZ01eP7ya9fWbc5Ogqt5k0vO6Gvx0pP6xMDOxqglFzvvT0SJPT_kF2g4-7bbBZWamfyKzvsTzDsWeLzVEwTyS2rc75AB0NTCMiZWdO2brf49ZKm7xCw5VgoMKRT6Gm12wQ85_Y-5uOFd7qKyIqEtaLEsk8IA82jGuDnAA9Bnhl77bSoXOtzhouaXhWo5K5eUu2HS5Y5u9fuyLtYV3GyqfKU89B4dNa89-9ZMBewAhigas_t69VziNpWkpDfEMH_SnqFjjnfni9G2ON3gEsh3agc7iX7CW4ZdnSk3ES2CpB3uy4ejUkTcYtaXjBxHiFLciLCiTF9lvJ6R5fTHnOsl6m7x71yeO2hLtdv85-LENGN_JN0NkWwDKrqVsuE8ILmL-8BIQpyHeFtLbJ3BHsDkg75EvfxxNNfCh2rtRrubqMq51hHqlKq9fu5Y3Yg1qbYDUMG3RZGBjPXzX3nXUvn_AfN0HW87qWBeDOylTg8fkGIv4ZIr4Dhvs7hl91mTYXBEO3q-nspdticFR9CNnalOFup3jL2czYCk6JqYm0qA-9b6sHSAlyhWLW_FQpnv8TPo0O3_XJmc7Zd5_5PQATIUHh5u8ykF3ibqteoodrg1koc9Tkbw9axe2Xu191W5lLqh9ZYqu5XN5LWyi8wpOuUvx5X7neFuxVg0kHYWn5OufMOJWWBZ7R3T44KH_hzU8gm21zxJXkc6x-G_1NstfHqoZwFD70a15aSZC1oR77pur7MBZh29WCPt94arChTJlMq-OoNVdNSEkV7APP_FSmXe21DtxWBusc_qu-ef5WBeewo67qsYlR57XHk1rOQOUTp200604r7xRPCF6YD5JpkPWcrLT-JhWOET_r-rZlWpzz5gwP137mHu6CnoWaq4F9Jl8YzyeeLGggzOHFQi_DrnEJdftfsNzTuWK958dc8jLZlqz38JLJ1Rg6vmgP4yNZLKElI0sWQG2X0JgI461akQc4xQ8SRrZiyqnX_ZI3WpoTVJ3wh2b09vgFHTzm787eb_YqQjbE6eNea5PQ8A9MuzTyFpb_giWmji99heuL0EpqCwp5OYWRpfYya7l8Fvs-sK6Pxigi_Tj5jAPfjod14A61K_gC_sDWu1zo-IkkgO1QMVvea3k7T_TYfxxzwUeWdYpJnApsfqpjepMQhV6NtD5EXFXsVtsmlpRhOSkz4_ikPLsarwhcbxYy8cdbB9tTocbGIQGVlzj0opybaIc__h5b6d-aqnCB01WnePD2RgtlXyCy2rh9uKrljNARudXfi1YEpujfmbPSHVAvIuU_4TbXnczyK9Vi1P34TMNoxVxhwosXmxgrdfSd28IATUCdW9-fV_qu294pNs02KKrdHyqnaKLJInJnzsAplcCMRazznCMLxaQCAC4F-7HumpLxKY_DOQQorq6uXSvbRrVTgmsy2RHWR4Rh3qVTctYa5bkf7znY9d6CbYPeBUeJgqNGkHddRqBqTD1Z-JYlMBjj11QQQeAFBiP-EuVwDcwIM-wdW9iYkV5-chBQSaLSQfdVNv-eTSvtnKmxrqwDi5t_e7WLtlUDauFNYOTEGiDo_684J5FOC3ha2qi1mMgsGq5ZGV6OHdsZ3-uDVJ4EPBv1O9Jup0FoUCZ42g6FsYHuKVrJ4crAGE3yyksyPaYgyRAMXbknPqRiDIUqvjJ7I3JupwWQctOpgypd4bslPfoCvcOeD66EGbgvEVyrsyVMh6dD5ztugUEyQ2-milOJEDM577kw-674B1gij2iqEruj0kl7ytCTPEQExdS6eeAs2fCzvW1wxWWMPVnzzBYo155UNuBnWjrqLDxtFqXvx9_6dvMEaqz5RlFzJ7mwEb5vxOIFGtKOVhvPF7tGnYmTXzdNU_YHjQO8WU__LD-GaQvUiyNZjulVcnx3XoNxopG030dbXXSH87bqzSfPsCJDUvpn6soamEa79Rcc8d1lxq65EwBbpxY-5umiyTLcmCUerPzKafzP8tZdHHj62ObukOXOcTYMwSMeTMsR_Ygz-Wo1bGkEuZ64NheHK15Xkb7mV3Rbu7CllbNUHeHD1UR2sd-cK3mKm5XfLSNDdpeImDXg8FXgJbSQgjcrgHODYCPCHGi_TUxGt_W0sy44gQN4der--ABkCfTNnlALLKm1n-HyouWdolTsZPB6MifeLu1mLIKlWMQBifpBr0dkmt_-lmsvWANlAxKZobAGEy2sm207u8jT6lWm3v0B8aCMzn1nTxILjxrDcm5fE3c4mrVCK27VlCvq5GSy4EgmYHkHO-LjMyCJZfWgr6Xd7ekyxcBIvvaLKebyqZqPKLQBCvAk0dPbl9QfYHNNLfdXIUHLDSbu0e44GVtgj9-n7n6_SDfRWPQCX3NYa7RyV7ssftt-NT5PbonMsRYy80FQq7SDFEWpw1c5hsJHaNAjKhYok-cpW0lnpkHpH--OaUCZW8NPsVrOK3xCrkLXRkn8s-cB2clQ3DgpxnT3SNRzmO4Jov125miIAlJrk-TOSdObh560c0ByiiKeVSI_p-W-d60BXg3p4V6sgvRSJ86e32UZ6z7p-G7m3_B2HIpp0aQgx7UfOMeD9sJGtojbDa7Qv0UyH26s9Nyc1DFREpW2ELDDSspBKi3VNlPc00EfugiGOIOVo-isy-iw_t79xk1bJSSHU_nMWpYUGHHHT9uX0blkjVvT1RWE3aoNsTZBOqRzwBQmdbW0YGTyxWQq1S6c-i_oiFeOihmhKcrXPTxqGGawsPdzBe_5_cPYq3i0_Cbi5iQ4AR0YQgUAFAus6UDVXoHP8cYnBCb3yERcTu0spw5RyFLMGNsE5fNOJFjEWJgX8BmTb7fqtQ==",
  "id": "rs_09f2c132a2135c8c016ab43501346887d09bdd5ff1188fdcfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.27,\"right_z\":0.16,\"right_yaw\":0.65},\"note\":\"The cap hand is clear again, and the pen tip remains exposed in the right wrist view. I’ll set the pen farther back and toward the center, creating space for the cap hand to approach the tip from above.\"}",
  "call_id": "call_By3LdpFjnZ6pvrtPUYxKFED2",
  "id": "fc_09f2c132a2135c8c016ab435056e2887d0a8028b9eccdd5336",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_By3LdpFjnZ6pvrtPUYxKFED2",
  "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]: [-0.6765, 1.9518, 1.7668, -1.552, -0.9527, -1.9285, 0.0727, 0.733, 1.5345, 1.2366, -0.725, 0.0242, 0.0975, 0.0584]\nstate[eef_state]: left_x=0.3585 left_y=-0.0986 left_z=0.2011 left_yaw=1.0836 left_pitch=-0.0411 left_roll=-0.1185 left_gripper=0.0727 right_x=0.2908 right_y=0.2609 right_z=0.1508 right_yaw=0.6457 right_pitch=-0.465 right_roll=0.0306 right_gripper=0.0584\nstate[joint_eff]: [-0.2393, -9.4291, 6.5026, -0.0073, -0.5739, -0.0708, 1.0281, 0.6769, -6.1333, 9.347, 1.2479, 0.0562, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73302e8911981ad0a2a625c1352e39b5137726995e0fb70ac898e0396ac29d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da831606cf0a4b3ee8c447bddcf4defc46b528ddbcbc60d14ddae711016acced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b002fce0034e6c6bf85506e8066233216c0de31a84e7508fde5e8b5f6b4e959",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 8.038 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7208, 2.0899, 1.7912, -1.5005, -0.9867, -1.9808, 0.0727, 0.551, 1.5028, 1.1759, -0.5732, -0.1226, -0.0322, 0.0584]\nstate[eef_state]: left_x=0.3735 left_y=-0.1272 left_z=0.1636 left_yaw=1.0619 left_pitch=0.001 left_roll=-0.1076 left_gripper=0.0727 right_x=0.3326 right_y=0.234 right_z=0.1614 right_yaw=0.673 right_pitch=-0.3356 right_roll=0.0781 right_gripper=0.0584\nstate[joint_eff]: [-1.853, -10.3863, 5.4359, -0.1148, -0.5348, -0.0073, 1.0281, 1.0051, -7.8701, 10.4274, 1.8046, 0.0806, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 1.9499, 1.7798, -1.5555, -0.9569, -1.9327, 0.0727, 0.4976, 1.5085, 1.1522, -0.6514, -0.0116, 0.0448, 0.0584]\nstate[eef_state]: left_x=0.3594 left_y=-0.1005 left_z=0.2054 left_yaw=1.0808 left_pitch=-0.0395 left_roll=-0.134 left_gripper=0.0727 right_x=0.3363 right_y=0.1891 right_z=0.1378 right_yaw=0.4757 right_pitch=-0.4502 right_roll=0.0345 right_gripper=0.0584\nstate[joint_eff]: [0.2256, -10.0444, 5.2581, -0.0122, -0.6422, 0.2369, 1.0281, 0.1162, -6.7897, 7.5556, 1.4432, -0.0269, -0.0317, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.9518, 1.7668, -1.552, -0.9527, -1.9285, 0.0727, 0.733, 1.5345, 1.2366, -0.725, 0.0242, 0.0975, 0.0584]\nstate[eef_state]: left_x=0.3585 left_y=-0.0986 left_z=0.2011 left_yaw=1.0836 left_pitch=-0.0411 left_roll=-0.1185 left_gripper=0.0727 right_x=0.2908 right_y=0.2609 right_z=0.1508 right_yaw=0.6457 right_pitch=-0.465 right_roll=0.0306 right_gripper=0.0584\nstate[joint_eff]: [-0.2393, -9.4291, 6.5026, -0.0073, -0.5739, -0.0708, 1.0281, 0.6769, -6.1333, 9.347, 1.2479, 0.0562, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73302e8911981ad0a2a625c1352e39b5137726995e0fb70ac898e0396ac29d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da831606cf0a4b3ee8c447bddcf4defc46b528ddbcbc60d14ddae711016acced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b002fce0034e6c6bf85506e8066233216c0de31a84e7508fde5e8b5f6b4e959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUL3HxD5tCpyyovoYq_NOnfl4I34F975lxg-iD2NlJZUF1R-Ve8LZ4YWj7ZV56ijHzpalmmryzqtaFQ9eJYeabm1oLHtBx2qVz6mvqMsv19gYgogEtar9rSv8Ue1qP-b-6P6rQnMlrXF3NQlkrASNHblREQ7--sb0GduU0QLqMjo876HRiIs3Dyjz5Jdpn2CtRFhulgH5tBbrfGLEO6N27x17dM-BxOLcmWcQ_ChTLsatW5DU-HA81evwH6c34DaIdtSd10qDEvLGyIiy9rh009QrQVTIwJuzUiGKyjeE5qJhobaKP013B_KJfwmMH_7R7C3amWkE_jd9VzhikcIeoQ1qRbj0uiBRK__NDmiYNPFBZ2H8Mesvt0kRcXfW7X8hHFkfVH3Od0Hcwi9S0ILQlJBJ1zHyeLCHK0y4cR938NzQmuv6Yjxvn5HE24C2fOjqvAvqg6eREgcdpW9eBl-2s-KYEiCB8JZHgv_a5jgibR_3yxL_l4A2yDIbSmE_paat4IYwWKbtr9x-MUWUcbRuZ-Vwm8-HCAMQzZFyiSXVuqK2kPYPo7nPnqqA7VicwuCsDGawL_ma-OpYni_HsswfFhWuVKksFRi1Vqz_dS0SwMk3W8Oeft7Cbru-8RmK4qcFvyyN8gmz4S9NMHSTlQrr0y3aPZopAWMrPaHDgUhxK-3zhlfTjioAj3wq8331PEt8-tVjnddfftVLxPPWej85AcQmWbFQw9mh8RJB8EFVo10RVxJBvw-S-ovk-rQcAdwQCzHTjSUmzxIkLzjshulqQ3Y-2gl11k8I92-D_HomEwGZyq9uD55rn3PkSUmkjSauENL2opQnlny62-CIXYC0ZExoS6mhpWEabUD8HRiMmwIaiFhgcZjWzMRO5S7teWa6bxanVCeLJgLSbNxgvXl1LBGQcw_BzX6JAf13h2xkJQHtbMBI7v_qEUUDMucbWibUPuSo9s9mNSSm_BKyZec__20dSTvmNxrHvQMN2Y_3TrZykTLIafETtkuOWIsVu_WkM3cOsw-p7x_vw4uP0ua7vDXRFl-mOlJyPNg3QMmEPGYKzq1b4n_lPqqFfsBnp5YtQYM2_F7F_3YvA1LifTAD1T9x9n9F4wYvODhMMrlba7AsCfQjsA8yxnQPdk_9IsjU-nsQuqWakt3QQtiwnw_TgRilP3ma4-VWURMrVuuSSSTh5nmMaKSAbyvILp9HQnF12Vn8TSimmL5lLltdQzeEgrHeKsRx9Ul1Yo7AgngpHrgydKNuwIwYEzloJkfqEUO3vz3QT7d8nk8UfaKwzXTbJ3sd1Iy1E4czlcIjcUfsFk6_0z0ozT7TIz293OchNFVmUmZAcHNg2MXZ0ZOs4bVZe16sf-CuM4DgstqhCGekasW06BJO7ebarRNwqc2zLEBTHX4sPgHOqVoIFriOunzZtb3oeUi2mAjMiWF1UB8evim3ClvGTHOmtaqZbjF1q7NcHJTYOZJsHHnjVe3eDR-kMTDq7PDldmOaUyj2znOzzgMDy3gDw2mHIR7aHeAP8UKTxHFdOyGnvFKYezCERHfgYMNPB77_BC7Z62MRT10SpObLIW1NM31OjcY8LKL4r05-YdmxaRwYi2BczwAWpKXZpe2JF6WfBiy-ABBYGxPGqhfKpc0Ze1wJc3RC5tKUQrh036r4ekkZrq8TEGN3hvbe5lnFXkkuVycGLs34tNbFgDf4_U7ROqH5BAan8ZT0XoalJia95cXR6l0st4MOtTW_okvvha5Zqo51YLF4WiOws3IP4mc48h4RJKWLR8-g_RmNBbpwh8HfmSXvLWKNiU8oq1za2tdrkWtSFqhvDVBwb6Dx2mKJCQo6Q9ok-QPhw2Wt_HXTP_Ln93Jlfl3n4EKVIkHkwXXr_HzkcLSYZEwz5vM01kEw_ZKU0We0NXjRXe7oL5YxGiT-w726ZHhaP9WB25hJecHot0PcB9HQh1rStDEY1cJnxYSfgYmCfpz26BLgxbddqWHRk3fhBKhjACCPeT1Lf1bGYNSUKZ2TOw8oQMRsdeHrzwNS3_Iye4ln9MDRymplPkCioBbxiNJ54VT2Vo3QG4Tg0kh12q-0sg3bGp9DMeJvSQPkoIrv51ZgTSJpsmrjzB5IIKFPbwgXhBaCkoCEwMzhSyG6K1ybIKoMht5HzxZK0hnA28hQjOa4g5HiY8RDkaMLIrkdzOcnDfgX_23UqdX-WBTTwcRYan-DjeD8TJ6Fb6m0BfYMGIS6MfeyeG-kd7RBBHMEzd2qaE_MbUbhvsSoaokzfpFSIedyopZcKle2OYptuNIyqGC4QbwXXQKTmzW0Q-bKKypwVhHAqHd_rvdvdcrKt1lkll-_6ToSE=",
  "id": "rs_09f2c132a2135c8c016ab43507e4d087d08977356e801d019b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.29,\"left_yaw\":1.08},\"note\":\"The pen has been repositioned lower and farther back, leaving its tip ahead of the right hand. I’ll carry the cap hand high over the middle, with vertical clearance from the pen hand before moving in.\"}",
  "call_id": "call_ZeVLAnfLvHQtDYYS8okFYmVa",
  "id": "fc_09f2c132a2135c8c016ab4350a16d487d094518311f689ceef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZeVLAnfLvHQtDYYS8okFYmVa",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.704, 2.1124, 1.9572, -1.5703, -0.9337, -1.9472, 0.0727, 0.7261, 1.5406, 1.2346, -0.7567, 0.0265, 0.1024, 0.0591]\nstate[eef_state]: left_x=0.384 left_y=-0.1351 left_z=0.1868 left_yaw=1.0688 left_pitch=-0.063 left_roll=-0.1413 left_gripper=0.0727 right_x=0.2877 right_y=0.254 right_z=0.1439 right_yaw=0.6318 right_pitch=-0.5044 right_roll=0.0271 right_gripper=0.0591\nstate[joint_eff]: [-2.5094, -9.3333, 8.0342, -0.0122, -0.7057, 0.0073, 1.0281, 0.335, -7.1726, 6.7487, 1.5116, -0.0269, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7998b1f4db19a501bf56a3fb3337b39a8a4e94dbb7733980854f64644f4e4328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462a6ad3e8eedcda55100b56c76e6e936be0e5e88cb785bf34e9507916e312e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34457403082b580d29e61e8406d728ec39181b5c92a15ff7698f79fa23caa58e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.74 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7452, 2.3444, 2.1292, -1.615, -0.9607, -2.0178, 0.0727, 0.5003, 1.5066, 1.1645, -0.638, -0.0128, 0.0494, 0.0584]\nstate[eef_state]: left_x=0.4037 left_y=-0.1706 left_z=0.1419 left_yaw=1.0639 left_pitch=-0.0186 left_roll=-0.1028 left_gripper=0.0727 right_x=0.3406 right_y=0.1929 right_z=0.145 right_yaw=0.477 right_pitch=-0.4229 right_roll=0.039 right_gripper=0.0584\nstate[joint_eff]: [-3.7675, -9.2103, 7.6786, 0.232, -0.6911, 0.0904, 1.0281, 3.9179, -7.0906, 7.8017, 1.9121, -1.2186, -0.8718, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.9518, 1.7668, -1.552, -0.9527, -1.9285, 0.0727, 0.733, 1.5345, 1.2366, -0.725, 0.0242, 0.0975, 0.0584]\nstate[eef_state]: left_x=0.3585 left_y=-0.0986 left_z=0.2011 left_yaw=1.0836 left_pitch=-0.0411 left_roll=-0.1185 left_gripper=0.0727 right_x=0.2908 right_y=0.2609 right_z=0.1508 right_yaw=0.6457 right_pitch=-0.465 right_roll=0.0306 right_gripper=0.0584\nstate[joint_eff]: [-0.2393, -9.4291, 6.5026, -0.0073, -0.5739, -0.0708, 1.0281, 0.6769, -6.1333, 9.347, 1.2479, 0.0562, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.704, 2.1124, 1.9572, -1.5703, -0.9337, -1.9472, 0.0727, 0.7261, 1.5406, 1.2346, -0.7567, 0.0265, 0.1024, 0.0591]\nstate[eef_state]: left_x=0.384 left_y=-0.1351 left_z=0.1868 left_yaw=1.0688 left_pitch=-0.063 left_roll=-0.1413 left_gripper=0.0727 right_x=0.2877 right_y=0.254 right_z=0.1439 right_yaw=0.6318 right_pitch=-0.5044 right_roll=0.0271 right_gripper=0.0591\nstate[joint_eff]: [-2.5094, -9.3333, 8.0342, -0.0122, -0.7057, 0.0073, 1.0281, 0.335, -7.1726, 6.7487, 1.5116, -0.0269, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7998b1f4db19a501bf56a3fb3337b39a8a4e94dbb7733980854f64644f4e4328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462a6ad3e8eedcda55100b56c76e6e936be0e5e88cb785bf34e9507916e312e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34457403082b580d29e61e8406d728ec39181b5c92a15ff7698f79fa23caa58e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUUWS9TCYfWI1Gmo7PCD2TOb_FXDiXxi3BEutCE23EWvXx4KxTKKjpv2V2D6D2AXvbgVNQfp-4SrzHCQt7u5vUsgs5pZ_pqI_GqJt2zkk1IaBt7MRZp7doeXQCdtg7nKRB8Tz0I15f4jwfjgeajSGuh45_hrYZmBftheH9_KWiaGWcVDbNBB0_n8FBNLWGaxP66DPN-Qxm_98y_UAHn5Ja1GqBrJQshvXcQ1H3Dr7KOpmjiAmCJ1W40lFB12hrGzWRiLtf5cJNkIh5xeNwOrLTmdQOkNCbIF4wozoB0yOFAWBuBOBo-IiQPEsdVnKjHz74GMdPZgYwqBqKVoevJ8pY2sRF1yyelqE7KtW5XRqu7nmZnuC8p0CGg9nNhTApMfYpT-hvWts3sjDxseDliym5GXZc1scnIbY5vXWHKyXfC-sJ1szBiRN94bWjRg1lHsL1OfxhcLt_3eLNztRKUmG8JSRpvUVxpH_20rzd0ALCyzeWBP6-2NJ5NdCagiW4w18Z-_as3BMhvSL-7NK5JVJwCBwtKFYlL3blI_GzLI9Xlzqkh6OBFndJSDnKcklOuPh7IKUAtch0jWloEiCQ1n1bThuK8bpmGodwLBKOLmTA2fASmsEHO3qtB8_Y5J7rQi0KD_vQbWtle5s8x-euqkNRRO0NhniUCZKIM6oG0Coqx-jYtHyQ8c3WTCobo6UMx4ByiWc0v6tmjQrKgigoMnZAQXllo5Zqcc_E5Wgh2IkZbYfayfrlSlQ-Me053Rwq7T4GyeMH00mVOb3lWVqL960ITfF2Bx7xWF4wt3WbeCGb0gMB-foak1TB9FfJchBXquXU084HiAIk0JJsPpq9PrfAMBzDkfvW_H5bSZJKak1P_Y0ISrpwt87SW9FxNLj0vbA81VXSgID9yWlP_Ba8XlQsSzCuA1y9SFe53AvqE9aC7N6iaHAmkMGNCTd-Tm2eIbAkymXnlve29scLSnOsu0yHONwoGobTTvhmgHoWzFCF8yAr7MOM5SGhElcWJ9rgZiFqlA4uefJb5yBiEfziNrG6zphilpn4HhwTX-Wk44hR8X9OqXUjaCKCauMSI44aWr-S1lVDl94ELhkdwqPc5HSlgNv9uTASIlWHhW-oDDbe5pR6uZDQ0U8BCR5P1lxqMNMpbrFSg_Ph8hiQzD8EdGoPTd11MGJoHOK3vA1lqoSa3nU6RbYIwjKu9EcCLUR0-cmQFIPGa0-xunK2sAGu7K-JDTR0QwU3S99v55TfAkbBwy-7wPsNeAoT-DmBhWOKtlksS1mApVWQJouDGPEsXVHAP60KlTGe3holwpq93x-qjLyz1WE6EmGKwfOT5TUl8wL5kTtORn2NWKDPtJQAFrnp_duJxqHNY1z6fm51exRiwZ_W1nDnGOT-CGWADmtUE8xBtFRg33aVLE91K-l7Dxyafj8gKwmS9FXeUNqYLvRWZBxk1WWB6kxK9a7402N7ZYTkmaomT-vw6-QX_57_kwWUSPCtX_UzOEZc9NA9fFYZ3pt6WD0sGz8Zw47pVADgxHROH2n8FNc3jls8tQEY4-lSEdCj2KE-4Bdu33QlFY-zVUUioMitivAOYAo2Azy_6I088wI5rORwbj3LDjWolJzqaKXfJisSM2XUhf01E7eysSMARst-3MyeSkyPX4kC-UVIIzFXGGJZzos2Q51HcZ72fi_cGL0QUW46FAJAWor8zY5fVw9U6_ZwV0JtlrwTGNNPzlz5naJlcLKY5IOgKWQTMnBhp9YfqrO9TChTr84hvfNaqLxvdCEmzgx0Y0OfSwKUwAJew215npVVu0aCZ4_AmD0Moy0s0x5AjA5HEtAXnZRCFQm4iQd7aCsX67eIVsAhrb2l78lpoZYzMWyPiYF2Ef9tO4WsRjT1cfn7rd1fqzs2zNhBGQWhcepjKBICy1AyUAEE_R4xaODAITvRGd0w2hqKg6DJFiL9siV71VVIzSw-jrDfdppVPEWiAMUr6Lsgz26dQlaU7XjOV_ASithIZzb4vGch2JyF9J7vNJjr-1ysGvuxKVYsifDNHnGW1q1xIMjyjQ8WxpmzeZd_IiMIYiq0svuRnMQgwXwxsexVe1Y2KWge0T678eXIC0QIiQhKFmyC-W-st2tHcr7IOd-pDEZfB9XjMJMvXF03W1TiOO_GmGRgzAe4zrSXZ_903LJcJv59upFHFWa1L8Y1g-aGABs_nTRcDV_TE15I_4Tf--KD_MKsO4bI_Amz---XwLzyOZoP8YijFtI0EWfOzb0ocNDAE43L_PpIyn4Ylo7nkXkEtdOX58b2uMekXIcVJE5Kb_myLUxMwyDYMvJDI7xechU65nk8yL43guOdqQvTf_N31PtE395CxRQnPu1Woc1lyqZFVrZ8RzLM244OqBXyPs1H2Hrx_ybqRwFWcir5E_E0brSPCrqRaw223F8khQJRxdwHcLOz2jKd7Y6SockdOF_X1zCUVtDRTNo-XUnJFtho4Wv0ux8FyGvN2GfN5RRP5peFg4YQ2ZXLB5gZNd8G9nO5SO2t3MBsAlPL---K2cbdil3gyJu26zQRcIsw6iLpgG9XYxMY7lqTAisCe644czT1Ne2QvgrjbK-vgMLUQ9r43hbRb3x2YbQvDnC_dd3_AtCiT5Qi5tsNTuHNrNqXfs0LduCfmIEawPqg9zcRAXAffN7qHcYQhznmlRgU4Flw9UERIh_U6tjkbEPWHZTEje0QqDTN0kWNA0VKhWDJHQz_w-tTV-kPA1uGEbMzHBoKi_kEHa7wdn4aFGo-OhKAThqQ_osWwRyVHemw64Jlfn3eHMbNTJ8cOzsoLnxXmmqfhqb10L6u6HXvYss6Hah-x5HU47-aWMoxBkQHq_LzojV7-UsMKzeYEg83NE_k2AENHvcXA1SG_wFqoIDC5av6_XK7M2-abzkN7z8kaUan9FJ4mIc3LUS93agNsZ80dFuoHJ5psE8yRtoqF8o4vuhdA4g9ApR3FsZZiAR_MJLQ9gi8NRZrLez50y7THr1uFEvjmCJCChwN8qTSUYqbiqqtwfF_0mAdmGuNoZSeXNBFdu5q-_SfjgCj8qIhUTstPjAUysgFAGIHPHrCz8SrvUQwkF8p2gOjSGqW1-yRAul7Tj_TkYjGpwf9TxbNmqXW9EN1dDP194jH3238E4zInrhAJZGlVHC10YG0Sq2g4nhjA6XncWeDlDXIdG5WxUNo9altIqZRYAhG7XtfqjXn8YZWa3YMMn6pCmsP-k1-ncczUZ0VYX0FD6rumskwvGTUNLw6D2Yck2PZ-M12vYwHQsMcwKWsJ5UOrqPPizmvrtrKHmR6gxwg2ahdhDQz_b3P0NYpXDsM5oJLokZ-RSMof6Dv1ckRaQUZsJzrc5KmhmKT55sY7Z_ytprzvFxpy-1CgCK8itSpNnAbdc7EOJR192zh6TSHhfxOG_7dfB_dT2a73hJgxKmyAk-6VA191kYWO9C3AJlDvVIMik-qAkXEjWC4v1PipwKkBi_WcpjhQpMrxo6MvbEND9U-GafdQuCU378_SSHEIOwV2VTzMjkhgAqokSlYnjtqjLIjN0GqBbv5ZN8awptrQtpBEWJBKWfrW6xAghZbITmE-KLDeifzCt-36_h_h-dWrPU2WTshbgME2MrnlLJ0cnm4vbfffx1wNt4sGrkCC487mB1KDs3CRoBo1dgCwGR6gkP97BmQEZ1o1sEulz7nI1DhIO7ZhEVQbbvZ91YSLSEYrvo3JxLE9PJ-8iBtftNdwSSTMWRCngwBDrXUbB7aML1QnyP0NKg00OpJToYGuqmuoKjvpXwBYM4k4kw==",
  "id": "rs_09f2c132a2135c8c016ab4350de30087d087cefcb7accf4875",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUUQ_amWNX944LMoB1hR8yPb_pOkilyg3ORTNoham1fW3C5iAwAg67wCEllsMRqGeuIt4_NImFcooU5bWTqrWShmTEcjO7izsjKr2F7sr_vNBmfX5G88tqnvvH6X96E2NNJnTqrtc1-nRExRid7eH6MfNIO6F--w0FZ87s_mli1geEho-vNWJ0t9w_9KULIMwoGy-_4Uzberh5qVIVOXRuk8cTA3JSUkPwjuS6RFeLeDEU255pCV-BWnIcVso_AFer5azN8nquHNsyifhSy2AJywK1sIOO4Ks9ijuousjHQJn7P6K9N5RgXfNSpf9ZHbqaI25xUXgFvCW1BrgCfBFBEaURSVYcdGHlnqB3htdnGEM6syA2WT-4wMb7EEKQ0QC2A0jFcLA4GciE7gHBot9ggzDJ-NSUwkSekK-6LVfqKqovnG-vL-CwFV0gy0GDPB86bIjpq1QJE5bqEbrJceZ0ZnFaAPPAVQtxdNLB9qM1woNLBVgygZ8sFEfrDN1kQS9ypnH7_kU0wurw84vWvSFYfAYmPUKQF7GRvueizdICzczSKK0Y-zt4ZExEUO5LOmryj9XMJabAqRSNRfke74SS8oqNLTzbvEUqmLgBSSrVRSYXOZ03kbWsqgR-MKZujgzAkHuzmoAokYS-uXy-PUkcU7vA9ENl2g9oY51g_YKsdjjAalZFmhzKimhcfBNddQiGRrRfYUG2qPjPydRpQHrZ2KI9OcFZSdw6ApmaDNvpPqKFluYb2L66kobZb2GStwK-Qv87AtuCNX03uaPGudSWIF-iCkK1PdZK_3la7vumzjrClhtZI1KoYiCn-XgNi60uZvFnYhaC50x7vLnwAHZDDm9RBckDceg7Fmrlika42l4hYDDEmWDDFU-7o9-LqQZ5ZUgdxPw2rnCn-sbpwBq6gk86plEbXqgosWlO-qxhSQSgIFzMI0iCrCPYYJ6T2SjSiQkhkXDl8_WIPlFgRl3LuKNcarsgaalUiEiETVF-apV7I8JUHRR1MnSEamQvC7hy4zR6CBrQOYO-vfnfGbiLiBFsfgbF5GKI1y6X8R_G86u_dCTme18Lgc2lAC9YNwsbe8__ujG6NUZsyW-aZe_fVujUfBzq5sdGYjYUvwwdYYGaYIjbDU8lnc3WhoNfeeFcatpn2MMxNvIFgEO8l61giwfAM25y8G1F0UUJTbbpXS8P3x2yqExuJbueBF6oCQZFmFepN6Cod4oObIQ0_4UXJtponrlx9VZT0qeIBt_xdDkVS6SrxmxS5pjFATn8xA6hEPdPrfTu64xpphhRaQDDPLu_xc-2ETxWUN1Oz0k1fXFgCcbF6m1eoWWJ5F4OdLg4o7K4_s2XrYpUkmQSlhbQI7coaHXBGvbC6FuZVP-ffBdNaR7cxXGC8SOs9IgZcWI6svwcddgLc_2uUC33jC16Hpfbj-BSIToVoU918yNo98JBRuhsahbjVGDHeoraha57-lCqYGqYGrtN_nLdtCv5OKVHdZ94rO15uBs57wQ1z_SjRMmJevkfLloZHNUZTiuECl6VOS7qqrEEsJKuzifDwTrIQMXf8amupPDxNA1jca-SC4dcO0s53mlKVsUwUmp9Is7RXExdBU46_cF2_ZgIX7vQLz9gc7GfsjIx7duGKjltQGcMGFByJ1ZqKA4a5Ry2NkxN1wZoft9TK2C-5bi4HkfIkJou1We3XfAKa-5z5-ZbAkRoYaNxueg36077Lb98Y",
  "id": "rs_09f2c132a2135c8c016ab43512a65c87d0a6992f3c01a38c80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.02,\"left_z\":0.23,\"left_yaw\":1.08},\"note\":\"The two grippers are obstructing each other despite the attempted high approach. I’ll withdraw the cap hand so I can set the pen down and attempt the cap placement with only one arm in the center.\"}",
  "call_id": "call_Fd4pZGLeb8uZfmB32DAgDLJT",
  "id": "fc_09f2c132a2135c8c016ab43513a04087d08f7be2465c5ff0de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fd4pZGLeb8uZfmB32DAgDLJT",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.5738, 1.4288, -1.4685, -0.9188, -1.8282, 0.0727, 0.7277, 1.5414, 1.2144, -0.7753, 0.0227, 0.0868, 0.0591]\nstate[eef_state]: left_x=0.2998 left_y=-0.025 left_z=0.2231 left_yaw=1.1198 left_pitch=-0.0874 left_roll=-0.1544 left_gripper=0.0727 right_x=0.2802 right_y=0.249 right_z=0.1341 right_yaw=0.6446 right_pitch=-0.544 right_roll=0.0184 right_gripper=0.0591\nstate[joint_eff]: [-0.8, -6.9128, 5.7504, 0.5397, -0.652, 0.149, 1.0281, -0.4718, -6.9675, 8.0752, 1.3211, 0.0122, 0.0952, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fa3c23514e464441ae73361c49b6f6d06225a9432e07b33364a5522f581d17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6283ac142104b72cad64a0a6a3d9692e18f53ffbad5e08d1dd486a6e9c6f46c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa22b389a928a80bb61ab63758de14f4dd3d0682496fa41b13de0aef7a967713",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.142 s

