adhoc - adhoc_7dd97f9d.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: 257.6 s
total steps: 480

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 cap is left of center and the longer pen is just right of center, both lying on the table. I’m moving the left open gripper above the cap to refine its position before grasping.

move_to

left_x0.3900left_y-0.2300left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.02, -0.0113, 0.9998, -0.0166, 0.7906, 0.6079, -0.3847, -0.0242, -0.0132, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2944 right_y=0.003 right_z=0.1817 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4308, -1.4564, 10.5368, 1.7314, -0.0659, -0.0513, -0.0366, -0.8821, -1.1282, 9.9214, 1.9365, 0.0171, -0.0611, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.23,"left_z":0.12},"note":"The cap is left of center and the longer pen is just right of center, both lying on the table. I’m moving the left open gripper above the cap to refine its position before grasping."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteThe cap now appears near the left wrist camera’s jaw column, while the pen remains farther to the right. I’m lowering the open gripper to table level at the cap’s midpoint.

move_to

left_z0.0050left_x0.3900left_y-0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7658, 1.6943, 0.9607, -0.0612, -0.6071, -0.4801, 0.9998, -0.0193, 0.7975, 0.6075, -0.3908, -0.0242, -0.0128, 0.9993] state[eef_state]: left_x=0.379 left_y=-0.2197 left_z=0.1011 left_yaw=-0.0122 left_pitch=-0.0569 left_roll=0.0363 left_gripper=0.9998 right_x=0.294 right_y=0.0022 right_z=0.1784 right_yaw=-0.0029 right_pitch=-0.0134 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [-0.253, -8.6085, 8.8684, 1.7314, -0.5153, -0.0073, -0.0171, 0.1026, -1.7983, 7.0769, 1.7753, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.005,"left_x":0.39,"left_y":-0.23},"note":"The cap now appears near the left wrist camera’s jaw column, while the pen remains farther to the right. I’m lowering the open gripper to table level at the cap’s midpoint."})

tool

executing move_to over 7 steps (0.7s)

step 28

assistant

agent noteThe open left jaws are down around the dark cap at table height, with its middle near the jaw column. I’m closing the gripper and will check whether it retains the cap when lifted.

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]: [-0.77, 1.9739, 0.8803, 0.2535, -0.6163, -0.4927, 0.9994, -0.0193, 0.7979, 0.6075, -0.3931, -0.0242, -0.0124, 0.9993] state[eef_state]: left_x=0.384 left_y=-0.2251 left_z=0.0053 left_yaw=-0.0008 left_pitch=-0.0848 left_roll=0.0624 left_gripper=0.9994 right_x=0.2937 right_y=0.0022 right_z=0.1778 right_yaw=-0.0031 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [0.3761, -8.8957, 4.7111, 0.9402, 0.0122, 0.2759, -0.0659, -0.0615, -1.2923, 7.0359, 1.7167, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The open left jaws are down around the dark cap at table height, with its middle near the jaw column. I’m closing the gripper and will check whether it retains the cap when lifted."})

tool

executing move_to over 10 steps (1.0s)

step 38

assistant

agent noteThe left gripper has closed to a nonempty opening around the cap. I’m lifting it clear of the tabletop to confirm the cap moves with the jaws.

move_to

left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7712, 1.9842, 0.8787, 0.2741, -0.6216, -0.4957, 0.0479, -0.0193, 0.7986, 0.6075, -0.3965, -0.0238, -0.0128, 0.9993] state[eef_state]: left_x=0.3852 left_y=-0.2259 left_z=0.004 left_yaw=0.003 left_pitch=-0.0756 left_roll=0.0567 left_gripper=0.0479 right_x=0.2933 right_y=0.0022 right_z=0.1769 right_yaw=-0.0032 right_pitch=-0.0202 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.0752, -10.1265, 4.9983, 1.2234, -0.1636, 0.0317, 1.0574, -0.1026, -1.347, 7.1863, 1.7753, -0.0464, -0.0757, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.14},"note":"The left gripper has closed to a nonempty opening around the cap. I’m lifting it clear of the tabletop to confirm the cap moves with the jaws."})

tool

executing move_to over 9 steps (0.9s)

step 47

assistant

agent noteThe cap is no longer lying where it started, and the left gripper still reads as occupied. I’m moving the held cap back and higher to leave room for the right arm to pick up the pen.

move_to

left_x0.2900left_y-0.1000left_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7712, 1.7206, 1.0817, -0.2169, -0.6212, -0.5003, 0.0525, -0.0193, 0.7998, 0.6075, -0.3977, -0.0242, -0.0128, 0.9993] state[eef_state]: left_x=0.384 left_y=-0.2248 left_z=0.1138 left_yaw=0.0067 left_pitch=-0.0931 left_roll=0.07 left_gripper=0.0525 right_x=0.2932 right_y=0.0022 right_z=0.1764 right_yaw=-0.0029 right_pitch=-0.0225 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [-0.0342, -10.6872, 9.388, 1.2821, -0.3492, 0.0024, 1.033, -0.1436, -1.2513, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.1,"left_z":0.21},"note":"The cap is no longer lying where it started, and the left gripper still reads as occupied. I’m moving the held cap back and higher to leave room for the right arm to pick up the pen."})

tool

executing move_to over 12 steps (1.2s)

step 59

assistant

agent noteThe cap is held high and clear on the left, and the pen is exposed diagonally near the table center. I’m bringing the open right gripper above the pen’s middle for a separate grasp.

move_to

right_x0.3900right_y0.2900right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6483, 1.0634, 0.9096, -0.6117, -0.5457, -0.4152, 0.0582, -0.0193, 0.8036, 0.6071, -0.4114, -0.0242, -0.0128, 0.9993] state[eef_state]: left_x=0.2987 left_y=-0.1067 left_z=0.2115 left_yaw=0.0234 left_pitch=-0.0644 left_roll=0.0367 left_gripper=0.0582 right_x=0.2915 right_y=0.0023 right_z=0.1723 right_yaw=-0.0029 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [0.1846, -3.0427, 6.9949, 1.6386, -0.2466, 0.2271, 1.0281, -0.0615, -1.5932, 7.0632, 1.8681, -0.0171, -0.0806, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.29,"right_z":0.12},"note":"The cap is held high and clear on the left, and the pen is exposed diagonally near the table center. I’m bringing the open right gripper above the pen’s middle for a separate grasp."})

tool

executing move_to over 24 steps (2.4s)

step 83

assistant

agent noteIn the right wrist view, the pen crosses just to the right of the jaw column and extends toward the fingertips. I’m shifting slightly sideways and forward while descending to grasp the pen near its middle.

move_to

right_x0.4000right_y0.2680right_z0.0060

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6357, -0.5426, -0.4179, 0.0582, 0.8551, 1.85, 1.1946, -0.2157, 0.6186, 0.5392, 0.9993] state[eef_state]: left_x=0.2963 left_y=-0.1041 left_z=0.2059 left_yaw=0.0278 left_pitch=-0.089 left_roll=0.0515 left_gripper=0.0582 right_x=0.3774 right_y=0.2833 right_z=0.1005 right_yaw=0.0434 right_pitch=-0.106 right_roll=-0.0534 right_gripper=0.9993 state[joint_eff]: [-0.3487, -3.4256, 7.0222, 1.6777, -0.2613, -0.0269, 1.0281, -0.0752, -9.935, 9.0462, 1.5897, 0.6813, 0.2418, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.268,"right_z":0.006},"note":"In the right wrist view, the pen crosses just to the right of the jaw column and extends toward the fingertips. I’m shifting slightly sideways and forward while descending to grasp the pen near its middle."})

tool

executing move_to over 7 steps (0.7s)

step 90

assistant

agent noteThe pen now runs across the right gripper’s closing line at table height. I’m closing the right jaws on its middle and will verify the grip by lifting.

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]: [-0.6445, 1.0687, 0.9092, -0.6407, -0.5426, -0.4179, 0.0582, 0.7933, 2.0411, 1.0607, 0.0982, 0.5705, 0.4828, 0.9993] state[eef_state]: left_x=0.2957 left_y=-0.1036 left_z=0.2051 left_yaw=0.0281 left_pitch=-0.0928 left_roll=0.0546 left_gripper=0.0582 right_x=0.3916 right_y=0.2669 right_z=0.0085 right_yaw=0.0452 right_pitch=-0.1412 right_roll=-0.0786 right_gripper=0.9993 state[joint_eff]: [-0.1846, -3.0154, 6.9265, 1.4579, -0.2808, -0.0611, 1.033, -0.9094, -9.306, 4.8342, 1.5507, 0.2271, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen now runs across the right gripper’s closing line at table height. I’m closing the right jaws on its middle and will verify the grip by lifting."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteThe right gripper settled around a pen-sized thickness, though the pen shifted as the jaws closed. I’m lifting it to check in the overhead view whether the pen is actually secured.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6437, -0.5426, -0.4183, 0.0582, 0.7933, 2.0525, 1.0523, 0.1226, 0.5686, 0.482, 0.0458] state[eef_state]: left_x=0.2953 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0952 left_roll=0.0562 left_gripper=0.0582 right_x=0.3915 right_y=0.2672 right_z=0.0039 right_yaw=0.0474 right_pitch=-0.1389 right_roll=-0.075 right_gripper=0.0458 state[joint_eff]: [-0.1983, -3.0291, 7.0906, 1.4774, -0.2711, -0.0708, 1.0281, -0.3624, -11.2068, 5.9419, 1.1941, 0.2857, 0.0659, 1.3065] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The right gripper settled around a pen-sized thickness, though the pen shifted as the jaws closed. I’m lifting it to check in the overhead view whether the pen is actually secured."})

tool

executing move_to over 11 steps (1.1s)

step 111

assistant

agent noteBoth pieces rose with their respective grippers; the pen’s gold-colored writing tip projects forward from the right jaws, and the cap projects forward from the left. I’m raising and drawing the pen back to make clearance for turning the cap toward its writing tip.

move_to

right_x0.3100right_y0.2700right_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6441, -0.5426, -0.4183, 0.0582, 0.8001, 1.8355, 1.3228, -0.4622, 0.5442, 0.461, 0.0485] state[eef_state]: left_x=0.2952 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0955 left_roll=0.0564 left_gripper=0.0582 right_x=0.3808 right_y=0.2661 right_z=0.116 right_yaw=0.071 right_pitch=-0.2251 right_roll=-0.1424 right_gripper=0.0485 state[joint_eff]: [-0.1983, -2.906, 6.7624, 1.4774, -0.2564, -0.0708, 1.0281, -0.3897, -12.9162, 10.0855, 1.8535, 0.4664, 0.1929, 1.033] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.31,"right_y":0.27,"right_z":0.21},"note":"Both pieces rose with their respective grippers; the pen’s gold-colored writing tip projects forward from the right jaws, and the cap projects forward from the left. I’m raising and drawing the pen back to make clearance for turning the cap toward its writing tip."})

tool

executing move_to over 7 steps (0.7s)

step 118

assistant

agent noteThe cap’s narrow closed end appears to face forward, whereas its open end needs to face the pen’s forward-pointing writing tip. With the arms separated, I’m turning the cap halfway around at a safe height.

move_to

left_yaw1.5700left_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6437, 1.0691, 0.9092, -0.6476, -0.543, -0.4187, 0.0582, 0.9512, 1.7, 1.4723, -0.8425, 0.5934, 0.58, 0.0526] state[eef_state]: left_x=0.2949 left_y=-0.1027 left_z=0.2039 left_yaw=0.03 left_pitch=-0.0983 left_roll=0.0588 left_gripper=0.0582 right_x=0.3157 right_y=0.2786 right_z=0.1871 right_yaw=0.1072 right_pitch=-0.2544 right_roll=-0.1576 right_gripper=0.0526 state[joint_eff]: [-0.0752, -3.0291, 6.7214, 1.4872, -0.2906, -0.0171, 1.0281, 0.253, -10.7009, 8.5812, 1.1306, 0.5543, 0.232, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":1.57,"left_z":0.23},"note":"The cap’s narrow closed end appears to face forward, whereas its open end needs to face the pen’s forward-pointing writing tip. With the arms separated, I’m turning the cap halfway around at a safe height."})

tool

executing move_to over 10 steps (1.0s)

step 128

assistant

agent noteThe cap turned sideways, but the left arm drifted inward and lower than commanded during that rotation. I’m correcting its position at the sideways orientation before attempting the rest of the turn.

move_to

left_x0.3600left_y-0.1400left_z0.2200left_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4603, 1.9594, 1.4815, -1.5761, -0.7998, -1.9892, 0.0625, 0.9684, 1.7306, 1.4479, -0.8646, 0.5732, 0.572, 0.0557] state[eef_state]: left_x=0.3043 left_y=-0.0055 left_z=0.1262 left_yaw=1.417 left_pitch=-0.1051 left_roll=0.1667 left_gripper=0.0625 right_x=0.3048 right_y=0.2804 right_z=0.1629 right_yaw=0.1244 right_pitch=-0.3198 right_roll=-0.2106 right_gripper=0.0557 state[joint_eff]: [0.335, -14.694, 6.5299, -1.0427, -0.6032, -0.1929, 1.033, -3.2615, -10.8923, 8.8137, 1.0574, 0.5641, 0.0415, 1.0281] 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":0.36,"left_y":-0.14,"left_z":0.22,"left_yaw":1.57},"note":"The cap turned sideways, but the left arm drifted inward and lower than commanded during that rotation. I’m correcting its position at the sideways orientation before attempting the rest of the turn."})

tool

executing move_to over 12 steps (1.2s)

step 140

assistant

agent noteThe sideways cap pose is not tracking its requested position, suggesting this arm configuration is awkward. I’m testing whether completing the turn into a backward-facing pose frees the arm to align the cap with the pen.

move_to

left_yaw3.1400left_x0.3200left_y-0.1700left_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4522, 2.0212, 1.5017, -1.5627, -0.7773, -2.0331, 0.0625, 0.9627, 1.7298, 1.449, -0.8608, 0.5671, 0.5713, 0.0557] state[eef_state]: left_x=0.3086 left_y=-0.0082 left_z=0.1095 left_yaw=1.4628 left_pitch=-0.1108 left_roll=0.1655 left_gripper=0.0625 right_x=0.3063 right_y=0.2802 right_z=0.1634 right_yaw=0.1243 right_pitch=-0.3202 right_roll=-0.2027 right_gripper=0.0557 state[joint_eff]: [-0.4718, -9.2923, 6.9949, -0.6813, -0.4567, 0.1294, 1.033, 0.2667, -8.4991, 6.5573, 1.0037, 0.2711, -0.0269, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":3.14,"left_x":0.32,"left_y":-0.17,"left_z":0.23},"note":"The sideways cap pose is not tracking its requested position, suggesting this arm configuration is awkward. I’m testing whether completing the turn into a backward-facing pose frees the arm to align the cap with the pen."})

tool

executing move_to over 15 steps (1.5s)

step 155

assistant

agent noteThat backward-facing command sent the left gripper outside the tabletop workspace instead of holding its requested position. I’m immediately returning it to the previously stable, forward-facing pose, away from the edge.

move_to

left_yaw0.0000left_x0.2900left_y-0.1000left_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [1.058, 1.2236, 0.6701, -1.5517, -0.6487, -2.0865, 0.066, 0.9619, 1.7348, 1.4471, -0.8597, 0.5629, 0.5682, 0.0557] state[eef_state]: left_x=-0.0655 left_y=0.1085 left_z=0.1014 left_yaw=3.0761 left_pitch=-0.1995 left_roll=0.1898 left_gripper=0.066 right_x=0.3061 right_y=0.2805 right_z=0.1605 right_yaw=0.1264 right_pitch=-0.3272 right_roll=-0.2065 right_gripper=0.0557 state[joint_eff]: [0.1026, -0.9231, 6.3932, -0.6422, -0.4322, -0.149, 1.0281, -0.1709, -9.0051, 6.8581, 0.7497, 0.2955, 0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). 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_yaw":0,"left_x":0.29,"left_y":-0.1,"left_z":0.21},"note":"That backward-facing command sent the left gripper outside the tabletop workspace instead of holding its requested position. I’m immediately returning it to the previously stable, forward-facing pose, away from the edge."})

tool

executing move_to over 28 steps (2.8s)

step 183

assistant

agent noteThe left arm is back over the table, and both grippers still appear occupied. The cap opening faces backward while the pen tip faces forward, so they can meet without turning either piece; I’m bringing the cap toward the pen with some clearance remaining.

move_to

left_yaw0.0000left_x0.4000left_y-0.2800left_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]: [-0.6682, 1.1515, 1.0439, -0.9665, -0.6167, -0.5854, 0.066, 0.9627, 1.7405, 1.4464, -0.8619, 0.5484, 0.5682, 0.0557] state[eef_state]: left_x=0.2732 left_y=-0.0809 left_z=0.1983 left_yaw=0.1799 left_pitch=-0.2406 left_roll=0.164 left_gripper=0.066 right_x=0.3042 right_y=0.2821 right_z=0.1566 right_yaw=0.1339 right_pitch=-0.3429 right_roll=-0.2039 right_gripper=0.0557 state[joint_eff]: [0.1026, -4.2325, 6.0239, 1.2137, -0.3736, 0.2271, 1.0281, -0.294, -8.9504, 6.694, 1.0037, 0.3639, -0.0366, 1.0281] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0,"left_x":0.4,"left_y":-0.28,"left_z":0.19},"note":"The left arm is back over the table, and both grippers still appear occupied. The cap opening faces backward while the pen tip faces forward, so they can meet without turning either piece; I’m bringing the cap toward the pen with some clearance remaining."})

tool

executing move_to over 18 steps (1.8s)

step 201

assistant

agent noteThe overhead view shows the two gripper bodies crowding each other, and both arms missed their targets, so I’m stopping the approach. I’m withdrawing the cap-bearing left arm laterally before trying a more separated alignment.

move_to

left_x0.3000left_y-0.1000left_z0.2300left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7155, 1.8492, 1.7496, -1.0889, -0.5827, -0.5934, 0.0662, 0.8238, 1.7306, 1.409, -0.963, 0.5255, 0.5644, 0.0557] state[eef_state]: left_x=0.3857 left_y=-0.2017 left_z=0.1995 left_yaw=0.1422 left_pitch=-0.3382 left_roll=0.2273 left_gripper=0.0662 right_x=0.318 right_y=0.2183 right_z=0.1384 right_yaw=-0.0289 right_pitch=-0.4452 right_roll=-0.2945 right_gripper=0.0557 state[joint_eff]: [-8.9915, -1.4564, 9.1419, 2.9035, -0.525, 0.2662, 1.0085, 11.5761, -7.5966, 9.1556, 1.7656, 0.4029, -0.0024, 1.033] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.23,"left_yaw":0},"note":"The overhead view shows the two gripper bodies crowding each other, and both arms missed their targets, so I’m stopping the approach. I’m withdrawing the cap-bearing left arm laterally before trying a more separated alignment."})

tool

executing move_to over 10 steps (1.0s)

step 211

assistant

agent noteThe left arm is clear again, with the cap still between its jaws; the pen remains in the right gripper. I’m moving the pen farther back and higher so its tip can be presented to the cap without the bulky gripper bodies overlapping.

move_to

right_x0.2500right_y0.2900right_z0.2100right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.3228, 1.3045, -1.0607, -0.4786, -0.3622, 0.0698, 0.8234, 1.742, 1.3987, -0.9798, 0.5182, 0.5644, 0.0557] state[eef_state]: left_x=0.3029 left_y=-0.1028 left_z=0.2236 left_yaw=0.0366 left_pitch=-0.3505 left_roll=0.2257 left_gripper=0.0698 right_x=0.3134 right_y=0.2148 right_z=0.1296 right_yaw=-0.0395 right_pitch=-0.4757 right_roll=-0.3219 right_gripper=0.0557 state[joint_eff]: [0.2667, -5.4222, 6.6667, 1.3651, -0.1734, 0.0513, 0.6667, -0.0889, -9.3333, 7.0359, 0.9695, 0.2808, -0.0269, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.29,"right_z":0.21,"right_yaw":0},"note":"The left arm is clear again, with the cap still between its jaws; the pen remains in the right gripper. I’m moving the pen farther back and higher so its tip can be presented to the cap without the bulky gripper bodies overlapping."})

tool

executing move_to over 7 steps (0.7s)

step 218

assistant

agent noteThe pen is now farther back, and both pieces remain visible in their wrist cameras. I’m advancing the cap on the opposite side, aiming its rear opening just ahead of the pen tip while keeping the grippers separated along the table.

move_to

left_x0.3900left_y-0.3000left_z0.2200left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.3285, 1.2953, -1.0653, -0.4629, -0.3576, 0.0732, 1.0698, 1.8824, 1.8694, -1.4078, 0.5301, 0.7719, 0.0557] state[eef_state]: left_x=0.3006 left_y=-0.1042 left_z=0.2171 left_yaw=0.0269 left_pitch=-0.375 left_roll=0.2289 left_gripper=0.0732 right_x=0.2576 right_y=0.292 right_z=0.2003 right_yaw=0.0386 right_pitch=-0.4913 right_roll=-0.3002 right_gripper=0.0557 state[joint_eff]: [-0.0615, -5.135, 7.0906, 1.0965, -0.4127, -0.0904, 0.6178, 1.1966, -8.6906, 7.4598, 0.5006, 0.5788, 0.1538, 1.0281] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.3,"left_z":0.22,"left_yaw":0},"note":"The pen is now farther back, and both pieces remain visible in their wrist cameras. I’m advancing the cap on the opposite side, aiming its rear opening just ahead of the pen tip while keeping the grippers separated along the table."})

tool

executing move_to over 18 steps (1.8s)

step 236

assistant

agent noteThe cap is now ahead of the pen, but its jaws sit a little left and higher than the pen’s. I’m aligning their lateral positions and heights while preserving the gap between the cap opening and pen tip.

move_to

left_x0.3900left_y-0.3500left_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]: [-0.8143, 2.1582, 2.3051, -1.3598, -0.5632, -0.5903, 0.0728, 1.0729, 1.8771, 1.8442, -1.512, 0.4877, 0.7998, 0.0562] state[eef_state]: left_x=0.3984 left_y=-0.2794 left_z=0.2216 left_yaw=0.0371 left_pitch=-0.3683 left_roll=0.2362 left_gripper=0.0728 right_x=0.2377 right_y=0.2715 right_z=0.1898 right_yaw=-0.0236 right_pitch=-0.5837 right_roll=-0.3875 right_gripper=0.0562 state[joint_eff]: [-2.947, -10.1675, 7.4051, 1.2088, -0.1538, -0.1245, 0.7692, -0.3624, -8.6359, 8.1026, 1.5311, 0.6862, -0.5983, 1.0281] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.35,"left_z":0.2},"note":"The cap is now ahead of the pen, but its jaws sit a little left and higher than the pen’s. I’m aligning their lateral positions and heights while preserving the gap between the cap opening and pen tip."})

tool

executing move_to over 7 steps (0.7s)

step 243

assistant

agent noteBoth arms again shifted away from their targets as their links crowded near the center. I’m withdrawing the cap arm before repositioning the pen farther forward, where the arms may have more elbow clearance.

move_to

left_x0.3100left_y-0.1000left_z0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8238, 2.3913, 2.7609, -1.5803, -0.5735, -0.6991, 0.0762, 1.0454, 1.8809, 1.8015, -1.6192, 0.4995, 0.8268, 0.0562] state[eef_state]: left_x=0.4105 left_y=-0.297 left_z=0.2322 left_yaw=0.094 left_pitch=-0.3472 left_roll=0.1708 left_gripper=0.0762 right_x=0.2309 right_y=0.2367 right_z=0.1807 right_yaw=-0.1676 right_pitch=-0.6288 right_roll=-0.5508 right_gripper=0.0562 state[joint_eff]: [-8.6769, -5.135, 5.6821, 1.1062, -0.6032, -0.1392, 0.6569, 1.9761, -9.1282, 8.8821, 1.2088, 0.1099, -0.3248, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.1,"left_z":0.24},"note":"Both arms again shifted away from their targets as their links crowded near the center. I’m withdrawing the cap arm before repositioning the pen farther forward, where the arms may have more elbow clearance."})

tool

executing move_to over 18 steps (1.8s)

step 261

assistant

agent noteWith the cap arm clear, the pen is still held but its wrist has tilted from the earlier interference. I’m moving the pen forward and restoring a level tool orientation before another careful approach.

move_to

right_x0.3400right_y0.3000right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5812, 1.3933, 1.4136, -1.132, -0.4789, -0.4702, 0.0782, 1.0512, 1.8675, 1.7397, -1.5787, 0.5125, 0.8303, 0.0562] state[eef_state]: left_x=0.3121 left_y=-0.1033 left_z=0.2336 left_yaw=0.1202 left_pitch=-0.3641 left_roll=0.178 left_gripper=0.0782 right_x=0.2296 right_y=0.2342 right_z=0.171 right_yaw=-0.1707 right_pitch=-0.6186 right_roll=-0.5638 right_gripper=0.0562 state[joint_eff]: [0.3624, -6.1333, 6.5026, 1.3455, -0.2271, 0.0317, 0.652, -0.212, -9.5795, 5.5316, 0.1099, 0.398, 0.0317, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.3,"right_z":0.22,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"With the cap arm clear, the pen is still held but its wrist has tilted from the earlier interference. I’m moving the pen forward and restoring a level tool orientation before another careful approach."})

tool

executing move_to over 21 steps (2.1s)

step 282

assistant

agent noteThe pen is now forward and nearly level; its writing tip extends ahead of the right gripper. I’m moving the cap farther forward than before so the two gripper bodies stay apart while the opening approaches the pen-tip line.

move_to

left_x0.4600left_y-0.3100left_z0.2100left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5785, 1.3979, 1.404, -1.1358, -0.4633, -0.4694, 0.0772, 1.0058, 1.7477, 1.4425, -0.73, 0.7338, 0.6891, 0.0589] state[eef_state]: left_x=0.3102 left_y=-0.104 left_z=0.2274 left_yaw=0.1159 left_pitch=-0.387 left_roll=0.1793 left_gripper=0.0772 right_x=0.3222 right_y=0.294 right_z=0.1826 right_yaw=0.0237 right_pitch=-0.1292 right_roll=-0.1246 right_gripper=0.0589 state[joint_eff]: [-0.3897, -5.6274, 7.2821, 1.0379, -0.442, -0.0562, 0.3248, -1.2513, -11.6855, 7.3094, 1.7998, 0.7253, 0.1001, 0.9353] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.31,"left_z":0.21,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The pen is now forward and nearly level; its writing tip extends ahead of the right gripper. I’m moving the cap farther forward than before so the two gripper bodies stay apart while the opening approaches the pen-tip line."})

tool

executing move_to over 19 steps (1.9s)

step 301

assistant

agent noteThe cap is forward of the pen, but the pen-bearing arm has sagged several centimeters and is still laterally offset. I’m raising and centering the pen while keeping its gripper well behind the cap gripper.

move_to

right_x0.2900right_y0.3300right_z0.2200right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7574, 1.977, 1.7756, -0.5571, -0.6502, -0.5251, 0.0796, 0.9943, 1.763, 1.3987, -0.8585, 0.6815, 0.7105, 0.0591] state[eef_state]: left_x=0.4606 left_y=-0.2834 left_z=0.2195 left_yaw=0.0511 left_pitch=-0.0094 left_roll=-0.0049 left_gripper=0.0796 right_x=0.3036 right_y=0.2694 right_z=0.1452 right_yaw=-0.0035 right_pitch=-0.2701 right_roll=-0.2423 right_gripper=0.0591 state[joint_eff]: [-2.8239, -8.0889, 7.6513, 1.4969, -0.149, 0.0611, 0.7546, 0.7453, -9.935, 9.7299, 2.0635, 0.8132, -0.3492, 0.9353] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.33,"right_z":0.22,"right_pitch":0,"right_roll":0},"note":"The cap is forward of the pen, but the pen-bearing arm has sagged several centimeters and is still laterally offset. I’m raising and centering the pen while keeping its gripper well behind the cap gripper."})

tool

executing move_to over 10 steps (1.0s)

step 311

assistant

agent noteThe arms are crowding each other before the pieces line up reliably. I’m withdrawing the held cap so I can set the pen down in a reachable orientation, then approach its tip with the cap using one arm.

move_to

left_x0.2900left_y-0.0900left_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7582, 1.964, 1.7809, -0.6132, -0.6552, -0.5152, 0.0802, 1.0859, 1.7649, 1.4429, -0.881, 0.7929, 0.8845, 0.0609] state[eef_state]: left_x=0.4541 left_y=-0.2768 left_z=0.2202 left_yaw=0.0491 left_pitch=-0.0331 left_roll=0.033 left_gripper=0.0802 right_x=0.2909 right_y=0.2898 right_z=0.1695 right_yaw=-0.0523 right_pitch=-0.1525 right_roll=-0.1489 right_gripper=0.0609 state[joint_eff]: [-0.3077, -9.8256, 6.5026, 1.9609, -0.2466, -0.1636, 0.7204, 5.6, -9.265, 12.7248, 1.9756, 1.1062, -0.1587, 0.9548] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.09,"left_z":0.23},"note":"The arms are crowding each other before the pieces line up reliably. I’m withdrawing the held cap so I can set the pen down in a reachable orientation, then approach its tip with the cap using one arm."})

tool

executing move_to over 17 steps (1.7s)

step 328

assistant

agent noteThe cap arm is clear, and the pen’s tip still points forward from the right gripper. I’m lowering the pen onto an open patch of tabletop near the centerline so the cap can later slide onto its tip without the right arm in the way.

move_to

right_x0.2900right_y0.3400right_z0.0140right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6353, 1.026, 0.9356, -0.6353, -0.5739, -0.4332, 0.0822, 1.0866, 1.7695, 1.4193, -0.8837, 0.7811, 0.865, 0.0617] state[eef_state]: left_x=0.2973 left_y=-0.0956 left_z=0.2306 left_yaw=0.0664 left_pitch=-0.0213 left_roll=0.0117 left_gripper=0.0822 right_x=0.2872 right_y=0.2866 right_z=0.1587 right_yaw=-0.0408 right_pitch=-0.1773 right_roll=-0.1872 right_gripper=0.0617 state[joint_eff]: [0.1846, -2.865, 7.1726, 1.619, -0.1685, 0.2076, 0.5641, -0.4034, -9.0598, 8.4991, 0.9011, 0.4664, 0.149, 0.9011] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.34,"right_z":0.014,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The cap arm is clear, and the pen’s tip still points forward from the right gripper. I’m lowering the pen onto an open patch of tabletop near the centerline so the cap can later slide onto its tip without the right arm in the way."})

tool

executing move_to over 10 steps (1.0s)

step 338

assistant

agent noteThe right gripper has reached table level with the pen pointing straight ahead. I’m opening it to leave the pen lying still for the cap placement.

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]: [-0.6315, 1.0332, 0.9291, -0.6617, -0.5686, -0.4355, 0.085, 1.153, 2.0457, 1.0763, -0.1127, 0.8459, 0.8829, 0.0649] state[eef_state]: left_x=0.2945 left_y=-0.0931 left_z=0.2214 left_yaw=0.0684 left_pitch=-0.0542 left_roll=0.0329 left_gripper=0.085 right_x=0.2866 right_y=0.3286 right_z=0.0136 right_yaw=0.0032 right_pitch=-0.0586 right_roll=-0.0596 right_gripper=0.0649 state[joint_eff]: [-0.2667, -3.2752, 7.5692, 1.7851, -0.3101, -0.0024, 0.2711, 1.0325, -9.3607, 4.6154, 1.1844, 0.7302, -0.022, 0.7009] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The right gripper has reached table level with the pen pointing straight ahead. I’m opening it to leave the pen lying still for the cap placement."})

tool

executing move_to over 10 steps (1.0s)

step 348

assistant

agent noteThe pen is resting on the table after the right jaws opened, although it rotated slightly as it was released. I’m lifting the empty right gripper straight up before moving it aside to expose the pen tip.

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]: [-0.6315, 1.0336, 0.9291, -0.667, -0.5686, -0.4355, 0.087, 1.1519, 2.0655, 1.0676, -0.0963, 0.8387, 0.8833, 0.9955] state[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0586 left_roll=0.0366 left_gripper=0.087 right_x=0.2855 right_y=0.327 right_z=0.0039 right_yaw=0.0047 right_pitch=-0.0694 right_roll=-0.0678 right_gripper=0.9955 state[joint_eff]: [-0.2803, -2.7145, 6.8991, 1.5018, -0.2564, -0.0269, 0.2027, -0.2667, -11.6991, 5.7368, 0.8132, 0.4274, 0.0073, -0.2027] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.2},"note":"The pen is resting on the table after the right jaws opened, although it rotated slightly as it was released. I’m lifting the empty right gripper straight up before moving it aside to expose the pen tip."})

tool

executing move_to over 13 steps (1.3s)

step 361

assistant

agent noteThe pen stayed on the table after the gripper lifted, so it is free for the cap arm to approach. I’m parking the empty right arm on its own side to clear the overhead view and the left arm’s path.

move_to

right_y0.0200right_x0.2900right_z0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.6674, -0.5686, -0.4355, 0.0887, 1.1519, 1.8217, 1.4902, -0.7887, 0.8223, 0.8776, 0.9962] state[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0589 left_roll=0.0368 left_gripper=0.0887 right_x=0.2856 right_y=0.3321 right_z=0.1736 right_yaw=0.0136 right_pitch=-0.0937 right_roll=-0.0899 right_gripper=0.9962 state[joint_eff]: [-0.3077, -2.4, 6.7214, 1.4676, -0.2857, -0.0611, 0.1538, -0.1983, -11.8085, 8.5812, 0.989, 0.5055, 0.0366, 0.0659] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.02,"right_x":0.29,"right_z":0.22},"note":"The pen stayed on the table after the gripper lifted, so it is free for the cap arm to approach. I’m parking the empty right arm on its own side to clear the overhead view and the left arm’s path."})

tool

executing move_to over 27 steps (2.7s)

step 388

assistant

agent noteThe pen now lies exposed with its writing tip at the upper-left end of the diagonal line. I’m bringing the held cap above and just ahead of that tip, with a small turn to match the pen’s diagonal angle.

move_to

left_x0.4500left_y-0.3300left_z0.1200left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6315, 1.0344, 0.9291, -0.6704, -0.5686, -0.4355, 0.0907, 0.168, 0.8944, 0.8577, -0.6712, 0.1963, 0.0471, 0.9963] state[eef_state]: left_x=0.2935 left_y=-0.0924 left_z=0.2197 left_yaw=0.0687 left_pitch=-0.0618 left_roll=0.0393 left_gripper=0.0907 right_x=0.2879 right_y=0.0175 right_z=0.2108 right_yaw=-0.0349 right_pitch=-0.1261 right_roll=-0.095 right_gripper=0.9963 state[joint_eff]: [-0.2667, -2.7556, 6.9265, 1.4823, -0.2906, -0.0024, 0.1978, -0.2256, -2.6598, 7.1726, 1.9609, -0.0366, -0.0122, -0.0024] camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.33,"left_z":0.12,"left_yaw":0.3},"note":"The pen now lies exposed with its writing tip at the upper-left end of the diagonal line. I’m bringing the held cap above and just ahead of that tip, with a small turn to match the pen’s diagonal angle."})

tool

executing move_to over 22 steps (2.2s)

step 410

assistant

agent noteFrom above, the cap is forward and to the right of the pen tip; the pen is behind the left wrist camera’s field of view. I’m shifting the cap leftward and lower toward the exposed tip, stopping above the tabletop to reassess alignment.

move_to

left_x0.4200left_y-0.2500left_z0.0450left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8742, 2.3394, 2.0129, -0.7929, -0.8322, -0.9421, 0.0922, 0.1658, 0.9005, 0.8539, -0.6819, 0.1825, 0.0334, 0.9963] state[eef_state]: left_x=0.4476 left_y=-0.3259 left_z=0.1101 left_yaw=0.2898 left_pitch=-0.0814 left_roll=0.0371 left_gripper=0.0922 right_x=0.2863 right_y=0.019 right_z=0.2053 right_yaw=-0.0188 right_pitch=-0.1487 right_roll=-0.1007 right_gripper=0.9963 state[joint_eff]: [-0.8, -14.106, 8.3624, 0.6471, -0.5836, 0.0708, 0.1343, -0.0479, -2.0308, 7.0632, 1.7167, 0.1441, 0.1001, -0.0122] camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.25,"left_z":0.045,"left_yaw":0.3},"note":"From above, the cap is forward and to the right of the pen tip; the pen is behind the left wrist camera’s field of view. I’m shifting the cap leftward and lower toward the exposed tip, stopping above the tabletop to reassess alignment."})

tool

executing move_to over 7 steps (0.7s)

step 417

assistant

agent noteThe cap is now near table height, and the pen’s upper end appears close to the left jaws, but the pieces remain slightly sideways from one another. I’m making a very small leftward and rearward correction to bring the cap opening onto the pen tip without sweeping the pen away.

move_to

left_x0.4000left_y-0.2050left_z0.0080left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8116, 2.1689, 1.3903, -0.4057, -0.804, -0.889, 0.0935, 0.165, 0.9054, 0.8539, -0.6853, 0.1814, 0.0322, 0.9963] state[eef_state]: left_x=0.41 left_y=-0.242 left_z=0.0225 left_yaw=0.3175 left_pitch=-0.1341 left_roll=0.1275 left_gripper=0.0935 right_x=0.2862 right_y=0.019 right_z=0.2033 right_yaw=-0.0182 right_pitch=-0.1571 right_roll=-0.1023 right_gripper=0.9963 state[joint_eff]: [0.1983, -13.9966, 6.3932, 1.2186, -0.4908, 0.0269, 0.1245, -0.1983, -2.1128, 6.8171, 1.6484, 0.0122, -0.0317, -0.0122] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.205,"left_z":0.008,"left_yaw":0.3},"note":"The cap is now near table height, and the pen’s upper end appears close to the left jaws, but the pieces remain slightly sideways from one another. I’m making a very small leftward and rearward correction to bring the cap opening onto the pen tip without sweeping the pen away."})

tool

executing move_to over 4 steps (0.4s)

step 421

assistant

agent noteThe pen’s tip still appears just left of the cap rather than inside it. I’m shifting the cap a few centimeters toward that tip while keeping the jaws at tabletop height for a straight insertion.

move_to

left_x0.4050left_y-0.1600left_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7708, 2.1075, 1.1927, -0.2443, -0.8017, -0.8326, 0.095, 0.165, 0.9073, 0.8539, -0.6926, 0.1795, 0.0322, 0.9963] state[eef_state]: left_x=0.3988 left_y=-0.2053 left_z=0.0047 left_yaw=0.3238 left_pitch=-0.1292 left_roll=0.1473 left_gripper=0.095 right_x=0.2852 right_y=0.0192 right_z=0.2015 right_yaw=-0.0168 right_pitch=-0.1664 right_roll=-0.1027 right_gripper=0.9963 state[joint_eff]: [0.4308, -11.8222, 4.9026, 0.9792, -0.2125, 0.1245, 0.1392, -0.1846, -1.8803, 6.7761, 1.6239, 0.0171, -0.0611, -0.0073] camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.16,"left_z":0.012},"note":"The pen’s tip still appears just left of the cap rather than inside it. I’m shifting the cap a few centimeters toward that tip while keeping the jaws at tabletop height for a straight insertion."})

tool

executing move_to over 5 steps (0.5s)

step 426

assistant

agent noteThe last lateral command barely moved at table height, so I may be pressing against the pen rather than sliding over its tip. I’m lifting slightly to release that contact, check whether the pen follows the cap, and reposition without scraping.

move_to

left_z0.0750left_y-0.1700left_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]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8005, -0.8242, 0.0965, 0.165, 0.9081, 0.8539, -0.6964, 0.1791, 0.0322, 0.9963] state[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3278 left_pitch=-0.1222 left_roll=0.1366 left_gripper=0.0965 right_x=0.2846 right_y=0.0191 right_z=0.2006 right_yaw=-0.0166 right_pitch=-0.1709 right_roll=-0.1033 right_gripper=0.9963 state[joint_eff]: [-0.1983, -12.0957, 4.465, 1.0427, -0.1929, 0.1685, 0.149, -0.3624, -1.7709, 6.735, 1.6044, 0.0269, -0.0513, -0.0122] camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075,"left_y":-0.17,"left_x":0.405},"note":"The last lateral command barely moved at table height, so I may be pressing against the pen rather than sliding over its tip. I’m lifting slightly to release that contact, check whether the pen follows the cap, and reposition without scraping."})

tool

executing move_to over 5 steps (0.5s)

step 431

assistant

agent noteThe left arm did not rise from that low pose, suggesting it is mechanically blocked or in an awkward joint configuration. I’m backing away and upward toward a previously reachable pose to free the cap before any further attempt.

move_to

left_x0.3400left_y-0.2300left_z0.1400left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8001, -0.8238, 0.0978, 0.165, 0.9092, 0.8539, -0.6991, 0.1791, 0.0322, 0.9963] state[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3274 left_pitch=-0.1225 left_roll=0.1367 left_gripper=0.0978 right_x=0.2843 right_y=0.0191 right_z=0.1998 right_yaw=-0.0168 right_pitch=-0.1747 right_roll=-0.104 right_gripper=0.9963 state[joint_eff]: [-0.4718, -11.8906, 4.5607, 1.0183, -0.2125, 0.2076, 0.1197, -0.3761, -1.8393, 6.9675, 1.6093, 0.0073, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 431): [image omitted: streamed camera frame] camera 'left_cam' (step 431): [image omitted: streamed camera frame] camera 'right_cam' (step 431): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.14,"left_yaw":0},"note":"The left arm did not rise from that low pose, suggesting it is mechanically blocked or in an awkward joint configuration. I’m backing away and upward toward a previously reachable pose to free the cap before any further attempt."})

tool

executing move_to over 9 steps (0.9s)

step 440

assistant

agent noteThe left arm has freed itself and lifted the cap away from the contact point. I’m clearing it from above the pen to inspect whether the cap seated on the pen or whether the pen remains on the table.

move_to

left_x0.2900left_y-0.0300left_z0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.878, 1.6642, 1.0969, -0.4305, -0.7151, -0.6327, 0.0985, 0.165, 0.9119, 0.8539, -0.7029, 0.1791, 0.0319, 0.9963] state[eef_state]: left_x=0.3434 left_y=-0.2267 left_z=0.123 left_yaw=0.045 left_pitch=-0.123 left_roll=0.1233 left_gripper=0.0985 right_x=0.2839 right_y=0.019 right_z=0.1984 right_yaw=-0.0168 right_pitch=-0.181 right_roll=-0.1055 right_gripper=0.9963 state[joint_eff]: [-0.3077, -8.9368, 8.3897, 1.2576, -0.2564, 0.2711, 0.0562, -0.2667, -1.9897, 6.7624, 1.6288, 0.022, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 440): [image omitted: streamed camera frame] camera 'left_cam' (step 440): [image omitted: streamed camera frame] camera 'right_cam' (step 440): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.03,"left_z":0.22},"note":"The left arm has freed itself and lifted the cap away from the contact point. I’m clearing it from above the pen to inspect whether the cap seated on the pen or whether the pen remains on the table."})

tool

executing move_to over 18 steps (1.8s)

step 458

assistant

agent noteThe overhead view shows the pen still lying uncapped on the table, with its tip at the upper-left end; the cap remains in the left gripper. I’m making one controlled approach to place the cap’s opening directly over that tip, keeping the empty right arm parked.

move_to

left_x0.4150left_y-0.2600left_z0.0070left_yaw0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3458, 0.9577, 0.8959, -0.6922, -0.3946, -0.2024, 0.0986, 0.165, 0.9119, 0.8532, -0.7029, 0.1787, 0.0319, 0.9963] state[eef_state]: left_x=0.2937 left_y=-0.0298 left_z=0.2132 left_yaw=0.0926 left_pitch=-0.1187 left_roll=0.1107 left_gripper=0.0986 right_x=0.2838 right_y=0.0191 right_z=0.1981 right_yaw=-0.0165 right_pitch=-0.1818 right_roll=-0.1054 right_gripper=0.9963 state[joint_eff]: [0.0889, -2.5231, 8.2803, 1.5507, -0.1587, 0.1685, 0.0024, -0.2393, -1.7983, 6.8034, 1.5507, 0.0122, -0.0366, -0.0122] camera 'top_cam' (step 458): [image omitted: streamed camera frame] camera 'left_cam' (step 458): [image omitted: streamed camera frame] camera 'right_cam' (step 458): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.26,"left_z":0.007,"left_yaw":0.35},"note":"The overhead view shows the pen still lying uncapped on the table, with its tip at the upper-left end; the cap remains in the left gripper. I’m making one controlled approach to place the cap’s opening directly over that tip, keeping the empty right arm parked."})

tool

executing move_to over 21 steps (2.1s)

step 479

assistant

agent noteI picked up both pieces, but could not verify that the cap seated on the pen. The pen remains on the table, and I will not claim the assembly is complete.

give_up

hindsightOn this rig, rotating the left arm toward 180° yaw near x=0.3 m caused severe Cartesian tracking errors and moved its grasp point outside the tabletop. Bringing both grippers together near the table center also caused arm interference; parking the right arm after setting down the pen is safer. The cap approach at table height can stall when the jaws contact the pen, so verify alignment above the table before descending.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8318, 2.2436, 1.4391, -0.4179, -0.8288, -0.9432, 0.0999, 0.165, 0.9176, 0.849, -0.7036, 0.1791, 0.0296, 0.9963] state[eef_state]: left_x=0.4102 left_y=-0.2516 left_z=0.0056 left_yaw=0.3411 left_pitch=-0.1246 left_roll=0.1303 left_gripper=0.0999 right_x=0.2836 right_y=0.019 right_z=0.1947 right_yaw=-0.0159 right_pitch=-0.1924 right_roll=-0.1093 right_gripper=0.9963 state[joint_eff]: [-0.4855, -11.3026, 7.1179, 0.6325, -0.0366, 0.0317, 0.1294, -0.3077, -2.0034, 7.0906, 1.5214, 0.0317, -0.0122, -0.0122] camera 'top_cam' (step 479): [image omitted: streamed camera frame] camera 'left_cam' (step 479): [image omitted: streamed camera frame] camera 'right_cam' (step 479): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both pieces, but could not verify that the cap seated on the pen. The pen remains on the table, and I will not claim the assembly is complete.","hindsight":"On this rig, rotating the left arm toward 180° yaw near x=0.3 m caused severe Cartesian tracking errors and moved its grasp point outside the tabletop. Bringing both grippers together near the table center also caused arm interference; parking the right arm after setting down the pen is safer. The cap approach at table height can stall when the jaws contact the pen, so verify alignment above the table before descending."})

tool

give_up: I picked up both pieces, but could not verify that the cap seated on the pen. The pen remains on the table, and I will not claim the assembly is complete.