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

message 87 changed as sent

message 95 changed as sent

message 100 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 1.9499, 1.7798, -1.5555, -0.9569, -1.9327, 0.0727, 0.4976, 1.5085, 1.1522, -0.6514, -0.0116, 0.0448, 0.0584]\nstate[eef_state]: left_x=0.3594 left_y=-0.1005 left_z=0.2054 left_yaw=1.0808 left_pitch=-0.0395 left_roll=-0.134 left_gripper=0.0727 right_x=0.3363 right_y=0.1891 right_z=0.1378 right_yaw=0.4757 right_pitch=-0.4502 right_roll=0.0345 right_gripper=0.0584\nstate[joint_eff]: [0.2256, -10.0444, 5.2581, -0.0122, -0.6422, 0.2369, 1.0281, 0.1162, -6.7897, 7.5556, 1.4432, -0.0269, -0.0317, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.704, 2.1124, 1.9572, -1.5703, -0.9337, -1.9472, 0.0727, 0.7261, 1.5406, 1.2346, -0.7567, 0.0265, 0.1024, 0.0591]\nstate[eef_state]: left_x=0.384 left_y=-0.1351 left_z=0.1868 left_yaw=1.0688 left_pitch=-0.063 left_roll=-0.1413 left_gripper=0.0727 right_x=0.2877 right_y=0.254 right_z=0.1439 right_yaw=0.6318 right_pitch=-0.5044 right_roll=0.0271 right_gripper=0.0591\nstate[joint_eff]: [-2.5094, -9.3333, 8.0342, -0.0122, -0.7057, 0.0073, 1.0281, 0.335, -7.1726, 6.7487, 1.5116, -0.0269, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.5738, 1.4288, -1.4685, -0.9188, -1.8282, 0.0727, 0.7277, 1.5414, 1.2144, -0.7753, 0.0227, 0.0868, 0.0591]\nstate[eef_state]: left_x=0.2998 left_y=-0.025 left_z=0.2231 left_yaw=1.1198 left_pitch=-0.0874 left_roll=-0.1544 left_gripper=0.0727 right_x=0.2802 right_y=0.249 right_z=0.1341 right_yaw=0.6446 right_pitch=-0.544 right_roll=0.0184 right_gripper=0.0591\nstate[joint_eff]: [-0.8, -6.9128, 5.7504, 0.5397, -0.652, 0.149, 1.0281, -0.4718, -6.9675, 8.0752, 1.3211, 0.0122, 0.0952, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fa3c23514e464441ae73361c49b6f6d06225a9432e07b33364a5522f581d17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6283ac142104b72cad64a0a6a3d9692e18f53ffbad5e08d1dd486a6e9c6f46c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa22b389a928a80bb61ab63758de14f4dd3d0682496fa41b13de0aef7a967713",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUZMBSapTJ4KpoaDk2SDQVw20Ks5WHkfAcU0KijGvbA5Uybhg81E5GacVgvq4iHeKiorgk27rLGYRwSQq068KIy5niKRTb8bofUc3yDphyM47vmIS-acZJnLlevV91OiAuExjJvd1P2CPBqw5J4ysYmA0AbgoDV6ma1VJ7hG3hzMGBj-dt551lY2nA8E2npCYgSBe-NHNitI21O-aDpKYWYuIppGQDY6JSvXGgtuZ8lUZ2i3-zoDi3JmXTDVpIG_-dBs2Y0xHX-QwwIFit9a3ipL7EcUBEhSCaNJ6DOIqbXGWpEssILPdt8ezhzNNprfCoIVN9fpp6YuVr6TUYiobQRdegm-4YIZ2NMTl0P7aPGTXC4L_OuA4p5b6-h2tqyGJhP3rcNpHCkegHYtTPeDjXa4e0jsjzxi-KcWBx59Gy1kW8IqvxubZ3DBAJTUGDv6CS391F-84T3GFrttRWixpdL7e18B0S27HaalJzAtwQFvndYnTOVSvVIJCK76a9y2249ynfQByquamPzMe_M6JhxLLEcmAH4sfb7mAv_n75ZF4pQDg6p31In5pOU6kD43zjBJLhgok_kWOlbLxM7EaD6UbJ9VI5_TTRpk_nXPjAQyClH-0wUheqMRQOnV5VvYYuQZ_YvT3EtUpf0E6PRjixXK3sBD2WV1nLCVq0vlw_FXov-RvE_abCEsm8bLBCvrlccl5SLWOsVGLwm2E8LtO5GqLrlq-CHuH9YsLSOFyoDifQFZ_QieUa5a4m4BnAHwGt0mLfEmY7-RXaXsn37xbhT3mLg2QaE8PvBgXcQNutqRKSriyanpmmacVtIWmjbTmpPkj1maX26KYfMJxQD5BIjzgdQpsP-e3kt7ltSgMQ0FmFSgIepjIqmtHcTFnO7irZkrmwl5u4FHVUAaF2JhuBnPeXbEfoJOulc7J_HElQl6ELzIhyum4kZyQMoc1KPIcUjzh6DrpCZ_5RShxbQHCqj3jwy9XvnlCAbgaOEzizIPEt1rTHjlSZpT5nI5gCUse037wSH5lJZNPAKL-9GcJn0fYG8Oq1eWrv5e0mKV0RGyMdV4KJNxkeKu9CwD7HZABty62Ru6zyAveopXSQffomBabbuYrvrMV-PFrYWtHhQQN15bT81l594_Bwx1qRA_Rdeod5VoDo8xfqkcSfNq3ApiKHN25RukJ7mWFGpSmIV5YxYp2STns2oqYDlW6XePfnEjZdSkWEglb8kD2Xm1ahAd-pukodfcvfWe8zra00_TGh7DSq61Qfi05e8PlV_G_WjguzpBh18IoAqSE3Bic_XCE_2SkS3iN09lOizAuX0HHE94JUe5XbneypRh5HtysxrisfY10YrX1Ib7Q4UNQ7Qq3tRYXmX4QXr9bOYD3bMfuWH5V1xmsSGWepaSookvHZkBjeWsYUCDfVG_YkoFXQxkbu1Cwj1mRXDAvXpr8VdTZxf5-G6YiEWRwB63ZHoRE-PMdRvnbgl2983CpuAsplzso3WZGnNA0c7nA9QIXcDEFrEkbfbyUDeo9zlxS05X9pW5L3vmn_IAXsL5374JwFOaT4ugY67zWTwCRJcyH3k5kaSCmvjYEKgFyelnqbx8QUmrRG1K1WHG9leOiMvfuA4WQZ7dm-5O7usVmBhrqmgqhFDnmeBYD44bZcSWxr6Eo9wor_LT8IM_dmriPOdNv_NM1QrniYSRqdX0HVJleVmgSpl8gDrrencLGxuW1sFjtX5KejwKQ-tIJjEOpbYfBIeEnqos07s-_TtqR9XvlWD-VUFeeoFAc-RRlrBUNFBPC3BM9NKW_BLu5-IFPkuIwwidihlL8wqPsz_t-JEE6URp43wfyLeiyAtPUbLA8fP0whLdl05xbl2w3TuyS62XZAeeG7SV-H0SVbpGXUWAdTj6tc87jyyH7qai9LLjwrOp2PeJumtjLg8SMkFhYTwwdpSloGkxSFH4L7bbWsmGwViZRboTnwK4naQEAERE7lDebS3Bx01LHxXGAmQEREyJrkA3g==",
  "id": "rs_09f2c132a2135c8c016ab435174d3c87d09a95d630f903e38b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.005},\"note\":\"The cap hand is now out of the pen hand’s path. I’ll lower the pen onto the tabletop while keeping it gripped, so its tip stays oriented for a one-handed capping attempt.\"}",
  "call_id": "call_nXyDXNxpeNESiUHxJb8fPbmJ",
  "id": "fc_09f2c132a2135c8c016ab43518a8d487d08cebc2ef74fdc03a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nXyDXNxpeNESiUHxJb8fPbmJ",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4117, -1.4521, -0.9077, -1.8236, 0.0727, 0.728, 1.7004, 0.8646, -0.3176, 0.0219, 0.0898, 0.062]\nstate[eef_state]: left_x=0.2993 left_y=-0.0251 left_z=0.2174 left_yaw=1.121 left_pitch=-0.098 left_roll=-0.1494 left_gripper=0.0727 right_x=0.2711 right_y=0.2412 right_z=0.0069 right_yaw=0.641 right_pitch=-0.595 right_roll=0.0156 right_gripper=0.062\nstate[joint_eff]: [-0.335, -6.2838, 7.3094, 0.0415, -0.5836, -0.0904, 1.0232, -0.3624, -6.5436, 5.9009, 1.1844, -0.0317, -0.0757, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329515ebc046f468c3eab67fcc0623773d4608f62c5a72f8fca9cf6ce9f9f4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ee921aa0f3463695b2c2a76f265121968455868925ad7406a0aaf1c5d095ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d934453874978229a63996a23ee04ab00b87d1cd65785ff0b5f70331fefcad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.766 s