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 · 8.898 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, 0.7921, 0.6018, -0.3798, -0.02, -0.0113, 0.9998, -0.0166, 0.7906, 0.6079, -0.3847, -0.0242, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2944 right_y=0.003 right_z=0.1817 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -1.4564, 10.5368, 1.7314, -0.0659, -0.0513, -0.0366, -0.8821, -1.1282, 9.9214, 1.9365, 0.0171, -0.0611, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4322ecb9b6ae0228f5b0bb78788574a2bc6cbd309d80979425d9744c92e480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971f04401769959cb97769ad1cd06eba0744210fc19bf8f243db1fae631a1620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7c09e6061238cf0823c6e5af50c5004578be23927bae8156532a988963f1e0",
      "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 · 6.33 s

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

{
  "content": [],
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  "id": "rs_0bd8936f323cbabc016ab4276d871887d0b0ccdd6296a44cfe",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCd11YoAex5nsCHbC_e56DDye775WaGpBSYXkhOfh4nV4e-wHYZqf1gPewIrYVjDbhCK4SYTB518A-E88GDMKxFqQO1R0_KQFOQJCkmdnXhEr-hSDtt35wtT8wib3liAsZRdAYTrMVL9mqgVIgb2wep8DGpb9mdKqZoLUPiOG_TrpXCYbyy7Mubs8PqG8OtoTVoY31wqE6h7qE5lGEkJ09fTpGPXwOYPurshucl-n36-z7y4Ch8ENkPwrclwUVcj-iRcxDrns1gH1Vt1lhJqHEc09fx1JSbsG4dfkGx8wpHSnYGr9j294_EHcYWIWF9Wunn19_yQRzgpvtS-e4vt5UPnuQNXKcGomGoje88FRqJKpEgcDdIUCKig1jAL64I2nAYjwqpotcs1akbBS88wAlNGWXfdNEkI-tYrWoN78KL0b5F_tnqky2fsIVQ6Ov0LmhJ-InoZBTZWhGTwyQQMmmFRUQhLjL_srjJPI9uIgFHeipvsfwY-gdXVFYa4I6N4sfhQ7v2jDiECg5sUvnRWKH17K9sHwznJqJij_7TanNjJeW63J4zwgC2NLFhd0CAaTa_hDUeIj2vwWzZtQGd4R2DfB2h8hvpParWFSvIZ-I8qcYD2IswN7B9yp6ShVGZ0jw2LMRLX75MEnI6B8nu9WLFsX7jtEQTMHXnOfFZ4aTozElhsc7GDI7qyuZEJRdY-_3uxDDoDMok36rWePHuhuI_xiZTUzDkJmDGRI8LYIzlfYpdDEcOpurHlVd9TCYFFwHZ4T4Be6m9flJejSzTAlkvHWMm1bpv7xknXozDO_1KegZbLwE1bSNNOnmK9u_VYwF_AyU8UPJi7tYYkwTaorBSj2Sq2yJCzno-Egsh-rn1w1KOKOjvcCyozI4Tl_tr104ET0PJ7tcGC_mXkC7zQPGCAwwk9ULm6D21amlyKLmw878lNtgexWuJpwr16BntUWdz9ANBesnO_5onf8K-evQd2aejm8Y4_Y7e8Jy3V6-tj0frVxF-mNC_UYrWY4GRUchfLzV4ISd4sqIX2BBpicRuDJ_ZRnBXZ2MBQ_sg8aDZ_q-ryG5castfBGlGU2n4w9oPXcRgsppENTWfGB7UzGbHmvh7d_ohGIWFWyUCshMKs-zez4j84ob23oOgxi-1j1g937asdrJLPau6UGhG_yWrfn86mxkMDrc9_JQzwhRDBBedBdpuHeeNezBuh267pZOuHqCceeoOzY6_pYI3-Z7NGpuqUlMNIUYPupxrnJ182hXshfIht5GMEbqf_YHhH1LVP0vGjzPSwwuKPoxGOyj577cjfoXM-7iFLwC9C9jgPVvr8kUsYTRYYkgdEzihCX-4mqeLy5Nlkm3ycMZKtiUarqT4c3FLAAXbXGh17wEZGQUabbeJd2eDDRVNFV714JzvAOo6AQwNlPkMPUbbxjmwU9kEF5iR0SPNw-sBLo7-v0ZGpPOjlhYhl5bupUVpxF9F3jSkwYVfcpLSAyX3udStrYmBMFfJQaaAcoRYKBlcypJlxsRXdZh1lwO7wC8kzotKJJ6OlLNZCVn-Jjz8jm4_kH96U9zPYo9j_uU3RE7n6kfUnSv5eIM2SxceVE-V7E2X1GQJggLubDBSuDT2cT5c14kQZ2zY57GUx9Jdbr6seZRvjk0CVhPSIjmwRO3ySxQ0Zbe4tH6N4O8l_2subWS8TPFh8lgZbC_fYo2P28om2eNVQCsOvMVVdhjfxTHO4nbesPuwWTUTySMuaS5ioGckRPp7DY-H3W_tJ7pOggJldlu53Y-x7Psu_DsUBAdaOJlLBkwkQRdPTT-DoVJxwQCTv_uU9sGmSZqbfPZhm6PuVSis=",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.23,\"left_z\":0.12},\"note\":\"The cap is left of center and the longer pen is just right of center, both lying on the table. I’m moving the left open gripper above the cap to refine its position before grasping.\"}",
  "call_id": "call_EOsCL7tw5e7vWthtFshg1jRp",
  "id": "fc_0bd8936f323cbabc016ab427747e1087d08b96a40fb441b798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EOsCL7tw5e7vWthtFshg1jRp",
  "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]: [-0.7658, 1.6943, 0.9607, -0.0612, -0.6071, -0.4801, 0.9998, -0.0193, 0.7975, 0.6075, -0.3908, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.379 left_y=-0.2197 left_z=0.1011 left_yaw=-0.0122 left_pitch=-0.0569 left_roll=0.0363 left_gripper=0.9998 right_x=0.294 right_y=0.0022 right_z=0.1784 right_yaw=-0.0029 right_pitch=-0.0134 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.6085, 8.8684, 1.7314, -0.5153, -0.0073, -0.0171, 0.1026, -1.7983, 7.0769, 1.7753, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a0cfc642a9414f13a3da27981223cf8f0b6b7cdb9dbe509e4f80fa5c6f933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01450268f299bced8f7e777c725204c8b2eb23854b9b27f86ee31ecb3304899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e538bc81748b0150d8fddb7f42659566a8a338244edbec61fd4361b670aa3f6",
      "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 · 2.166 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, 0.7921, 0.6018, -0.3798, -0.02, -0.0113, 0.9998, -0.0166, 0.7906, 0.6079, -0.3847, -0.0242, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2944 right_y=0.003 right_z=0.1817 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -1.4564, 10.5368, 1.7314, -0.0659, -0.0513, -0.0366, -0.8821, -1.1282, 9.9214, 1.9365, 0.0171, -0.0611, -0.0855]",
      "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]: [-0.7658, 1.6943, 0.9607, -0.0612, -0.6071, -0.4801, 0.9998, -0.0193, 0.7975, 0.6075, -0.3908, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.379 left_y=-0.2197 left_z=0.1011 left_yaw=-0.0122 left_pitch=-0.0569 left_roll=0.0363 left_gripper=0.9998 right_x=0.294 right_y=0.0022 right_z=0.1784 right_yaw=-0.0029 right_pitch=-0.0134 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.6085, 8.8684, 1.7314, -0.5153, -0.0073, -0.0171, 0.1026, -1.7983, 7.0769, 1.7753, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a0cfc642a9414f13a3da27981223cf8f0b6b7cdb9dbe509e4f80fa5c6f933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01450268f299bced8f7e777c725204c8b2eb23854b9b27f86ee31ecb3304899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e538bc81748b0150d8fddb7f42659566a8a338244edbec61fd4361b670aa3f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCd98njxLGpSIc-6OnttkqZg8JcscBQe93w1ubT7DcNaNOSdjQQv3DoKeqOfFdnASNptt70Vabn8_rnpNGjGZgK9EqGE6yObfv41aw1cH8rwPlzBLPDGF4toFau8yPAQNzf-tSy4-dcWp4xlaRSdejJGe6l-iUvscZbcuGm6Rf9E9BQM_0ey2mI4aekczyuHWy4JRX45dHZCjL7FKeACU-a6stl1Ur6DUgC9vv-EoIGwlfXN_qgHYCBzLM_Gz5KKxH7tOECOjYtbXiWuJAeGnTMW-PA_Hgsf6UYfpSznY-Af_k2gHN0rTad1Ys4voZPWJl8LnZqGwr4cZ6lPL2hzgVw8UbgWxMfOqaOacxZEWxOCpy-Bcu3HWtZ_zBb1psaqasO7TIu8TU4XqoAmQ-aLWgyQnBaRk3zfzCDYJPObmIlTyDO_47Or9n3I1upAa0qIoI_NhAAhvZ_H--UGyGx5XL1KazJ48b09jbgq110LMYQUb18u_KvE4Tsdm6LX_3HfCtzdU-ogIHkRzUBxyZZbeBeHK-cuK-saZoOprabAcsEWrBgA2-FVHGz1F98xALS9QYECUkZEUCAJC2tMDzIKbY6CuwHfSwQ2psuuA7i-MMUKKkSMlSIeXEtNdQICPkMF1IA6ro17EY--aIuYxIyLhmWndfq3oRgWGkhcuIuUPKnLFZrD9sDp_JdLDwwjtklVbmctk1eYbE6sJo_85mLH4QWwThbxCzpktbaQ1ApLeha2lalUeS6aSdD49z38G0ggvI4-LfR6GbygDRdYV4US0CFk-yRylaF2G9_WOU6H2pkQ14sdbDhEuhMl_0dFIMANbnZJydAk9s90ITPFWvvqKmBiUzRXmwvO25VGqqLLxTF57xR34A8jez-AMv_j75tLu7769gpqRCOP_wfq_xm1iTi7KYtyw-UnNa3AH9icr455XbXyK1YUkEUwpd-1ya6e1VfMsWs_pr1_A4DOyp1CFkO_dONfURCuR58QeanYDjioZXFgZpd_AxRBO3qSdvk5dBlh_xMLrDvx_GSKNHhpRWHLTOvV-AIEVDmkLH4XM90KtC7LiDGPQwcW-jRoJrF5PbyJfHuAJYrXdwaITwf7HBhne5pg9YRQkaCzNO_ONL3QJih3T2zVagJ1fxHi3tCdYb42mKzxV7tTIxHxj6LLTC_Q38KtqzrrN4Kwcu8ceua6KG9iC7t-zyjh-2x6oatQ_rsvULArJMQzqIldbheiC6K8EqBXB9-I3qgCeosAlAm2galghXrjPMK-FI6Z-AXvkYsjUC-Vo6_-5HB5QzGtoAA4ti7-zgl9qGY-85nsc3ISczQ56a3ZYOhVTIeRVNrBLFOj2UIbJ-1FJMZQbvYaYCyaP2ZZu9hMbgqh1ssQd7HswcFbbB9bf5lrENySpUQUItc2UYxStifBGTCE6x8ENh-jukqAidQCzHJuY0tf0JSUHmA8a83jeIT-pUW52aj3vofwY-dDBiY6wBbXzlclO8y5J-XF5c-jvvin69G0zyHg4P9nEk-jhjyL2ZhzIj4JIXdvExmJshqpNJnqCV03XO2ee5vbNAfdZb2DR_BaNlxp3aiI44_IR6d9HKTz0UKL2C6qV3R6X2xK08AXfMaZk4vPw_gASpH051Cj0BYHK8pUIh3FMACLdraGyGsLTny8SgPsITNwJPm_eiGwI3jDR-z3drEH_29M2eAmcP9WUcfMhjwJ7ibOZ1zycgJHJTfeS13Xa5dEMN4L3YZ6QyUGOQPTgupqMP-vSktF-7fdtCnKW-gj_g3HTd3YsJ7_T_CK91Uoe6j20D5anb821_fCHdqxvmJyebr39EWCs6Y3IVEdw1aHaO_dodRQlfMr2-pVTXPW6MdHwJ3P2lTFgfmRLGtQjok3v5ifaYXyLxmCmDNtkZ7Xiz21rBHD4rSq0GIzz7cz4bN-MknTg15SlIY85KC0E7avIn0NcFaVNrOGIKHonIj16e-IHNDF8WvHPgK6VN_baem2-HwRmNCmJKwrofGpriM0lCw18EnnVDzuSYY3cD0DFI2DBjfrHUlzaOONaB2HVDTH72_TfYk98LwGdBKfRWV3FxtKv12qJF4mXNF19YpN-dK_7Vj79ZQtirhkWjGgDPYXtPpJ7pUtGluX7HOjFgfxGqdNVNOjXBrssrg_R1TMcdjjqX1ZQYnFmKLezUbP5y_9nhxoHefG_FaAQ6OZO6h-mEqEJCJPl7VRuUb9FRgkeO5jxTxEDYdrYFDp5SXcsSdjrq6yfbUcQae8cwfLaK-kz-e7-suSxsJqDcZ6uiy39D_X2jEO4jYOaqE-OEvltvyndjzP50vkSfzb6AmJc-v-yXYlVKCmkYLzLjHgf4HawP8ZS7jEM33PDMLXjX1z95TeUWXBtdEWyWKsxevHvtLA23K86BnBUae7sypd5thYyNjTUGJvMww4q6g_1k_rldlIEyzTZPIDM4JxX3E8voIqc-zMn1f3XOVaLLL1aE_e3ls9c3G578KzmKr7fejmm5vfHkaDPez-QuE_xC6wCb7ceLxm7-XpMwqFvCVh5HxHE5DeKXMUsFHz4iMVl8x-a-6y9RJyoMP-tTYRl4Aac4p-xqWEZ_Bn9WOdaOW29G2fqEqEmjh6g2C42HBtefCL3uO1lyZXVme1JtbMQP7gOBT0Rkts365B2lDiwnVLPNtmEp1B4sUFKa3B0zAF6FAMO1dfPQnj8Xh_NySpzKHkzLtJ1C7ymlYp0Yku2l_Mdg0Z6H6bMqiiXQDzWy_2-tKUCZgoTP3Px-0umoi6Cp-pR9X3KBpxoR15vF-1bq5GZvGu61jOypgTRhU6dqB3gc3djQ0RlCmMQorjnAFR_8Rfo07ychcMYmwDs4QSIiC-3O_PCUGgESlgBGEHOqlFltM5JwLy3PnBsYKOQFZSkyWbZ1BeZAOvz5k9F1sgFPKfzZR6BtK3YcfGxNdPz1uHiTxYTH5wASU-SIhLgS_8WF7hEXPOLTLOGZqEXbsyMnfcYjcLYBW3OA-jdYT5U406N6jGOucrRP75k11eCck6_5OkBssXGfLkS_pLJVr9Tw-yjNkiRrcn1gLZpWr1pPpInnoyu8MtjiVlQf9Pbd3dAIonfRVC7yTJO9WjglAbShCsQ1KQOJrZ_NU0gLprhi6J0JsipOm7s2rOhFFjZEAMxb_eRrdb33jtiBSNg1AGgTKIu6TXVlnHUcn7H6tAtka53o0T9o0FUcCu2kL4NZbejVfLv3x21iGB76d0B7wHI7mew_dvGaH_Eq5QsjuguE0HMc89GWY-0RKXIhAB9K63ln_Ovj-Q_eTcnrRRR3iTi3-rh-cOiIbQfBJ8zCtmdfOIzb_QiiKEabdQ8Ah4fcEG-k4vQbrDvDcEKGG1j2UQ4FE78htAx4zLnG76BmCkNHktSo7AJGQUw7kIFVTWpO-NGrewyXmQ09wButTZDYS2vF-RucXHjPJJgl6bYpBqIKMnu5IbXbwFsGNWlACT3or9YO1gMoWceImmQhbFYRaQ_C5oRnQ=",
  "id": "rs_0bd8936f323cbabc016ab42779464487d0aeab4dce21c271d7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCd9-WKd-MRimwdu_uIBP70T3rk2TnJwdYMVnu1_ZNiqfGRk1rT1G14QmSFeOKlFhjpm6w4AX9JFIicqnqT4IPR_EPMgHLVAgF-d0nVfPwyU9Oo6_BqfSrvcvN1hBcGQxrIAtcwcCzpU5mmQPpbL6d9CuaBnGCEmHXGvwLxSKj-OQ7OUIwmL9BUZF11Ugfstf77yx_rbx8b62btA4VCLt-hqO9yIbsHQQG7fXkkRI4380Rn5MGh4tCYXuoFNhA3uSGKNH6yW3XR3bLq8iskxQlae5OJjqgTAocrS9-XnWhQtXzj8O-wASKzav0LKfipvNnQjS5sXIZOVT2izBd9cRT4VF8HH-0CSZTE3J1Djdsnxs56nwZUE91cqhxG-CcRwf5R9RmmaGSAQ6VD5JQ6RY46r0Zs51HosBZ9FJb6xYhI8SqVvPk8Ld-icRtyhlxdoxoowS4tOTF7fPe2jWXP-_C43PEj6z5-kWiB1KFmhGd41cjJyBH3RaPJzeWd4m_TwkHLXbsdDidaCPfaRvl9WINoPRnzSkOSpj0_h9dxBuV6KYFJgo16hBs3RpmeidrGghcDZAi5vdQXuall4YYhCKrultIMbLgwAlxJd4eub0WC_C-X2PlQpZSB8cZLvjXOFs4rd8GGiLOjiC7OqzZfx0NIbNy55Lqd23OMDzmFKF1UT54NhGhOJ8NY8YR7BEsf-mueF6ltjbBc7H9PUi9Q_uEy5xkVW6v6-NhYNgbnTSgdUPImBKXEiRYQKxd7A8EWXUI4b2SrxxMpYQUE1PzLPPEXjgjfSX8re0Oersb6dIuQwL2iZA30U_z3efNsq2-AZUlNb8T0R184Wv1O496jdZyyFJrEAh8jKUioJNmtW8MLlLzBxR0jecvBV4LP5crJL_t4pBTSimKs3OMrwPTUJfI6aXrZlMX4tJ5xm60lM3qbpEpp_ND5xKH5SzP0sEeYXWDshCHWPpeR-yMcNrvjKWGKXblAELhJQPh3D11NLCQEe2HLXNER5HarF7n_qsxF5pRJ7pZq94waYDn6yg40ZWm4kC6Yyk6m1SIq9lUPxHRJWUw5huYMT7M3YHcS4at4VQrI0KX3thAC5HG__O_c2fd5SwlTLNF5rqXR_WsSnOoD9xQGXPjHM7_log0YjlBN0WzYxCsY9YAMt4YqBYf3QPioiwVy8xg5IRhvpCwM15W4Y3ZkmuUhv-BGE5d3upASHjuKoWAAGRgZHsnVl6tmn4pQaiSqz2FgEM9GOKolLr8DwgK4=",
  "id": "rs_0bd8936f323cbabc016ab4277d05fc87d0984fedf38b8b9f4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_x\":0.39,\"left_y\":-0.23},\"note\":\"The cap now appears near the left wrist camera’s jaw column, while the pen remains farther to the right. I’m lowering the open gripper to table level at the cap’s midpoint.\"}",
  "call_id": "call_Tkib64aYOZQnJXxvIITesYJf",
  "id": "fc_0bd8936f323cbabc016ab4277d3ae087d08d67a9c45448e509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tkib64aYOZQnJXxvIITesYJf",
  "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]: [-0.77, 1.9739, 0.8803, 0.2535, -0.6163, -0.4927, 0.9994, -0.0193, 0.7979, 0.6075, -0.3931, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2251 left_z=0.0053 left_yaw=-0.0008 left_pitch=-0.0848 left_roll=0.0624 left_gripper=0.9994 right_x=0.2937 right_y=0.0022 right_z=0.1778 right_yaw=-0.0031 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -8.8957, 4.7111, 0.9402, 0.0122, 0.2759, -0.0659, -0.0615, -1.2923, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42573bea6ea7e97abd9df9c0b0fd7dfe4d88f86127549a0a04baa71f0895440c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ca5332db443e253df4b26e499063af35beab3a88eb31bcf3a774b91663f99c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d624caf143a93fb7c0648e05bfcdc6b13c68c9f9a2acc02ce2ff15b9a6bd0a13",
      "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 · 3.927 s

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

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 1.6943, 0.9607, -0.0612, -0.6071, -0.4801, 0.9998, -0.0193, 0.7975, 0.6075, -0.3908, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.379 left_y=-0.2197 left_z=0.1011 left_yaw=-0.0122 left_pitch=-0.0569 left_roll=0.0363 left_gripper=0.9998 right_x=0.294 right_y=0.0022 right_z=0.1784 right_yaw=-0.0029 right_pitch=-0.0134 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.6085, 8.8684, 1.7314, -0.5153, -0.0073, -0.0171, 0.1026, -1.7983, 7.0769, 1.7753, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.77, 1.9739, 0.8803, 0.2535, -0.6163, -0.4927, 0.9994, -0.0193, 0.7979, 0.6075, -0.3931, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2251 left_z=0.0053 left_yaw=-0.0008 left_pitch=-0.0848 left_roll=0.0624 left_gripper=0.9994 right_x=0.2937 right_y=0.0022 right_z=0.1778 right_yaw=-0.0031 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -8.8957, 4.7111, 0.9402, 0.0122, 0.2759, -0.0659, -0.0615, -1.2923, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42573bea6ea7e97abd9df9c0b0fd7dfe4d88f86127549a0a04baa71f0895440c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ca5332db443e253df4b26e499063af35beab3a88eb31bcf3a774b91663f99c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d624caf143a93fb7c0648e05bfcdc6b13c68c9f9a2acc02ce2ff15b9a6bd0a13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeA_tmlPu-TbnSWBc9EuYr2ku6q8d050nYnITaWwTcoyzMbnSCzVLV4WOVS2iYjwBlAL8C8oVj78sWSkwylR8W97uiZp80g7gXjGrHgqcy1hJ7nIQXBcKqrPLnedgDgLyHZaM5QKcZz6-3vGsQdgAk8dkhYekkwrVLWka_nyn0a0KyvqgAqaRW_Mc12YCwWddbrPdABSdmKtptlPUIGVu7sUy850kMxiyoZjqgXG7Gts0rYJZr9zNGbqWgU67LUEET3LgtjeSSEh2p1G2cpPhdBqX_iqWjoK0pBkvEsVRkXXfcXj4A_O_H3kNsVpe7NtLGA2ofMcampUmymcPiSQUcLhiQQwcM7jTFNjUZoB_WiJTr4qXrQWsQVA1SbXNMrJYt7AzIJnV8-wnKloJWwWMvZUkgxobLOJFdWQf1mClGPVVxzdF_BKJPyLvAS_hmvIwMuR7eYiFWlMfqz0KlQ-D_VVe3KOuZqmGaoQ04qN6-3g5f5zE4QdmmsR23jZTr1BJ7z66XZ79gmU1QyP5-S42VyM3WKRT71PgqSgDQZoLcMAAP82sH8U9PyfoF9TOep8TGUO_FalRCHCCOIYr65lnGZKlo__GmVAeueGLpT12J0NP9fZK_c785ByxIdbkleWhTdEsV7z7fdx3tZwyeiNjUyJVbtfor8bIf_xloYQQPnRBROpNEUfMmRYfP7tztl8hJRVLEynx0sOm62dCqNjpLU31_FbUqvU6YD5kLiByIfCUsek9gTL0jh3jAPdSpa_cMofPuZry1dy1-PjW-AYAFJLBIuj5M9U1fiY7Hm8eITYZGDr16nt_hWojryrGpN-YE2TsIA_hYI2Ql1RX3agO44m7HzXCcarOi1Vq48rmBHg6Cz2idapTlWOLgh6hfc3uBV96HOuRnQK8ePy1kUlhOUo3nfpia9Q7ftkUyP2dU5oXeS6zyqAkOkKCialfrQczNhuvPlHjF1oRpAPij4lwwHPQZvILWMsk_2cdN37u55MxTlsN4ROJjryVOo9q81kiF58Mbc2Mf_DM1_eUeuJvc0Pe5orIZ6PMJVgjXwEMo9iwWcd4BHzvQGUgDZjRuWStPSXo1a2gFaFKlfa1wvYFyfQWxS0MrdBNKAYFLsqJ0WeT4q31W81rax20h93kJW9W5jvherOqffhfw4sASzeYmWHzT-7knr9gDyZJht0eM-X7e4rBofDypAVONrOejZCGzIZd0PZu0rIG9EvB8x_jGqcClKvWjBCfl06plHjitK-Uw0Vf-iX-Up3iy0tWnqv5264OmYMVWRIHkbXmuqkIo6MEoXKOKVjrCZHTPihWeuFW-9tfOW9Qw4_vGkC2EMdQyPn3iElWik3aBerDTMZlXkjNVXuyy7K6whgwKh4fccpvCHR0OMV2Xzjqz2WyJC39iEUMHub2wdfqbRaIjd6-gLJmxjE27RE9i5qR1GC1lUBLU=",
  "id": "rs_0bd8936f323cbabc016ab4277f6d1887d0a39e2260317fa8eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open left jaws are down around the dark cap at table height, with its middle near the jaw column. I’m closing the gripper and will check whether it retains the cap when lifted.\"}",
  "call_id": "call_BlXAEwgTgVj8m9YC5tsukDjp",
  "id": "fc_0bd8936f323cbabc016ab4277ff7a487d0a1d68d6c3870541f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BlXAEwgTgVj8m9YC5tsukDjp",
  "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]: [-0.7712, 1.9842, 0.8787, 0.2741, -0.6216, -0.4957, 0.0479, -0.0193, 0.7986, 0.6075, -0.3965, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.3852 left_y=-0.2259 left_z=0.004 left_yaw=0.003 left_pitch=-0.0756 left_roll=0.0567 left_gripper=0.0479 right_x=0.2933 right_y=0.0022 right_z=0.1769 right_yaw=-0.0032 right_pitch=-0.0202 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.1265, 4.9983, 1.2234, -0.1636, 0.0317, 1.0574, -0.1026, -1.347, 7.1863, 1.7753, -0.0464, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d44230b8558f76e6693f64fa3a67c93aa61c84e6f884dcfc922960406e63ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174728f2e29adfe3cdcbf16ab3aa2f268ad0dd647cd38e2b8e4dcc9b5ff49d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0960cafbe325973495ba11c97b687ead3743c2dd2cf6b43d72ef7616e78825",
      "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 · 6.084 s

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

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.02, -0.0113, 0.9998, -0.0166, 0.7906, 0.6079, -0.3847, -0.0242, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2944 right_y=0.003 right_z=0.1817 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -1.4564, 10.5368, 1.7314, -0.0659, -0.0513, -0.0366, -0.8821, -1.1282, 9.9214, 1.9365, 0.0171, -0.0611, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.77, 1.9739, 0.8803, 0.2535, -0.6163, -0.4927, 0.9994, -0.0193, 0.7979, 0.6075, -0.3931, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2251 left_z=0.0053 left_yaw=-0.0008 left_pitch=-0.0848 left_roll=0.0624 left_gripper=0.9994 right_x=0.2937 right_y=0.0022 right_z=0.1778 right_yaw=-0.0031 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -8.8957, 4.7111, 0.9402, 0.0122, 0.2759, -0.0659, -0.0615, -1.2923, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.9842, 0.8787, 0.2741, -0.6216, -0.4957, 0.0479, -0.0193, 0.7986, 0.6075, -0.3965, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.3852 left_y=-0.2259 left_z=0.004 left_yaw=0.003 left_pitch=-0.0756 left_roll=0.0567 left_gripper=0.0479 right_x=0.2933 right_y=0.0022 right_z=0.1769 right_yaw=-0.0032 right_pitch=-0.0202 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.1265, 4.9983, 1.2234, -0.1636, 0.0317, 1.0574, -0.1026, -1.347, 7.1863, 1.7753, -0.0464, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d44230b8558f76e6693f64fa3a67c93aa61c84e6f884dcfc922960406e63ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174728f2e29adfe3cdcbf16ab3aa2f268ad0dd647cd38e2b8e4dcc9b5ff49d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0960cafbe325973495ba11c97b687ead3743c2dd2cf6b43d72ef7616e78825",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeFDEnc0OzHPGzzpSvPpcBVr2Uo8auMS8Yq-t4f4f3GjNFtlTh9DZqOxTJpWsLGUCbcoKry9MYOZIzDOHE0mdOp3cdFtWLK2SrwhpLws3nDoTIy8wKXBr9BAIaWLqLjqc8__sBdPDa2i8bXTsVzh-jtt6KC365ZC2aszUjBDe2GCUZfuiAdFkaOZuSyN1qi0f1gvb7zCqYe_oZrQ3QqaZNy_8uHD3QdM3tfXh9oFJ_v5x4ppFpRTQxe4dWtzMsgHQOqvCdDr5LRjzOhM9NyEbCs57sa4FklfeQJYuJ5oJg97cph2mLJXfFZjO53nKpg-oq4tbnj9Xr1ltqa8ed_qSLz5rqDURxRL7h4A3XfBU1j43Y0V3nVLRJEdBz-0HlApyAw-97bQTCpJCS00DHIgroZ3DgJbjbgMZYwBI-qlS-Bk23u8lE6nHlBugdUH-HK-88Hkcj7s7AJ8_VBDZx1HM2wPkfmYOI2X6Buj0hP2tOk5MaTZV83vBXh5E-IfBdoDpLFtojrC75KaIMvNcyMwZHXx8MhfjMezm2Ye5vr34LM4nf2TmFvmGQS1I04D5yHD3OZ47NDYL-g7gLVyZ84yVswcpgkUIBbXFbMi19AnFS4SosYkZjnK8eXnOOagi9OVXM8YZ6RjWRHRJzjwSSptiwJ4JXf-2o6eZbFuGFGPwfrSx3xh5KfRmB4b28VWzCzrx1GssKVCLWIgDtiU98iSq4UBjzOPw3FcU0-HB9nfsBfoke42X6XR58DzFfXsFV_2xBfaXytSHBPBgIrg0-KQdpn09wucOCHpuvCr52OmbdvwYxQGAzWkmt7i1gBzL8mp4PnA2-FuBSU6uzYZMdKuiqjdr36RA3RfB32yyUoFPTdAVeXw6cAey0RTXVdoiAUDj84k1BgMzihQuTLt-QEmDzALewHJ6e3xX4J4eIq9LR1PlR8qsVXgpE4FPlqC2k2UeJc4xQpBMgxEwtj7Hf1cSgaC4kADHWrCGoWcIAQ4KdmwJl3nMV5LYEPziC0Cd8F_V2r09-tN9YNzxkdLjsru3IV1Ha2BsWEm4LOeu3oRbvWN71CgG2zc5mSAVqYycP6ljDHImZL3myl-Yh8crCbZEvudScRwVRdMngXaw5yKWj1h72nersfxCPRSPqyLQNIWzsJIbgRNsD2dLLyU91ALcoNEox81-RyqMs8ogzb-VQIyjQ6qJNl3i1hb4xCZTbHdUutWcZmcZvQNDAki9t9_cUsf2XlKx1v8DTzS7Cqg9GOKLOU4rYoGMtxas9aLbUIU9HU",
  "id": "rs_0bd8936f323cbabc016ab42783bf7c87d0af3b6ea6bf382fbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The left gripper has closed to a nonempty opening around the cap. I’m lifting it clear of the tabletop to confirm the cap moves with the jaws.\"}",
  "call_id": "call_9BBNovWNdZOWy7EhNVl60S7x",
  "id": "fc_0bd8936f323cbabc016ab427841f2c87d0b608ddfbf31d0185",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9BBNovWNdZOWy7EhNVl60S7x",
  "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]: [-0.7712, 1.7206, 1.0817, -0.2169, -0.6212, -0.5003, 0.0525, -0.0193, 0.7998, 0.6075, -0.3977, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2248 left_z=0.1138 left_yaw=0.0067 left_pitch=-0.0931 left_roll=0.07 left_gripper=0.0525 right_x=0.2932 right_y=0.0022 right_z=0.1764 right_yaw=-0.0029 right_pitch=-0.0225 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.6872, 9.388, 1.2821, -0.3492, 0.0024, 1.033, -0.1436, -1.2513, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319c714ab8cd6a15e5febc254aaeff2ece867246220f7a0eebc9cb7e033f6f66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da26ecfe6e08f8796e74169e5e1de02827191fa6aa7edbec823b83bfab62cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad03ca37b6bd97f5a7fecc686eb638a681d35b91869628ce700477ce4438e2a4",
      "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 · 2.788 s

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

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 1.6943, 0.9607, -0.0612, -0.6071, -0.4801, 0.9998, -0.0193, 0.7975, 0.6075, -0.3908, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.379 left_y=-0.2197 left_z=0.1011 left_yaw=-0.0122 left_pitch=-0.0569 left_roll=0.0363 left_gripper=0.9998 right_x=0.294 right_y=0.0022 right_z=0.1784 right_yaw=-0.0029 right_pitch=-0.0134 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.6085, 8.8684, 1.7314, -0.5153, -0.0073, -0.0171, 0.1026, -1.7983, 7.0769, 1.7753, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.9842, 0.8787, 0.2741, -0.6216, -0.4957, 0.0479, -0.0193, 0.7986, 0.6075, -0.3965, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.3852 left_y=-0.2259 left_z=0.004 left_yaw=0.003 left_pitch=-0.0756 left_roll=0.0567 left_gripper=0.0479 right_x=0.2933 right_y=0.0022 right_z=0.1769 right_yaw=-0.0032 right_pitch=-0.0202 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.1265, 4.9983, 1.2234, -0.1636, 0.0317, 1.0574, -0.1026, -1.347, 7.1863, 1.7753, -0.0464, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.7206, 1.0817, -0.2169, -0.6212, -0.5003, 0.0525, -0.0193, 0.7998, 0.6075, -0.3977, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2248 left_z=0.1138 left_yaw=0.0067 left_pitch=-0.0931 left_roll=0.07 left_gripper=0.0525 right_x=0.2932 right_y=0.0022 right_z=0.1764 right_yaw=-0.0029 right_pitch=-0.0225 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.6872, 9.388, 1.2821, -0.3492, 0.0024, 1.033, -0.1436, -1.2513, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319c714ab8cd6a15e5febc254aaeff2ece867246220f7a0eebc9cb7e033f6f66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da26ecfe6e08f8796e74169e5e1de02827191fa6aa7edbec823b83bfab62cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad03ca37b6bd97f5a7fecc686eb638a681d35b91869628ce700477ce4438e2a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeMLXjSGkoRphuoAygEP2OTZIJLFnFIlo4dHWJZDSl9ytBShYV-PHHYx6L_Jm2i8PwMJzCKicD84HrtkrElG9t5jp7PhkQAXBg3fABYtCbbSZpV3pe000qaYQHWCCoHUApgdVRFln0YLnfPcezwVjfChG0WUJcqRHn5Gl2_FdL8qJf0ZKkjvZu1pQo_Lc_GIxJlxRP6iMhNgWtPlankGMIRk-oGvSqLR1-LF1DOw0igiWrrS4IrcF02Q9K5hu0jEnJIJXrMcJ4_4edZkz9pIBy1mai-j17ke6ySoa5RabBs0xCwoI3-IEs9c9ye8Cz9IsIk6-OCtroSPHRCPf4-pjFut-DCE09HS-5t8EWrfyypudIKkaJMuYWYMKmrJYE--Y1V78gcCje6AZ-1FL8Bgwj8lrVDlvWxwW03sXTsGOvmtZqhqXVPQqfU1tCUIl63TCPReYsTaNtHn0UOtlVTAy3-mzVeZK330h_6wzwM0u3SyWnO9KwUSclPAchqbXBRp2cGutuvIyrXDQg7Lm96sB0MwT3K6k7jCy_0F6Y__yprsRhz-MpqHrELWRy15ZlH6bHwWebRckMzKIrMpZSjNQowBOfDoCP2BpftqTq6TC0yyJMP111-j8jsCk_Dh8qWunpkxwezgiDW9MjNkoGomMFKHvhakHpXaqxHwdAQsdeV8w0b_o0bhS2PNRhL03WgRc0JZ9ylldvaPcyepB-QmUh144FVIh9fsox16CyIs7lQdpoWgNeBCtyJWwyeHoDHgSfuQqZ7Pr5rhI3QhfKkojjE79JLe73jyr6lo6-N1RwMggH63uPpkf1VPD1ejEzcvAWfjg-vpE_MDMUTaO6QSye8FO-3q8Z_-WVkdJNm2gE7WQBggUgxaSuED8ZRVrDF-q_p2tR9N__LekqDijNAEdoDEQ-uMJk_0gvwdISIIMvq90SqMFLKmsukc-h1rwujH84E8bCfNxOPt6JqepveZDkEH3Dgb_XXVQPdgSIcDHdasGz3i_WN42It10Vt9byk-w3GYP7gBbY1AlDZ4l0i9Dv6Hjnmu36I7nho2OFiXYgI1XgOb4hmMyfTqtSyyGeoFa4FgzhHGBQGkC1jPTpHc6GhLneaG9S6zUW5PHaF-Ks_TsmmFQaZ7y98p-0zqcJpyScitYqtM3Ol_VOi3Z3y6llwciaxIM9wPK4cGkskAQbMVNApxzDeJxkNMZofYBj_2_MMTuhQpLw-rM-DDOozJ6t8AP3XKWIGOd1M5y3FppDtH9BXfRIfC5-wHMe5bjMpF27lf0dvY-LfvhSiaeECCT1bJDY1vt__PN8WlViNUXlIBpCFvk0o-cJwhXB7LoioQ5lWDZsgTZ0uSja7DRnmlYCNkKSL_1rzKUUb_iAeQmaFRRGIhfV3NX8sGf-dxKn16nlblkwxIdYHNk-KDRdFlvCXN0Sbf4LQ62EnLW_gFT0MANJFE_OjvaQ5c5wXue9_XVtVbh0VqX9hElEQonZanfyvpF94Wy2IUR9C2MBFHaxNmK6vuBElgCDsjW4ZxJDseRhzkzheUcQArDueg2U34xdc5KVjIUBwsPXBVsBY4CXRV_oKmQQEl8QUEE88-s7z4gKj4NsNEyIaH42I1KBQ0YXogjosFlJUu6ozQ35F7xoN1lFBzP6bPT5uajxxGRe4-ymEbLFYoheTmTV5koxFG8FEAnoK1Tgo6OeCBg99djzvFTXgewNO0Hmu7aes8ZhV7goovL7qqBChoGIVJpS-dAKflSlrAGbF0mfoM34ik_Dn_rc-OCy0ZBBaKiMUa8FbKy9Kvdbgev9400LR3tu9kHj9lzpTuEaROYjFTDK5bHL4D3UEpMoihBkkf2UqyYGMyLCmeR4d9t47Z_V04bnqO_xmApSz6aaCPN3ANtzxgOHhwW1UKVnUwvKdVFc999mdJM4MVXQRedkGKknUilq42HZVNhMTTwh05uUVmQd1Z-rFQnE0GNJzrX5E8s13sSpce_R64xo2Ivroc08PvNrhlPZI9jTpSH17EnKpH8ZY25f2gpKMH4MjYe1YcfnFyWWFLg1lIOwPHLx3dp_Df7Zwgi4wPhD-DrHlG3b09wWjbtMFr8rxLEqsYEWWkrp3Yo-S6Sh04MWgkBcHpsoN0w5UoszSCwtzADP06oEDhXlep3PBy8fCnD1-e4630oZfCRllGrw_Y318kGvj7puxGCVW7Sdc6dA1_tzgKjVdElcV6AtK8vOZLa5zDeWIsq3OmC6PKQI9hN4FR7SFBwWSaqVBGqEOsOlroaYNhUfVqN8rhxo4Rjk3sQWealulJCRRE10IoWR7W62fzRYv2yvPXRxzmlZiBAr-xNyht-cVIcrHogfXoYudZ7AeMvZxRnQw0i56muCqC4CciUqWKg4gEaJesbwChNVMf6qtEQm7QBBBFCktpuCtzqftLhxT1h0I8aPTOhckBhNphH4LuwvcBofxECtW-8-SIwI39l3TkxOeypuoAqosShXUU8lOzZb0Rf3NRHMFein2QgnXZPGxoLuVmGhLtsAIUGgYzFJHuuZ-ZCrZhU0=",
  "id": "rs_0bd8936f323cbabc016ab42788438887d0bbe5614300dbf637",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.1,\"left_z\":0.21},\"note\":\"The cap is no longer lying where it started, and the left gripper still reads as occupied. I’m moving the held cap back and higher to leave room for the right arm to pick up the pen.\"}",
  "call_id": "call_Nnd2IUoekPwl72lu9Bdgktmq",
  "id": "fc_0bd8936f323cbabc016ab4278b41d487d0a9cbce1a6b00d7c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nnd2IUoekPwl72lu9Bdgktmq",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.0634, 0.9096, -0.6117, -0.5457, -0.4152, 0.0582, -0.0193, 0.8036, 0.6071, -0.4114, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2987 left_y=-0.1067 left_z=0.2115 left_yaw=0.0234 left_pitch=-0.0644 left_roll=0.0367 left_gripper=0.0582 right_x=0.2915 right_y=0.0023 right_z=0.1723 right_yaw=-0.0029 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.0427, 6.9949, 1.6386, -0.2466, 0.2271, 1.0281, -0.0615, -1.5932, 7.0632, 1.8681, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af0b5b49b0bffeef3d43f028e9e75afa8e0c4336dc005a11c1c7f5214e57f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4299e5016ec37d2e420a0d07b07534ec130e221b0d98b18082fa31b692989e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf7d51f6286722b81f8e75d8612c488392c2c3fb722fcff271494c00ac9bf9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.374 s

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

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.77, 1.9739, 0.8803, 0.2535, -0.6163, -0.4927, 0.9994, -0.0193, 0.7979, 0.6075, -0.3931, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2251 left_z=0.0053 left_yaw=-0.0008 left_pitch=-0.0848 left_roll=0.0624 left_gripper=0.9994 right_x=0.2937 right_y=0.0022 right_z=0.1778 right_yaw=-0.0031 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -8.8957, 4.7111, 0.9402, 0.0122, 0.2759, -0.0659, -0.0615, -1.2923, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.7206, 1.0817, -0.2169, -0.6212, -0.5003, 0.0525, -0.0193, 0.7998, 0.6075, -0.3977, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2248 left_z=0.1138 left_yaw=0.0067 left_pitch=-0.0931 left_roll=0.07 left_gripper=0.0525 right_x=0.2932 right_y=0.0022 right_z=0.1764 right_yaw=-0.0029 right_pitch=-0.0225 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.6872, 9.388, 1.2821, -0.3492, 0.0024, 1.033, -0.1436, -1.2513, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.0634, 0.9096, -0.6117, -0.5457, -0.4152, 0.0582, -0.0193, 0.8036, 0.6071, -0.4114, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2987 left_y=-0.1067 left_z=0.2115 left_yaw=0.0234 left_pitch=-0.0644 left_roll=0.0367 left_gripper=0.0582 right_x=0.2915 right_y=0.0023 right_z=0.1723 right_yaw=-0.0029 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.0427, 6.9949, 1.6386, -0.2466, 0.2271, 1.0281, -0.0615, -1.5932, 7.0632, 1.8681, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af0b5b49b0bffeef3d43f028e9e75afa8e0c4336dc005a11c1c7f5214e57f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4299e5016ec37d2e420a0d07b07534ec130e221b0d98b18082fa31b692989e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf7d51f6286722b81f8e75d8612c488392c2c3fb722fcff271494c00ac9bf9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeQOWenYoJN3K5Y2wiyghrFiEodpDL118Z3Sz5sztxO7YT2rS4aVvaG0xp2And0LoiGC6xv4JDUtFC-jrnyMxUHhoUMiiPZJ0hH8oPeCHgE4JmN4xvdYK_HvtjMKONNkzwSlf6jx_p2WOEDV1XlpU1-xiygpd81FKPWAejWwP5y_liPojLWGVGQauAnBoE6hG6ymLVlt3-nJpCtuGcy4hLp6oabQlVTfZ5p4_lBjJ9T1NyQVszbllzkKHiceznvzl7PSzQPJGvzx7HCN69puDJgDCIWF2wHmLJTTo61WjUkpewZl9WVCzhstTAeocN1OjKhchChYubQxJt9c2TfAnKpudjdrPKbUw6yp0tiCKVRhmHJG5EhwAKOVYpVs_gTOcLUeHfhDkdvFYzznvfGcfMzMgVl8EuERwOGJIm8mWdfDv48cmKfRdwaWP1i-OfK6eVrGLQN34XzXuKl5QSmtsQ0fLN1oW-mYeMcoZ0aW9jVqEIOz91Bm5oZASJ-JnEwPugpB_WzOHZALEqmvg_o0sl_wBBI5OkSr-KjPTkw_TrGJ3ysAqk68hjFK8hFIIyp60e1LnHGvJuUMjkNXitK5wR47SFAFjiZz1ZWd6v4M7hLv0BP3kp7O6Qirs6P-1KZ16av13wZpuftlTySvs4h68Z4-pSYBDy2YDYWbnNZ4nvl6AXFVxTPWg4PpT-BMWHl-KVLASBJIVjlgnExSGRx8hsSsqoHHe6iENmT8HvWQVXYAqaMvatY5nCH6RMUeaRE6zD6_M54IqUunuH4fytwIYqC7CJt9Rz7nHdJkt5CarNiF-c-0eKqWzEvZMCtB8SHSOW2mZXWiM5Je1f4QMebXjlZQ3B-52ZrwAed3efKy5kkzVJmUNr1-hF41nunfV_3Yiuj7sdH3bxuCQ9dqJ2wDlsVX_KFeVxpX3HtoPCYGOUBKO81p4sc4ONRaggVTKBzzOHQ1C8h3EuDLQJqtkK2V5lVawwdXgKCMHpdeE4HM0zRYH1632AnN6VRqM8PRUaCm830Lph55zFP4KuEtU5CZ_q_EG1k1y4WG88OwHhZFKYut32IqKZHvS3mnt8vKlRFzel5On6tG687Aat7Bb9mXjBWN3zWlTJjBH_PcKLvry8u0suJC5EDQ0btDBtG_RuMOe-l0QlA_TPe2YOIPylFGrUXmy2j4sfvLqkh3NL3YiWv-COz0skCk_0KzXANTV0bXFFLfHC3u8jfHo3NA9aEtr2XgHnjDCENHUF-Mnpm0drWFi4gdHY7f-RK6lLYXO7VCV9nGlGDo5jDUAG0r08qJSUHIXz5r5BDdHwUhgwZLDcULJBgbYjcEfIckjrzSFPJfTjPfzCKqahFfXSs8yA4_pbCAAMKu-BZjamgqItq-eoLIsL72aGLB7xbKOtnSEjU1cxz24B9Od7P9Z05Z3i1YV02zvDu1vXsBRCzQ4ylFdPL0RA=",
  "id": "rs_0bd8936f323cbabc016ab4278efaf887d091d2e07ff996617d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.12},\"note\":\"The cap is held high and clear on the left, and the pen is exposed diagonally near the table center. I’m bringing the open right gripper above the pen’s middle for a separate grasp.\"}",
  "call_id": "call_hJpIPJcuNlfXvACWxQxrKhYD",
  "id": "fc_0bd8936f323cbabc016ab4278f6ed887d0bcd65a2f4df20212",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hJpIPJcuNlfXvACWxQxrKhYD",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6357, -0.5426, -0.4179, 0.0582, 0.8551, 1.85, 1.1946, -0.2157, 0.6186, 0.5392, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=-0.1041 left_z=0.2059 left_yaw=0.0278 left_pitch=-0.089 left_roll=0.0515 left_gripper=0.0582 right_x=0.3774 right_y=0.2833 right_z=0.1005 right_yaw=0.0434 right_pitch=-0.106 right_roll=-0.0534 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -3.4256, 7.0222, 1.6777, -0.2613, -0.0269, 1.0281, -0.0752, -9.935, 9.0462, 1.5897, 0.6813, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad1f974707c4d0d162d1102ac7cfde0ad27d981fb965209c3e324c27c1daf9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec384747c344a795da36e9e9f340ce79d0c23bdceaae039b558ca8b6fab7f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0063a216162dd012b210e00c91e36a8f13c07b245893479469e28c74b6340c",
      "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 · 1.806 s