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

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.9518, 1.7668, -1.552, -0.9527, -1.9285, 0.0727, 0.733, 1.5345, 1.2366, -0.725, 0.0242, 0.0975, 0.0584]\nstate[eef_state]: left_x=0.3585 left_y=-0.0986 left_z=0.2011 left_yaw=1.0836 left_pitch=-0.0411 left_roll=-0.1185 left_gripper=0.0727 right_x=0.2908 right_y=0.2609 right_z=0.1508 right_yaw=0.6457 right_pitch=-0.465 right_roll=0.0306 right_gripper=0.0584\nstate[joint_eff]: [-0.2393, -9.4291, 6.5026, -0.0073, -0.5739, -0.0708, 1.0281, 0.6769, -6.1333, 9.347, 1.2479, 0.0562, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.5738, 1.4288, -1.4685, -0.9188, -1.8282, 0.0727, 0.7277, 1.5414, 1.2144, -0.7753, 0.0227, 0.0868, 0.0591]\nstate[eef_state]: left_x=0.2998 left_y=-0.025 left_z=0.2231 left_yaw=1.1198 left_pitch=-0.0874 left_roll=-0.1544 left_gripper=0.0727 right_x=0.2802 right_y=0.249 right_z=0.1341 right_yaw=0.6446 right_pitch=-0.544 right_roll=0.0184 right_gripper=0.0591\nstate[joint_eff]: [-0.8, -6.9128, 5.7504, 0.5397, -0.652, 0.149, 1.0281, -0.4718, -6.9675, 8.0752, 1.3211, 0.0122, 0.0952, 1.033]\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 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4117, -1.4521, -0.9077, -1.8236, 0.0727, 0.728, 1.7004, 0.8646, -0.3176, 0.0219, 0.0898, 0.062]\nstate[eef_state]: left_x=0.2993 left_y=-0.0251 left_z=0.2174 left_yaw=1.121 left_pitch=-0.098 left_roll=-0.1494 left_gripper=0.0727 right_x=0.2711 right_y=0.2412 right_z=0.0069 right_yaw=0.641 right_pitch=-0.595 right_roll=0.0156 right_gripper=0.062\nstate[joint_eff]: [-0.335, -6.2838, 7.3094, 0.0415, -0.5836, -0.0904, 1.0232, -0.3624, -6.5436, 5.9009, 1.1844, -0.0317, -0.0757, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329515ebc046f468c3eab67fcc0623773d4608f62c5a72f8fca9cf6ce9f9f4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ee921aa0f3463695b2c2a76f265121968455868925ad7406a0aaf1c5d095ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d934453874978229a63996a23ee04ab00b87d1cd65785ff0b5f70331fefcad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUczpJxZka3uame4-qJNCBAvMrQGd2TO4-KHTHsPI4o8BSbWI0eM7iCNdJ9ImV4rxEO0YD4XgAs523iHpKFZVv5TIJe3RPUOGWg582zCTU7p2s5gnBLF-2dgqlaHU0Yh4qVWbs1ElDKAsgEqlkSUo2Ecxml9JauULkLIsW5AqVlVv37_jj9l0zCiMOBaaGMAQvD4TFU4pYWCllTgemhoAVvNbFWqzPx7L6aZ3toBdFizUGgU2j8cwbYNMVimy3T5MvHB7MLTnfB8vr1rVyhud_PRINVrR9zcJ7DUnodONtf4-mAwvruYrXy6bcW9K3jeKM-_MKL8phLDbw5tMkuObxIhGEOQICD1MiyIvjDOSKWz2HSXgZKiB0JQTxGiGndQa7ePe-829RSzAKd5T3Pawu5WOGnYmaB9eCGR9hzU7n9xu0VYtEOFADCB1K7OIu1as-1gako7OEhizU7FefmasgG_fOHy2YAmO1GIlaU3Ao3pevgxGCQTxS1On9r-xlgOJTK-2H-Dm4kZRPHMdc8m2l2ax3yzB_qQa5Y2tqOB4fc06c2dsrxtdequxjOhQIFM0v-2_BSMMNdIiP34sVzW8TYaCEl2MU_eFAdTiexnPK-txEkxsJpNvQZYBxkQdyj2RGOZni68Gvyq_OiHWnaEBsf_N3GjAMsbKKB_8cX8Utwfv1b6tSVcog6Nqe6uCrjq_xyojBlG39bVLOeRzBn6GNJK9bGTngU3Slx3IyqtP_8YSzo7fwsoAFVjHzsVbNMsfBR2f-630Go5N324xhxKnvnWfWkV92TkYI6aTI7LrKReoxFQ7zmRIxYt6KXHOA9X13iLK_hfnHVpNMVgl6UaYnTsGqhCxh6zaRX5B3C_1rBp6x5L2hha_A0o6qGRiEBii0VUmSyxXWKnV4tEO-Iqu_IV7QW0csDCnSIIDtko6DcH8ZirxTc3S7fJaXlOqZcm4OPp8BYUFfW3KIkMZgAKpUuEh1smxsokVLEojIaOfrYMck1qc9Z3tRlUMjoUxRSnKCVvvm_Tfz3pItPGQLnOf7eC3Mluh-sqIOWMA4uYbkXuEeYPz_FbxcpjvI_EsPn_fUux7-RQSbpl8wmOptFQKjaoqjnH4HI2BEKovJts9ir8rz2Rr8tEnvf4mvpqqfbb0_EfEvuf3HesTGHoiplMWUSuWb5q-EKBrrzjPI2pCUbZ_7qezoF0IxbTEpRigbifRkEfEUXLWnLB_IRgVHT2EAPN1n9emy1hAGJZRWtATJxVc4hhHWpBCWrE-LdGiAlDX8OteWu_eZzyVXP35u18q-oKQ==",
  "id": "rs_09f2c132a2135c8c016ab4351b3ffc87d0909f26f1daa26071",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right grasp point is at table height, with the pen tip still pointing straight ahead in its wrist view. I’ll release the pen onto the table before clearing the right arm.\"}",
  "call_id": "call_TTEkH21ufLlOrg1jLwBPz8JI",
  "id": "fc_09f2c132a2135c8c016ab4351b7d3c87d0aeb36eea595393fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TTEkH21ufLlOrg1jLwBPz8JI",
  "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]: [-0.5793, 1.573, 1.4113, -1.4502, -0.9039, -1.8236, 0.0727, 0.728, 1.713, 0.8543, -0.3073, 0.0223, 0.0902, 0.9951]\nstate[eef_state]: left_x=0.2993 left_y=-0.0256 left_z=0.2168 left_yaw=1.1211 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.269 right_y=0.2393 right_z=0.0005 right_yaw=0.6396 right_pitch=-0.6075 right_roll=0.0141 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -6.3248, 5.7915, 0.1978, -0.5543, -0.0513, 1.0281, -0.0205, -8.4718, 6.2564, 0.8913, -0.0317, -0.0415, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e610ff39e2c47f782a62a5c0fb489583f78815e919497484d35058a1ad5ade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3028c1c156d3025e3f52cccc01eb4788297829d036e2cc3961152b4796c083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ee95707b4e7448ca24f78290812b34820c21fb68396ba841c01779457b1b36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.378 s

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

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.704, 2.1124, 1.9572, -1.5703, -0.9337, -1.9472, 0.0727, 0.7261, 1.5406, 1.2346, -0.7567, 0.0265, 0.1024, 0.0591]\nstate[eef_state]: left_x=0.384 left_y=-0.1351 left_z=0.1868 left_yaw=1.0688 left_pitch=-0.063 left_roll=-0.1413 left_gripper=0.0727 right_x=0.2877 right_y=0.254 right_z=0.1439 right_yaw=0.6318 right_pitch=-0.5044 right_roll=0.0271 right_gripper=0.0591\nstate[joint_eff]: [-2.5094, -9.3333, 8.0342, -0.0122, -0.7057, 0.0073, 1.0281, 0.335, -7.1726, 6.7487, 1.5116, -0.0269, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4117, -1.4521, -0.9077, -1.8236, 0.0727, 0.728, 1.7004, 0.8646, -0.3176, 0.0219, 0.0898, 0.062]\nstate[eef_state]: left_x=0.2993 left_y=-0.0251 left_z=0.2174 left_yaw=1.121 left_pitch=-0.098 left_roll=-0.1494 left_gripper=0.0727 right_x=0.2711 right_y=0.2412 right_z=0.0069 right_yaw=0.641 right_pitch=-0.595 right_roll=0.0156 right_gripper=0.062\nstate[joint_eff]: [-0.335, -6.2838, 7.3094, 0.0415, -0.5836, -0.0904, 1.0232, -0.3624, -6.5436, 5.9009, 1.1844, -0.0317, -0.0757, 0.7692]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4113, -1.4502, -0.9039, -1.8236, 0.0727, 0.728, 1.713, 0.8543, -0.3073, 0.0223, 0.0902, 0.9951]\nstate[eef_state]: left_x=0.2993 left_y=-0.0256 left_z=0.2168 left_yaw=1.1211 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.269 right_y=0.2393 right_z=0.0005 right_yaw=0.6396 right_pitch=-0.6075 right_roll=0.0141 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -6.3248, 5.7915, 0.1978, -0.5543, -0.0513, 1.0281, -0.0205, -8.4718, 6.2564, 0.8913, -0.0317, -0.0415, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e610ff39e2c47f782a62a5c0fb489583f78815e919497484d35058a1ad5ade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3028c1c156d3025e3f52cccc01eb4788297829d036e2cc3961152b4796c083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ee95707b4e7448ca24f78290812b34820c21fb68396ba841c01779457b1b36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUfgVrh3_hRddd8pHRjHpL4b8iZ30OMVIcpMqtOZyE8ILkJSnA47mG806P9Ipz2JgPbpdBIJB1HPt4wOS-9mof2Gd6tE6M5lHYFJY_ESuMcQMRRPlCuk8RrkL1CTscwVIX3Nd2GRqQoUy7_TLSTBjTlVrz4feOac3YptYIq-PJEpIohQjMu6Mn4Yyzk2C00YN-begnE5MuLoyEas79iSRpIIQyDqTNGVNbTheAxyNpK0Oc0CWtwGo2nU3cNmBhFx7vHjG5zgBI5nFbSWthLMTGLdK6UxW2BohDOyNGQswgQSlJPhnXzg0Av6Q5JT0KBF1KQE-3ZTT7NYi3WBFMIUzl_QWcPCRar0ZVbvSiOsR52QOkX3FcrwH1sYQKYnYycHNeg6gjQZAw_316fRDIDowMn537MBqIex_jQVGSxo-MN41cMy5WvI9nRcGmNDTyoLogXnbhx_RCQBLJ1vFpZ1Xd5BJUD3RnExpc0s9bFAWKakbdPGuyv5bBDbJTZYEGo0NgSCjRwSB3aFXS0qDq9E21-7cc9xN8H1rjvQGSSYu95UW8f-Qy9efkJyETBKLdlK02g_YcIi-AWC7KAMh5QW9rx7GVmpgB_OAFl9z3iHuVHQkN3D3Cm5v4ype_LXxvDwd4EaBxIcQS_DMzHm9LNCwnncLMhavdpWbtA349GBpj2aOfkqiWUbR6N4d_Kr7MDdZopl3_t-1CKO4xlFf1eaaYYCPuo20146Ug4fy8wsFC3hsDtqi_duOOqCFw_1Oy-2i2Mt_6GONlJVpxPmzB5qlD_Spw1LiMoUC_Axjp1IiBV42qY7jgcNK2WAgJ9ACdGH4URcWV3GVbDadlnDZdSlpiyJyQ02l8-7XrsTlU48U5lVl6xibDg8ZV__nU1X85r3OqnuM94tGXTHvgmJ5YSWFsmqju0tAIA2ZYwoj3LVwx1g_xdRES_Y9WcHveNjwUTus3jQFeZH8E81-FwAEdVOp5uVaAFDmY24Yj2T3gSwkXWDvUP0NaX7q6X_a9kBmwVE5sBiXIKWn2Y_QovXIxjH8WFgxGDZIqZAY_MeHXYRg2dLIP6C-W9O8yiwsbrqzn9vdOQtlRiIEJ1CxLTvdHwXBGbloaUPRswRMDTZx0k2kjFDuSa-AnHLaaPFkVWxoxb-TM8yTq3EcgaIBoVZGrm5iEdlYV2FIvrPx6_VRyeh6OaEqe8Jqg8pmQAir3lL0CLmREQp2rp1GGxBuwf5EQvQJKSyD_-vAj1Q20pefu3WJWnN91d7sFkiOyk5BudrCrPz4_vVyqUQzX24nQ6F17SQmWuwKFOo37PBA6MCXmwztiOAReHDsvF1Skdf2NDKP7Xitakxnlth4-4yHYrmmoqN9ejgRrBrUUhAfrTTwt9SL5JIdE6mYZV-Zm3lLyhoUz7h5qWMIw8v_GuGhEGPxWWaKVPdkSN_iVHyxP6_EG0yJtv17sLGICvfYomDhScniROEP-lUCjIGJvSEXIV8m2SG4VGeHHb3rJo8e3e3ItJX6ljqb6N0oVBuEG9qF995kZ4OYgTyJOan7kY1BmyHGxFwufWygUMAZ3Wn91kHrpFqlK67i3jV1wJO6fyji5npOouZGmH2YJAPB5KNbgtX_fv3Tv3gQ==",
  "id": "rs_09f2c132a2135c8c016ab4351e6e2487d0b44b3bc5979a6e5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The pen remains on the tabletop after the right jaws open; its metallic tip is visible ahead of them. I’ll lift the empty right hand straight up before moving it out of the center.\"}",
  "call_id": "call_wC34UewABdc6R2tzP3vhHsqN",
  "id": "fc_09f2c132a2135c8c016ab4351f207c87d090dec815d5d1f282",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wC34UewABdc6R2tzP3vhHsqN",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.573, 1.4105, -1.4494, -0.9039, -1.8236, 0.0727, 0.728, 1.5574, 1.4631, -1.05, 0.0227, 0.0898, 0.996]\nstate[eef_state]: left_x=0.2993 left_y=-0.0255 left_z=0.2166 left_yaw=1.1214 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.275 right_y=0.2446 right_z=0.1882 right_yaw=0.6408 right_pitch=-0.5858 right_roll=0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -6.3385, 5.6684, 0.232, -0.5348, -0.0415, 1.0281, -0.3077, -7.5419, 7.7333, 0.8913, -0.0073, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8d2976eeddc923b81ab83eb417c65aaf2e7c229513e7ce520cd61b28808c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6422abe4c7b5fe6030016ac9fc2fd2a41bb5ca4675883b853185fe3e1943081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5555be90057ef75a64de0630d73bce922b321b55d1cd9ce6728d65ccc3cd04b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 5.734 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.5738, 1.4288, -1.4685, -0.9188, -1.8282, 0.0727, 0.7277, 1.5414, 1.2144, -0.7753, 0.0227, 0.0868, 0.0591]\nstate[eef_state]: left_x=0.2998 left_y=-0.025 left_z=0.2231 left_yaw=1.1198 left_pitch=-0.0874 left_roll=-0.1544 left_gripper=0.0727 right_x=0.2802 right_y=0.249 right_z=0.1341 right_yaw=0.6446 right_pitch=-0.544 right_roll=0.0184 right_gripper=0.0591\nstate[joint_eff]: [-0.8, -6.9128, 5.7504, 0.5397, -0.652, 0.149, 1.0281, -0.4718, -6.9675, 8.0752, 1.3211, 0.0122, 0.0952, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4113, -1.4502, -0.9039, -1.8236, 0.0727, 0.728, 1.713, 0.8543, -0.3073, 0.0223, 0.0902, 0.9951]\nstate[eef_state]: left_x=0.2993 left_y=-0.0256 left_z=0.2168 left_yaw=1.1211 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.269 right_y=0.2393 right_z=0.0005 right_yaw=0.6396 right_pitch=-0.6075 right_roll=0.0141 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -6.3248, 5.7915, 0.1978, -0.5543, -0.0513, 1.0281, -0.0205, -8.4718, 6.2564, 0.8913, -0.0317, -0.0415, -0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.573, 1.4105, -1.4494, -0.9039, -1.8236, 0.0727, 0.728, 1.5574, 1.4631, -1.05, 0.0227, 0.0898, 0.996]\nstate[eef_state]: left_x=0.2993 left_y=-0.0255 left_z=0.2166 left_yaw=1.1214 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.275 right_y=0.2446 right_z=0.1882 right_yaw=0.6408 right_pitch=-0.5858 right_roll=0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -6.3385, 5.6684, 0.232, -0.5348, -0.0415, 1.0281, -0.3077, -7.5419, 7.7333, 0.8913, -0.0073, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8d2976eeddc923b81ab83eb417c65aaf2e7c229513e7ce520cd61b28808c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6422abe4c7b5fe6030016ac9fc2fd2a41bb5ca4675883b853185fe3e1943081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5555be90057ef75a64de0630d73bce922b321b55d1cd9ce6728d65ccc3cd04b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUlcXSBuwLkxXprcvwR1CXcIrJYF0YVN43EQXZ5UU1Dy3KyW5O8uSdJicLbu70GVmOCqpXISUROh5fzANgopKnn0HjrsSV7dFkGiCnqjDdSLMrCpOqq_B-C24PsIHxFCz484EgD8VQThRwoFTm-fFq4-b65Qu2uSLXPpimUUrg3ER9lR4pmw6ONNAYFYzseuhU5XN_fet469InxqDHGrUFGTtEtkhJ1-VPXvkOC_NUZpJlFWjtOwtuaAhAf6_QbFecgPzUjEa5KWObnmBrjIcnSwcJe_tsoMXMjEdoEs_b_KyH5ccAufrb_UB_ZJzE1gJ4tTKzRqXKqWBe4Z2Qajnd35YNxPqjWMu8JiWwKIyJR7BbVUcgO4681Vl5FSdcbwvS7kXbzb8FNMIJFYDt84Dk9aLKvRQSR-B3vUkFPy_RsD1CdwhiIUsVMzdROG4WhOCiX6PYVdlerR6XzOGyfu0fg4cirpK-jpYVyQ6Xo8bJ7Bx2S8d6RzBNdMmT57E_H8NHefbElr3clutEuztg8MMIKSZWbajNnDKuWeGnm8y08ahLeBQf9T0-0Ueu8pXBq1jMM5pybwVusKqctI7hex1YTp-bLl6rw_AaTFlFw4H9rfT_ZdTnT2jlde9waeejUWzrvvMkoT1vcX3PVUxdQexxIvr2r5wx-NOKj3L2sEjd1IkjINx_xbneUBizo8Stve1WfL7BwQwnnpCHp0HEpT1XojhjV1B5ApE93zLXoYYQr9EQHwyqu1OyLq7VRiarixDc9Nh0aZHgb4uecYbtF6xfSS7KKbRW-_Bui1a1clrpdCCBH45tJX6dMYsnpsWQ1t5tkIz7Oh_7MhkldEL4aQFx2dcb0vXsQRnntnTduytGM1WgmOQJfZ-Rsbv6M4u3V3OydKn0567S_fOw5gwGYKbBlmutGwEHOhBq2AfYVNcwZFN6yeUVCOMDGiN3BT0tETGvTaYot3b1arwG7yXMZeQkjJrVcZaAMpFl6plM3qz46SUJCn13ODaxRYPx_96GDgU5kmPy2vBCCmMO4GOnILAdOgyGR8U_kCWVvPelcQhYQOUzxal1mqRw48aYYVeQbWK3aKK5AgDB5x2fZgEbGnhVhvYErQ16O7ekhGGcTh8DIsfquHNol3Q1H8D1FxNUXusdBh5-4iF1zb023LtukLqz_0KvwVdOk11S_udj_b1hGIX2QpgjJXLX2UnN95786R1auon6IN9v6NyZVozsyxgPM7XIlNMoLtQrdCvF5keU9SXZvKrW0YqU5SP5fERYmaf3RXXFoDiYFRjikEdEd29-Oc4yWnX2Y9b846Fma0H_X7M56wtizPn3yIkexzrz_91dsxKHvSxW-htgY3siI4pPb8sZ8KdsquU4bIh5eQBIxp7iJ6mRJrTuao3wWLHGzBuHUgSCSIN2NRppY4kuG0MrXNJmvkx6n8oxSpJmsIKvv-ZsVCUVT9F4j1_q2VUTQbSqm2rvTuW6E4o2kS21H5husfCVD1UrKaWIB_xT1eJO5Nttq6hCqGt8nMSxa31arF2mWNyCBW7zsXGS6FAgFEQbehY8p36LZchB7VwhXWf-xdZbWvXFCTGDs79VZkG3dSkyWc7EiG_cazmKqsJst2xG87LD_mJgQTLfQge-M_8k7st0j3kp5hul8bYJPWnsY0lRG-4sSg-22_vg5GnQ6oKA3_kNgiliO-lH_Ks7OB1k357EPs0tHs5lrDvUw1_KaHT3IbwppmjjjAmRsv10U4wHy3TmXm9DT6NZn43H3cFkBiBTW7YB96us8rxKwwr_5pWYDfXyBQ6aHJB2kFpcyf45xKtuwvV4dNANiOdiqQNOWEks=",
  "id": "rs_09f2c132a2135c8c016ab435232b1887d08821208e822166b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The pen stayed on the table when the right hand lifted; its barrel is now visible beside that hand. I’ll park the empty right arm at the side so the cap hand has an unobstructed path to the tip.\"}",
  "call_id": "call_nanBNAi3mhlfJx3J5KqSn2Wh",
  "id": "fc_09f2c132a2135c8c016ab43524a9fc87d0b735983d026d3937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nanBNAi3mhlfJx3J5KqSn2Wh",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.5738, 1.409, -1.4475, -0.9035, -1.8236, 0.0771, -0.1875, 1.38, 1.343, -1.2617, -0.2924, -0.7383, 0.9961]\nstate[eef_state]: left_x=0.2994 left_y=-0.0256 left_z=0.216 left_yaw=1.1215 left_pitch=-0.1023 left_roll=-0.15 left_gripper=0.0771 right_x=0.2864 right_y=0.0011 right_z=0.1918 right_yaw=0.6062 right_pitch=-0.6166 right_roll=0.0257 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.3932, 5.9556, 0.1392, -0.4713, -0.0464, 0.7155, -0.3487, -4.2325, 8.4991, 0.7497, -0.486, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceff3421d132c19fe57db4d1df86f60154fabea46fd9e2e8f456a5832365551a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9354bdd1adfb0bcbfe04e867c70cbaf7861c0fc2bfb9cb3b542a882f97cd65a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b865b8f18d2e688f762b72924c70484be440993a9fc4ce1eae53c733e9c3cbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 7.958 s