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

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.9842, 0.8787, 0.2741, -0.6216, -0.4957, 0.0479, -0.0193, 0.7986, 0.6075, -0.3965, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.3852 left_y=-0.2259 left_z=0.004 left_yaw=0.003 left_pitch=-0.0756 left_roll=0.0567 left_gripper=0.0479 right_x=0.2933 right_y=0.0022 right_z=0.1769 right_yaw=-0.0032 right_pitch=-0.0202 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.1265, 4.9983, 1.2234, -0.1636, 0.0317, 1.0574, -0.1026, -1.347, 7.1863, 1.7753, -0.0464, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.0634, 0.9096, -0.6117, -0.5457, -0.4152, 0.0582, -0.0193, 0.8036, 0.6071, -0.4114, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2987 left_y=-0.1067 left_z=0.2115 left_yaw=0.0234 left_pitch=-0.0644 left_roll=0.0367 left_gripper=0.0582 right_x=0.2915 right_y=0.0023 right_z=0.1723 right_yaw=-0.0029 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.0427, 6.9949, 1.6386, -0.2466, 0.2271, 1.0281, -0.0615, -1.5932, 7.0632, 1.8681, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6357, -0.5426, -0.4179, 0.0582, 0.8551, 1.85, 1.1946, -0.2157, 0.6186, 0.5392, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=-0.1041 left_z=0.2059 left_yaw=0.0278 left_pitch=-0.089 left_roll=0.0515 left_gripper=0.0582 right_x=0.3774 right_y=0.2833 right_z=0.1005 right_yaw=0.0434 right_pitch=-0.106 right_roll=-0.0534 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -3.4256, 7.0222, 1.6777, -0.2613, -0.0269, 1.0281, -0.0752, -9.935, 9.0462, 1.5897, 0.6813, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad1f974707c4d0d162d1102ac7cfde0ad27d981fb965209c3e324c27c1daf9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec384747c344a795da36e9e9f340ce79d0c23bdceaae039b558ca8b6fab7f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0063a216162dd012b210e00c91e36a8f13c07b245893479469e28c74b6340c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeWUH2QLrkyz68VOH6OJ5OUObSLqaC-dBfvIzvwN1qzh2fcI3UaieDVJRpF72ngFACB_3JmbJT3ZBaXJQB7aVaB5FsysdxeMapsi80KUCRlGcLCOKRo5G68-VOsbNwnr_Z3dpzZYoCeBlCn8Kc9AeVACSeiKVTzESSeUpSgMPQiMP8veHTkv6Lyzf8pB3U3Cno9aoPnd_9nLvFHAYuuYnBJNf8t97CvGm4wzsblkuvkpDT7EHsRzp_U2RvlUaQRysP3lN6vz-_sz4FSAodQmkZUiT_Zzwc8OG4ktEHtlQ_fyobGaivuskHwnJK0dd5aFTbRT5M09d4MamPqxQ6auIbHRQKGrS65lQJF4ydGmVM8FROFbb-j6_CgelN8bezOzzlrgw_7zKRcsxFL-0Hta5p50V-8GHipHqxVoa-JE4W9NrFQJZhQoFGLHHdEhDGrMLJB7SwsxUDkZmOZnnuGwG_hopEsFUTARYZLFHhYYHSmWmAEM8IZK3W42u-WTtSAKJ3BrV_r0-5-1oaV4enVsgtxf-akXCnyAO-XYszEpPOWiQY_GJqXQIgKT87w3ce2vKlcmOMIbdkIz5N6VMZSqY7xcl2N-HSWQzFycy1dzBf9DFdRJ3z9GBSA4xPWzK3FH1osfqG9Zq_pAzDkgSxHrdS0FpBrOCrTB8KdXiX1qiDQ47Fckx-EiWv8PnXSU9gU9gf53E9k83C6kuBLRqbbTA6G7NhsnkuLyM1SBWhRqu0Q3c-IVRzWB7GQWdISfTe5IiCR4bR0Qs5SgREu1SfsNycdLFuZqG1GqQv2H7OyqolM2s0zQGYvXpdO1gTrSlo2TBa2HuGm7OuY7NIbGj3DiebP-SIeYUoZVs8LsB8v6w5oIwaZDwdaDFtgVgYMmKHy4t0HSFX4vsq7C8vYhrtevctxswQj_bDQ9dJnE5vz3w62vwQz_gWPavYkfKqL5F-8BNPaOAe60FaqXjlo4-cqEPaQkZNAzVJCKTrrBH8onEBGVppVCs-RYenF4yp3tzR7IL-iDbHrEC7ZnT24FHVgm1axZNySST-6Oxn0avahC0drT0o3mOyDnpXb3Yzsz6whYntDzSXpnHPGzlJAZjpvCpOa57YMCQCMF18yBY_kHyDgmWGwtfYu0YMsvEFkLD__od-gk0jFYGzB9VWjs7A0V7pf2pqYEO2tM7n7wMhauQQXxGQahDkdQyQEiCJyQ9_zU90usknHr4KV9_TYQObkSXIcR5QKMRR8TzQ3WGRyrAOGavcPEEDI7o2sjTfze-YEgmGjQCXTxEv7ohTNEvlQ6EijaRZsZCp0g3Nn20ddsUGwQLSkkARiSoIDHnOHaCm_Clp1636ycxcQDhdp0LJQcCfkYoMz2QmZjKMEG1WpBGYxnNmqkBGQbLyvilelueSnvkQ9WD_LG-nOarjBTLpgG5dYY2byRUt0ImcNQGFUoIb5ASDeYS6YD90Dwg5-vQlQlOXF7jhTn0MrNNGEGSLOLQKTgC0z_Hxy7441Dmeu7E5559ZWhQTdzR9Klg-kZhPI5Y891yfouE9IVccXnPY9cMIaOHb-t4mFiNIWHaM6oyxCc2pjgLcEwNpan6LrhJpu2Kq3rSgVBRmEpFckEwIPfDf-87ucITYzzLm5SRvw3IvqzfUEGF2o__X2JF3IXUGCkUPkjEdLUkeVnKd7goAWFdAvHdeJwHzmVaqQZ9QEBwTrQS8KALzxRqRmMS8lbaCEOYAWSKi6CoNCvhC0NXu8rCrD83Z_b74bgN-4XQrcivuPqgttTZXalfufxTCvbsZAW750NL2IJkqn39oFl4SHV8fHrtIoX_KucCcSp-Jq2YjxcmV8Ox6n2HrNfKi7dCgJKAp_6LVcT2Y9YNQmPZH-KxNairQtuifyMnePkGGb49CH12eudg1CLz14sI9tD60ToKp4VHBLU-DgQA5tJmxxJeQ1Pkwx029YBmg_gxJd_34OMtgXuG212N2LVDz-mJV-Lsm4NWwh6vCwqyAu8GcRflQySN5FpfYU3AswV-r72k6OTNPoaNER4kYqan_Z9fCDVUKqTi5B0ws89icGtwyAbDg2ivXD285MTjOSoQccWVKiT0yUHzZh8SgfnL4LN5IydiC2WUZgBDVUtH8vO6gVgrL3sSLjI4WupJ7lW0xFCB0Vltxm7OsmUbCow2JkA0csyXpQIjlb6TxOB7qXJdrZmI8NGZfP1_n4fwI-TEPZvEGkyKdsQeVG98nkmJUj6ZFj3myEuCRqzmcZdbDE8BRpjKlDRYbHS2cb1bchMM05z0JuksZw6w0lLbN9iASvtXF2bMS2TVTvgDq9e0yFxWzp1cQhMl5P9l9txG2yQ76SmK9u2um2WLRt_cU9s1OaebeP4Cdl392kkcNq4HrMWb4fJ5Z1HEhJoAHirQYp0FJcDWToX-PkaQXLkha2FsTD35MuijcHpyZYnTXRrKrpoQ1q1gqRflbUjh5qc1jJNayCrhZGh5YVDx8GIaYWT_J_1MJoOpofjyYAtZRxmOEHi2OV9Oobw295b8Yk4TIEcgi6W-7_ibPfe68NDVMjzdDG3WVphlRjPqz-uICGBU2v1GuZ6SoynyfSsORBqMgu03nG3HGxgEnruTx78q-dflJ97ngEGX6vGJ-eg5H9imjdJdERhBnzWVWa9K9r9VwV9OLbTa0ldvlkOhuQ5K_hyW2FirDMfq_tZm3i7HAuDQOY9oqyPLuwwg==",
  "id": "rs_0bd8936f323cbabc016ab42793c4f087d08f276e1eb0563321",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.268,\"right_z\":0.006},\"note\":\"In the right wrist view, the pen crosses just to the right of the jaw column and extends toward the fingertips. I’m shifting slightly sideways and forward while descending to grasp the pen near its middle.\"}",
  "call_id": "call_spnUGaUE6iuNO13dpfIUvJdF",
  "id": "fc_0bd8936f323cbabc016ab427962a2887d09466e9e25babe29c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_spnUGaUE6iuNO13dpfIUvJdF",
  "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]: [-0.6445, 1.0687, 0.9092, -0.6407, -0.5426, -0.4179, 0.0582, 0.7933, 2.0411, 1.0607, 0.0982, 0.5705, 0.4828, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=-0.1036 left_z=0.2051 left_yaw=0.0281 left_pitch=-0.0928 left_roll=0.0546 left_gripper=0.0582 right_x=0.3916 right_y=0.2669 right_z=0.0085 right_yaw=0.0452 right_pitch=-0.1412 right_roll=-0.0786 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.0154, 6.9265, 1.4579, -0.2808, -0.0611, 1.033, -0.9094, -9.306, 4.8342, 1.5507, 0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c955b72aa7f611da27a81e530ea645a2fd2ba43c473f8042a224c57e736ce3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95db909861c552f4c53e52ccb05126a30b2d23e1ec355276c1bfffa8d4ca6df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a045854c0e67858db542d86a6d36d78ab6a1f2ec72f03156dd130c7a84dbf9",
      "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 · 3.711 s

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

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7712, 1.7206, 1.0817, -0.2169, -0.6212, -0.5003, 0.0525, -0.0193, 0.7998, 0.6075, -0.3977, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.384 left_y=-0.2248 left_z=0.1138 left_yaw=0.0067 left_pitch=-0.0931 left_roll=0.07 left_gripper=0.0525 right_x=0.2932 right_y=0.0022 right_z=0.1764 right_yaw=-0.0029 right_pitch=-0.0225 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -10.6872, 9.388, 1.2821, -0.3492, 0.0024, 1.033, -0.1436, -1.2513, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6357, -0.5426, -0.4179, 0.0582, 0.8551, 1.85, 1.1946, -0.2157, 0.6186, 0.5392, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=-0.1041 left_z=0.2059 left_yaw=0.0278 left_pitch=-0.089 left_roll=0.0515 left_gripper=0.0582 right_x=0.3774 right_y=0.2833 right_z=0.1005 right_yaw=0.0434 right_pitch=-0.106 right_roll=-0.0534 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -3.4256, 7.0222, 1.6777, -0.2613, -0.0269, 1.0281, -0.0752, -9.935, 9.0462, 1.5897, 0.6813, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6407, -0.5426, -0.4179, 0.0582, 0.7933, 2.0411, 1.0607, 0.0982, 0.5705, 0.4828, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=-0.1036 left_z=0.2051 left_yaw=0.0281 left_pitch=-0.0928 left_roll=0.0546 left_gripper=0.0582 right_x=0.3916 right_y=0.2669 right_z=0.0085 right_yaw=0.0452 right_pitch=-0.1412 right_roll=-0.0786 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.0154, 6.9265, 1.4579, -0.2808, -0.0611, 1.033, -0.9094, -9.306, 4.8342, 1.5507, 0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c955b72aa7f611da27a81e530ea645a2fd2ba43c473f8042a224c57e736ce3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95db909861c552f4c53e52ccb05126a30b2d23e1ec355276c1bfffa8d4ca6df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a045854c0e67858db542d86a6d36d78ab6a1f2ec72f03156dd130c7a84dbf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeZrTRz1zjzV-mK5RDRol-EL1QzFQI0VsMkjtSK_tfjtsGplrEhJ7UDRDyoLfU1-xT_yhc2jLmsu2l2xjJ12u5IZaQrtzC-uD6EBQp3JIu7QldPeT9_FgBKHjjQAsu_uz0gkWwXOKVDUBzitUootdSCTw98QaI4tUaMdN4ybc8MsFo2uLpYrogqAo02uHFrA8uZ7IfK3k7PZVukXSLXUtb3jLMI_zb_Q27hG2_DC_igGtWRH-7F4XAsCKEf5vjhkDw4nj0FL0w36HUQkd6680YpigWx6ybj-3QwnxBO-3Wg5WCk-mW4bz0Myp83fg1IuGfE79izqWS5vughBWQ0EcAfwcPzMOTpcjs8jv62tuLEliPb7dJBaV7yCLpprfIxRq4IWY7UtZpDjyxpaQw7YY9XK0QyZdsVWO_kCUouU81t41msUOQXh4d1XDIJFu4oc1a1sqMajgpkD0gJlndRyTUkt5zNYciVmcJyXfX-_PdrdR-MgKg7uPSn5FXMPgg_ILfv3jdAdilVyxn7uHe67TWZv-BA9QrsU7mpE04mmlbccPVi3IYvFiN1oWJgyhB8Q1XyiRGC6833NUhPHQip1-APSrVsvrU-6HKOmP28iioTrZNWFYb_8Ao30nYGEpl58J5pkS70zGXuoiH_mtl04aMyZ7pMo9-idIQAmWr_0f72euFX-wB4yEX_pOKvzjrjbtHVW02UXM-HOL_bBnjs2pW3gKxQPCBj7cfEwsnCr9x7BKtk-RknsnpobS6jdW0OBE_L-yzxjyEK92KK-6Hbhx9e-VKyrTCUwDZX0FY-DpwqRgPER_xwGovm8B0TWtRTIkWwM9b7EVtb1hQ8ytLHPo5vRci6sgtznFYOMYorth2CU4jJS8Twz26Rut6emi7_Wv6ksdhKo-Qh5Na_eYDaIPZvLNR27Y_90v7lx0qegmc56ZJPsZ3vGu9CtGokTu33KRKEtRb7zPXgG_uQkwDGBw11CDGcAAW8GenRhX9sUWeQO8AhfmTIznkiNMfDc7YLrtyhgqXjz6kXZkyo63RcHGLYgZ0gCAqhSG314urnVpjp0i-w7lNKUsaB4P8IJ6NHdQGY55gS9RLD9_0bX8bUk6pyT4w78q_Zs-DQFLVzly2kSFBLetwcuNScDRpYi1Fat_nU0O03O0XJNLss0ywKJjTOpZ1g4qA7HaoWnxKr7MjpQq0SjWDtJzpMQiMWMyO7xk2jbJOKZ4QjyKuJhgKK4KejU1JShrEVcqMuXr_W83qU4Pz-4VZLhRvYkDiaAn6y8LeWkYKh77aym8_Mkdx0-FicL4_S_5zb6Tz1FVYFoL6tyO4=",
  "id": "rs_0bd8936f323cbabc016ab42798915087d09f0cde237a83b63d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen now runs across the right gripper’s closing line at table height. I’m closing the right jaws on its middle and will verify the grip by lifting.\"}",
  "call_id": "call_Bn7SckD3Q0TItyC8HAAp97EW",
  "id": "fc_0bd8936f323cbabc016ab42798e40087d081f8fe44d5075aa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bn7SckD3Q0TItyC8HAAp97EW",
  "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]: [-0.6445, 1.0687, 0.9092, -0.6437, -0.5426, -0.4183, 0.0582, 0.7933, 2.0525, 1.0523, 0.1226, 0.5686, 0.482, 0.0458]\nstate[eef_state]: left_x=0.2953 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0952 left_roll=0.0562 left_gripper=0.0582 right_x=0.3915 right_y=0.2672 right_z=0.0039 right_yaw=0.0474 right_pitch=-0.1389 right_roll=-0.075 right_gripper=0.0458\nstate[joint_eff]: [-0.1983, -3.0291, 7.0906, 1.4774, -0.2711, -0.0708, 1.0281, -0.3624, -11.2068, 5.9419, 1.1941, 0.2857, 0.0659, 1.3065]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e846f5dddb34c948bf6a8e974afbb857a8413c04841af0748d0701e8d794d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d8df41bbb6ded7c592569ed314230b6f8cd87144913df66dd24470f491cc63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d519dea5e27920d73a00100ca1350c292498b9f53754d71e351074309264fe88",
      "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 · 14.47 s

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

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.0634, 0.9096, -0.6117, -0.5457, -0.4152, 0.0582, -0.0193, 0.8036, 0.6071, -0.4114, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2987 left_y=-0.1067 left_z=0.2115 left_yaw=0.0234 left_pitch=-0.0644 left_roll=0.0367 left_gripper=0.0582 right_x=0.2915 right_y=0.0023 right_z=0.1723 right_yaw=-0.0029 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.0427, 6.9949, 1.6386, -0.2466, 0.2271, 1.0281, -0.0615, -1.5932, 7.0632, 1.8681, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6407, -0.5426, -0.4179, 0.0582, 0.7933, 2.0411, 1.0607, 0.0982, 0.5705, 0.4828, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=-0.1036 left_z=0.2051 left_yaw=0.0281 left_pitch=-0.0928 left_roll=0.0546 left_gripper=0.0582 right_x=0.3916 right_y=0.2669 right_z=0.0085 right_yaw=0.0452 right_pitch=-0.1412 right_roll=-0.0786 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.0154, 6.9265, 1.4579, -0.2808, -0.0611, 1.033, -0.9094, -9.306, 4.8342, 1.5507, 0.2271, -0.0269, -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 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6437, -0.5426, -0.4183, 0.0582, 0.7933, 2.0525, 1.0523, 0.1226, 0.5686, 0.482, 0.0458]\nstate[eef_state]: left_x=0.2953 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0952 left_roll=0.0562 left_gripper=0.0582 right_x=0.3915 right_y=0.2672 right_z=0.0039 right_yaw=0.0474 right_pitch=-0.1389 right_roll=-0.075 right_gripper=0.0458\nstate[joint_eff]: [-0.1983, -3.0291, 7.0906, 1.4774, -0.2711, -0.0708, 1.0281, -0.3624, -11.2068, 5.9419, 1.1941, 0.2857, 0.0659, 1.3065]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e846f5dddb34c948bf6a8e974afbb857a8413c04841af0748d0701e8d794d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d8df41bbb6ded7c592569ed314230b6f8cd87144913df66dd24470f491cc63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d519dea5e27920d73a00100ca1350c292498b9f53754d71e351074309264fe88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeehgdTl444pRzALZrgvz_ozKp6vMeIj6aS4y2ATa4U9tQRsS4qikK_lh7gBr9tuGGqDTr7XF0JofeKNi5FJKcCkMjCfn8OwZOAnA9NzPQio-pG8knbQ6rGZB3utS_Z4yxP2-fDKk81wZ0u5ataTLwGw-mqY6byvCuPyCI5loiDkW80cscu-dETk5xFKOHmqztSmdyGVxRF0-wSRK0raVvbpcmNkAwBQuiFXmfG8BY8s-tysszdrBCs7iuPfUSyKtmSopPbsj5MiHCLgoPlLdxXOD7fhrBWz4TVoqL7TIQD_TBP_fHKBV5iOX85lk9EfCbEHuUGb6loEmXlfY6pvWl8o6BiH12TlK-J1Bohdrr4alTJ1MKDWzjgJ59k7_yY7WFLNC0HmfMjXqtgHP4f73rV-ZqEWxuATurmJyHEv5EfAx2q7r-bouYfBmA8gtxfR_B8m-t5WUQiOoms-dibn22GOqJZmIbY146uCxbSS7b3gcWFyileKATQOZTJu6AHVp2MR6Ww2ZTgd-Jrh-R4HDfgUqMVk-ilVDa73bzFQtv2jp4AqcypTlGAzKyusTQ-ZLXUN_E6lsFkdBWnWygHMSdVoTHLVg1YYxomj_FWlvkB4JbIFBWRlWkJEW407_VGCyD8U2tpreAmlmqJCDWxpbYdRsaq5pnq0z_RwqaZTkIyZTx_3CoOg6zwEee5qrenwcoWLuZ1RQxHTq9dv76Baiey525zEZh4JW3swwJ6UhyZE-9mvU-AI_179kPGnbr0JSiHOSe8mh3SDMB58QuJWXBTOXXGK1H9kpDM8mC1Rl4qBz21c9uBYF5ktZNL5CsH0msr07tZ36QlY4fbhkJes3Ee3crLTAHZLsDLmd4oA_NPO7VGjut9cAAyb7prHunXfTkdhfUptJdID43iT1YSBzGpEkUBr7pJrzgJwT3Stt7lA0wXS-fQ1MN020HPMhlHn9MB2IcY7XUN6Y8MovLfZtxylR_3VBvrkI4nNUP4vITBC7eLUptW4b6L9WFHfXemZLNvfq_Fe-dofmqNj7oDFzGNK619W0Qm8A4N8XkI2ew_fQQINoiIfCetAyKax8x67SOg-tmRWTbSOXWdzpyGsh0pKo0dzaQjutLhKeF-0kWoJJItHAyG3aieap8yJUoqUBwlzNjrT3cg1Mn3BG3A2Y7MJlYqsy-D2aG4TIcxdG0sDAatQuksoiKbP-ka9_8SsaXntTFGVM6ue2kih-XDmHx-OSwtT875ldreLVCZQuG1qWLTMqTW9IKuR9GznFUz6SWR0mxcKDtmo0rai030Oo-CVEOeXKFcrfp-zKrrbWXsZIw7tepP7-Pt6qLr2aQ44C-UGXPk2XB7AXi0TwLCYxPnKEDLBkaVykqJ76SAP9GwCDxJl8g_6ZEm05gB4yEKLnp2sn9D4nr_fqQRjwb6ThstGGz1EMf1lEXbJcuO-JQI14dygbQkudFAlBbPMSJt7Y8CPjEDRHi8gpzDfuVydDhORCkGGFMkJygW2s4BtttjA7JZJPG43rrCQPqAwL2ZcYzV0dyuqot6IYlEVp_e323q0t3t3oihoDHRi9ys1vO4iK2OMxQ1PbAZxsB5gAQY3AzMO_RGWaSdCfmW9qo90lDSFxJbnUN2WtJTwpVgZE7ftqX94kc16XI62CX2-nevUxvtRDz9uM4YANANL19RAGlcTgs5MQskAwRb-OwOc3OkcgmBSvDgyl5FvHgTO5ZLCUNPzbZPBKBOhnUVPj0wYhbEXz2NNULvYrZTulAeCOxvcS1SyBu7Z1ncHHjR43ADwHvUqihmFFfQQJtvZvoxBG25c5cydMOcgMNsJx108ojg4_fARDVkE4Xv9mFqnhHb1meaNvqYYSmE7SZovCrMpKzXNd-LiUjZ00RNy-HFvive4iF8ANZZO3YOSF6OG8x2Ap53xiy0r_jOfB7d6z-vx0gi91c8zkrdb4E-X0hhveu3K2h1BEszhJJW4EjLsp-yBC9gI1meJdxDs0HOJGfLhCKeRuwV3Rxhx78oT4XZl5dczwQhqKRTlaNIwwAB6aFLkUt3NOKruYuLtW75Z7tC4Vbkpq9jOktrmVY0MTrkTO-3Yled9e9Ht86R-9zQ8A9osYyFXNhwtRx2S-EustGulT_L2Q==",
  "id": "rs_0bd8936f323cbabc016ab4279b72dc87d08884d7439940b3dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper settled around a pen-sized thickness, though the pen shifted as the jaws closed. I’m lifting it to check in the overhead view whether the pen is actually secured.\"}",
  "call_id": "call_4qBAJLZQkB1dG6N9J9jhX2jx",
  "id": "fc_0bd8936f323cbabc016ab4279d46bc87d09ec68a0bde251e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4qBAJLZQkB1dG6N9J9jhX2jx",
  "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]: [-0.6445, 1.0687, 0.9092, -0.6441, -0.5426, -0.4183, 0.0582, 0.8001, 1.8355, 1.3228, -0.4622, 0.5442, 0.461, 0.0485]\nstate[eef_state]: left_x=0.2952 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0955 left_roll=0.0564 left_gripper=0.0582 right_x=0.3808 right_y=0.2661 right_z=0.116 right_yaw=0.071 right_pitch=-0.2251 right_roll=-0.1424 right_gripper=0.0485\nstate[joint_eff]: [-0.1983, -2.906, 6.7624, 1.4774, -0.2564, -0.0708, 1.0281, -0.3897, -12.9162, 10.0855, 1.8535, 0.4664, 0.1929, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d5aa951f48a2aeb18c888dc2c1f91b8e0f8ca4157ad92da5b932e36137219f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da69ac2370aef5330e6ef8add878a4ee15dfd9a447c3fcc7b3016c8c8594407e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e7dd3157f23a3c6fe58f7c61f917b6d0dcffa8be070d474f4626fb64d5665c",
      "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 · 3.587 s