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

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4117, -1.4521, -0.9077, -1.8236, 0.0727, 0.728, 1.7004, 0.8646, -0.3176, 0.0219, 0.0898, 0.062]\nstate[eef_state]: left_x=0.2993 left_y=-0.0251 left_z=0.2174 left_yaw=1.121 left_pitch=-0.098 left_roll=-0.1494 left_gripper=0.0727 right_x=0.2711 right_y=0.2412 right_z=0.0069 right_yaw=0.641 right_pitch=-0.595 right_roll=0.0156 right_gripper=0.062\nstate[joint_eff]: [-0.335, -6.2838, 7.3094, 0.0415, -0.5836, -0.0904, 1.0232, -0.3624, -6.5436, 5.9009, 1.1844, -0.0317, -0.0757, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.573, 1.4105, -1.4494, -0.9039, -1.8236, 0.0727, 0.728, 1.5574, 1.4631, -1.05, 0.0227, 0.0898, 0.996]\nstate[eef_state]: left_x=0.2993 left_y=-0.0255 left_z=0.2166 left_yaw=1.1214 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.275 right_y=0.2446 right_z=0.1882 right_yaw=0.6408 right_pitch=-0.5858 right_roll=0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -6.3385, 5.6684, 0.232, -0.5348, -0.0415, 1.0281, -0.3077, -7.5419, 7.7333, 0.8913, -0.0073, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.5738, 1.409, -1.4475, -0.9035, -1.8236, 0.0771, -0.1875, 1.38, 1.343, -1.2617, -0.2924, -0.7383, 0.9961]\nstate[eef_state]: left_x=0.2994 left_y=-0.0256 left_z=0.216 left_yaw=1.1215 left_pitch=-0.1023 left_roll=-0.15 left_gripper=0.0771 right_x=0.2864 right_y=0.0011 right_z=0.1918 right_yaw=0.6062 right_pitch=-0.6166 right_roll=0.0257 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.3932, 5.9556, 0.1392, -0.4713, -0.0464, 0.7155, -0.3487, -4.2325, 8.4991, 0.7497, -0.486, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceff3421d132c19fe57db4d1df86f60154fabea46fd9e2e8f456a5832365551a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9354bdd1adfb0bcbfe04e867c70cbaf7861c0fc2bfb9cb3b542a882f97cd65a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b865b8f18d2e688f762b72924c70484be440993a9fc4ce1eae53c733e9c3cbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab4352898ec87d082c9065c37b17582",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.27,\"left_z\":0.14,\"left_yaw\":1.12},\"note\":\"The right arm is parked, and the pen is clearly visible on the table with its exposed end toward the upper-left. I’ll bring the cap hand above that end, still high enough to adjust before making contact.\"}",
  "call_id": "call_s1h3FIUTzoMWXlnhEjYJDbNN",
  "id": "fc_09f2c132a2135c8c016ab4352c7b3087d0a6e89ec7c6f7e73d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s1h3FIUTzoMWXlnhEjYJDbNN",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 2.3955, 2.1342, -1.5612, -0.8555, -2.0941, 0.0808, -0.2005, 1.3811, 1.3266, -1.2629, -0.308, -0.7555, 0.9961]\nstate[eef_state]: left_x=0.3945 left_y=-0.1976 left_z=0.106 left_yaw=1.0984 left_pitch=-0.1235 left_roll=-0.144 left_gripper=0.0808 right_x=0.2836 right_y=0.0007 right_z=0.1872 right_yaw=0.6254 right_pitch=-0.6181 right_roll=0.0469 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -11.8085, 7.8017, -0.4322, -0.6325, -0.0611, 0.7497, 0.0752, -5.9009, 6.3932, 0.9109, -0.2125, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee6359c50ad3c50bd8876b27dda1fd70f68551a03557f1ff8737b8001fd8c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f662b6c862da134f7fd02dc0573038587c2c46046029c0c34dedd74c5f0d7ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a776b817d64c6a666de24644c8521ddef0989ccfe7856d01e617e16c390afaaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.882 s

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

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.573, 1.4113, -1.4502, -0.9039, -1.8236, 0.0727, 0.728, 1.713, 0.8543, -0.3073, 0.0223, 0.0902, 0.9951]\nstate[eef_state]: left_x=0.2993 left_y=-0.0256 left_z=0.2168 left_yaw=1.1211 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.269 right_y=0.2393 right_z=0.0005 right_yaw=0.6396 right_pitch=-0.6075 right_roll=0.0141 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -6.3248, 5.7915, 0.1978, -0.5543, -0.0513, 1.0281, -0.0205, -8.4718, 6.2564, 0.8913, -0.0317, -0.0415, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.5738, 1.409, -1.4475, -0.9035, -1.8236, 0.0771, -0.1875, 1.38, 1.343, -1.2617, -0.2924, -0.7383, 0.9961]\nstate[eef_state]: left_x=0.2994 left_y=-0.0256 left_z=0.216 left_yaw=1.1215 left_pitch=-0.1023 left_roll=-0.15 left_gripper=0.0771 right_x=0.2864 right_y=0.0011 right_z=0.1918 right_yaw=0.6062 right_pitch=-0.6166 right_roll=0.0257 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.3932, 5.9556, 0.1392, -0.4713, -0.0464, 0.7155, -0.3487, -4.2325, 8.4991, 0.7497, -0.486, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 2.3955, 2.1342, -1.5612, -0.8555, -2.0941, 0.0808, -0.2005, 1.3811, 1.3266, -1.2629, -0.308, -0.7555, 0.9961]\nstate[eef_state]: left_x=0.3945 left_y=-0.1976 left_z=0.106 left_yaw=1.0984 left_pitch=-0.1235 left_roll=-0.144 left_gripper=0.0808 right_x=0.2836 right_y=0.0007 right_z=0.1872 right_yaw=0.6254 right_pitch=-0.6181 right_roll=0.0469 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -11.8085, 7.8017, -0.4322, -0.6325, -0.0611, 0.7497, 0.0752, -5.9009, 6.3932, 0.9109, -0.2125, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee6359c50ad3c50bd8876b27dda1fd70f68551a03557f1ff8737b8001fd8c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f662b6c862da134f7fd02dc0573038587c2c46046029c0c34dedd74c5f0d7ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a776b817d64c6a666de24644c8521ddef0989ccfe7856d01e617e16c390afaaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU3btNLp--uiXhpie66XqTOqqt0z74Yxzjo80iYA7nefWj2EY2yx5mIk4cyEdt91bJqmMtCkYPem0QAMn70W9c2ct-KuXlXAFaD5q7O6ckIm34eaPXSgQV0WHOgm67nw_-3EzQ6JySTEMrysOvuOvmYDSnWmAOqbskqVik8A9_tGmYoNrat9RT9UQHNrIo0f2kCMW0MBbdXY6crFugjUG7EVhIILHyvnsqiju_wwi1hdQuERqy8IfxBoiH2s8rwPLKc3hnHYuGhuTBuRygrTWuwE2p96WermTk3azFtHz7Z3Rij8RbMG7I4P086ZX8howtj-k1dM8Edl5e0zMTxSugidhX1OZHF7XP9vJmpv5erehWBNI091exiAZ2QkRDT4e9Cn1RjJcRMgLQd6H3yQVWgiI3lyEr7a6LJPP7cSnO_iiiNS4j5wqbLQM557yPBGUeXCC6OrkWoN8b7uCOHlIYA9OuEJJQeHyLFG0GUWweSyBboK2BJjnCJEYbbPLtyPFgLHVG_j6Ycy_0512kRHepZBT_UkhfyVlzVgcVXl_BN_uXYN9llRutrNkt_iUhX0IfR6upS2D2CoDtOLFYtbX8ORWDYuA2_RkJv25FS-_SefCxON2VbX7MIHdxTohC9KQ4nn3meN9jC_60dUkL6BHDYEFtOChGk7uVJJSrjUrYlDJmM8-1aZ84H9pa9b59jPFJPmHP0JbzNQdAqvmRXTUFoMAp9892r4_gj0RLvAUg3v7psbTqFx6ZHhCRDTihszZMKGX6az7G29bXmEFb78FsIhtHFeB9-815n9wkRm51TeFzDTeCLhF95jjQO695PNNKyszZfNaNFc-zq_xWVdmEvZSIkCAxtf0UfBuBhW5tqFNwhHWIz25y78rt2cidginPbJ_B82W7knxSi66sMxDuM0ION2NRmdncHo8vUrOfbL-fxx3mQMxv_Gd-dXzsju3wy4QK06hAwYwbhuy8X_BkjTrw3Kkb8rKRyIlORdemAARqZZ2FRx24WoQAkmDRAiH9EYBWkEHeUg7XRFYEmF-N_VXR7tmXvuz-d-8Mt9ykpxNdMnbDM8XjWb4A1cDVUH0WfRa_84PixIiqNfK0Y_2kR61HhMw0JGiz8ZBimOfQ2Fsa_k3IYGNsD9FUl6GCrP0IbdgxP3xq9y_QMmuRjCrvxpwoL1rx8WvAPevItjPOywq-aoqAris3eV6fRj8BUus9b6pRJLIosPJ5XSG_JglCvmNrAD4CWjA6iTllTK77Y7Cf8bnFsfgQCY5Ayp1GdRwGbcW6JguPWTtSyHW_J0xoURYc3S21Gr71w7jHsscMlHAb_Rc6_t3prWfgVUyhHsccaum3LMJNIqIw6sK8fr4ekJEmEbJrKZG3bkiN2K1VdM078Jr9NZZnp7vryIad1YmjiAYaufJerhOVBiXDeRoQmBz87kHjRqilk0C0Ot0m5D0W971IeIIhPylqWOA8WLB6fhtUNmCKTuZRjZD7jwYhZi1e_hKJ5Z-FwIg3xYBBqQIgJcDm4HDGahZPKCq8VUEGKq-lCAzaRekODgFRpVvX6nJ1ro1dAn8lm83ZwsmyY2d4iXoilZJfgSd2A5VNIlIMnl3zprsgYWiBfDh69CHqTTou6LHXdWZHlwHj8chDIydVni6HeayavET1RMY5f-gg5YwLm1kuPAxXbYZzN1dJhhjIOM4VOxO9ZA01vJOLuTJVoGgS_qf3ArZmvZf61FJ0Xvh4wST2Fhby5IhoEKnNah3eNRzjjnY0_MpY9YjuM8OxTLWFdP3vMhsPAMgMal8lXXYw2Sa-yU92rsFU6qBrELPEpLT0tZPUrBrDgoAwbRtWNgclqfKb7xI5ybtlHMA4K6VefT96MQBqHvvd6FrhTpr9Mg1Lwcrega6bokgrKyMo0nB9j0HpTlQ2-XeJBPm2MPwc65xm2mkVNPcZIQlMjuPeWkUuQMmOQYY_wGG0dlWllecMBmM6T5qliooDX0T_z0I4IoxKjGR99_1wNwB08JG8Y7iPRCIhmd8ELMUI-L50MoTss7eFlhNsjdK9Qs2oa47-Trh1-FLBoCa89moTsX26lN1q5fZjdjz26gmaWSJwB_lzaAgPokiUBhEikfKiMWzuYYzSxPPHNQTviG7vPWm1RbGYH2fCVfDvv-qvuygiqgAvdRwhkT1oFCjRwIS1_Ud7rM_s_kM2-7lBhP3g_O-50_b3Q7fpiIacFA-wDS5kcxTJbtQbBWMenmNTl-OrA_oTG68LBbadqriAROmF1DWFy-5iYIIVe4Sp3gCNdQcQNcV_eQQquFGW9ghXyQuSeB0Frh2gJ6QvIeDikktK78tbRMkYoc7Sbu00DyHGaILiD1slItxG5sK5ASK94olp2-qgXY33thdzuHfoTCtft6OP1EB_uNTXoLe7yQnOHBITJd8OJnkp6DJb2mshm7I58Prg4xw2R3zBKD42P8LA1rrCB0jthQ5CXemKUEG584xnnWM0cTsR-gcmbMTvqM5PC6-CZPc4ZTVYSffAvvvARrqhSX80paeVafixS7zrJHI5HW1SXc3ed5t3IoujAnAZxlud_wxDifh4HCasKpUzoodk-VqBSA9QqyDxqswUgxOfgAa5IwR84gKnB3LkApoq4fyXMFRFoJ1BtSG7H8MYIXAFbqCuVhRzi4OKXA8ZsWokKIQG5PXHTOit-Xk0LWwH-9hxjEyhSCUY3nDWPxIC0nB_CsUfEMygK4g-ZbG4o6vLK-BWMyY--QVR4vsRcRjtyBAxDRxDt54CPZ98PoTCBNMrHMe1fTU_fRAAXvj3C5b9K9xZDJ-XYph0RL3emSPKAruKw8p20QC9rmsTiT8vPLa-HM3axG3W0LlYdERbcSMiOu0I5HpaUHTDm4C5lJVCYM1JDDyzerJCDPJ9k9RV_tUxN5zTqedzsEzahJhb8Sn6tF69DiYS-M-NUpMc7hOYOXc_kzTJOLoAZ30kmSnl0WDxNsWFyyESHpcJL67hzEwpC_hQF8Wkn0FV8Sh6StdPg6LXY8L46TZkCVDJIwhShUPrPQYKJAWBGg7gUO3J0dt0TmYGGSfl5IPGIGDeRQVLzgsxGVoGfz73K3oXp87iO0BGGV-2O_S20uLa5-Krlvw3z_nnkcFyRdOIYYoUib4QqOUHpkkWtSVJocgW3LBJ7sy2bVq3JuTPOBUwz_NYBOm2FILnb2idK19w7GxybTc3yuQhLy1x_Cq5aze_9dvOTyS6hV1zdwv37xy_qea7DYGkwgKTyEbGlmcWIY2uU5qcnxkLCDblxNOtaECrUWQh-h4dENC9t1HrOj0eJ2H-QAx1LjBgs4rK6NzXzoKWB3hV1mRnmvb2UVSD99eYfKhBFa4CwVZ-UgFmUbNlaYMOH7Nt1ZPT0hN0Vr9_jv8h6jDSg-J-3E0urbY987A0peICr_RLHCBC_gZbq5u2JRvK9ScWFKM9ueAN71pjoW0hm8fhVyW8efHhasQbz5WIlnqsQnaaLGd0-ApwOfCA1hN6IKKN1Dp5dArkl3wveoJe1Q28lOtqlPdGOqxHKO2csURTZj0tMklmNfXVADX4zVzjwUrjpfXdWUI-VP7QNYrNCQBYgBcLMo_kJ61cPB11Kzix9ML8-iF7uVd6qIfjECTr8ezI=",
  "id": "rs_09f2c132a2135c8c016ab43530e13487d096ecc096105a38cd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU3bTCfoYlkqo3dezVG4kO_xk5b2bZfEmMmpKWIrR_-OkRUDtXBq7dkurYZ4NpZnC4_1wQtfGrG6fd59xQrEd9HssSDbrfS57rHqAccv5qflWCFc32otY5xfI1_XDjtIntT7mfuL7f8cd3QXB5zmCp2kB7AGiuRSqlsNqumLgf2r-BvHge_VxUaBldwW5vm_RKuMSetdZ0CWn2DmPMAw2WSsIfjPvTvtktWcq6DD6Ui8VPi4YCpVfQY2jULVyZLNfqo7PNKJx-NmrWYqUXp4x34wnEPiMxqXuy4AigKDZjB_kq3JVT3uA6nqBUAbSUcsA-c7_ufpaBLho-qgP8eLum-6YMH5X4J7OqhsaeLK0_gI7_XQ6_RlAfr_b3GWhDi8BvWskJt0eKVB5heXHHqeFJJO4duGrDSHfur74LbEV5ubx9pW5spPynZ7YphykeadA2oR8RY_um4FSKP_nGebT4Gmk-pB5kfYUgFu6-rxr41KeRDiyc6Fba2Hp3hgIjqrkmoQWDRm4Xol9GJy4JPOnL4crtKFA1tnCj4nV07vChiFtZK9KWJG2VNX0xZ3LavTrHaktKxgNfLrhPrGdPVCMXgk9qF48rGSaKDwUvpDgfWd6CD7724vrA7sAiuRAOXyxSjW08geTRdS5MNpXPDifvgwHpTRFqcPyU1S8_1k21Wm2ODBzWilw9WXEQD7yzk1Z2hQtSLyjkcUXB8fl7gmEbaCh1L9DyDROirddzd96EnFqoAZI5JEcQ8TBso71q5o7DEeyq2_zjeJgXqXn5JtOugzHTcaxunUx35klezjh5oUOlwETVlIyfrff24UPXTfcGUaOsa1gh0myDgYEtPipk5aH_eb6S-FgZX6FazZyi1skHq5skUx_hVpib85dThStlLDO6lbhwrYkms9zI6QWthZqoBzYE4SxmIov_zqiyxuyZfQ8M4CHGvf6qNmMmfgBqN5f1ZZqWHB3-WY7r0-gzj7P9-xd5a2uNTo262nQAMc0eTTRVBbnp6baDxSxTGB9ZqFUV7TOkZuHR_G0sN_A0g0lzei9AWrEJLJ5c04Fhpdx0w7SxQfhecTvikcJsgH3MI8cSnE3ccXJ3q-2QxtCP-DKNsj4xZpN8IHnSeBvr6f4jpRwJ4726kkqnzt0cBUirCIMUuwH2lUpM21w_ZmhJbKXVMZox_NiJkkYrbLfMQGf5Uuy9AXtx6EWyAF4EpJWRUGa1m84_N4FWSpL8m-SiQS2EKGMmlFdMyj-Kf4h-NzSYOq-ss1sGY6CbMbndK7kHVAzEvRZ3LhKRh_j5aU5XDMNNXW_RU0OOZEpsagb1DAl4Qk6c5WQHQx9nRhnm2UqspYKo4Nb-wZXDQjkFH6_53Z0gP_vXpW8TYzbjTS-EgMQH5woQBxdiAOy0PlpAHWx0IVRDvDao35LnxlA0fjAvqgHCx8rC4ZMJruRqxe242kAxBIOv2Pm9FIzMplamChkQVRNUNg_2plMx4meVYA8Tc7iF3IUpgxPW9x1ti3pm0qQuSHTpyzvITRqX-kPEd7EQsj-JX6zfbew7G5KNLzyEaQuywE-1Y8gQWM0grBYxtsN9wNNv_fTyU3nSCzkVeo0XotAy8eRJBs68ta8PlTgPY4Zs0BObKeeq-1tKYuXSkB7DbSnBywWw8eOskFC94DoDlpSDKUa2EuYXZYoD7v6j8aDuf9xrPY0xlqYaKM6SFs5kbGE0UR5vBqtim3LnPfb-xWW5xuQmzKF5Yvt8bPnnAaVcllT1dflpTVEpgDBhSZbwwsBA1IdEcV6KxIvc4gN1zzGV-Y1B6-sSNjmrE3zef4ExaISRgzUBX2uSw42lvhl4Ylj43ipzmEujZbRluvqNI-P2LWE64lcF_EGU4awmFSogjP5nS6uYYYSBo_JqTxCPPNd-okckXOUcMoLkeQ_le_R8u49Ltt3cFO8eLWnsMSqKm9Nr3ek5Fz6-R-HzMCIMa6-GN1TpvpcUyI_pwx03HSGukwdiTrI5jvra4gNn1Gihu65N7qHSP12JQ2-k4NKEEBNuPNnuqgWlKdSs5yj8jkNn4Qv9VYa7fmqtYPZAnHYUIvt_bBScNeW4FvOMDaWt68QFGQnR3m3qnKjMfdiR1",
  "id": "rs_09f2c132a2135c8c016ab4353526f887d09f577033db952671",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.2,\"left_z\":0.07,\"left_yaw\":1.1},\"note\":\"The cap hand is laterally near the pen tip, but the tip is not yet in the forward-looking left wrist image, suggesting the hand is too far forward. I’ll retract a few centimeters and lower partway, then look for the pen’s end before inserting.\"}",
  "call_id": "call_btp9XpJp9MWr1eAeqRRfDCx9",
  "id": "fc_09f2c132a2135c8c016ab435369c5087d0a85aa7f6dade9d07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_btp9XpJp9MWr1eAeqRRfDCx9",
  "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]: [-0.7891, 2.3203, 1.8008, -1.396, -0.8452, -2.0933, 0.084, -0.2035, 1.38, 1.3125, -1.2552, -0.3126, -0.7578, 0.9961]\nstate[eef_state]: left_x=0.3631 left_y=-0.1732 left_z=0.0597 left_yaw=1.1023 left_pitch=-0.1041 left_roll=-0.0512 left_gripper=0.084 right_x=0.2828 right_y=0.0008 right_z=0.1838 right_yaw=0.6299 right_pitch=-0.6184 right_roll=0.0543 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -15.8427, 6.5026, 0.1636, -0.4615, -0.022, 0.6227, -0.7043, -5.6274, 5.9966, 0.823, -0.3004, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35708a49725d9901a0a4b15827269d8470e758566635505911c81a2841eae2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb0cc9d934e936167677e00c7b62a89410213b242e2e71d69ad0d545d283caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8327fd5bb2328473bb9b5516d5e7c296828e0993fd1faa5e641645a3d8fc93d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 6.366 s