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

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6357, -0.5426, -0.4179, 0.0582, 0.8551, 1.85, 1.1946, -0.2157, 0.6186, 0.5392, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=-0.1041 left_z=0.2059 left_yaw=0.0278 left_pitch=-0.089 left_roll=0.0515 left_gripper=0.0582 right_x=0.3774 right_y=0.2833 right_z=0.1005 right_yaw=0.0434 right_pitch=-0.106 right_roll=-0.0534 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -3.4256, 7.0222, 1.6777, -0.2613, -0.0269, 1.0281, -0.0752, -9.935, 9.0462, 1.5897, 0.6813, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6437, -0.5426, -0.4183, 0.0582, 0.7933, 2.0525, 1.0523, 0.1226, 0.5686, 0.482, 0.0458]\nstate[eef_state]: left_x=0.2953 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0952 left_roll=0.0562 left_gripper=0.0582 right_x=0.3915 right_y=0.2672 right_z=0.0039 right_yaw=0.0474 right_pitch=-0.1389 right_roll=-0.075 right_gripper=0.0458\nstate[joint_eff]: [-0.1983, -3.0291, 7.0906, 1.4774, -0.2711, -0.0708, 1.0281, -0.3624, -11.2068, 5.9419, 1.1941, 0.2857, 0.0659, 1.3065]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6441, -0.5426, -0.4183, 0.0582, 0.8001, 1.8355, 1.3228, -0.4622, 0.5442, 0.461, 0.0485]\nstate[eef_state]: left_x=0.2952 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0955 left_roll=0.0564 left_gripper=0.0582 right_x=0.3808 right_y=0.2661 right_z=0.116 right_yaw=0.071 right_pitch=-0.2251 right_roll=-0.1424 right_gripper=0.0485\nstate[joint_eff]: [-0.1983, -2.906, 6.7624, 1.4774, -0.2564, -0.0708, 1.0281, -0.3897, -12.9162, 10.0855, 1.8535, 0.4664, 0.1929, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d5aa951f48a2aeb18c888dc2c1f91b8e0f8ca4157ad92da5b932e36137219f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da69ac2370aef5330e6ef8add878a4ee15dfd9a447c3fcc7b3016c8c8594407e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e7dd3157f23a3c6fe58f7c61f917b6d0dcffa8be070d474f4626fb64d5665c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCetclCIUALMz3E8w4tbd-mm4sFNI2dzC6Tbkl-7vuTYjbAkopcERxLXs3bMPO3nJzlbcqTt-7EYYc_fPsEEDArfGrIHVnh6lv2nVk2GwYCC84F9Nh7Gy_Fe1ke_rZyEQoCS_cqrvcqUh_g3qc1p7nKEidasxcfOT9D2ftG8Uo9o2m40gu3C6-FN0qbXOyg6rr4ETQRt-amfZkXuIVFC1WzzUzTZkwH_WuBiR4gySh3oGsK9SA-MmojxxQVn_SosA4i5E3-csbC-X0v6BOauP3nugUQvDLoHbjxKnMkWLSr_f43hNlFSYUHHo1WajFMw94B2ly5g4NXukS51uUi351mxIA9Vo-C-71GZhSLLeBoVZsPt2M3zfkEmjlcoLzIX2D6Q_85uHATkq5eGsL3lWdHat3S6NULalYnokt7XjAwrPdoN6RQM6P_2DvUqw7nixtM_oDyB-FvEiEryCs2WxoejUBgJs8KUm9Z0Jw49W7uKddCxICXZTIyDakzNjA3uvA5RV0VHJneLhhDQnwAhIX_zVVgzPsj86a5wPGajSxLB1tuRCklEU-0CiAAFRVcY-NnOrzJKZLsqmlAsLZ43LP1t8CSYpAvZVhFPm1VSKLSIzDBxu1TpxpULvSQ0Z2H-8xbN3iuMbPkxxx-RhIb2BgrdIPRt6s7RiPsONYmo9Mmn26f3WYYYD-_eT4XlZTElVnOSew4Qmxej1rxAcxfReKVZj0BzDn4HB6E6EhM4VhhgISCuYv-WrhAkD2h8ebZAepZBOEaz7P5AcYLh1qCUzGWTajH7wqr18VpBUtIyQaWv7CrZNHPPSzAquaLusNNbZH6jcpbTglZjpmLCK9FSevCn4yAtrzSwiKAIwOAsZP1PYq0yzWB9Z6vgqFVg4jjxE_H2bEtnUKMfclful9N8HXrSVBffcLkwz8hfnif0HOxa9SZp13G_6bWik4H5f2T5VEqBoA_c2kYetg2KWfV6dOqKg8Nqm38LmuThh29sZIWskTLh61FpXCFcfBruvHCiq5iSUa3JATwqdDh5StmFuLg3d9StlHo5cLIneCxhBM_19IUJGlRVUJRAicAqZtr8ebPWNdP1aRwQZTdvyTHG0Fkn94rONP2nzaarSGpo5TRI-RktHSKmzPP-NDDnqtrgRzYhb8xMN8Wz00rD0XcQoy_85c42NGmJlQY4SLYUKnot4eZsUeV8JZKtt3nZ446P67ozdBTdzwWwAxrey9RTwhVXDFaEaaY4ukJsk0FnBribbR_qu32oX9OJRWlrPT851DwuDPLy0UUgLsDTdVoemu9D3dclnLo5TSzQROg8ltwX3-7SVSAPtcfwnwLzn7Nub4fXYV75fpXOGu8CEM00fvLbdLji6yONlUNNeOawXxShDQn3q46UJQddXFIBipoSaS1gov9krYwT-z_W5bcuJYxLyYSHvJ8px86TKd5LYlepU1qSCx0Cy0Xy2VutuC5U8TVVjtn_VbzHddtNPy8zZ45zjgIfI1gCi6X7iZXdtM0DGRIrRL0rIXdcXDId1hHRaEFtgMVkcEN-PYbzCgm65A4EAt_GYOVhdpb94Ug_azzcdB6J-HWQj_KLCJpN-of_56hWtlY7iZIao7t-_coVudf7yYqbDBFaOR6S-RMZotwuMgbsT14HTXkHx7bXfbcFR9omTypSuYIIQ93UN2J3GfCKNavTdCVXB5icpSJeHpZKcTvRR6tRLmLnhnizl0eD00uQvvaGsIKq9QrWijxIdSg7CllbEx3i4TCNUmmPTtj16uSxsdT0dw5W75cz0FV1ekpD_p6OgJZRWTMis8FKgDtKbG7qY6fAeWLAdtulNoJzkN5yedZItRx_mR8WZCAW-5KWixbXpFGrWBPVn1IXWCZOdtrUqkmZvybhTy-fZEMFwRcTDUVaNhb_3QBzW0j6dLxRrCBiVX8xWSfjqLLfzildkXI05MvzRvpYEs6ae5X7jYRxubEwBl7OhiZ_JRNu48LdvgTq_0kPqZ6HK6FIspYsUL1kNHcbb0sfOU1CJ8axqUuB3hayQQRgds0_TmYTYmEfDr3EwpZURhQIdTI3-3XNGUP0-yTOKgre8ZaC-bSEipSBuykUt8vpsa_qxHOawDtLLEzzx0-ondmRGQ0cbVUKaUHn5VOp5XXtNrkTRCdqiQiFF8YPfFS2AQQ0Clz_YkZJ9_i81GGSUAvbbVnLOBN-NxxLQSpysAx84fV27Rb70-Nm_l5cTVKWm8dv0mrOVp6JshHDDnxwMiRjQIyPnU1fxA-Z-muxvmTR3J_C38q7IJlVCTWCd7X_lj6bqzf7LQPyH9GzREJLMrjy6sU-hnB_e185wGc74QbU0jGXwa24nDdUMwTZN5POorGo6cC6wIxuO7VWxR8jyPHT6-7XbGpaqQ85pbLIPdojlh-116WNHREB0ZizZYzuvgKbANVOcmfL5Dd44JToxDo1qX0PvCvNz1Ommpc6L5RPkiRSbok_utFjvAgo-XPVWkyAwCc8VOhLrRVZs2zM7sTSYlcPt5-KHq8wv_xCVAkEkCknzhCyVkiwoolpR56oK_85BEYW0w4AYHHPAr-h6zInbj2LcwzyoPIjTrDUXGoYR9ztsJmWHHHxBRFhyF4FcMimf0u0WXvCXfOzGZh7n6O726-qUrUyDORGZLHUm84VdU3QPVhlhQoDVY9TlAgQRZWMEzm5i5Hj_OJS8e7t4Ko3rIngBo3srSh3ZmNCwbAejOgs-fWLro5llRCqrUw_jLmWyHjvPBEKoZFaRAhqtnLG_lYNJXuqqOR6i9bFn72wGHNkPG5IcFpUSUIbCB9WJcjSlhFZAF52GNbQ0dtmcWibH3bSZ_R9o9yDQE-EvInjsQIHBQhSEq-Lx4rzHL4KS1RoZ7XcWtza6g5eRagKiKCPj6RLXpClRYqSdbxg5uFgL88qsdYpgXRqTHjSD-zCoSsHiaSPs8Yhr-C7r1DSO-wx5FOJnraAftbnPb5UcXGmuEVGbQnra_J42ectS-ifxMdC7jNamklPQX4ROrdp4VZjduHfGW1ir13DPzogz9JDvjY_W-TUz6vZp7lw-KHLnLnCtEte5E0J4J63TTAwqdTuklj7kAJ5MBF_HSHCpP4S2o2qtXauLK9__rm4OnwLHb5uWQjstI9Ft84rpUeRewefYrH5Ck2stxmQb_s4pJLVTrzT5ctSWf83uiKYDlvzyjG8nbaP7_vCj9wPSGs7YLgVCZFnOeuXztGJxpP0eYJ_v7fcyLVE2vx4Pu9-_zDA9XDYeIt67GJxrq-_Hw6UKnb0u0DqIs_wvtGL2CsdZ-Pbf7aj4ohRrNYFYc79MHptbF738ghhEGRh9rRy5cwQyxDsmLYIVwRQRKlq4HiOWOIQRaJZzS4bXHSyuZInFkvFA8zByfq2uV-UN9sJDh9RTrmwGI_wr-_f1UhGrNtp2dar51WshhnIqaM92yc-eoB_bPDFreERi1XofW1T-PAHvudnFTnRW1-j2WaA2gfslbaQC_eP9Pexv1cgER2EmbQM-Hw4OFAFDj6PGJGlztmbygeoaiacMYKYNN6dpr5r2m4C-ki6qRSjzZnq7hr7gWHQn6DSZTighS85c-scChITS7ZzeaLUwf1sTcUB_8E7sS5q-VBDsfECBf0OfhC9XvObercAVzqp_VoHyKfjkS_N2k2TNyPjy9wi9mLIj4poeta8nc0d0yObtK-TqHePSQnmUSNVDIbSHw7dt6FLnz45KkEtvWoQtgC1Hap635sNzphTlXsFJF5ATRV1Xc4HLynwIJMeHWZxxD79aOApf2mCRUdn7Vy_KHS1VibgpdwySUk1B7jD2nejEvIERSIy7s4lEc1W0RhJC21y5s15LbV2HL18jFpK9MoptWiFWDfgKYjsZUKleIrjb3rrVS_lGg0c-664L9aNlQvILDe-qMYW6jQ4l664yFDjpSPvIDvyHHdhtIwKl3Kqlun7V6Np2qQjK7c7bWcRbmlJQLyi1MoYCNO-KFs4dNcsGhB8xsHZcJiSjhxXnvin51s=",
  "id": "rs_0bd8936f323cbabc016ab427a01f6887d0a530bb2698b888b3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCetxEbxPkDqwL7bNUcXhNU_nU3-_vEPz5ep8yxsji95jxrmdHGO7QrqYdf_19IVXswjIPEpslIfy4lBn5bLqH6ssufglPnoRPA9jv-TyG_mkj0-f6909Vs54i96wprPUF5fh9t06A1130W9aZRErgWH2nd4xL6M71PwuuX3JpmRx4AJnXdVQOANk4oI4aW8joEXVDuEqNoKgb7JUaYimAtELgd29LwfVNWwdJ-kVd3LVFKOxa8zKgk14wKigf1ghxB7r4x-1gtv8qL_v7-BoMhlZlVtw8hBLrM9T9RKP0o7VAAK-uWKdGWU3dO9LRnxiT2TF_KqgF0bchUuzWpa1INGUyvfXFARNUujL3xIKmTVBXIiSQ7QnaOnNe_u7vNU7vEJejlLU8PwYNifGmpjx_hOU-xuOs9jYtWnExUqMXlT6qTakUrHtdn8X0xkaH8E43le7_azXzQ4AzCsdZrR3Lp7WsPPbMh51EEJ19mi17plVh9BXmf_UYt8xwhBzdAQ1-HUVHKkLFcGFPI_fVnarZcJoOYuFwKJs9E78W5EuoWXtfsC6wdd7vRWnZyLx1gBKps3eVebWd-F4iElbyykkYRrRozKlVX8NzvdsSJRna9jwLmG7H3rXinOmR_KPQrqNUiQI3mAD8A7uGJ41ZImu5JmUbX9g-0-ccvyaGXoTmfItKjC2Q2xgentKs8G1HGxanozyi44XndVwyBpGgrf0KxubyxRvhJNpQzF682_umlLZKmvXo4r70U5Dji9U4ijhfQKpUuG60pgIJmi8lOUXEhtUIamSQgWQ_vHKaeIsP8KqB-wTbYATKcOaS7fybljXMIVFXTMI0RwOydDa6gmBT3T7ZWn8as3O2BtaZ3qxepLFHSZyXJLXDABD611JOEWLgBumzUTrQmtmTvgFAUW6oN1SoFrFIgy0sw5dqzNywEC6h6etlbMSiGdv-jD9qf5vwSBbv0aYZDwZ2Eu3EThIGu7fhYVsKWmOolKf90Yhqbnzd2so5K0svhC9Xy0jFzc5hDnIItpZz98Wvd09Kmy6PjLfhM7hPt_CABNILV77desvKH-nUJ1PuxN2qWQ6DCdrtTMJBelnmbD93hnJfyylNmpQHkZ03OWMifLtT3jboEZA9XG67fMtqfzyIhyjrHq9MoZdKvECGDhHhI6nvNP9fVg4PUg70BgVaN6I4CV4GJe-Q2Cq_hMQDfGy7lD7UlAFiBZdp7nrGI5LrHg2xmjFXZ0rhPzYKcZrpGxA5eBQC95Bmh3_MTYFMnCtbcHtQVUnuuaZHcS8TDsBo4bbWm1hhmUZiXxQeVmMcM5VbeCGSiSoH49JCww73wkUg5F1i8qCt9vfV3tAQKbr5chsWftLRheRnWXK3m9Zf_nW8ohHrUAoSrq-5OqkRcat1NtPuavbNgxjw69MTNJs3SUb6V473dPml4KDt5Medo8iAslHqCvNvz-ivlz6Pd5C-15DNYrc2wE4hxv1uQhJkiRMCH8DSduOgVfNyHD1es3gVKSDcy5eRL9Tkv3PkezsTTRBZj31akU9rqeG-YqFgMg5KPwiSFPhqYQ4NE615cCaUlsLQiGQXfVF2IkU40W2Z-fB0zPlTwJLvRYpS0HTGLSsFpwQvjoT8QE0pPrWJ7xd-T8EDytpFBzChOY0IRF9On4VJW0Kv_HyT_RF9l6QrPqSeoN9Mnssu9NEAzOvDhDiZUb1WZ_wk-4atKe9Khd2CIlCFvALppNkVG3MY9bKjNvsQyRUZZ37OwBVm-B2QFEpw11Km2llZz4j_FBu2RWcBjxIKWS31YttX_di90FfZLgiz3h-XDbr-xA3CT5p2bHoVtBbCKsXCK5lMrW_G5YPYDKmcSD698n1ApxTmPykAt13IvTVteA6TOF3j6qzXbKLpeLbSj3MDQif61Ql5P_JYxAG1ckAxPAXDSD_ekSoetz63sv76BvSjlaRIHH1fouflKSAljV0eE1TWm3gxYDBKy4ghVXpH47qYu3cRgBnHY5clMLelt6aJr67OWt1CXY2yba-NMWb2QzG4mNcTZc8-_HipvDH64jF9-aaFWXZECXvryJK7kyIrwDx9tRSX-o1wKIc1843V7Ouyk0IpPwzgVNCb-liWxcZZUrX_HIuccqWNQ9bwEXVpXmB9tr0svCyW1Pnmq_FQoRAliFY3y0fZfA-vxVP9xr1csRAVQ-ycsNK5XYUjQWgb2f8PuZOdz8UaFIvxx2Y9ErjRMhAaIIDJEmCQ59ULjJG4ejYjD3wGgwdCSLLFDR35gy-FqS75_ysg_jeNIHiknIPZX7l3mObWwIZ80_pTDb45QR052KiX-559ssQKtLYQtlri-_POQt8qv4A3WuKWCNfyZqO4biIcxaYck3wLB9Fb_wmpHLyC3NQ5M07bOq-LaMAgW8Bs2nd8tgriUwdQZdkhz3OClIzSkLWUzdEuCVYHi_clpULR66ptIh4Ac0aH9K9pfrmQXlS-rmCeP8aOLgxNIXnc2kRraJlmB3dCvALBaTbk2X1XjPQ8u8bKnZ9MGhzTgOsc-DBVvnlS4lYp_-BEcy3CYpN1dkGS4c7S1z06qfDF21-ojaM9fgomLxhqzqcw7JfWVJTKum3_5oZIZj0IPb9InoJPE08l72EEbr22LXzs0wf1HyXkFxjA1wlkoQCeb8JENkHbgj1WLY8dHfmihIvoMJ0YL7lIJH0JWVOaY3jO97YoGCAA1UwgNC9zaGSfSNmdcsjoJdDFjt5RIbfc2Kv4T0GDFwVV6jsFDUODIgfcnuB09WJtWBd4H1O9yNeXezbRgUG2Dds2W8oWwhUVh9JIcqOVwqyrLxpnEYf0lir7T9hpTt-aDxq8FYQ01kG0Jwuf9vDZp34KJU2FJ7R0pt9ksOS3ax-mEBnrXR0s8r0bBPtv9-NTban1IpbNoVkUBviFnHZRxCufR1dnm0TX7m3vSt-KbTHfjM_AhqoG4YcVbKSRr8RzTlwztoaoVqgEjhe4nWPO1Maunp-YzvFAi0ISNqKROMSi5Zf4lLojbi4VsfAlvi9bVwoadYpglbOsbnn103iZf0lFKq82lJqmPz0aRiPr2cHyV33_XMKqruhyR7uSEPFLGjSrwY0vxNSzBnQBbmyIhec2agog2lzR1GRmNFdOaVsr3v6H_0bKuMHSuS1OaCFCix8hzbmWJshSt5inFoA6q9jGgVaeLcTKYOsVRiEl1NBg3pO8p8f1UmTF7OerNlEZbmeE2wZwWjRb6uLONG1LJvenq0OtTWGaAc7Du1c-FAzA6QSFYKv5i7K8gUdGQU7ia8ZWEwQyF18KYDCi43Afrj1w_vZqucX1sfyiefV2pCsDl1HpuJBZ28776Zm-pd8Ry9CEnAtajWXEQnTMgIIp4E1SI4qgspGEB6u6vemtGFeId6q8VJfMHD2BDx85xa8VWCe-AlQqxAYw2921qQRrwp_ud9AjDQN5a0zfbeaW8mXT4CUTVJ-4Y8Gd42HeQ7dPTUByzl4DoHEJK0jDQzjejd5XgGWdseD9l6jCYQZF7kbsECuEgdOB631hBZaSNhE8pZOzj_YdaGJkOYpp54M9VWn3F5XyTjqVK8hfqM46pHlY-wkKSCt1eZfB989rbnjyCP0Fk6ftBaH4P2E4PqvK_tnE_l_n9_7gXYmUBHRgd4F6ER8WHgfp0hB2vD_BrAf-MJsFSpiaPYnLBmOi__5AJ3J9zlRlnIc0yFJ7oJtcTo2NDyDyPGgteBtgRxZq6tvY74NL86IA2bZhsU27ioxtEenFm2kFSSDEPvLigKlCn1CJfdsdMoLLiV8AVmPN2P3Uf165k7lW4wcGOi816W8a3VX0LV8HRLd1FGjSQcWFkyjh7V3Q4HmfxuuKAfurZNoJ4L9xY5Sw==",
  "id": "rs_0bd8936f323cbabc016ab427a40be887d08c6280a3b8e9e6ca",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCetFk-17FdP-8sgCn-mqJc25Rvw1TuxfNPYgx6WrxrPvi7KN_Jcrm2pi_DNaaD5vsIu5ZDpofIH8UcSTMUqYvIegc7BcKPRp4Hvr7y_gZvERpSpALweRkOVOUN-4BcOLkSBW-8GohRz0nMEzdbrYIrONZTVTCUTZ6OuZpzlwI7y_Xf5cI6o1bTtVDQMP5Xd6UZ9b_vpbI2oEEohMsn_iLgkp6zZh5J44VHJE9WS9ybFp6DqFkgTosn5DkJRkchE0ldyYKGAkWu4taq6jqjcv3J4S3SaSj1o3-Ap7gbAbYf1c2u_quTD78H8vPq2YeUSvCNWK_AbXlGamePCK0Kao-_JXyvnFysggLzcBki3w3zRYG35wM4GzqrQ3zRm54-4XBULpntGzP81mXpHdiEflRmDPKoqG1ssPjx6VVFsTbsnWV7wXxvUbM3YV7T-zoUCnj_HQ-w6BhRw_ySt-O6f45JwBj7eP2C7zVaOntEBmgEITDjrGdiqCKQIUPwSOKKB5e1uT2ZOotEtImFNihx18F8dldU3QAl8-Af4rGkIk238J4ikHsuxuGKY3S9DCCReOD9GIEILEfUWbin0SO7UczADu_6FaHwWnd2b-sJxGC4pfgWQl_UY9hQEB7GZoJBh8S52Y0K4apjPss-Pmt00_uMoiHxL6oefndzgWAvLhNqs_RU-i8AdjAMSLDo7XYppfxQwvRhu5dhZR54oqTPu281qUC0vEXeBOg7fQtfOrazQxepwqH-psSKk3Y65KGQ3P7hL-KojbZZByszrFIHS8oyrO4ZJ7RTsgaafT3sGzd-NN4vU_yMF3l_f1Llea3Etm51ky1jip0Fh6r4lvpTz9qvbG47CtzdQe_ki0NRaliQyyVeLprJA7502hwLneAzTAzqAXBN-gTMxq1oSl4dH2O4L9WGUAtkrWwmiN6qtEuknBa88vBCLHRWdk9pGtvlq4dC9Mma0ZInemN4cZCcMTLYAYPXEMwrWgmhxlpjHgedUgnQdJKi__rKeZ8z1WTYs-NqtDSSzgZfo6qJT35iA3ULM6sFYRC4NzC7Wyj9mYofAdnOe_wmDkGvzsKzj1qQWD_bQO6XnjscieZbIFFTiGshGWRkC0nUHI2TPWTGOJrYfGK0tDSN5duL2_SH9DLlm_F7__zEt-TtsW-HReSmGnCjAj4UNJScijU_LEOD8UePFegNAK42Il--BghEYNWpnyFER0CgJN9fqQQ3IIZ0krxfoZOaScI294LSKxCrMkcrqNAPrv4MM2v7zp7K_Q0xt2SRjwdaY91pfmVZNTGsbhx1AWQvu1JdXoziJOl0iazkOAmgmRni5Wng-1A76aXMFSXSm5f403oXri7FS7xz3zJ-guFIJGIiXZ03xplsG6_8ZhyYenDHzxuHdNunjK6prkEesw8fi8PXdn0icUFLpxgiQj-Xw8LFXfDEryWmT7cSoLYV7IY-ktpv5Aq18ZtWnLYQ5K1erY8ejtl5pTV7GYZMECxU1CgvQn-FcNZmikbg_eMiuBwLMxXmsCSmQsZ3rtlxoQ7dige_HTiVMxxBzLPB8Hu1--xdsR65BfnXuuGlcr9h41UdL1tokbfQG0jHrxuvsXBYADm2LiYmN27CyrshR4G6ypa9YwqQwXocXjcZ39jAfsuwTnEEbsHxLoJPamCrWDkgKkCGpzfWotKUIf9XtzA1dMFBkQfq61nPp3el8IYtCy8CgAWOec2VZxE6wfnSs8Kox4aB3hwb-6NeEkGoBcYh21b7GitfDqGLTxt5h5mnDiYcRv7x6pD2otxuBjqK1-eTL-dEd2Ss8OzN1PicnSBqEeuskjdtD8jyp6G1CK-BUqoF8SwiZFXVHn3QeEGa6IsAjjbwEyG44VzGp33rRObdj09-bezVNUSnb0whuUT6bBcxqrJYb1hUGvhvAuaQn2Jr74cVfqhAOjSrtBAHJSIhHa8JacXYBnCfC9CYINkqtvApedLrWBSFuXoei7MKPpB7EsTYAGU4fDMxqPQI-IYONMQ4JF1QbybocgpKY8wl7PfTMVsH7V8FiBMfYhOKZDBEH6gnzckrTOd20PG3rOCYLXCfO4CtK-BJKHKwN6iWs3rH5aR6COo8GFqYQwLCoS8gVL6i6-Aygc838LZGPXZbfAQxFW4tX8T3Hf1CXycI3CxD1DQU8A3Wg4xYVGNANEVYzRsBi5GPcnTi156kspUB-WMjAyq_mxbxVml_RoPntE4tqy0x94IaV3VrZlvJfRUQbzSlnROCNwa8EK2WTh-NuB8SfOMyzSFmqnkE1kTIEICz4lFnbPM_02v9iGEBeb0q2XMcBRKh3cN5ZLjdzcj148Zm5thsNdW8bVO_n7lbQ52RXB-FM3V9i-o9NlIeCPVe5CgwhwSB-xtoRpb0FBrkFGwMG4y0VDGrz3xIflxLnp08QHKNyzw4QvFO0E9u1Fku6qfS2xPgq7jUXA9-X66Hy6fN5h72fON6cRrHt_crehOYjIMorPiMP8h29tlSjEgyhfWv9-JjpWpAv7W3rNuAQl8Y9N9E4Pg_3Cvo-mp4_X2Lc4Cg9iDZJoef4N6S1LY3YUpSpq_onqO_ZhPMgxZYe-iD6rc5mkSlhPrD-1ZVJE3YWEnvatvQ3Ba2KCtlF0mDeu-V09ZU_jLBZQOs1Gq9mzxQ7Wy-mmOQ1lo58fdHFkjrUGVOA_MP_mNVYg0BJ5gLsXELH3G92-k9RlyADQpXUKfdQg8F3ySOYUUuDcA2mJpRCaqBnmjsv-KJ-8pm8OeuH_mJ9_m7RNouAVePT03pn9Yk0kUYZvZD578fS6uqgSU98sdgNZ_38iqCIW8_qLthJcvgxXu8lyW7DM6vD5qr6Hze19zjqTkr5m2VlqqibBqOQZQUhp1-4uIkLu_QUvw4JxzvURRJaT_rVb6nEQz3hkBRnEk_OK8kv4Wkdqou4wjXKhMHvlHHfBnb1tGGeda1ly0hk4s3kn1bLvGFGcWsucJCUTv1bthESEA4BS02ZRZClugpfh6XTRs9YIN66oD85QF46_tNhfmgGFFuASvSkRQ7WOlPPZYCHBqlOv6cJxhFAHzChuIetbbpkvZY2NXDU6dw-bA2m2eysVV-ZUQ==",
  "id": "rs_0bd8936f323cbabc016ab427a8755087d0b63a07b56428aa41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.27,\"right_z\":0.21},\"note\":\"Both pieces rose with their respective grippers; the pen’s gold-colored writing tip projects forward from the right jaws, and the cap projects forward from the left. I’m raising and drawing the pen back to make clearance for turning the cap toward its writing tip.\"}",
  "call_id": "call_DWghK2WcNXfRCpMNHe0Qt1xA",
  "id": "fc_0bd8936f323cbabc016ab427ac54bc87d0bbdbc442f2730dc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DWghK2WcNXfRCpMNHe0Qt1xA",
  "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]: [-0.6437, 1.0691, 0.9092, -0.6476, -0.543, -0.4187, 0.0582, 0.9512, 1.7, 1.4723, -0.8425, 0.5934, 0.58, 0.0526]\nstate[eef_state]: left_x=0.2949 left_y=-0.1027 left_z=0.2039 left_yaw=0.03 left_pitch=-0.0983 left_roll=0.0588 left_gripper=0.0582 right_x=0.3157 right_y=0.2786 right_z=0.1871 right_yaw=0.1072 right_pitch=-0.2544 right_roll=-0.1576 right_gripper=0.0526\nstate[joint_eff]: [-0.0752, -3.0291, 6.7214, 1.4872, -0.2906, -0.0171, 1.0281, 0.253, -10.7009, 8.5812, 1.1306, 0.5543, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a9cda4e5d5af6f53d4424ffcef6e9d9667d387fe37a05ad10b963ab39027b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad99f128d8c0747f46a576cdc26d1af482013f555edf04986206064cb387b722",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a968f916191875a059de61b57904801b43ae1109ac10045d7afbf9cfe35a2187",
      "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 · 3.99 s

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

message 32 changed as sent

message 40 changed as sent

message 46 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6407, -0.5426, -0.4179, 0.0582, 0.7933, 2.0411, 1.0607, 0.0982, 0.5705, 0.4828, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=-0.1036 left_z=0.2051 left_yaw=0.0281 left_pitch=-0.0928 left_roll=0.0546 left_gripper=0.0582 right_x=0.3916 right_y=0.2669 right_z=0.0085 right_yaw=0.0452 right_pitch=-0.1412 right_roll=-0.0786 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.0154, 6.9265, 1.4579, -0.2808, -0.0611, 1.033, -0.9094, -9.306, 4.8342, 1.5507, 0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6441, -0.5426, -0.4183, 0.0582, 0.8001, 1.8355, 1.3228, -0.4622, 0.5442, 0.461, 0.0485]\nstate[eef_state]: left_x=0.2952 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0955 left_roll=0.0564 left_gripper=0.0582 right_x=0.3808 right_y=0.2661 right_z=0.116 right_yaw=0.071 right_pitch=-0.2251 right_roll=-0.1424 right_gripper=0.0485\nstate[joint_eff]: [-0.1983, -2.906, 6.7624, 1.4774, -0.2564, -0.0708, 1.0281, -0.3897, -12.9162, 10.0855, 1.8535, 0.4664, 0.1929, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6437, 1.0691, 0.9092, -0.6476, -0.543, -0.4187, 0.0582, 0.9512, 1.7, 1.4723, -0.8425, 0.5934, 0.58, 0.0526]\nstate[eef_state]: left_x=0.2949 left_y=-0.1027 left_z=0.2039 left_yaw=0.03 left_pitch=-0.0983 left_roll=0.0588 left_gripper=0.0582 right_x=0.3157 right_y=0.2786 right_z=0.1871 right_yaw=0.1072 right_pitch=-0.2544 right_roll=-0.1576 right_gripper=0.0526\nstate[joint_eff]: [-0.0752, -3.0291, 6.7214, 1.4872, -0.2906, -0.0171, 1.0281, 0.253, -10.7009, 8.5812, 1.1306, 0.5543, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a9cda4e5d5af6f53d4424ffcef6e9d9667d387fe37a05ad10b963ab39027b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad99f128d8c0747f46a576cdc26d1af482013f555edf04986206064cb387b722",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a968f916191875a059de61b57904801b43ae1109ac10045d7afbf9cfe35a2187",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCextdV9QwKIxSFj3VxSec-Oupbnh6EeznXjZtLbfpOYMy2DY33K3cd4sb9T99rN9zhyGjeNB81vC4t0XTuYxt-4x0XB5_TZMYbuMn5qqUGSsxLYeHScNaMyfuDR6Mrwan-uZ2VheldTTUJTwDYhBXnWoIiCDdImBRQF7Zs3BYjDeZLmejj10MdeDUTBTH1rccyZlrXFXa9o7RaCp2IKDWEtxqpNh8HzXc27i-3-gsTac1vQfVKCcSWUqbQUVAkLKZUhI8TcGIZsLwfpWsB8Kl9eKpJRckgSRMtgpM2_xXO4Emxk9vG9M3psCbKfUOBggPzGRc4loqoRZXm6KJMsqLZSXAYXLcj9xu10KhBoRD9wMetTVjEg0sMqHHlAReWG7cRgT-X_o2BYbg4iVqzR4Vgi4FXstE9bNb6O8_fOziVQRpgRi57-Wvnuz0eRKimQ0t59MyE0qwfqGtyUPQWSqEa_Pj0RqfhiYECypeqkxCTFZEQgQM9jUX92OyjgOJRPbsW0XR0157GAOlA4hifKFOLMLbhRblgInS1xS5Jl4aKGwmJm3xT1AZlx7LAtm-FJuXx_ekvUhqgBq1ZBiowQ9w8JZ_7kDM0EBTRkj7EkqGnxCo3JqMcbpBN6Pmy_tQx0as8d03XfbXeDB7try0RsaXZSVFehqVesjT2EEcpaXMm8dNIaUqNkhY_F4IiTiSBEuxtfFXMZbx0jYxq1aLfipCQC-9iXrApHpG_H7kyURjmBPbHtikgMpJPD2wDzYvzZrd1Uccj3BdqTSaIQcxnPFT39FDuOUsLRUU_PPCQKvOReaUQNxiQFgSv3fwLPTID8KYziwN9Vn2fjvbB1Np_USjRAb8GfuUc1cJLtREQHjRyJPM6pUQfezucyUvqdoVcY_TVcHa6dqyM2lhHqVwcP39QxKJ-nLpjinAwa5tFBOEL-8Kl9-zLd9Y8LQV4eF_m_xrkp896lhFcXcLB8N8x7Zanzh8cW6Sg2qm0NrO4VQoiZIrqhWRvCcCqc7y2_MK6PeWHVlkn-QV48eU7F4cbV_avjy3tYPTCYhaH3tgYuhpDgAIJsByumukZiCOvoDDJeFsTkj3VLlDn4tjbKLGB4XrwFCfb_iqFzSsvxRbkVK9uAIMGMqOBDHiWGWzVeqNDBfcIjv-T8bG_X2uh1UWdAlEmZLIMzGMZ_1TeB11WkMHfC9Mlvrr1sNa0zxE410_SxDty_xiScVi2IvurvMadDZLDVsepds57qQh4yO0Mm6btla1XvdZUQUd-W5eX8lfd9RToxB0hLrTZRc-IweV0T-9vA-Rmc2XMwnDYiyoFi6lksNyOAqNgJHhzh_qEjmfTHKzIa2GX-5yO9meIHQWsoxd4j5fggSOCwgFrk_moc1j0QMhhBZZ33hegnI_iOPZBFgYCMvUhTFIe2YFnDbmpwZT7cBFmDnudTOyKBOYkiwXivMOPaCPNw7K2FwUFuv2DTtatMUZXqsaIDQs1Ftr2dfbr_Yn3Dl4LsvgirtdYubFQKiOSmRPmmiymMUxyUIf3gn70d3kwoWIHKqB5EQ6FpmRz1dC3zVkIlLE0aiUsISbb8As2jfimkHNIvaW5gF8ww88muWJ_enzSIZ73hzYNuiRNtH8sFAL231lQh3xq0gzZGdSO7eZdVpLTyOBDD1e-lzCnCM46ZQqOkR_jQD8766z0NQEEk8R0fchKDuQo4bVWLOW9xqjKUwz1Pc2oOIxLjXXbTHD2dHDYb33qDqjtBMOcvIcAmjRF07wUW0utmVoYAGF--Hd8Q8lpNh8TY-TR8Aj9kKqZEkgIOEbNyscbK4KVCl8A_gzJvigMOQqZCzzlX3vbAHgRWp00iuZMPC6wRuXuEWYX5DYGSv1TngPrzlPSpr6ERu8Iq-St-68voP4u2TvU=",
  "id": "rs_0bd8936f323cbabc016ab427afcf4887d0a12f69873d1d4c7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":1.57,\"left_z\":0.23},\"note\":\"The cap’s narrow closed end appears to face forward, whereas its open end needs to face the pen’s forward-pointing writing tip. With the arms separated, I’m turning the cap halfway around at a safe height.\"}",
  "call_id": "call_bEtiYuwoW28cVfjDCHqBP1YD",
  "id": "fc_0bd8936f323cbabc016ab427b0f73887d0bf4009fbf622c7ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bEtiYuwoW28cVfjDCHqBP1YD",
  "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]: [-0.4603, 1.9594, 1.4815, -1.5761, -0.7998, -1.9892, 0.0625, 0.9684, 1.7306, 1.4479, -0.8646, 0.5732, 0.572, 0.0557]\nstate[eef_state]: left_x=0.3043 left_y=-0.0055 left_z=0.1262 left_yaw=1.417 left_pitch=-0.1051 left_roll=0.1667 left_gripper=0.0625 right_x=0.3048 right_y=0.2804 right_z=0.1629 right_yaw=0.1244 right_pitch=-0.3198 right_roll=-0.2106 right_gripper=0.0557\nstate[joint_eff]: [0.335, -14.694, 6.5299, -1.0427, -0.6032, -0.1929, 1.033, -3.2615, -10.8923, 8.8137, 1.0574, 0.5641, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ef3db6b7d5e7c88f08765df2b53a7f99eb1249904b969b3b4c200256851a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5877fa2b61d07988809654cac46207266659dcd4fd91a51dd79137ff78fb3643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6e78fb4acbea77ee1d0e5430d40f4ee71e42b0f71b15f842c0a97575c166f5",
      "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 · 5.044 s

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

message 36 changed as sent

message 46 changed as sent

message 50 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6437, -0.5426, -0.4183, 0.0582, 0.7933, 2.0525, 1.0523, 0.1226, 0.5686, 0.482, 0.0458]\nstate[eef_state]: left_x=0.2953 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0952 left_roll=0.0562 left_gripper=0.0582 right_x=0.3915 right_y=0.2672 right_z=0.0039 right_yaw=0.0474 right_pitch=-0.1389 right_roll=-0.075 right_gripper=0.0458\nstate[joint_eff]: [-0.1983, -3.0291, 7.0906, 1.4774, -0.2711, -0.0708, 1.0281, -0.3624, -11.2068, 5.9419, 1.1941, 0.2857, 0.0659, 1.3065]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6437, 1.0691, 0.9092, -0.6476, -0.543, -0.4187, 0.0582, 0.9512, 1.7, 1.4723, -0.8425, 0.5934, 0.58, 0.0526]\nstate[eef_state]: left_x=0.2949 left_y=-0.1027 left_z=0.2039 left_yaw=0.03 left_pitch=-0.0983 left_roll=0.0588 left_gripper=0.0582 right_x=0.3157 right_y=0.2786 right_z=0.1871 right_yaw=0.1072 right_pitch=-0.2544 right_roll=-0.1576 right_gripper=0.0526\nstate[joint_eff]: [-0.0752, -3.0291, 6.7214, 1.4872, -0.2906, -0.0171, 1.0281, 0.253, -10.7009, 8.5812, 1.1306, 0.5543, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4603, 1.9594, 1.4815, -1.5761, -0.7998, -1.9892, 0.0625, 0.9684, 1.7306, 1.4479, -0.8646, 0.5732, 0.572, 0.0557]\nstate[eef_state]: left_x=0.3043 left_y=-0.0055 left_z=0.1262 left_yaw=1.417 left_pitch=-0.1051 left_roll=0.1667 left_gripper=0.0625 right_x=0.3048 right_y=0.2804 right_z=0.1629 right_yaw=0.1244 right_pitch=-0.3198 right_roll=-0.2106 right_gripper=0.0557\nstate[joint_eff]: [0.335, -14.694, 6.5299, -1.0427, -0.6032, -0.1929, 1.033, -3.2615, -10.8923, 8.8137, 1.0574, 0.5641, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ef3db6b7d5e7c88f08765df2b53a7f99eb1249904b969b3b4c200256851a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5877fa2b61d07988809654cac46207266659dcd4fd91a51dd79137ff78fb3643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6e78fb4acbea77ee1d0e5430d40f4ee71e42b0f71b15f842c0a97575c166f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCe2p8w9PyG36XsOURVkNa_nfHw1XW57rq3s94k48ffPParwidZg1OdzKVoVBMmqikEiBHX22L5tr9UHL6N8wlqy8unbj8cDfdD7eTD3lREq2Gzm25UeMJ2zkamui1hLOsp78BIRZoUwinLES70pzcF9QOlDpt3GXxWQ-yTnY4Qf8bTbLPE7rz-1oqveKvrdDHpUxkI_kgWPAOIY5s9ormvjlofIuXMrTK7ue_KeRpGwuEmFrz1uD_VB77AfuoNMQ2DdRT9Wyy_92EJamlrxDxlqAwOU-RnFXkMKaP03_zWtbBAgNIJCLCkqvS7pVOmbSTe17sCdpoTzfBDyhxVXWRtZ_5xtXWv0Nr0SW2UzIvKD5MBpOx68Mm8le2l1V1QtrTPvvF4efEaUApBlPv-JgRYE2dYxEyv6BXK0FRA9OKUCptv7rMviLBO5lJb1Nt_7aQh9xsH1AwkBbgRUlBl3z1z-RwTLX9KYp6nGIXlmE4C87ZRptEqG5Dq7LAnywMoLpjVHSF_bzyxKyApih1fogcixyHyFy8a8Qd61LbLlphL8aHXrbcWcooZq8ZjCMOmdwmYOmSQLHXqE1g3jOPfc-nzq1cJ95gD7a67FN47J1RzEmEPk4NcMMllxuRf1U6vu929lCNPS2wnXePJV3Fi_LqpMTUVgZwTAush7q6eSpW8ixnwRDoOSSjf4Im57vrw36w2MSR0lALgnyf_qtoloX77syPe7WywAKQ--6-adMp88NxEoHSLPbvZzGJk7Tg98m81fIuAgRHCdW2jNfqEcsdkArI_FUcJNvc-SrFmj0JoI5fFUgNptC1LU_FD2MQ813KnKd9g7dtD_upVMqzsU4yjizNWF29vAR3fSZ8kCTfOEYqx5Vmw-k4HyTqy0JnwpaqDQWBLohUoWAzav3dZYfN-UETzJt3t2EB143Fs9FAURCHMeHAw1PAi1cfJeV-fEg-luIxii7I6WdSexRlPqyodwHEPVTa2piowhaSUamCSbAgpnHs14ngth2PZhKWjLJ3GnnnEPtNS3SQqgKHs_xrs6KBNBm2uKkOCs0SL2A7U-ez8knJi7DwGPPYy_AmPlkqzaZzLr_JlGxVZ9VMidCCbtefWi9-lpWAYeM5MolNXD8kl4yP7WGxdeE-AtLZKU43au7IwLnouDJHEsK5ac9eMRQD5fbr3U6WDoGrX_KFs344ND6dOTcj0E_CxmFbJ3NLHA3YWbvIpE5mAqV6FKQMjQUUPOP1IBoXPiCbHzGgp1cASN9sOn72T3-EiCOr3hHUdKH6tGQ1qCN4LLxhISG_MXH-PTgEHPqA509evjtO1GnbXsy-JmhraBC_GfE-l41V1XNpCeqJccplrnKv0tF1qQPkspK1VsVMHHRcxNGYkSqx_Ci9IoF4lZQJO6IdqSpm6hsZPj1GoCjt-dMsPGPyeFec2BMVGy98QnAJ9Dwq7y9PKhut3_znZvdwhSoKKxAFWtJvSXCyBKpunMJ8_L8phZKiVfcBWc-KBsidW4USt5YttN1cYb-30bLeohxaBywno29O1aUt8TBCtum2-xRRbfSLUgCzyvkexLO6VzTOqe9PbLxHdSwjs5s6QU6FwcocU3W7JkmkLjyCy0MO9tFZHtuznPup7YcWJ5m1WHezt8UBgw6ehS9hHYekKbigu7Bm6k42ygyHxU4p21_x3TNckyiJwQTC3q-FxzIB5J-AKK0km8ZQucXXKImrilVHbUmWJ97PK3DL4U5_uk0TmgfiXmRPEPUOrhXEMeaUHawRVGPWWnoh8nPIH9IQgsJslheRFjCWBazQ-VUASXwHG3VbQyWatBTVqqPkKFkt728yw4-H2XXp4nxMrbySjoEe_us399Yr_jLImKWTH_o0Ydc4U1wzPh9BrPi9ltiI4qRtaoGOEJs1CiZxn7V8UjV5kvukr2dKu0pLXKxqTLqzQYj8vVncZspyeQZQI9nqzMY4r980oKj9GpFFc1U7PTdnUrbWRjWSMCSap5_RPWjFLQbtCXgbOeONbB76bPcXzusjNC4n8mtrcWJhAUm59UZJHSmhejl70jm9Hx7bjLKBJEr3UGFShlogoAgDgoZLy_KLZs2AqyH25wjTAN-CR3aqn9v5-sLCUNMlk0Gzx6xD0YkJZp1I2G0ROYwVK4R-WO9gFuR6H9vPRj8wyrYSr1UfI-EEDtbu71R_XCjB1Tvhjz2oAwyfRXpQNge4FvD3LIZl0gUTs-F8DrBJkVp9nROPMsVK807DTl9BMJ61YbBJ_bAqP5Eplccvj6EPCJlJERmresKOCE-Yr4rlKMWAMo-qRavVTKsTQORW5Uh0mJcO8uNuDa1NwfJwE18f-_7UjRAvR8jxHDtAA2Vu9dtLxke3QDWVOK4NICg0aXnuxQ_KcluMpQpA==",
  "id": "rs_0bd8936f323cbabc016ab427b38c9487d09a0f9b4e5bb0b24d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.22,\"left_yaw\":1.57},\"note\":\"The cap turned sideways, but the left arm drifted inward and lower than commanded during that rotation. I’m correcting its position at the sideways orientation before attempting the rest of the turn.\"}",
  "call_id": "call_REnq9x7cSnjqJA8NRInlMPsC",
  "id": "fc_0bd8936f323cbabc016ab427b5d1c887d083c609444404049a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_REnq9x7cSnjqJA8NRInlMPsC",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 2.0212, 1.5017, -1.5627, -0.7773, -2.0331, 0.0625, 0.9627, 1.7298, 1.449, -0.8608, 0.5671, 0.5713, 0.0557]\nstate[eef_state]: left_x=0.3086 left_y=-0.0082 left_z=0.1095 left_yaw=1.4628 left_pitch=-0.1108 left_roll=0.1655 left_gripper=0.0625 right_x=0.3063 right_y=0.2802 right_z=0.1634 right_yaw=0.1243 right_pitch=-0.3202 right_roll=-0.2027 right_gripper=0.0557\nstate[joint_eff]: [-0.4718, -9.2923, 6.9949, -0.6813, -0.4567, 0.1294, 1.033, 0.2667, -8.4991, 6.5573, 1.0037, 0.2711, -0.0269, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b175e9a1237e4610d1ec125837dd694c291a1490fdb5ea0a2a5ba15bf1518d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b0ffaf3630535098f420eda59f4760a899f3f73db57287963fbba94c6a53ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5aba16bfef051c157e02e89a5f8c7ae658ff104b70663c8eb4dda4673b602a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.709 s