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

message 112 changed as sent

message 120 changed as sent

message 125 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.573, 1.4105, -1.4494, -0.9039, -1.8236, 0.0727, 0.728, 1.5574, 1.4631, -1.05, 0.0227, 0.0898, 0.996]\nstate[eef_state]: left_x=0.2993 left_y=-0.0255 left_z=0.2166 left_yaw=1.1214 left_pitch=-0.102 left_roll=-0.1504 left_gripper=0.0727 right_x=0.275 right_y=0.2446 right_z=0.1882 right_yaw=0.6408 right_pitch=-0.5858 right_roll=0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -6.3385, 5.6684, 0.232, -0.5348, -0.0415, 1.0281, -0.3077, -7.5419, 7.7333, 0.8913, -0.0073, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 2.3955, 2.1342, -1.5612, -0.8555, -2.0941, 0.0808, -0.2005, 1.3811, 1.3266, -1.2629, -0.308, -0.7555, 0.9961]\nstate[eef_state]: left_x=0.3945 left_y=-0.1976 left_z=0.106 left_yaw=1.0984 left_pitch=-0.1235 left_roll=-0.144 left_gripper=0.0808 right_x=0.2836 right_y=0.0007 right_z=0.1872 right_yaw=0.6254 right_pitch=-0.6181 right_roll=0.0469 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -11.8085, 7.8017, -0.4322, -0.6325, -0.0611, 0.7497, 0.0752, -5.9009, 6.3932, 0.9109, -0.2125, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.3203, 1.8008, -1.396, -0.8452, -2.0933, 0.084, -0.2035, 1.38, 1.3125, -1.2552, -0.3126, -0.7578, 0.9961]\nstate[eef_state]: left_x=0.3631 left_y=-0.1732 left_z=0.0597 left_yaw=1.1023 left_pitch=-0.1041 left_roll=-0.0512 left_gripper=0.084 right_x=0.2828 right_y=0.0008 right_z=0.1838 right_yaw=0.6299 right_pitch=-0.6184 right_roll=0.0543 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -15.8427, 6.5026, 0.1636, -0.4615, -0.022, 0.6227, -0.7043, -5.6274, 5.9966, 0.823, -0.3004, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35708a49725d9901a0a4b15827269d8470e758566635505911c81a2841eae2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb0cc9d934e936167677e00c7b62a89410213b242e2e71d69ad0d545d283caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8327fd5bb2328473bb9b5516d5e7c296828e0993fd1faa5e641645a3d8fc93d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU6Pwm6JiZM1-fhQd7_s4YhXv0pFBKIxHAc4HtHjGjGxiA3E_9kXfNsrZt0Ex2BSjRI3XRBtisTIcNYt8FO5zcm1p-iPnA_Jung7WdbEccsdfHIKiBCoZ26ltO8kGTQ-CA1YdevKmJgEHeXJbGbsHYfjfR1wV3yUdubHu2x2bVQps5N1ueiMfOFTWpxX8_IR1Ww00vBTCgkmqn9NMP-UJ6JcoI9sY7pWumQdbziDR8pdnOG1EwZkzov9t1JLzkPiT3OFXXn3tCr9n5e3m85pjTotTRrINpOjVYkBWUa1ScSECE00_NezBzsTeMfnsMPEF3uSm8QuTkstjtfBM1dl393uKnFLPQrRyTxim9FKYSoeGj0loPG4IiYbZLuAXbGvyhweG7pTiSyC7Q4pZK8cKz_sxAjnba6yb29tYQ3CkW-WV9ia9prbhTJJTSooNm1qHAVc3GqxHbTnz4eJwSXVc6R1THde4bPrOY2iHoAPmE4PBUWddSn5YxvkbGpNt8AKpyqJkM1qvbiiYe82zZL6TiOPqR7itHEyoVfuxWBLgo6PvhWz-Y2Zt3Jtd8zlsEPMIYmyVqZQnqPLqmmxeGn-1OZ86zc1dpoekcZx_t3QwyJM1PQareHQ1rXHkw7lVzZSYezMk4PrMqXBAsXuE7Hrg2jCP_dhSkJwVrO9iIubRoGs6y0kbt3wRHgxXe4bZeSyeEzvZ-RZR-0SUoRADwWMP6-Ka2-d1YRgcTAf5cezu7zWF-tAWDTneX-sbtC_h4Ck6QXCl8EZ5k8U_ir5VMhIu7XL0QbtjFhVF8mFn4pVPn0bkgFnyFiHNG1vZvw8fI_25ULzWacBdTznYJGqrn3Z_MrAeAHeOvt_VQeJJdg4iRqz45qd8zbcSdRHq7IOj_usbLoujEl12GC379JZ623Y7j7VYs-32whacoK_qhtuoa7eR_VdXmu_NDDGleoya_Ksi6Kgldv8NYpDD9KMA25hgPKn1B4uKgzbA2DCruLRyi7ymf8k7YA17wb7gLMUbtX9XHzgaz8PML1uRDz-75USdyxQnTCcWqhhhkH0OUPHDsNP-0GgnzG6tiaVqQ4cnU2YbfHHfgbA90vhYvYzu8q-VQ_mct79kPAaK3GHi7JiIjXhO20NICaJ48T1NQAIgnR2wea8l_pww9PVZukw9tc7rcOki_rrwxZI80TR7u4Sf2TBSgyEx0Y-sTBUkso2573x4G2UBqRuNYbLwBzJxg-yTn6Pk_lvTdCKqjF9TFV3tMygndA0xhEciz8ZjLr01Yc922Znynd62HcC95HY_mhUm20stWrkYD1_wh7utNpL7wTW0UHP_kPHN9NJvsa4QtMlTlW__udAFPBVo7LPC4nYTl1OcN4763Si4Fmn5k1Yb1xtLvaqqDRSBxzg5gmXV0ZMJCAakrQ05gRSiOILPUXmIAisNc9pCBcD7AyDbE6m8aCgSSFPqRUA0sJ85cbWXoNpIfn3jyOXhlyhhChCLzw8TtygQgra-PyFZAEK6capQCohC6HuSu_78zotz2nW2hb-98DV1xdB98lOLUrj6_K1GJy_HdRL0pkw02ecR8UDwUxo9gkSDjYEt8gAWJKhxqHX1MX29OFu3FJWCp4dwWHXzkbvDNugJ3sSAnSnQUEjC8UQC_2lDjKzp7U5jhZmqQMbVbnpNVfsYWB0w3S4sRGwt_3gmzxGJRnKE-Nb3k3cwJCi7_cri4_Ul87apiTnunynSEZO76j4xV1WclRqrv6K92vkcmdiq_YV3160T4FeeQbBV4=",
  "id": "rs_09f2c132a2135c8c016ab43538be6087d0bd3099f7a5efd372",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.19,\"left_z\":0.055},\"note\":\"The pen tip remains just behind the cap hand in the wrist view, though the overhead view puts them close laterally. I’ll retract another small increment and center the cap over the pen’s axis.\"}",
  "call_id": "call_4WJ0tOZNv6TKOJ57V11IYaUV",
  "id": "fc_09f2c132a2135c8c016ab4353a07bc87d0b2d7ab579035319d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4WJ0tOZNv6TKOJ57V11IYaUV",
  "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]: [-0.7891, 2.2955, 1.7546, -1.3506, -0.8364, -2.0933, 0.0843, -0.2081, 1.3792, 1.3003, -1.2484, -0.3126, -0.7601, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1721 left_z=0.0563 left_yaw=1.1029 left_pitch=-0.1195 left_roll=-0.0715 left_gripper=0.0843 right_x=0.282 right_y=-0.0004 right_z=0.1807 right_yaw=0.6293 right_pitch=-0.6214 right_roll=0.0574 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -11.453, 5.5043, -0.4957, -0.4811, -0.0269, 0.7253, -0.7316, -5.7915, 5.8188, 0.8083, -0.3785, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128df25583c332f27a8966ea26233b7ab6f6259bd2e3647e14f0bbd4d1f85131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593f27600344bf0b6c8a309d763611e22e475fb1ed2a9613d6bd1d2881b1357f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b45a153e36afaac6f3d70b5daadd31fb898a4d9f9ba40ac7635a11c38df26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 3.464 s

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

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5789, 1.5738, 1.409, -1.4475, -0.9035, -1.8236, 0.0771, -0.1875, 1.38, 1.343, -1.2617, -0.2924, -0.7383, 0.9961]\nstate[eef_state]: left_x=0.2994 left_y=-0.0256 left_z=0.216 left_yaw=1.1215 left_pitch=-0.1023 left_roll=-0.15 left_gripper=0.0771 right_x=0.2864 right_y=0.0011 right_z=0.1918 right_yaw=0.6062 right_pitch=-0.6166 right_roll=0.0257 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.3932, 5.9556, 0.1392, -0.4713, -0.0464, 0.7155, -0.3487, -4.2325, 8.4991, 0.7497, -0.486, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.3203, 1.8008, -1.396, -0.8452, -2.0933, 0.084, -0.2035, 1.38, 1.3125, -1.2552, -0.3126, -0.7578, 0.9961]\nstate[eef_state]: left_x=0.3631 left_y=-0.1732 left_z=0.0597 left_yaw=1.1023 left_pitch=-0.1041 left_roll=-0.0512 left_gripper=0.084 right_x=0.2828 right_y=0.0008 right_z=0.1838 right_yaw=0.6299 right_pitch=-0.6184 right_roll=0.0543 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -15.8427, 6.5026, 0.1636, -0.4615, -0.022, 0.6227, -0.7043, -5.6274, 5.9966, 0.823, -0.3004, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3506, -0.8364, -2.0933, 0.0843, -0.2081, 1.3792, 1.3003, -1.2484, -0.3126, -0.7601, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1721 left_z=0.0563 left_yaw=1.1029 left_pitch=-0.1195 left_roll=-0.0715 left_gripper=0.0843 right_x=0.282 right_y=-0.0004 right_z=0.1807 right_yaw=0.6293 right_pitch=-0.6214 right_roll=0.0574 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -11.453, 5.5043, -0.4957, -0.4811, -0.0269, 0.7253, -0.7316, -5.7915, 5.8188, 0.8083, -0.3785, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128df25583c332f27a8966ea26233b7ab6f6259bd2e3647e14f0bbd4d1f85131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593f27600344bf0b6c8a309d763611e22e475fb1ed2a9613d6bd1d2881b1357f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b45a153e36afaac6f3d70b5daadd31fb898a4d9f9ba40ac7635a11c38df26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVBDFdQrSq8X45uEzlihSNpyyM3oE9ZDhyG1vQ3_dgsbHHVJBlPqixr-a-iuxF4PZ83pyigEorgzRH82CzIUKO9FlNlZVAUaTowIKOVnfYwOMJlRMJOQn5a3FB5tUELRSWOyt6j13Ogzr38UF0izL3GLavlMVHG8Xs0YnDPKz_18SeIoq8Eb9BR6cT8KbnB2V79xa3WKSEH6BgOzpjZ_M9C_ZF0yyA05_B3lrkkhUHM-NOBIuWrUVEQZ5n7_IO15PU1pIKqSmVN3mll-UjGxS179QeICpe6vBLT30HneejGTlqp39tkrN1B2j6SEEXMt1cp4ZSb2X4MEaM8P5qdBb9qgxV5PPGGM7voA7rU7MquXNPU7IOfcwYfLq7mm9mMz6gBbhxEQmNDQNrCNH06gWxBnFbn9sIHntqdKJzGD-MsJSnkpnlKHDIEeU0eXG13oLvy9PRo0RmMtzcSqfRtaLyYXDCwvypuzQvW2MnYekUEvhAFlsqUB5COn-CnzdA8yLHYqojujDxNMfNlFYemwBdLGqTTlnfebJiSD0muyVfwaeFbBI6Rmy35e_O7cav2zY9METdg5PAJ-IYfVZ3vaZ3c3ZzI02IILWQTijeiHMJ-o67p7rMT2PXXxt2VFT9e4P4oCQ1Ru4UvRzVfQEC8Xs07XliwqcmFx43fg1OE1E0DOSi3qFEZWEInUiLIU-f0OKeQkOzNpmjGvdlCRyCp5sgfOkdWUBUqQUOAEDOziFl3boE22ry8IoG-8gbLZOeLyFnC49nd7lEaWB-BtzJvsPe62TcbowsMZTW-pGVWpIkeiTwUJlqcJ2bQ3G6RAXW0bO9HGYt-wYk4VG3zRFIXDa0_-y-JIuUQCfqpigfGVAj26pQIqYQCRjK4jnpZd_Ca-EhXL0sFMr558B6hUFAuFU2MLTLlRxqr5onY5RL2UglO-fP-m2ZUNqTJwa44bNMP2EPrHuTskFrMFHgFZkrCjlXg1j5TUsx0i2_sY7UGsVJIZCmB8v0b-c0UNnLT8mMipyKexC9bFEV_x7zsn3Axoo-cJAh3ZPDUUx5fpwmrmaNySee4ODxbUx1IlSQdpSfEwJKl4poIl3QCLiuklyAdniBZeH1EkO4Q9vkiHFjWE3sRgwiKB01ZJpAae4GXxuWuH31MYX2i4_z5RY8kilCzQ8d_t6SdwkYwu7kS5A94ubpp0o9B_GU75bPqc8iP8W846jy0U2jXMUONilpS9ebIbdOrzlxTKfIv9N9RgBscSqTh9PIrHV2Qj7bAXOShkPEweF4NOFiCEqrJ2YXOOW4idIqXtqpvqV8j_Zsfy9esC7XA2UkuRRFO62vTgMPoxg_ycEKQ6QxGkjkpihpE5XTPU5w9I0uBwlcz93tKw0_SeMiEtbZ7VMqocaRUr-sf5GUZe99Iu7vJWamot8NERgFZD2C2z5bNeMoAKOvs96pWbGPR-ol_cOU4NabtEI_9f9NsUFfKPD_qXCq6vum5ZT2fnixlHIvsYQOXddF0hGBIAS8JoCtWpZ2CTtpWIsx5Ic1aYp4Y-CRGBJYhFB0i8sG7rgnunzOH3aJQRAOtnfe1XaqHnfdqazipwBcEK-f924z3SgG_gOQIDB0sWr9L1Q-QnKJi5k-jN-IiwWOw2WvDP-70mYsdMnby6q8YwrVz5mw5QW20st0kKMsgoKEWp9VKJkA72o5WgRbUgvHw7exzuuZuqhJ9x_FY_j7cD-AVvaFXPu1MO5F8Nim7b5pCzFjf4P2Ejsb1cTSSm-dRlZaUgHbIQEARMrAMJ2bfh5EcbXmTsGwEzeQMDMEEpionelZzYrvXH1kHA4lhxHyNuOZc54W2x20B2N_QostUxM3TLv5Hh6W7ZKdvEUaJ0wmXcCHEAB0dGH6UTWI3TZYEq3RF53ayKhkX1Y16DSySlIjSat6V26I2o0XNnt6hFLbXGkV4ruRtQeaRTmM-q6qzKFLb1ir7MyjnblxbEYR8F9p4vk-HhUJBTuMgyLufoDlVgaFiAn00hrCRTPqJx__z_ybyZfaBw1BGySXxjqexvQf48150vG_Ow11VbvMhqM3oGg28zKeFhIgvGNWmJo8NHEq1VxG9jqg-3RKI8m1qoy6DrP6sJtC3P7x-e44sKQ6ehKPPykrUkSl13JTesGVlPhqyQMpytf-SnoaWhJcBXVFbf6q_aEs_FODOTrkLINMqlcCB3b8wTpRPv9PwTVuYZgb5TcHZ3GSv4eOsjU--jIzy-OabK8TBjyGwSpIx7lATmZqC8oGxe2_rVFPQ7XsKnibuZXJ5vhnT1t8cT-wPsXPlS152NBoN_FgAiRQ8ur8FcHLRDWGicHo45B5eJ2vxTueBaODZjU11v-wBjLF6JmzzkTVW3OpLXVnuHtU-cMxxP1TOpZXegXDg3wc98L4bLpTj4j89xXevddrgr3FK1a2G0jY3OLcCRS2rjCw7adSIz-WMzm1EpXyA03RMfLuduOAxNSP96rEGTQ_Re7m2ws6SD1bRtvggFzQp3sh-rAtvMPQYYNoIw0tuG85kV5TzpDN7wsl_z-OW2qtPykbTDv-rZ1K-154Ob2rb2OZakKmlaX9nn__5BGwQGTNK8Dr-kp1TlUs8q6NQhVBZ9VVA-6RKF8GFDqiU40ywZJJb5Kaq_Iko6dumRj_DfBpL_EnSB8NHnfKaNWLUzf41DYqI70troOwvbNMxNAPN3dtZ-bbyhKtCfYRZBliAoPfJZtcN-HVXjB8_TS-lSpo9UKKTUQLBZnRV5TZm1Bdz-_JnOnK45agL7vL8U95irLbejlferey2eIX4BZ4nBHc2Wen-EZo63Xtsc-RnmRpHiWAHybsO2OfDZtG1E2XlFG0aNz6onzSufh8aTJUq3W5Rstl7gtodYPxNn9Ecdtp4uXcmgsAybYOrMYeUKw==",
  "id": "rs_09f2c132a2135c8c016ab4353c3eb887d0b50ee14be09c1803",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.19,\"left_z\":0.17,\"left_yaw\":1.1},\"note\":\"The low cap hand did not retract as requested, indicating an awkward arm configuration rather than a clear view of the tip. I’ll lift and fold it back first, then make a fresh low approach to the stationary pen.\"}",
  "call_id": "call_jHvJJm9MOesbArHH62cPWjHV",
  "id": "fc_09f2c132a2135c8c016ab4353f633887d0a75e78b56a2672f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jHvJJm9MOesbArHH62cPWjHV",
  "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]: [-0.7891, 2.2955, 1.7546, -1.3613, -0.8364, -2.0937, 0.0864, -0.2165, 1.3792, 1.2854, -1.2449, -0.3161, -0.7605, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1708 left_z=0.057 left_yaw=1.1043 left_pitch=-0.1161 left_roll=-0.0616 left_gripper=0.0864 right_x=0.28 right_y=-0.0017 right_z=0.1765 right_yaw=0.6297 right_pitch=-0.6265 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -11.5077, 5.4906, -0.4762, -0.5201, -0.0317, 0.6764, -0.4855, -5.9692, 5.8872, 0.8718, -0.3541, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7e2c3f24e3f7ab2201a4641716cc57aa3b6ae29506c75e0da55a87ebbd92e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998c4810b52487e9205b269983cda5ebc7b6b737cf65ea25f24e4bf0e0f012c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daeea4918a82618488f45bbe835a60b54bb1d8637b0d90c429b8e55b2019ec1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 6.134 s

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

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 2.3955, 2.1342, -1.5612, -0.8555, -2.0941, 0.0808, -0.2005, 1.3811, 1.3266, -1.2629, -0.308, -0.7555, 0.9961]\nstate[eef_state]: left_x=0.3945 left_y=-0.1976 left_z=0.106 left_yaw=1.0984 left_pitch=-0.1235 left_roll=-0.144 left_gripper=0.0808 right_x=0.2836 right_y=0.0007 right_z=0.1872 right_yaw=0.6254 right_pitch=-0.6181 right_roll=0.0469 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -11.8085, 7.8017, -0.4322, -0.6325, -0.0611, 0.7497, 0.0752, -5.9009, 6.3932, 0.9109, -0.2125, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3506, -0.8364, -2.0933, 0.0843, -0.2081, 1.3792, 1.3003, -1.2484, -0.3126, -0.7601, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1721 left_z=0.0563 left_yaw=1.1029 left_pitch=-0.1195 left_roll=-0.0715 left_gripper=0.0843 right_x=0.282 right_y=-0.0004 right_z=0.1807 right_yaw=0.6293 right_pitch=-0.6214 right_roll=0.0574 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -11.453, 5.5043, -0.4957, -0.4811, -0.0269, 0.7253, -0.7316, -5.7915, 5.8188, 0.8083, -0.3785, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3613, -0.8364, -2.0937, 0.0864, -0.2165, 1.3792, 1.2854, -1.2449, -0.3161, -0.7605, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1708 left_z=0.057 left_yaw=1.1043 left_pitch=-0.1161 left_roll=-0.0616 left_gripper=0.0864 right_x=0.28 right_y=-0.0017 right_z=0.1765 right_yaw=0.6297 right_pitch=-0.6265 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -11.5077, 5.4906, -0.4762, -0.5201, -0.0317, 0.6764, -0.4855, -5.9692, 5.8872, 0.8718, -0.3541, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7e2c3f24e3f7ab2201a4641716cc57aa3b6ae29506c75e0da55a87ebbd92e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998c4810b52487e9205b269983cda5ebc7b6b737cf65ea25f24e4bf0e0f012c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daeea4918a82618488f45bbe835a60b54bb1d8637b0d90c429b8e55b2019ec1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVFlfd6xOJOhFUCBPJsdkNDHPvatk23MGdHq6KIqYw31FPFGTGl9qBzD6wAZOwSlpULUG3Tc2RD-GER1mf697ysQ_ag4le9qhRCWp0QPJ7GyXPb3BF9ZystDKMxDbaPoJvU5RWGPVRSUYQIYQQgzDxmuTj9g3iKU8WjiX4zukK4XdPwUeibcIk8eFR7tCd_iLqSxK_YMV7oxf_56jp7K09LiKN_rjqQBLO3kXjFJ1T9NV_lpo89ffdb-bJX6-L7b6xa3YZL4TA_qmJ7-UYoI7Xbtma5F9e9FowLTzxaqZLJDo7Zlxtfl-Ioftj0hHbO1tnvzB297hoYmAkke4-2MaywB3ja35no4yo5Tjgjcgwnl-4LWn9lX6lztH_4r1ej0cu-gEbHFrGpzz8iVRPMENgfZFtkZLT1ZbB_845YB4I3vnkAyUVmcgoXRfCh0fluA370XOEryW1dmJ7fX8lNuzucozyFC-8MItfC2N2S59OuIX2VQrHxQxW9pE7T6bBNQHhySQr9-WFe0A27Paw_pO4bjg1iYKRQNy5AXCNRRuQP4v4UN30E9x-6WoFglxaCYtCHwsCofXzbTVQTy_Fdc5HDuLlDzqUEeYQqBvmYJN8U9RshL02WdxBwfrFLeZ5dRAU6RmrCJYBiBHqu3Tck190Hn4EWCtMyD7Si7G0yX-L1fQq9pIA4NDrsaBZ5x7cRa7lhMzaS1HYhub99mnaA70BgdRG9feAo68sPfN1tQZtJ00NVVv8o8Cgm_jPqBOASmCTq7nqORnufWW37gGk2MFNjuxrx9em-M7gvc3NEbO6t1bW69jKLBfUEO8nvFtNbILXOVu_IFWqJ-_rzpfp54hlGM5Z3k3NuF8_ohvqniXCuOsstXimV96dkRt7gq_XkhxhQRY9Z26fHMCR7_CtYxLUsmS5FyLTeNarUcV9o1buTopImg9XhDiDaTQrFh-_OpRp7HOGqtsxuKmo3aIV7sh2anIQ9Bk2R6hfmi2xeNw8VU_t6gJrnu_AuO7mijoq_5bBKNo2QrdM1zXJ_9NiP2G-NLcvBpHOx8v8mPHCg-1ttErpEvOB5o06V-c9QI0AX6VEmncQUDErYRSji-qmG4A41U_7EisIL7gXeDyVECYOSmgn5VF99-6FqLAm3vA7B13c9GcZrrTJ9frJ7qkLTFbyQ0A5JjoudcBtYT--j_9H4t2vO4Ll-4_mLYU52bwtOkBPsPb4tFpkePywSzjJgI-4xG2HPzjAeoAAnvo96GHAzyfqOVye1YFxaJqFM-1Y04-XGG97mjfNvYET7JZatQ0b13kE0dhQSau5hmbIdAUU6lelr2Xg4V-tV72uJwK6ne6WgMYkoQt8uEYvLhY7vFUTIY4Di0iXuG8DWZMsWJB5TxYOX3AHXR0FWOewSxmwmEOoGMwVqEC5xGmjx08Qyo19svvD2IwfN0yr0cz5SJKiw5TUZx72YHJM6HGd5q37xoCcHepT06GcXI6Ipn7wqUknADtjrDjQW71tm_R9kVc97ccOcUvcMTUMqK5IwMWzlZd98b76Dkcha_fXhQqmaSXftTnTDRWLAxzmTqn2JhG6mzFhT2Ly_IKs9oLgaqYc7qN1EfB1fpk5CQFun23tjyQCY82Rk0Eat870NXxG_FTygajbcAsGDpIXtYY2pnhoFawytXClS1jeZnbb8OTYMQxXbpoOH_VTAH__hBfmlBgiLYm7lAlzP3SLMKtjcsQfUdBSByDXCmFfHokFs4kzW-bw9USiR9TD9xOe6urv8jiM18adbr2K60FUVXIasD19FrI4HKn6P7dw6lK5_BSLjzNx4FamAaMUlcQkY8rFpL-G-gP1s-w_tboe3heLiieUy79qO",
  "id": "rs_09f2c132a2135c8c016ab43543632087d09061f90a493c98f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.35,\"left_x\":0.31,\"left_z\":0.17},\"note\":\"The left arm is now holding almost still despite repeated retreat commands, with its wrist near a joint limit. I’ll unwind some cap-hand yaw while raising and retracting to recover a movable pose.\"}",
  "call_id": "call_1KYAxJ3hhErc7ZHzymoV0TVs",
  "id": "fc_09f2c132a2135c8c016ab43544b2a487d0978008ecf3a53dc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1KYAxJ3hhErc7ZHzymoV0TVs",
  "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]: [-0.8791, 1.544, 1.1488, -0.865, -0.8173, -1.2758, 0.0864, -0.2279, 1.3754, 1.2675, -1.2381, -0.3195, -0.7677, 0.9961]\nstate[eef_state]: left_x=0.3064 left_y=-0.1623 left_z=0.1553 left_yaw=0.4663 left_pitch=-0.1404 left_roll=-0.0844 left_gripper=0.0864 right_x=0.278 right_y=-0.0038 right_z=0.1726 right_yaw=0.6293 right_pitch=-0.6284 right_roll=0.0766 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -6.9402, 6.5846, 1.199, -0.4567, 0.2222, 0.6081, -0.2256, -5.8872, 5.7915, 0.8474, -0.4127, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92ce5554fe72e79d24916d64dc5f60faaf3ae038d0aea2603d717e5c80c1d9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda9ad82f4809b886efb92878b8e5fae118c4e30281c9f8794a8616c1c9bfdc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eb07029a2ecf2e0bc7439cfe161d6e731fde92f7a2005485220c2c34d031de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 7.41 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.3203, 1.8008, -1.396, -0.8452, -2.0933, 0.084, -0.2035, 1.38, 1.3125, -1.2552, -0.3126, -0.7578, 0.9961]\nstate[eef_state]: left_x=0.3631 left_y=-0.1732 left_z=0.0597 left_yaw=1.1023 left_pitch=-0.1041 left_roll=-0.0512 left_gripper=0.084 right_x=0.2828 right_y=0.0008 right_z=0.1838 right_yaw=0.6299 right_pitch=-0.6184 right_roll=0.0543 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -15.8427, 6.5026, 0.1636, -0.4615, -0.022, 0.6227, -0.7043, -5.6274, 5.9966, 0.823, -0.3004, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3613, -0.8364, -2.0937, 0.0864, -0.2165, 1.3792, 1.2854, -1.2449, -0.3161, -0.7605, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1708 left_z=0.057 left_yaw=1.1043 left_pitch=-0.1161 left_roll=-0.0616 left_gripper=0.0864 right_x=0.28 right_y=-0.0017 right_z=0.1765 right_yaw=0.6297 right_pitch=-0.6265 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -11.5077, 5.4906, -0.4762, -0.5201, -0.0317, 0.6764, -0.4855, -5.9692, 5.8872, 0.8718, -0.3541, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8791, 1.544, 1.1488, -0.865, -0.8173, -1.2758, 0.0864, -0.2279, 1.3754, 1.2675, -1.2381, -0.3195, -0.7677, 0.9961]\nstate[eef_state]: left_x=0.3064 left_y=-0.1623 left_z=0.1553 left_yaw=0.4663 left_pitch=-0.1404 left_roll=-0.0844 left_gripper=0.0864 right_x=0.278 right_y=-0.0038 right_z=0.1726 right_yaw=0.6293 right_pitch=-0.6284 right_roll=0.0766 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -6.9402, 6.5846, 1.199, -0.4567, 0.2222, 0.6081, -0.2256, -5.8872, 5.7915, 0.8474, -0.4127, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92ce5554fe72e79d24916d64dc5f60faaf3ae038d0aea2603d717e5c80c1d9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda9ad82f4809b886efb92878b8e5fae118c4e30281c9f8794a8616c1c9bfdc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eb07029a2ecf2e0bc7439cfe161d6e731fde92f7a2005485220c2c34d031de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVMAc8C-zr0wPKroD4Jwf9_Q4G0A6xigwHTSfFdfk2TRj6cSEwl4jmdVJVP0UcSjeznakDAXTU4G7zHq7ptE4lLZ0PlCuyhcmaGkNYGBTASnEhf2TK0YL9I0Mm63s3z6o67Tmz6d2liuZfNJKgp8g4NnKeDuXm3BcgcVlCJr0mchLkAVnzzFlHtN7BAv6VCJUzBcESr4Q4BWyhiRf3fk92c8ZwdUJ2b8nh79ksDWUpHnOZ5wXv6v0tJh6YI_1IsiCapyc8XpDDF7noDsHlykDM6Y8oZ7id4d4JU29vtkF6iBJ6rCLIdSeRvFPzSl6U42IoL2qQk53TxGQGSU8vIkdDLSZGTL8atGeeLBb6KGbrJJ7hON74tOqNM52Ac9OWKQ71Cw2KUPhl4UyiXBevACWj5e_Toj1e6icjcdd3769aPJcCSxV30_N6sbAALINUDxwt2EJSSHeAIOaE-UThhfnW1M6r0Cs0dvbKiU3JtIcDSyqE3gflZk2S-hhJQGyWQ4cAdWpDJzHCrlbdGFSFDh_jVgA5eTio9NnmnT8uFAlXpA945AVhCH6l0A8VK7YU98OY2SwOXJnP0CllrH-borhknQWBCjFhD-KiyzLejZJAGv49nudv7opsYGwyw_JnrhahNgvmfSLrM3TWucBdUgDngnqPM26b4BxezIpywGgZbz-avtc22GnG15i3WZZ6LKH0A6p6vJecqu-h6UCRd69ZN8A43-GZvhTrvaq-kkEzIHxohmMsrX2CBpXqn9PrjEoFDvfGpMP7Z4g4_RpUqbYBvuTJeJBwZkwecAQfDorErXAqAl-t8vC7u8A94_t409sR-Uc9h5UA-e_pCIo-dVrcbIIYzcJ1M_3zgj2PpMQgpJ282Uh3Ifoa2AGmEjmt41xVMBBmXa3aTv57jz6QDXBAFBleVDxevXvYeF0RNYNvQCpxPOgkHzw39a7etpwsAB0eRStGPiIOuY6KTYrYTyPHact20Tuuv7aDDhU74pl-58gt-KpHW_Q-usTqCwK_Ir8w7WoqitjZ4mqDEnsF8w50qLdIAV5mHppMVxhXa3lD6N35GHGMmMLXaDwOSMxvSVjwYW7xjkG68xD6w3KvNqQc_6CqAcmXr80ugwIddQO0bUwdL6OYuoUqarnY4FL2fzlzDljBB9nWQlmN9CpLBSvZEMX36CA6B4UYiEIwU7q-ovzg69bTLHrKnIzxHA7XyT_IDj0MP7OhzNJUMPxtuSrelMTTgW9sCeR-NgnkcL0c-pUZQqXJWDzWrqqCaKQ6Cotgup5J5PkTjMF_vZK12ZOJh8KiRbpbDXiorUj_NjuJI0XYfuxGIa22XE4c6sr_aC_fqIeYw2CtByJNdZNq-pYHzt2v-99yCTUr06WD66SXOaxCrLDV3gG02JhtKmSO1oY7427Q9oPWZaqIW2IAoJB7kr2dHzVwey_NlBYbQJuo8nugeKBkR_-njBUzA5a1iGxXBc2gRBeRWZN9GhpBETztZ04wUf2TQQ9Qu7LP4oPrJsDj4IrFmhZYh5ntz9HNrONjc-6M-qeh84yvjGrynikXucAqU-LTgqGkJx9eOqAjRHqpQT-4Wp5bnLXRW6mnJK3_lNtIfIYOEU7iUUEw9-jL5YJT5yYpdGNvpw2h-c3AScC0LNXccojenoxgHbK25DisMZxoVPCQmvE800rW2s4qkkL5XDj1qA60KApLVWM9TqLm5IrFqfqj5c8LGvwr_tE3nJ2ckdCm7R6Xh9gW4RZi_q2ecfvSeUM_4_78zsd3Ay8NjEo3SJ5uipq0IJJU5DFFwFECaydKMmLJiTNJlkjSmSt-iEs1Iipv7wsVjGE7CDmK8t24VgMHMkel_0HHHxP8YtrE8US-bIfqxXGaafw7yT-a8JGOw5sH5SvJQXEiaLXmdLXwHSyQgYNu7o4a87wCivVcyycF1r5eZlW4mcxvG86ChIwAKyb2u1CVVKBgNITAwHExf516jcrk7ETswTg0QuomwiS-HpLr728giHQ55rDeXI7l3kmkfRsCx4WH4nAFJKPJmZm8TMFc3fmfKBG8TvgGUk3UBzqpQ4Ghwu2gLF7s0g4HIixSO3ML2h9RA698lQvX248bVneXaPlltsPV4XnIZLWiZ-WXZZGJe_XJaHKWo3e5quPgplIMnC-OOB5-9DtGxwJGMd0Dy1io55bA0-cVw9z6pIf1k7_Orj7TrmfhSHcMt2FvFlkreJoHM4xDcZad7PTfDu5duL4Zqn5hBMV9ZD9W665bn7lpLfetVhDprs5UzqrUiypnYjtVA2gTYyjf6s7aP-lRS42hnIWMqgnqr9DdZTNeqOG9AMXITfbIupum7hXkWfxW9Zv6URp1n0euxtIWXShh6kclXMFfWc1qwj1aqMnc9LE8rj-2vecbShO_MxCNNP3Sompdos12jXIXrCO4jQhPesRMGvhEnu0C-3lTE8S20ANrnn1PCf_hiiMgLK3XHkn7lMGeG2FY_DeV-U62W9LenYT_KMHGovcHrDv9YbFtN5VNLpYnQIIDKvbAW4H2wxa2DtaFDUDnf-9vwD5QqNeGo7MackH18Li3UIxVCXc9l2bN1BOZFuvu63XIBoVQiC1_A73jKfrPC03bV7ta_p6sUor9J_1wifdu6wEwnYFnjbbKRnu4vUFs0YPrNkWULT9g8ox-8Zfp4hCbO6zlzHiwxR5Qpfu_WkJcsF7IrrdXjSxjphIreD6aSCyYgvB-PC495tYOImiyClGzuMiMwC7z_iLYU2_tK5KX-1CBfaGDgmVfB9y7a2kOvz7VmINyNchlcSXlscGNFvAVqMa7yGnMsCfN2nKk7dhVvZvHarPnOlWRLfFnXPw5dDjtzr5X4atMOUxx-IKzTSz3XEOP095_sj3ZYWabK_1brgcfy2JdwCZoPS8-BXRqby6tFPrbiwCtfLPGW10fX0x1qW1N7gYZqSvgOMT6L8Gp1H7KksJGTBsZWclf2NJjbys_shDeXFdguKt91G9OUA6eZYZkvo5DqH5H3VtOWaa_ReyEmJ6_rY4lAOhUylSXAVkn_F4v_9e6a0J2xa3Z-XXqrG_c2YEggxg8wxLhsiQLBCr4krFki6X1oLRD4FRXXxWagESH9fZ6z53MDcjZD5P4AtbSc7XmtrsSOSFcdrFe60VwwtKL3zbfixTry4eRlGjytRN8xM5xbOdQEc5cuFzKCaY_gROyIqz-wKA1SnvLA_kkQhwG1F4YIOiP6Y2SMa1BH9SyHGm1FuIOR0nCzjjl4ibOucbkMptmp7LpKSixNq3RTwHhdE2VzxWz5pzc46H4zvyPQVr1p2z2elbs=",
  "id": "rs_09f2c132a2135c8c016ab435473fd887d0af91b21429c78aa4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.29,\"left_z\":0.13,\"left_yaw\":0.47},\"note\":\"Unwinding the wrist restored normal motion; the cap is still held, and the pen tip is visible ahead and to the right. I’ll shift the cap hand sideways toward the tip at a safe height before refining its angle.\"}",
  "call_id": "call_Ug9k1u5hxNqKvk0Ovutw93P6",
  "id": "fc_09f2c132a2135c8c016ab4354b4df487d0984f2492c80f216b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ug9k1u5hxNqKvk0Ovutw93P6",
  "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]: [-1.0744, 2.0098, 1.6051, -1.0794, -0.8307, -1.5627, 0.0885, -0.2409, 1.3754, 1.2453, -1.2228, -0.3271, -0.775, 0.9961]\nstate[eef_state]: left_x=0.307 left_y=-0.2855 left_z=0.1213 left_yaw=0.4657 left_pitch=-0.1672 left_roll=-0.0749 left_gripper=0.0885 right_x=0.2772 right_y=-0.006 right_z=0.1671 right_yaw=0.63 right_pitch=-0.6269 right_roll=0.0857 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.2359, 8.212, 0.1197, -0.7692, 0.0317, 0.5006, -0.5128, -6.2564, 6.188, 0.6862, -0.4176, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7659c80e2d6ddfa9b6d6ca00073e94c01b07d2db169d848960d4a863a3960d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8406ecb99084de5ac35d017bc739d4ba0bcebd20242cc508ae0b26fe1613f68a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e5becf236069a39fba6863e1db1f512cd56810228aa7c162ba67357b98139a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 5.335 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3506, -0.8364, -2.0933, 0.0843, -0.2081, 1.3792, 1.3003, -1.2484, -0.3126, -0.7601, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1721 left_z=0.0563 left_yaw=1.1029 left_pitch=-0.1195 left_roll=-0.0715 left_gripper=0.0843 right_x=0.282 right_y=-0.0004 right_z=0.1807 right_yaw=0.6293 right_pitch=-0.6214 right_roll=0.0574 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -11.453, 5.5043, -0.4957, -0.4811, -0.0269, 0.7253, -0.7316, -5.7915, 5.8188, 0.8083, -0.3785, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8791, 1.544, 1.1488, -0.865, -0.8173, -1.2758, 0.0864, -0.2279, 1.3754, 1.2675, -1.2381, -0.3195, -0.7677, 0.9961]\nstate[eef_state]: left_x=0.3064 left_y=-0.1623 left_z=0.1553 left_yaw=0.4663 left_pitch=-0.1404 left_roll=-0.0844 left_gripper=0.0864 right_x=0.278 right_y=-0.0038 right_z=0.1726 right_yaw=0.6293 right_pitch=-0.6284 right_roll=0.0766 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -6.9402, 6.5846, 1.199, -0.4567, 0.2222, 0.6081, -0.2256, -5.8872, 5.7915, 0.8474, -0.4127, -0.0562, -0.0122]\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 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0744, 2.0098, 1.6051, -1.0794, -0.8307, -1.5627, 0.0885, -0.2409, 1.3754, 1.2453, -1.2228, -0.3271, -0.775, 0.9961]\nstate[eef_state]: left_x=0.307 left_y=-0.2855 left_z=0.1213 left_yaw=0.4657 left_pitch=-0.1672 left_roll=-0.0749 left_gripper=0.0885 right_x=0.2772 right_y=-0.006 right_z=0.1671 right_yaw=0.63 right_pitch=-0.6269 right_roll=0.0857 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.2359, 8.212, 0.1197, -0.7692, 0.0317, 0.5006, -0.5128, -6.2564, 6.188, 0.6862, -0.4176, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7659c80e2d6ddfa9b6d6ca00073e94c01b07d2db169d848960d4a863a3960d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8406ecb99084de5ac35d017bc739d4ba0bcebd20242cc508ae0b26fe1613f68a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e5becf236069a39fba6863e1db1f512cd56810228aa7c162ba67357b98139a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab4354eee2c87d0ad2ef8294910a34f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVULyygZ8WYmep3fEYkiO3K8nnIvOkZzgkqHvHeE1-pknlIChaRpgpEBwCO_Xli8Bla_r8axgxD7SiRsUcihNsCJZ02XX5lnklXYKjF1zYTW8TiCwBIrPoVVdlPgdRLt7MItZ-VvN1Vq9Si8RR68TaA10JgKQv2YUjnYhxEXtjBENvxEXaHyHHXKpqaSwcA7n3U2qlVeVKYtFjizKMe_XfTDfaGbcT0K4jSxPQRP796aqqER1tpVLg3uB2GXu0uD91vqE42Y6-4j4OdFNEFV1wzZL8ldaEFA5HAgacisjhirOeJnmMenf8VIGUDs58Rn1nLblsuDabZLtSZ_GZuIFmIEL4XJyV7RoSaZ334lEQQLbukWiFTzy-K-6_6N-f_hCbluaTDTIgsJ7pVRaJKNgQSyNp2gjr9qpGiZG3fU7_UewJjnChZZ-_CTFp_Rx4eCHHJY0kGV3SAhNU5eYA01ft44bnxgbXmLWM7nR1kriaXz2pVsokqVQxK_GxQlAeNtFfR-VINhwfs3FHjcq2W1O72CKXIug5YL43HzZYK-3N8aKgGl_Mpa2uXHLE8xAatn-_ihvZNBvVYNv6E7w65CP3F_2gRb01GeZW4uh36U3_ygNfRI1DhEiSqSJmuqiF3quhbgoavMkcHXVdnZrU6oGASk05WohfXyvnOQjLLbcWWBnXrdaF9uc7i4p2xpgHNAJcHxNUq7HaRNQctSHP4x-HpAnbimAW86nA_-Y7V1UaWhfCiU22-bAEXvViaFLMAf_rp1YDdf2D1MwXQG0Ocbrx58fhTVNdjsRr5bDm5fljcwx7pvaI4AOK1k7vHqSNCWfpqYPvB3EyUBjPG8ev8MEkT8YeWX_ImJ42_XYLaJd9lmyNf_bGKHKbtKC1gF5_FFc7GSutrRGKYJzv2_o-Gg2aOHttFqHGvlwfhNNIA3A-HkVZcLAilf4b9o45jpfPpaHHuZVqRFp7jrpzLdtKC_1prY4OaYm3Ph95AaMWA6SMMOY3Dxc2_H3SCcx8Y3OC2VqV2qZBzmsM2qrv28MQvc1m5vWcqx0OFC0wsWcaJnmThIinHTysuG2KukcB122zCrhQGONnSZhYeFMiUXETSJRzhISpiP7WszPTtDb63Ej9_espz748A68QeWkgnFLSAG0qhcwn8f92LqlbiaWAsz_PemJqqtRTJZicZ3J1qgv3x60Tp_uhq5pRPUkcfLUeEIehfZiQsLhVhUlPpGu3g35YQSaJsDQSHTUZnfCTWRXGMI-iZHZel11syjkImrfk6qrgSt9WsGZGkG4vRjo-WXLr3VNMziAfLARH9ichY2UrkzWfTmXARDbIyYEWrIDh7xTFlcvnduYV-AfXeZpW4jd0dP4X8vTLpKqsylJ1c_F8z_k0C2iZGaPE0nf_ysZDWXA3UPQTJpk8LwZwkxtofu0xcXZS9aw8eo3muyTMxxqFkr8sbJaJw47vhQizWDO71rbtTQjx3QI5SNP-9GcOBXfZoAPNgvJocoerrTUmIC32Aat669176uWSRlW2_DlOmBhTZZYE8A26RYzaO9X72BK4bpxHit7JX9HNooHIjY6-stNQ=",
  "id": "rs_09f2c132a2135c8c016ab435530eb887d0bcc2d7ac3b46ea48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.34,\"left_z\":0.1,\"left_yaw\":0.73},\"note\":\"The cap is now near the pen’s exposed end in the overhead view, but its axis is still a little too sideways. I’ll move a few centimeters toward the pen and turn the cap slightly to match the barrel before lowering further.\"}",
  "call_id": "call_Ch5hF45iok572VooxSNsnQP5",
  "id": "fc_09f2c132a2135c8c016ab43553ed3487d0b574829f3304e221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ch5hF45iok572VooxSNsnQP5",
  "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]: [-1.1183, 2.4454, 2.1719, -1.4559, -0.8024, -1.9106, 0.0917, -0.2539, 1.3739, 1.224, -1.2186, -0.3351, -0.775, 0.9961]\nstate[eef_state]: left_x=0.3116 left_y=-0.3422 left_z=0.0827 left_yaw=0.6589 left_pitch=-0.1872 left_roll=-0.0827 left_gripper=0.0917 right_x=0.274 right_y=-0.0074 right_z=0.1617 right_yaw=0.6311 right_pitch=-0.6309 right_roll=0.1067 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -13.7641, 7.8427, -0.5592, -0.5299, -0.1636, 0.315, -0.4308, -5.9009, 6.2701, 0.8181, -0.3687, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4af9636e827a5d5911a31a984beac633053414472051059e66a07f9403ae12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d20c91fe7a6c4cd1c8e2ae87244d49e435ad07d846124f06ba17d376336e400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a2af582205de73b909678d36a17196946db79999957b0d536b34c1281968a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 11.6 s

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

message 133 changed as sent

message 141 changed as sent

message 146 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.2955, 1.7546, -1.3613, -0.8364, -2.0937, 0.0864, -0.2165, 1.3792, 1.2854, -1.2449, -0.3161, -0.7605, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1708 left_z=0.057 left_yaw=1.1043 left_pitch=-0.1161 left_roll=-0.0616 left_gripper=0.0864 right_x=0.28 right_y=-0.0017 right_z=0.1765 right_yaw=0.6297 right_pitch=-0.6265 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -11.5077, 5.4906, -0.4762, -0.5201, -0.0317, 0.6764, -0.4855, -5.9692, 5.8872, 0.8718, -0.3541, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0744, 2.0098, 1.6051, -1.0794, -0.8307, -1.5627, 0.0885, -0.2409, 1.3754, 1.2453, -1.2228, -0.3271, -0.775, 0.9961]\nstate[eef_state]: left_x=0.307 left_y=-0.2855 left_z=0.1213 left_yaw=0.4657 left_pitch=-0.1672 left_roll=-0.0749 left_gripper=0.0885 right_x=0.2772 right_y=-0.006 right_z=0.1671 right_yaw=0.63 right_pitch=-0.6269 right_roll=0.0857 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.2359, 8.212, 0.1197, -0.7692, 0.0317, 0.5006, -0.5128, -6.2564, 6.188, 0.6862, -0.4176, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1183, 2.4454, 2.1719, -1.4559, -0.8024, -1.9106, 0.0917, -0.2539, 1.3739, 1.224, -1.2186, -0.3351, -0.775, 0.9961]\nstate[eef_state]: left_x=0.3116 left_y=-0.3422 left_z=0.0827 left_yaw=0.6589 left_pitch=-0.1872 left_roll=-0.0827 left_gripper=0.0917 right_x=0.274 right_y=-0.0074 right_z=0.1617 right_yaw=0.6311 right_pitch=-0.6309 right_roll=0.1067 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -13.7641, 7.8427, -0.5592, -0.5299, -0.1636, 0.315, -0.4308, -5.9009, 6.2701, 0.8181, -0.3687, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4af9636e827a5d5911a31a984beac633053414472051059e66a07f9403ae12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d20c91fe7a6c4cd1c8e2ae87244d49e435ad07d846124f06ba17d376336e400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a2af582205de73b909678d36a17196946db79999957b0d536b34c1281968a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09f2c132a2135c8c016ab43556820487d09f82a41e1e69a92c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.398,\"left_z\":0.045,\"left_yaw\":0.73},\"note\":\"The pen end is coming toward the center of the left wrist view, and the cap is nearly level with it. I’ll move to the left arm’s safe sideways limit and descend just above table height to line up the cap opening.\"}",
  "call_id": "call_yn1zJ5PVL4pJ7hlDE9p7mwTl",
  "id": "fc_09f2c132a2135c8c016ab43559cf6087d0811918840ea7f3d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yn1zJ5PVL4pJ7hlDE9p7mwTl",
  "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]: [-1.1187, 2.7319, 2.4882, -1.5608, -0.7837, -1.9892, 0.0937, -0.2687, 1.3712, 1.2018, -1.2144, -0.3428, -0.7753, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.3658 left_z=0.0266 left_yaw=0.7201 left_pitch=-0.19 left_roll=-0.062 left_gripper=0.0937 right_x=0.2704 right_y=-0.0092 right_z=0.1564 right_yaw=0.6301 right_pitch=-0.6346 right_roll=0.1271 right_gripper=0.9961\nstate[joint_eff]: [0.6222, -14.735, 8.2667, -0.3443, -0.5446, -0.0073, 0.2027, -0.4991, -5.9282, 6.065, 0.7985, -0.442, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e785d353bb4d33ed204ec0e29eb47b207754895ce07bb9d7dc87f3d93ecfec44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2fc1c793e42f40f889170f21e4e6d16785a6ed2b68552cd04e1217dda49438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eec839f15629afef245180b2ef4b149800b31b7fb4a19290c798f5c3f86ea7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.434 s

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

message 137 changed as sent

message 146 changed as sent

message 150 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8791, 1.544, 1.1488, -0.865, -0.8173, -1.2758, 0.0864, -0.2279, 1.3754, 1.2675, -1.2381, -0.3195, -0.7677, 0.9961]\nstate[eef_state]: left_x=0.3064 left_y=-0.1623 left_z=0.1553 left_yaw=0.4663 left_pitch=-0.1404 left_roll=-0.0844 left_gripper=0.0864 right_x=0.278 right_y=-0.0038 right_z=0.1726 right_yaw=0.6293 right_pitch=-0.6284 right_roll=0.0766 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -6.9402, 6.5846, 1.199, -0.4567, 0.2222, 0.6081, -0.2256, -5.8872, 5.7915, 0.8474, -0.4127, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1183, 2.4454, 2.1719, -1.4559, -0.8024, -1.9106, 0.0917, -0.2539, 1.3739, 1.224, -1.2186, -0.3351, -0.775, 0.9961]\nstate[eef_state]: left_x=0.3116 left_y=-0.3422 left_z=0.0827 left_yaw=0.6589 left_pitch=-0.1872 left_roll=-0.0827 left_gripper=0.0917 right_x=0.274 right_y=-0.0074 right_z=0.1617 right_yaw=0.6311 right_pitch=-0.6309 right_roll=0.1067 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -13.7641, 7.8427, -0.5592, -0.5299, -0.1636, 0.315, -0.4308, -5.9009, 6.2701, 0.8181, -0.3687, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1187, 2.7319, 2.4882, -1.5608, -0.7837, -1.9892, 0.0937, -0.2687, 1.3712, 1.2018, -1.2144, -0.3428, -0.7753, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.3658 left_z=0.0266 left_yaw=0.7201 left_pitch=-0.19 left_roll=-0.062 left_gripper=0.0937 right_x=0.2704 right_y=-0.0092 right_z=0.1564 right_yaw=0.6301 right_pitch=-0.6346 right_roll=0.1271 right_gripper=0.9961\nstate[joint_eff]: [0.6222, -14.735, 8.2667, -0.3443, -0.5446, -0.0073, 0.2027, -0.4991, -5.9282, 6.065, 0.7985, -0.442, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e785d353bb4d33ed204ec0e29eb47b207754895ce07bb9d7dc87f3d93ecfec44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2fc1c793e42f40f889170f21e4e6d16785a6ed2b68552cd04e1217dda49438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eec839f15629afef245180b2ef4b149800b31b7fb4a19290c798f5c3f86ea7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab4355c6f2887d0aede31f4e501cca0",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_09f2c132a2135c8c016ab435611ce887d0bbf2586f87e63e1e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVmB5JHfNHAmnqm7E1dOnX55tx6z9c5oPVl33WaAwVs6y6MQZN8fgxLylubJzPG19tLlvvMokSJRNpq1aJE0PRcdPPoRjNIIcnlK2nxAsvVKHtE_9R6P7W5QqWaOSlm8FjpjSVy1f_Zkw_V9fpYKcekIpHqRfQ1ca07RB5EbFo64KtkBlfYfd-6cN7051jYfxr9Hh81e2BjF7L3be2c03NMiOUDlwHVBskLrBBAwCWVV8uoq5w2QDWEb9rtr48iIRrFPVRwYD1gdl-sq8Yzf3xVmOfh8cLdxQwiz6v8qE9_XCxIZ5MhK2Ov_kBptq-8y65XwpLw2anLG4f2ggrpZEG-toTZgepw6TMryTXgD_J4kkv7X0gMNF4Qv3xCP61_kPdcwfQf6UFl96RjCS5dF6X3vlQWTI2C99W8avYQSyE6-lBsnTvSBweMp_reic3TuPT2F1-AHfPz5yafKvTFzwyM-Ox5I3-APVusCJ4KOaXOCCDTQAV5Y3_L7aOJ-pZe5fsdGst-A2Ayi50GSCL283J4n9a_IfP_ZZTNiG9yCzEa9aKQ42G8KfSztHVuqdSuuPUyX5z7gEzeRmADwuuzbKxL_9h8RlfhsuHHQrOrvQ4UUtHCiQpJpFCn2VTlWHmdqiTJh6sCtCE5mSpbf8vDYeIqDqFXbyUYVFCoxMHcOEwhDBBoG3b8YCaUIHjJ-PmUFnnm9HZ-2p3Q84BZzXlYE73HuQY-_e8NBZfZaiokEslaM_1ogBKVn5O5F7zg0YI1PfTcTwPpTeEzTh3-7qMSIJvqimODap8XcE5a95Q2WpwJb8fR8SZPigP7h4pWcVg_tak6HfrUB1L1B_u1rz-z0GHTKRK3gW_7fY8hoOpv-8431ptICotGFrSrTJXrgsSTbQ_sT3sozZjoAY8MSJFFlBb1Ofh97LykA4R5QkHy-Rsi_V_sgFQVc9IgIWNTK7MA5DAHN6Wtj90FOG2HMvUiP5rcuNnNp-OJX3ZIMSPHpehfcZpx0KX1kK8mXlsg4Av3l_CLWHBjSuOfqT6ZIqtZhaJ_TmmLPdNNAd01Qhhy--UlroxlNZIzwbqjFYG28mEVzPgVwibylYxrtmBaY-KXk0s4oYdGVwi0Fgh13CQ5di1BFKvOU6w2jPsRcN59bGzLsY6TiuiC09qdRiUtXLU4CrleAJxucJnZ-Ck3rJyT7HQG9KM=",
  "id": "rs_09f2c132a2135c8c016ab43565731087d084315d6eda25ee83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.31,\"left_z\":0.035,\"left_yaw\":0.65},\"note\":\"The pen’s gold tip is now clearly visible in the left wrist image, ahead and left of the cap hand. I’ll move the held cap toward that tip along the barrel’s direction, keeping the gripper just above the table.\"}",
  "call_id": "call_MehZaAJNPs7zikCQaNV1Re6t",
  "id": "fc_09f2c132a2135c8c016ab43565a57887d094026795fc0ae34e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MehZaAJNPs7zikCQaNV1Re6t",
  "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]: [-1.1172, 2.7483, 2.5034, -1.5631, -0.7773, -1.9896, 0.0954, -0.2859, 1.3678, 1.1759, -1.1965, -0.3542, -0.783, 0.9961]\nstate[eef_state]: left_x=0.3204 left_y=-0.3664 left_z=0.0217 left_yaw=0.7244 left_pitch=-0.1952 left_roll=-0.0572 left_gripper=0.0954 right_x=0.269 right_y=-0.0115 right_z=0.1511 right_yaw=0.6277 right_pitch=-0.628 right_roll=0.1366 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -15.2547, 7.5692, -0.188, -0.569, -0.0415, 0.1538, -0.3624, -6.065, 6.1197, 0.6569, -0.4518, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13c335ea0d5c7ae100f08461629f63264de7f80ce33d7a1f7a435119e2812ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3897884b219e191615de8ed5f0231da9ecb65419ff8d51e90ab9e45d07d7c3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5abd13104e9ca21ec7e706b91fb8627faf49c616991ceb7aa543f8b9371d198",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.712 s

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

message 141 changed as sent

message 150 changed as sent

message 156 changed as sent

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0744, 2.0098, 1.6051, -1.0794, -0.8307, -1.5627, 0.0885, -0.2409, 1.3754, 1.2453, -1.2228, -0.3271, -0.775, 0.9961]\nstate[eef_state]: left_x=0.307 left_y=-0.2855 left_z=0.1213 left_yaw=0.4657 left_pitch=-0.1672 left_roll=-0.0749 left_gripper=0.0885 right_x=0.2772 right_y=-0.006 right_z=0.1671 right_yaw=0.63 right_pitch=-0.6269 right_roll=0.0857 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.2359, 8.212, 0.1197, -0.7692, 0.0317, 0.5006, -0.5128, -6.2564, 6.188, 0.6862, -0.4176, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1187, 2.7319, 2.4882, -1.5608, -0.7837, -1.9892, 0.0937, -0.2687, 1.3712, 1.2018, -1.2144, -0.3428, -0.7753, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.3658 left_z=0.0266 left_yaw=0.7201 left_pitch=-0.19 left_roll=-0.062 left_gripper=0.0937 right_x=0.2704 right_y=-0.0092 right_z=0.1564 right_yaw=0.6301 right_pitch=-0.6346 right_roll=0.1271 right_gripper=0.9961\nstate[joint_eff]: [0.6222, -14.735, 8.2667, -0.3443, -0.5446, -0.0073, 0.2027, -0.4991, -5.9282, 6.065, 0.7985, -0.442, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1172, 2.7483, 2.5034, -1.5631, -0.7773, -1.9896, 0.0954, -0.2859, 1.3678, 1.1759, -1.1965, -0.3542, -0.783, 0.9961]\nstate[eef_state]: left_x=0.3204 left_y=-0.3664 left_z=0.0217 left_yaw=0.7244 left_pitch=-0.1952 left_roll=-0.0572 left_gripper=0.0954 right_x=0.269 right_y=-0.0115 right_z=0.1511 right_yaw=0.6277 right_pitch=-0.628 right_roll=0.1366 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -15.2547, 7.5692, -0.188, -0.569, -0.0415, 0.1538, -0.3624, -6.065, 6.1197, 0.6569, -0.4518, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13c335ea0d5c7ae100f08461629f63264de7f80ce33d7a1f7a435119e2812ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3897884b219e191615de8ed5f0231da9ecb65419ff8d51e90ab9e45d07d7c3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5abd13104e9ca21ec7e706b91fb8627faf49c616991ceb7aa543f8b9371d198",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVriD82amV9sM6HEikl4_yOgPHFEtu1gQi-eZplb2qxT9stGLHN6txNLNwxP2eul5E5eaLuYDQ6z0rsjtIOyvl6x4HnFFWFpVSXKNTYT7oGNOgpx0aoz7TgiuWAgi3ciOAo1UeY2AjwfNHbAfuLyVvbv0gMvN3wzpQMtX52LXdBfbhyQFHtecLabMWBQg-FvRTsC2UCnsHsdc4V4SmY5XouO2DbPOkw353bKsB7WHisgUmoQ2eh6C2F8-VNbgy5S-yb1Vrmav5zY0FYpuGYzenGYfgfaRZKgmS9_54L3eu_7MzVHFCUw7XdxSzvCTW4HEP7PGfpvW2p4wtUuA4eMemw3IwmL8IlVLl9I6hz3SoLRNyLqU9AS6T7N6An2xARC4nAQkQR-y2HBaI4960Yl4VeB2_CnbBoYk4cVm9U90d6QQ7Bg6NM2DRwSARdCCnmQ8VM_MVxpv5an3zww5ZMVO110t0H9ISHYfeLJ0TaddtDRqYtuYKCBi4X88vKbiTBC55h38W3RTUsUpygwIXA02jsiavQBzHPk6yoDdwg2b2TwkzIG4H_w2kSzk6C-BrUX1vp46hDk9sl20kV_dbILIJWvnbn_91DEh-cFWMs8N9psxpImM46-loef8GJr4L76jmedlj2al1nH3DIfvnfR_4MAhxjGw0AuQUDyw4BXNcJTL4oBHC_YiQnsN6CTPIp287-VQsRoXAceMnjH5b9lPXoQ_lqkf6VnmeINEYHt-ioQJbmVk0zh3aYcUGz9fA3jOxEvAouvqWpqTyyzfRCWbXIwr7Q311ba89EfbvbMdqCmg36ztHLe9hMZFS-oyoTQFgDUlpuflqRYRLtpbQgWBLVrKNfvMwDN_iJHMY7DtdIi8_aDuTtv1ooHyYT2pRqgf6G10TmULJRwPrGEHiFI3M82EMlzX48w84bBKpEok-UIdGPXIk38TnKetNiUn-yMEHTVDimY_ymJGF7wZiXUVZ6kM5tMOfYGg9XS7xw72-OCH-RGEQr1Ryz1J2QRtKl_MDU5BOgYf8aDwITA3XZrNYId9NzkzzFQXXKn919PTyrJMAHJqxQZJz4-AcUBTYDwgm0hI4fMWQcRWt1zQt2McJfKCE3DCDWKn3qbGMF9ior0BK7mAlsDuG_EKYNZWuoTNZzYKH_Piy8c-JrZbqN-0dky1a2WBRviJVX1sJAKus5cMpRuCyILvns5r6GFnF0ix5C1QKkmZgFSfy-9BxeF1Fy9Ze7ET69Bh_aukwkPcbWyDM-mGm1dA2o4UQV7ELhTEX5ofq96hGoSSgYXSfmcOQ1I9JN81tvBBMIMONrRI0omosc9QcXMmKOgDKlwxn3HDKSunDCHIXTvava5pIbb6kN8H6dh6lS3sVDv-lCqTgXDcqxR9JNctEdYGyFaV3DscqF-NkQ5gDYroCDsCSTrUOEkZ4O2cw_fIPkMsrNKZX2iyLnGrio6yZ4B5QE6CukLdrM3sWeEi9CZ3v90hL0dtLt7HbGD9Ix2sypcupmxBwvjy1uHoZ9CKxt7XJUiLF4ARyRluSbRe5f0X7l75aMk3VniHfrmlGCFiNU67KB8qxSRmreK5hiLdkdapjfsIHYZsql6k4jf03ZhKknpTQyOJloG1nLlzGL0LX1d06RunYzAaG3kHWZZuvwIJcP6IJOeVaIe5DpS5aU-JXxHkqLJt6wbsc1XYUvliZ_VkvzKljfXFHpURE7vBmad_jDNhDJ2rHQqqcqSnzJGv0ybdk6vGm9-KtpTGi1m0D8Qpa-rwN5fiPxifXFULvVVZYSfT1kNFLVMLuaOI1TMpt_crcQr17sIQbZfIrXVnQlxdFaus7S435oaZWwtWaze0saD1Vvpt0q",
  "id": "rs_09f2c132a2135c8c016ab43568c98487d0b3f42f661652986e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.31,\"left_z\":0.08,\"left_pitch\":0.3,\"left_yaw\":0.65},\"note\":\"The low, extended left arm stopped short of the requested approach, so pushing the same target would not help. I’ll raise and pitch the cap hand forward to free the wrist joints, then recheck the pen-tip alignment.\"}",
  "call_id": "call_V9iAaIxxdd9gNsDWxympWqGP",
  "id": "fc_09f2c132a2135c8c016ab4356a36a087d08ce1840ecd5ad98f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V9iAaIxxdd9gNsDWxympWqGP",
  "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]: [-1.0687, 2.6884, 2.1998, -1.5261, -1.2156, -2.0415, 0.0973, -0.2996, 1.3659, 1.1553, -1.1927, -0.3641, -0.794, 0.9961]\nstate[eef_state]: left_x=0.3625 left_y=-0.3087 left_z=0.0471 left_yaw=0.649 left_pitch=0.2515 left_roll=0.0106 left_gripper=0.0973 right_x=0.2656 right_y=-0.0125 right_z=0.1463 right_yaw=0.6357 right_pitch=-0.6282 right_roll=0.1534 right_gripper=0.9961\nstate[joint_eff]: [0.4581, -18.3043, 4.9026, -0.4029, -0.7497, -0.0611, 0.1929, -0.4718, -5.7915, 6.1197, 0.735, -0.3785, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e077c0b6438d9ec43fa31cbb916060e91ad0dffdf548df2d5571c1721a9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de6546b6bf8eda219dbcd448528ecc8229c9b4f1a501663122fc63436eaa194e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ffc6fdac29ce30b2f1438d05b56ad8e4ef46603001cd15d13167e7c126cfd55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 8.867 s

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

message 146 changed as sent

message 156 changed as sent

message 160 changed as sent

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1183, 2.4454, 2.1719, -1.4559, -0.8024, -1.9106, 0.0917, -0.2539, 1.3739, 1.224, -1.2186, -0.3351, -0.775, 0.9961]\nstate[eef_state]: left_x=0.3116 left_y=-0.3422 left_z=0.0827 left_yaw=0.6589 left_pitch=-0.1872 left_roll=-0.0827 left_gripper=0.0917 right_x=0.274 right_y=-0.0074 right_z=0.1617 right_yaw=0.6311 right_pitch=-0.6309 right_roll=0.1067 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -13.7641, 7.8427, -0.5592, -0.5299, -0.1636, 0.315, -0.4308, -5.9009, 6.2701, 0.8181, -0.3687, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1172, 2.7483, 2.5034, -1.5631, -0.7773, -1.9896, 0.0954, -0.2859, 1.3678, 1.1759, -1.1965, -0.3542, -0.783, 0.9961]\nstate[eef_state]: left_x=0.3204 left_y=-0.3664 left_z=0.0217 left_yaw=0.7244 left_pitch=-0.1952 left_roll=-0.0572 left_gripper=0.0954 right_x=0.269 right_y=-0.0115 right_z=0.1511 right_yaw=0.6277 right_pitch=-0.628 right_roll=0.1366 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -15.2547, 7.5692, -0.188, -0.569, -0.0415, 0.1538, -0.3624, -6.065, 6.1197, 0.6569, -0.4518, -0.1148, -0.0122]\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 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0687, 2.6884, 2.1998, -1.5261, -1.2156, -2.0415, 0.0973, -0.2996, 1.3659, 1.1553, -1.1927, -0.3641, -0.794, 0.9961]\nstate[eef_state]: left_x=0.3625 left_y=-0.3087 left_z=0.0471 left_yaw=0.649 left_pitch=0.2515 left_roll=0.0106 left_gripper=0.0973 right_x=0.2656 right_y=-0.0125 right_z=0.1463 right_yaw=0.6357 right_pitch=-0.6282 right_roll=0.1534 right_gripper=0.9961\nstate[joint_eff]: [0.4581, -18.3043, 4.9026, -0.4029, -0.7497, -0.0611, 0.1929, -0.4718, -5.7915, 6.1197, 0.735, -0.3785, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e077c0b6438d9ec43fa31cbb916060e91ad0dffdf548df2d5571c1721a9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de6546b6bf8eda219dbcd448528ecc8229c9b4f1a501663122fc63436eaa194e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ffc6fdac29ce30b2f1438d05b56ad8e4ef46603001cd15d13167e7c126cfd55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVys8kDjcz8zeXqMKWLD5rhXkwoVQAi4AzKcg-Eton88gBQyg4DdAK_pZZ20HdksQakVFOs4aBrVWMGZQKub7phwlclT_Yalu0RYh1O4ZPicYjUw-EoXAQIiKIxJkLLhnPbFWvfOvtFFySnuv0rSWpvB6eagGL6WzbHM4C1RVtpxxickxHjZxzBpM7ea3D20lhCBGCbuF1BXVFMV0qMTKergz3U2EgPSfBlD4rTlKVDxpWMyq08I_cWJCspmbrx5F3X3nfKZYY5_Gn4Fxx8rR_REtncci4o9m4Efn2_vHpTFyAkVURmdWxKAwglGNABQaltWco6rAjewFw-uj9sHFa_zZBk3ZxdMSIjLNjnRTBitG3EB8nXM9VBhmgatujQ8AMXhloNeLYe0rThgLY5oKNfeBKnpDzp3I1VBQCuEo6SE5ccGeaxS3TEw7mF3pkGl1kJ9XqjL0dv7mZ7pcQe9ti32yGMinqMD1_6sVq2lQ6z9OUfXsMz0hrq00b088XE4A0qJ6v2WwEX0QYV0Is2s3oVk14rXPJcMAXNIgLaBLQtFy0GHbUS7nzcfPRpWLJlBh6YjynEweIQsX_LI2aKNi5WDB4xnaOmduPKF1v8yI9w5Ie5gyJahU45xuYBvgsOEwOWSPeGOSu7XnV4tCpB4bGbfSNMfQOdJqdYQkYqYAMqMn25jrsSPcQ-WCb3JgGX_o0ydn5EM6_AIhClnGqm32p6rEvv-_FnDlm13eQN9PNbOSGIgBXHQCjbBk7rsPLzOM2HmIUuQZzsJQF883V91oE4brrqBYCQABNq9cUQUqe2NfaGu_ZC6LIPGssllofB00nZ-DqKVMNwqAiijegt_1xppVL8GPo02sftaOg6AslYz5ZULmbrbE_w-1wZXsPMxOpwuR0viZVlDqXPREsPNwMvk_RIgqlKSK5hFQah13PAn8uvxNqIeDM5WwAWurw72xmKlZJ-gRE6hzu2QRpRy4CYF7f0wEO8DYO-tXNg1IpGrpYeno5q-W5GsJZrdnBGY3G0zTrOisyAaCyblSx2e3P3W1sSJOBI3VZwz2cWqCt4RAYJrwUymSmd7bLbcraDxJvHEirWhcvyKxQAravCzALp2wSVT6tvo-nQRRZ4sn4MF04nLXdQCmgH1qrLtekdvpa1C0-sxekh6BwPqH5Bd3pVZ8z72Uz3TWp6RJiWf6q9r8Kv2xaxIgmn2_CuApIyy-fSYx7r8Cgk7gxbzGGJcrfPKp7jK_4EkTj8VyGn49iUWfVx99a7zuMJ7XWjJ_SuYIZph1FJYtMfSKTmQdaUoDJvlgShIX3V9il9ytTpuD49_piPPEM9lSfVL0NG3Aa-WCwxTdTkgfqFzhT609miNmRN-AyTjkMF624vXghBuTSsKKH-hETDTlM_ZjYgp0JdD264s2XbBT8aykgbR_gTZPcSCIhnozX4ZPhg1tkLieKca-ERaiNh3fPH7ZC-UDtRVniw7HBubH-TOLA26N8E9O7V29SK0m7Xwx5H1nq9IvmGaDl4xZxNOOiZxZfBshBe2_gMP9JZP-NYG0goUFDYsC1duXtkyjI0XRBK1frR0T2_2eLTcD7qsxcIvo3XtfhDk6d0K8uKks0e8M1s2-khkScN2st69lRvUfODZ2mLwmJrYBNyT6IAqTEqIp0f9JPLgs2VnaDNdGQVSHwRbBigw4u4v1plT6R2m6HVdY-qDJUBedTYRvwIEINik1Z-NoCd9kbHPAP4PWYSOUJWLNv49-7jVFQhCEeHIml051T6Kx-du8rwjzIk58ID9TZLquppAftoyL_WtaEYo696nJ6cUfkTawBcHCZO2fAhiqfteMhaSCQioAUpaR26SEoKJlMOXuOwKAy7vgfK7Igiu5E5jYJAdghJUGKsx5baxpvvGIfTEQ0BK7NHV9-e1FKhew8npqDITmgVaJSg7Y5OFPbr-uWwzXS8uw42Ww73zx3ITcF-5Y8s9zFIdr3U3WOvjD8A7dVokaKFZk3qrN_RXeRNYGvIjEl-jKi2rBcmDmlyEXHQXj7CcenBkrEnOR8_DEs4gQEQQ6O7EcORRgHqQK_Kb1AF2lCIN_m_l2kLv36uzbqO87GZXpMBxxhV2H5_62daIQeazzZ4hM0L2AeZfhyiprncjgby8R0TT9-OwKl4oZJdiWZHV_1f2NoO53ucBiEMVMRpBssKXrvVyHSmJe7TcsWj8kym8SL6LanJEpgu2Ci7we0KFNP835c4cIgE0SJaHg9YNYBgkZXMM4LbMuk7UmbSZ9yaQhVxHd_0Pgp-lA8QFbwzkKqbcN0dYHJCJpwVx_-OPDIgEJntswolSsny0_ih3543wI_QnVY0Cbz1TsRZpglB2umuWpbKILsMS4wf0SpLa8x_1VNptfeoTZy9i3oCJR-cRoZXmjBuKbS-unpGR9qT5XzrosdzMbxtv3k6M4Eoy7xckyMdX9ZaRUWDP-0M1-wpjqb5AMVyR3UbKYNXqwbQTXWk2Bg7nyq4tMBxup7bRTaFz1aLFDYKartqK1TLymO1NKsQi8IdgX2zqSX_qHdBOmO9VqCzQVVBLdCStMvXzPZG9HbJkegnvCUKWjmnL27i8XlitI03k6BAEr4AtoSryzzFI9gjXqvJh3NLl9IBmzOvHqDRB3KdTUyRpM6Ir208xI5VlhqmWS7VnJxvzLvZzEP7siLbjw2YlaJwJG-ddZHI6aPDLfQRjRCR7Lrn0eniLijdkPtM6Ks7phN6gEo1Yu7y1fE36p_WpWi9zKvlanIjdvmlFFhNRvRm464ZiQQM80NuqPQB5tN5wUBVRQTHL-BjqAyrEEwY_UxTjRWfCgKBy5zW1n1UP3P3hPoZO-MbRHAxQbSlAzuW0N-bAHriGur77JNINJXCFBDyFaix",
  "id": "rs_09f2c132a2135c8c016ab4356f11b087d0adfafb95abebd863",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.29,\"left_z\":0.015,\"left_pitch\":0.25},\"note\":\"Pitching forward restored motion and brought the cap hand over the pen’s exposed end, though the hand now hides the tip from the wrist camera. I’ll make a short, low insertion motion toward the pen barrel, watching for contact or deflection.\"}",
  "call_id": "call_38nFhDfrbJ0qs1hfL6aTjlKn",
  "id": "fc_09f2c132a2135c8c016ab43571d50c87d0a6df9972cade90d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_38nFhDfrbJ0qs1hfL6aTjlKn",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0893, 2.6377, 1.9438, -1.4258, -1.2156, -2.0773, 0.0987, -0.3084, 1.3647, 1.1381, -1.1885, -0.371, -0.7982, 0.9961]\nstate[eef_state]: left_x=0.3394 left_y=-0.2841 left_z=0.017 left_yaw=0.6209 left_pitch=0.2676 left_roll=0.0827 left_gripper=0.0987 right_x=0.263 right_y=-0.0128 right_z=0.1421 right_yaw=0.6406 right_pitch=-0.6293 right_roll=0.1682 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -15.2274, 5.7231, -0.652, -0.7253, -0.2418, 0.1245, -0.7863, -5.3538, 5.8735, 0.7204, -0.4664, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307204c6b3bebc0b832f4b89627217281bd02fe0ec8e20c1909a3d5d877c8beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8598d54d59aa56d3a097030fa4a63f80f2b1c508059c506537b59240b0d11d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe74bd6a8d4f3540541f3861530a909905ec2777e7c48fe6d76318d3376d177",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.814 s

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

message 150 changed as sent

message 160 changed as sent

message 164 changed as sent

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1187, 2.7319, 2.4882, -1.5608, -0.7837, -1.9892, 0.0937, -0.2687, 1.3712, 1.2018, -1.2144, -0.3428, -0.7753, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.3658 left_z=0.0266 left_yaw=0.7201 left_pitch=-0.19 left_roll=-0.062 left_gripper=0.0937 right_x=0.2704 right_y=-0.0092 right_z=0.1564 right_yaw=0.6301 right_pitch=-0.6346 right_roll=0.1271 right_gripper=0.9961\nstate[joint_eff]: [0.6222, -14.735, 8.2667, -0.3443, -0.5446, -0.0073, 0.2027, -0.4991, -5.9282, 6.065, 0.7985, -0.442, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0687, 2.6884, 2.1998, -1.5261, -1.2156, -2.0415, 0.0973, -0.2996, 1.3659, 1.1553, -1.1927, -0.3641, -0.794, 0.9961]\nstate[eef_state]: left_x=0.3625 left_y=-0.3087 left_z=0.0471 left_yaw=0.649 left_pitch=0.2515 left_roll=0.0106 left_gripper=0.0973 right_x=0.2656 right_y=-0.0125 right_z=0.1463 right_yaw=0.6357 right_pitch=-0.6282 right_roll=0.1534 right_gripper=0.9961\nstate[joint_eff]: [0.4581, -18.3043, 4.9026, -0.4029, -0.7497, -0.0611, 0.1929, -0.4718, -5.7915, 6.1197, 0.735, -0.3785, -0.0415, -0.0122]\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 164 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0893, 2.6377, 1.9438, -1.4258, -1.2156, -2.0773, 0.0987, -0.3084, 1.3647, 1.1381, -1.1885, -0.371, -0.7982, 0.9961]\nstate[eef_state]: left_x=0.3394 left_y=-0.2841 left_z=0.017 left_yaw=0.6209 left_pitch=0.2676 left_roll=0.0827 left_gripper=0.0987 right_x=0.263 right_y=-0.0128 right_z=0.1421 right_yaw=0.6406 right_pitch=-0.6293 right_roll=0.1682 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -15.2274, 5.7231, -0.652, -0.7253, -0.2418, 0.1245, -0.7863, -5.3538, 5.8735, 0.7204, -0.4664, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307204c6b3bebc0b832f4b89627217281bd02fe0ec8e20c1909a3d5d877c8beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8598d54d59aa56d3a097030fa4a63f80f2b1c508059c506537b59240b0d11d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe74bd6a8d4f3540541f3861530a909905ec2777e7c48fe6d76318d3376d177",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09f2c132a2135c8c016ab435745ff887d0aa42263a278ecfa4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDV7mOC8ETLMJhqJ-M9s_0HLlTuhKfeIzNtv-aOXmpEwmDoooujAxHsfWpdFrrknXhcdKR1nhN5OxH-sLeNUDzF9LpLUuT2csI8LNeKwCbouJnqFVYMNKk7rWdKHTsTPMvgoehch2FE4PZww8CdXV3K7j1XzPQ0FUVGv50fGTK5MOl1XHT-bRu3FDwnVHvW7f1vLr3x2nHkWHsK4xC_p2a-53Fnv5-WN7xVK1uxJIgY9dNdPY9r7G3pBspg4opwDgCPjZ6Ra98R0b7Vp3Hk-eAlUFOTXrv8LtofVNgVaQuLfKPcIkSDood27pSv_YKyBEt7vkWIkkGbNuz22W3WQGGPxSUfhx1KwEoTNHep9y7jIQjdMxOGFZw4aQDMLalRC8kwFTYaBRQ0jR59T2623mJn-Dnm7NXZrYB-4WpDKlI8O6yxF3BTiP2euPWm8SgUInXnaB9qtz3m8xxIOYZmFg4K0bpkt1um9Rqc6XXcexEPajM6VqFsCdNNg7akH9qdUsWnx5XZ-siwTOAXGCiV2txYwBIut0WW94-3fmMxCrD2_YGlG3FwEq81GvMIpc8UJu7f2AdgyWVnWpkuD0504neh_bwPKfw-9h4C-GQmRI7HEciacbuNfyvivHOMfB2593W7OSZbeid4lQhmO2ubhOXyhIUQcZz1lZDLAOOezgUFpIHGGkAztdlZ3lW1rJiiUDc6X8XmhoMZlj4FYvt2o18qlDLF8zu_Gr-HXQdnvh1u4wLnxOXcNVsM7BdDFnH3-M4SMOHBJWMLqmokCt0f6ywdlDcLrnuLRZevP5OkD-nQww5bVPLygKqsSk_KKbNG4IUJ-vU2srNAmba2aCEvA8Coja7WmAmi2QGXH9sYZudAO_TfiOQM-ONQU7XJH4kZW1A2GeDW8ZmoRpTSD3VSuLbivxU8btwxDpnZ98IzhNN4QZRb0eEQ23EDv4L5VQkUlYIDj5zFT-EaIwpj_ehP5wCqCay2xpDi4nPecovVT7wMV-9-balowTaqE8CL7vtpS393YwbQ1MSbLpuwqlZccKeJMuDHKYewvdiF7xdE9NlnGDSgceYW9bRy5YzESHsOOQDVVHW28viFh3DOV9xRTSc-OBQl5I-yfFI2O6LrW1SgE5H0MIsYVX5YW7MXZ7btlwS9B6DpJGUGnt5pZe9NpylpghF_uWrc9-SGlx66FNdsiwiTYqe7wA8C-3DHNHzYz3RO57r2l_4X7wZ-a1XOUGNhwrZ1mEhlYOgLX_7uTxXLlpzH4ZqRI2_ctZuQYcpWUgOHXZO3i9jk4NvisbClN-TqPXpJp6iXb9I7C6D9cuIKkqnQyPoRdlA9mga9dFDFnOB4fot4TRmjWlG6ly3_eONrCnBaoKNJUC7gstaup3LWk0BF_WfkIgNBjuJvR9rr12QYSoswWumUMiKQaUx5VJy13t-IUkMgeBDRSFUN3AGf9_bVKjOHEXt-Tw83gGfDPYcy8zSREwqAAQf1s10ewsQKG7gYsgCtYrCggaI4N1LtgIVDnCzF7EXyuliBFepMRumzpRXINl0recwng-wijnvS98m1Ni47nZYfa841SLIbN6fX6v2hmXH7SZ7yNbY_Zg6J8JHHGGWlrRMnhWe9w8AMF71nPPIoEBwg3Nt9qBXeo6FcZF6YKVQfLNcE9DcczoMAF3bVWSG440sSK_ydYQaqDsvGXSCGu3PB7rvl0ph6R7xVb8XOc7zOXZGMptO8Kc2JDQ7kWaBW-8HO8_ZxOApOdZDoqZsr5PNeEnQB8GVQVwEhguLiSjRuVK5ZLDdEhB0evqrxCU3rTt0yT6_mLLGYJI8n2tSODsGQ9dqVoM91JMRKp_Wa00N_4oc67P69xn-iSyJOMS1C0BfE8SyYEiS-QT49kRXwRZAGhEfk61EAsqb8sZPFFOIjm8TgKK425C5Ts1MZTZnUdofEen15Ri90CA-RdIhZYmtaDv6wfz1vKIDl16APF9HzsrTsaNCCoOXj3S3ebW3cOopuhtYpI4qc6MxwXRm8I7G1mEq-MJPgPWM_NHWY_BZEBaY4lupv4oErY",
  "id": "rs_09f2c132a2135c8c016ab435792cd887d09eb896cf59f2c3bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.25,\"left_z\":0.017,\"left_pitch\":0.25},\"note\":\"The low motion did not produce a clear seated-cap view; the pen end appears slightly forward and left of the cap hand in the overhead frame. I’ll make one short forward-left nudge at the same height to try to seat the cap without pressing farther into the table.\"}",
  "call_id": "call_mS7fXDR9dEfMd8NR0qSy23iH",
  "id": "fc_09f2c132a2135c8c016ab4357ad87087d099f7f310e0dc3bf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mS7fXDR9dEfMd8NR0qSy23iH",
  "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]: [-0.9722, 2.545, 1.7515, -1.1076, -1.2415, -1.8248, 0.1003, -0.321, 1.364, 1.1206, -1.177, -0.379, -0.8017, 0.9961]\nstate[eef_state]: left_x=0.3729 left_y=-0.2437 left_z=0.0077 left_yaw=0.645 left_pitch=0.2568 left_roll=0.104 left_gripper=0.1003 right_x=0.2618 right_y=-0.0144 right_z=0.1382 right_yaw=0.638 right_pitch=-0.6256 right_roll=0.1776 right_gripper=0.9961\nstate[joint_eff]: [-0.5812, -16.0615, 4.7658, -0.0269, -0.4811, 0.2955, 0.1538, -0.2803, -5.7915, 5.8462, 0.6471, -0.4615, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2484169c717dec169a1028a3266f1b0d113041926f0b0a11b05efe25384bbbbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ad1185e89714c21377349dacdef64bf599baad8e738d7930ad4328eca04196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001a9652381721ca5cffa55fbea840ed1473a067299e1fc2a6159b5b96703f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]