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

message 40 changed as sent

message 50 changed as sent

message 54 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6445, 1.0687, 0.9092, -0.6441, -0.5426, -0.4183, 0.0582, 0.8001, 1.8355, 1.3228, -0.4622, 0.5442, 0.461, 0.0485]\nstate[eef_state]: left_x=0.2952 left_y=-0.1033 left_z=0.2046 left_yaw=0.0285 left_pitch=-0.0955 left_roll=0.0564 left_gripper=0.0582 right_x=0.3808 right_y=0.2661 right_z=0.116 right_yaw=0.071 right_pitch=-0.2251 right_roll=-0.1424 right_gripper=0.0485\nstate[joint_eff]: [-0.1983, -2.906, 6.7624, 1.4774, -0.2564, -0.0708, 1.0281, -0.3897, -12.9162, 10.0855, 1.8535, 0.4664, 0.1929, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4603, 1.9594, 1.4815, -1.5761, -0.7998, -1.9892, 0.0625, 0.9684, 1.7306, 1.4479, -0.8646, 0.5732, 0.572, 0.0557]\nstate[eef_state]: left_x=0.3043 left_y=-0.0055 left_z=0.1262 left_yaw=1.417 left_pitch=-0.1051 left_roll=0.1667 left_gripper=0.0625 right_x=0.3048 right_y=0.2804 right_z=0.1629 right_yaw=0.1244 right_pitch=-0.3198 right_roll=-0.2106 right_gripper=0.0557\nstate[joint_eff]: [0.335, -14.694, 6.5299, -1.0427, -0.6032, -0.1929, 1.033, -3.2615, -10.8923, 8.8137, 1.0574, 0.5641, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 2.0212, 1.5017, -1.5627, -0.7773, -2.0331, 0.0625, 0.9627, 1.7298, 1.449, -0.8608, 0.5671, 0.5713, 0.0557]\nstate[eef_state]: left_x=0.3086 left_y=-0.0082 left_z=0.1095 left_yaw=1.4628 left_pitch=-0.1108 left_roll=0.1655 left_gripper=0.0625 right_x=0.3063 right_y=0.2802 right_z=0.1634 right_yaw=0.1243 right_pitch=-0.3202 right_roll=-0.2027 right_gripper=0.0557\nstate[joint_eff]: [-0.4718, -9.2923, 6.9949, -0.6813, -0.4567, 0.1294, 1.033, 0.2667, -8.4991, 6.5573, 1.0037, 0.2711, -0.0269, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b175e9a1237e4610d1ec125837dd694c291a1490fdb5ea0a2a5ba15bf1518d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b0ffaf3630535098f420eda59f4760a899f3f73db57287963fbba94c6a53ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5aba16bfef051c157e02e89a5f8c7ae658ff104b70663c8eb4dda4673b602a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0bd8936f323cbabc016ab427b8d11c87d0aecbee90652dc48e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":3.14,\"left_x\":0.32,\"left_y\":-0.17,\"left_z\":0.23},\"note\":\"The sideways cap pose is not tracking its requested position, suggesting this arm configuration is awkward. I’m testing whether completing the turn into a backward-facing pose frees the arm to align the cap with the pen.\"}",
  "call_id": "call_mEx8ABXMGwypgZFvJFwJrUQU",
  "id": "fc_0bd8936f323cbabc016ab427bbd22487d0a14ed12a5ca595f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mEx8ABXMGwypgZFvJFwJrUQU",
  "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]: [1.058, 1.2236, 0.6701, -1.5517, -0.6487, -2.0865, 0.066, 0.9619, 1.7348, 1.4471, -0.8597, 0.5629, 0.5682, 0.0557]\nstate[eef_state]: left_x=-0.0655 left_y=0.1085 left_z=0.1014 left_yaw=3.0761 left_pitch=-0.1995 left_roll=0.1898 left_gripper=0.066 right_x=0.3061 right_y=0.2805 right_z=0.1605 right_yaw=0.1264 right_pitch=-0.3272 right_roll=-0.2065 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -0.9231, 6.3932, -0.6422, -0.4322, -0.149, 1.0281, -0.1709, -9.0051, 6.8581, 0.7497, 0.2955, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ba2495615226cc979adfb4b713b7d83d22fa0e1db9ddb9887c28be70cd901c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed2e1622da62ce7825430d449978e056bf004d9a896cf0bee5f3edf3b70c6e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042b85b3bdec5f0703b32899a56f235289a47672af4ca322f28fc10fc6e7859b",
      "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 · 6.617 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6437, 1.0691, 0.9092, -0.6476, -0.543, -0.4187, 0.0582, 0.9512, 1.7, 1.4723, -0.8425, 0.5934, 0.58, 0.0526]\nstate[eef_state]: left_x=0.2949 left_y=-0.1027 left_z=0.2039 left_yaw=0.03 left_pitch=-0.0983 left_roll=0.0588 left_gripper=0.0582 right_x=0.3157 right_y=0.2786 right_z=0.1871 right_yaw=0.1072 right_pitch=-0.2544 right_roll=-0.1576 right_gripper=0.0526\nstate[joint_eff]: [-0.0752, -3.0291, 6.7214, 1.4872, -0.2906, -0.0171, 1.0281, 0.253, -10.7009, 8.5812, 1.1306, 0.5543, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 2.0212, 1.5017, -1.5627, -0.7773, -2.0331, 0.0625, 0.9627, 1.7298, 1.449, -0.8608, 0.5671, 0.5713, 0.0557]\nstate[eef_state]: left_x=0.3086 left_y=-0.0082 left_z=0.1095 left_yaw=1.4628 left_pitch=-0.1108 left_roll=0.1655 left_gripper=0.0625 right_x=0.3063 right_y=0.2802 right_z=0.1634 right_yaw=0.1243 right_pitch=-0.3202 right_roll=-0.2027 right_gripper=0.0557\nstate[joint_eff]: [-0.4718, -9.2923, 6.9949, -0.6813, -0.4567, 0.1294, 1.033, 0.2667, -8.4991, 6.5573, 1.0037, 0.2711, -0.0269, 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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [1.058, 1.2236, 0.6701, -1.5517, -0.6487, -2.0865, 0.066, 0.9619, 1.7348, 1.4471, -0.8597, 0.5629, 0.5682, 0.0557]\nstate[eef_state]: left_x=-0.0655 left_y=0.1085 left_z=0.1014 left_yaw=3.0761 left_pitch=-0.1995 left_roll=0.1898 left_gripper=0.066 right_x=0.3061 right_y=0.2805 right_z=0.1605 right_yaw=0.1264 right_pitch=-0.3272 right_roll=-0.2065 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -0.9231, 6.3932, -0.6422, -0.4322, -0.149, 1.0281, -0.1709, -9.0051, 6.8581, 0.7497, 0.2955, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ba2495615226cc979adfb4b713b7d83d22fa0e1db9ddb9887c28be70cd901c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed2e1622da62ce7825430d449978e056bf004d9a896cf0bee5f3edf3b70c6e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042b85b3bdec5f0703b32899a56f235289a47672af4ca322f28fc10fc6e7859b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfA7aYHZBcxGoaeP4iT4YPxKjqRk_tOJX-qRigdDMBxrGE6FOmo8HOwVz728C6W13k5WfGEFFyWcb6DQUjto4YaQYx0ONhw05OKRpuVNYXeNkf37nwRNKCtcEeF5Smp4S1-J662spc8OacMW0RJeEzL3yKOvO1yY2adkIv-AeZiCfeOVibeo6Bnxsr1Ra4KC2THvvPASK-UeQLaVWYXEiELL_oRE6xk40P0f6-PpqQPcGe-X8hZVQfqnOtUT9L7wlmxWr85Kr0jRnSeCoH-6HWny0X13a1d4zO13QrJQEMDbSiTbFZ_SKzwUVS14-K8kMWx_uYR74ElMfC5u9VAw6qpTqtAQ2fu0s2MheP8HLeXS5P9FgD-skG2ogG6aXah2d5ormUqFa9tznwg2F3h3Bnl-a1YyOoXT34dHiujOtkHoH9bWmJP8Wn2qHignxrvXq4S9-XMcJjJhr8b1SHX_m6POjDeSvtl8KwjyhkDMal1J5VolJuu3Lx6tY7IxXeLbK-Dnisr-OiLXfRlbryU3exQ8BB4j5vW8O8OYbzab6kIKtxpXCLvyAKYC94xASN093s2tpEXMUIq9-x6KEQAds8fUIg4YYhhjPu2rbuPLj0tcta4qW1v7x3Z5CJGgAVs6wksib0Riyz7mUUx5Wy4xLM5nYhSATn6We3I_Xj-aV7lfu4Kf5TeOo6LM5FsAxWiWzmw1yn-7_34ix1e1h8LV7pW5KV76defN4jYe7a85L-vnyfkIclH_mjbHnfyqhxe4ndn4fYZmUzA8rIiPSKvs9EJm7SryOSdaDMbEebF8cP1cjKhCWcpsrfr7n_g7kHv0yq3cXcHL8Pj4g0SqkCxExe9IxB70ETW0m6ypFnP1N3XX4DmyyrBY_MI5wAwtOYBVvfyG6HPTi5JHzWiUbUYFr-Ennw_u1GkvDBQgv6pqfOjiM6d057KB8CemAugmbERvK9FGKDdKoxvSydnSjuNirV30Tr_tBa4TwFqg6y15YU23TQ66JLscz4rzlOjSZSM0Sz8atreTkXKItuoiw04IjTjJAx3SQQ3exR0I0pp_fciQhYrlshUoRMH82XHu3ILQ22tovXQZfSHiWgr2xaxqpJUMPumEbI_ny80bKGp2QeeRwgXmYJoE_Gp-boaw-iM4OemCEbQAXw84Ux2sMfLiLbpZgQi6G7NygwKyK02Wv50x721a5mANNHT8zzSqH06tnwyb4QAGWIkCNHrXDbeHbiS9M-ZBQTlkjap5KsCTk77KjpAAT1KO5eOArJO00XuzoTKzMzrwHkC5sW_PfeeuWrRkV8lDaUHh8MQufQKPSJFxUe0Zl98HZMYyub5vyjM69rznRbmSZDW8-9PCsU6iOzeZEnuE_Pkoj5M3J2BJ46OebZs3LS6Ss3oKMxgkyzTBrVrWQq30J6MpHGZaZgFIv8pPSzYQAhYpILI7RD4A8JUAeYWgCTSyXOV3XFuip_NuqdtVf_BtRAJtZHBNSw2yGs2oKP5Vup36IDo3mPqFRLWUuXefHk1oUiAWlOrynOUaWuNR3Rv4i8TdGykXJ20JF7YiDsXJpMMiHLI17-guMtVHCpPz62Baa71Kx5RUya_gbTQyMb4hZAaIBNwXpIw5RiutfAf7OD34AOhDgG2mK3JkkD9XGKGyryIQ-2IhLBtgbxu",
  "id": "rs_0bd8936f323cbabc016ab427bf4bc487d0a11dd62d8e828e54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0,\"left_x\":0.29,\"left_y\":-0.1,\"left_z\":0.21},\"note\":\"That backward-facing command sent the left gripper outside the tabletop workspace instead of holding its requested position. I’m immediately returning it to the previously stable, forward-facing pose, away from the edge.\"}",
  "call_id": "call_wXCVKo0u7WlL40q0E80bxNtC",
  "id": "fc_0bd8936f323cbabc016ab427c018b087d0b61d4e550bb84f7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wXCVKo0u7WlL40q0E80bxNtC",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6682, 1.1515, 1.0439, -0.9665, -0.6167, -0.5854, 0.066, 0.9627, 1.7405, 1.4464, -0.8619, 0.5484, 0.5682, 0.0557]\nstate[eef_state]: left_x=0.2732 left_y=-0.0809 left_z=0.1983 left_yaw=0.1799 left_pitch=-0.2406 left_roll=0.164 left_gripper=0.066 right_x=0.3042 right_y=0.2821 right_z=0.1566 right_yaw=0.1339 right_pitch=-0.3429 right_roll=-0.2039 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -4.2325, 6.0239, 1.2137, -0.3736, 0.2271, 1.0281, -0.294, -8.9504, 6.694, 1.0037, 0.3639, -0.0366, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13cf0a1e63ccb225c5da78a2db4d20d1e1f98a4866dbd4f4fcf064a782aa8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d675778003598247f0920cb4b58f46f64dc8d75fc723c6e3cecdc0ea83bf3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43de43b5c8f210f8439cc319cc76b3987b1d19bd1101b78d2f62bc908d509a5e",
      "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 · 4.419 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4603, 1.9594, 1.4815, -1.5761, -0.7998, -1.9892, 0.0625, 0.9684, 1.7306, 1.4479, -0.8646, 0.5732, 0.572, 0.0557]\nstate[eef_state]: left_x=0.3043 left_y=-0.0055 left_z=0.1262 left_yaw=1.417 left_pitch=-0.1051 left_roll=0.1667 left_gripper=0.0625 right_x=0.3048 right_y=0.2804 right_z=0.1629 right_yaw=0.1244 right_pitch=-0.3198 right_roll=-0.2106 right_gripper=0.0557\nstate[joint_eff]: [0.335, -14.694, 6.5299, -1.0427, -0.6032, -0.1929, 1.033, -3.2615, -10.8923, 8.8137, 1.0574, 0.5641, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [1.058, 1.2236, 0.6701, -1.5517, -0.6487, -2.0865, 0.066, 0.9619, 1.7348, 1.4471, -0.8597, 0.5629, 0.5682, 0.0557]\nstate[eef_state]: left_x=-0.0655 left_y=0.1085 left_z=0.1014 left_yaw=3.0761 left_pitch=-0.1995 left_roll=0.1898 left_gripper=0.066 right_x=0.3061 right_y=0.2805 right_z=0.1605 right_yaw=0.1264 right_pitch=-0.3272 right_roll=-0.2065 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -0.9231, 6.3932, -0.6422, -0.4322, -0.149, 1.0281, -0.1709, -9.0051, 6.8581, 0.7497, 0.2955, 0.0024, 1.0281]\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 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6682, 1.1515, 1.0439, -0.9665, -0.6167, -0.5854, 0.066, 0.9627, 1.7405, 1.4464, -0.8619, 0.5484, 0.5682, 0.0557]\nstate[eef_state]: left_x=0.2732 left_y=-0.0809 left_z=0.1983 left_yaw=0.1799 left_pitch=-0.2406 left_roll=0.164 left_gripper=0.066 right_x=0.3042 right_y=0.2821 right_z=0.1566 right_yaw=0.1339 right_pitch=-0.3429 right_roll=-0.2039 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -4.2325, 6.0239, 1.2137, -0.3736, 0.2271, 1.0281, -0.294, -8.9504, 6.694, 1.0037, 0.3639, -0.0366, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13cf0a1e63ccb225c5da78a2db4d20d1e1f98a4866dbd4f4fcf064a782aa8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d675778003598247f0920cb4b58f46f64dc8d75fc723c6e3cecdc0ea83bf3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43de43b5c8f210f8439cc319cc76b3987b1d19bd1101b78d2f62bc908d509a5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfKD88qN1yEtEbhNXkffTaDLMiiQWMsxYQD7S-lPmpbAdr1djXDWg23urheQfnDlY54Kb5e9Vyod-YvzyPgIVBHuovS1CqgkExUEijlj6Pm7pBpkZOdtEu7kW51eN9kh7nBhCAVtwlXNcWbk-C0EMsTU7TG9ouV7kTr5PSlZ1LWcMT0odW1H0GDZtgjiMigLe8i-lAhwwQPtwRmjVOiNurylrlnhdaeojBdvd4_BJmJj5a--qI72DbMxcXajJElE5w4mlACYMVeo94r2rYHSS1akLT4geTXHvx1tXFxMrdChKUgrVI7xfaR-y0bcIQyXhwY5BubkScc7tgeei711sOHpNyS6c2p4QtAOdDj8az_UWkCEEE2LPPjezOKOzk49L4s89rjmNdG8PuSEb9lJptNhibix0r-cMLTmdx_nAFNB26erXeINhczmq2424FpzG4GUXbXJmwHkUsrAEGeC-rH64SFaKibLrADpeOHABniJhC_h5v1w151nhY1_cw5ZY4xmX0QPP95TNdKCr7DSBocEjUQNC8Wd51Gqa0v8XUws7HS0SmgJdjxbABiB-YXqF-58nHNJRYY8kkVLNFwV4vyRMnBV-c_8HNVcEh2RpcwiaaLW2uUMwG-HsHXKClk3EFIxrLOv5lyPAWqOxhNoJ-r91oJNpd66D6ez8FcBENkZSohzMc2Hue6UtDQZ86ezEc873JYDfaViR2GqtfobHkG76A8gMWvMS0MC5Z05Ha0muGy9ruViL4IyJ6c30xEgg_S8EhCk6frxUZHK0Rvwt3CFGBdi2s89XRpgs0kSJtI_jGvpQxlqbrJYaC2-TjS2TbEwXjtwxsuE4Skhp2aRlRTEwkmZI8t5MaccmaDjvUJPyyFv1-1q0v6IZnjQnrmxY9LbCjhpBWc_KYAWCkn5IXnr2vLEPYPljAvLmPlKUQi8tNvew3YCgz9GLhxIfdNXNhh0gPLVjx6tYuGMxDxTN5JOzkojm8ZOkmp46Uqoe3OqtCmSZSTe-zoP2R5Oncu8gRK93w1sQh915KsahqVswvFFK1Ss1XZc5d7PhNklYuKD3oqBJyCI0l7KwEvUTRZMT0cvMaODlGVG5QFe-mzDpueANuxFGsqUysDyKAqlAVme0VZbTZHo9kjXXF0dye05Gx2cDx_J8RWh6Jve12845YQPETFSXuXcLnvxelrWWUY0YPMTdAF2lGV92laRoi63bYGvd3k4hy1-po8pN9CYxpepvKEuSZvhMVFY7LrLWq5Gmhc3rtQhJOGZ2_zLuq6KdLCv5-rEqUoN9e-evaV1et7vRKzaQIi8j1J5TT66Ns9nEsm35Gf60-z0SKWxM0Ayc23kvZJ5sLB1vZr0pH7BiXfr4P22lBrJ-eTIq9GC7AmT2dLCqGHWB6UjfxQmqpi09Ra88NSGBWU-jtgnlPsy8b4vbg32GU9YI6RPnfF1sjRr51AJJi6SFtahbofmySSyjs8abCNscGsmX0kKO3h_DcHttWE3Q59bwhnp72VdwWHIrKTiA5LFSn4vrgpThXQucVl4mfbo0jNob4hH5-xrCX9oZ_U1uM9lkoT6PIMhciYq3j5VWK8EKAikSpJX2e7QNDwSPP3vZT3C8fnYMPTaQbTcVnDO1nBmkB8dMrkrzSrTrUiHDclowXR61I4mi8xTtKyW3keZOBVvbeSixCfFoZTQVl8F0_t_XShUYaF9ihDlhJWJ3iQCPG5ehxRdkC3NFNHR0VCIXyrGPinn55mUBMiqjLoui1LH15U1-SCt0msx5JpMAfQNLCIrHwV38Pl0C0HFJ4KvF3hDFRRNT7ufq5jx1MDCrSLCitauPIp1wbBv5gaZD556M0wLdKYvFFjZkNMaRSy0DYK2QZNe3YSbphkeiunPr4Pa0ei8iuW4ITThRs28_7R56wG9RjUemG2b_4_uSoZ2nQcwyzjvNRdzZFhER2ZA3_6QLAjyE3IeYqc1cnvsMGwPVb35ZwSXbeohJzw8EuUzF20KTu1-L4yiApxeAULy-zXSA35O3u9iOKvKYnneeFssLAyldL1fw9dsLDvXJm7ywy1XHXtzOC02C2WMymzCPjr4rJxbRI7iECM5noEE5uLjbG4SplsaLBVSuAJla3QD6qXDjTTuqn7QJvxVLJAyt3How9VpwoEQeo1RVL2jzZIKP7oGwix683LxrGMcnyp_yVh-FDZUWEPkJFartS5VaDTdCYdc6lrN2OnmFW1Tmrk52ZI5oHGjjEK1rhClbsWIGx6kELZ2tFUuXCTQu4SvtDXJyuIXwdz0Eq2idic3BrYF_8ftIKtkpAH5N_gThmXrF1syqAv_4EEObe-5zRlUDSy1vPU3BN97-UZVPSm4bbEehVVjjNTO7bOpf1uTQSZMxR15wMINR0MQdyQsCr6AcBKp9M9dvFwFdHsyjCWt9SHYFeqIaLrM3rX7MEnj6O8_-udl7XvRNexoyM9qT0anuyHj1PJIQj9ym1c_rkDIcTC93fc4_WHh8pQzWfwe7SNXQt9oOXT8wQ4TKW5aIoYqpv2vlgowDmp-X6hnKsMwKPbi93_xSd_NP1DejaWGXvMuYZsUSvlS0LRwc94AmQDCLZBHSjxKIyCR2dgs9mBuJO6F1FwarKky7IySSLwtHa0Uv9jY_IdSZJTfe0wlAPaSkJ753uJDvn0wytJpkCVpRKuwtSzxphdHoK0xVOCSzs8pWSLgnIGEFo5IQmbhzwMVz3QcTAczmswdPUfr-WB16nZjwHXikpX9vYTB1bEFueGXAWJQgWHEBf5IRYkH9aoT5mGJ3V1xmQncvPUsgLhckUM5ifY-agr_m_YTQzP989vGrNP7deJphXG8AIrwAOZy79yylB0wRA6nQFaLllJx-nDM7qvJ4tpt99ITDKHp3eWQbMqx-uiCAxrGc-GvcPsuV8_W0oPMPW5t5hDpG8t1OGa4zBmp_g5nhrSMvOMGkJP5k0m5n3qeiaQ23IVu079-etfme2LjIDUIYCFpDkESym56af9lBzmCimcgNlqS0PAGRrnGXJI3YyG4V823o9euUVyykjlSRHWCQXsNhEu3UhqCi_W5UX4-6KPtCZU3RoGsSsIjN4h39cv_G73mQob9c8FwAEMVN84CUliMhe50S3N5lXI2epLXZE5N9dIceEF5eVBBkWW0Pq0KW5BSRlLCiGuZlbA-e-GUTfdmGfEerHLmJw7P7cEYZGCEzOiiPdl5ZXPe0twY90RKLqfn1oY4V5l2wXZvbXLk-ouk4-ChpkIlVHqXmF3sX9nUddVd7Yxp95PTFMNo4Znn3NXZxEG764np58cmRB4zMl5Kq4viGgKbqquiPhPQyzwh7D29Tae2FR1EonjqDWApN06HvQvQLveAJ6VefA8YljDiDA-vrwwrbwVsB5bRRfM-s1WXR0SRWZuwfN4kzPWA_uYMjo9D6HzY8cyw8yrI_zICUXDVHXqv9jzLy_eAmtxqDqoudq4EdxsAMSdB93-0-B3X2-3AGlQ_u3J-DKMkyjIhYD_P6adFpAeultZZ4Rfd-iKBaDnknyfUgE1EmHLvDNFh0u3M0Nh504mVZVsolrRM4JQDZbNqkwwj8e2ul5gu2JARsMn6Q_uoC8Niqa8G74CBkXesKH_vBMPBA4pPfxI0GyzVmgAu43WeNiOE5XdrqKeFHr85Vi-uw7XCVxxP-sLWgDLOAOwMkNBdSNtGYBNCac=",
  "id": "rs_0bd8936f323cbabc016ab427c4986487d09dcb8f5f6e99dc7f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfK1UevS5ojjqnMBujiHrvnCcs4ACwtMSs4pmEEm3nfxM5ZuwYWIA3yz9JHQx24rva1E0UXQ9pB91mgro-aFJI4imijrLwE3PJ8BPKFaUHdKEe1O68GS7XL8XFvUazwwvYiKUplBAs7ygSbjdcUm9sHGprAzRGNwJ2JyXF8oxBoWT8eGTDBiPvZs5SDIboK9B2F9QEAG_4NyjsseG0SBEgNesVEvsJZ9W9r6Ls7KxzPsarEP5cEOlJ0KErLlO1HJyMq3Hl6JURUcInXvjEGOQLifNxZf16In3Sw5Kf47m-UdRTYO-Tn-P_6C8ZWXJEtsu_6Pjk3pb20cKhj9Zi5dLjqJxRC1ck0aOGRUljGBoYDcRj498_-4Lw6ZL8ANmBP6q2E8O-F4IaoJDEmSQkZ_o8e6aze10fqay6RJI1Y07Yo3uttyg6-LGm_TsWlxE3GZgvh-BDzhZKKqDtwk7sI9HJRSOH96ZLTRmjPUHktzRQqcqtxVFmKvJOLiLR2gcoypmAGgZWl4q7fCq0Z68K3tVeM6v9Aq_U640E1Llh7nn-rPPNIFu0FSuo7exvIyULxUsJYBppSAnptPeaVG5D2FsSxMi7dN4jTUcn5b62P5_2aHfWWxTP8lzPOpldujx1alRpe7nSpVjudFRoIi_CFEdysV22DTZdQxfAZMY7u5v3a29GMJ6uqFbeoTnRbUMpMuMM-aUtmMNOb0jRTcLvzV0YlFX3YzjKIQO47llpCwI8csT7chVit94Ba7tpyaut_1Za79vLJR9u8qpd5-hA7r0wDas65tji1LXJtQMLehAY-KzEN8RCNwTMhj3DibC6zR7f9KWowy7Xi8d05LTxRvVKomCg3ZZMubQ0-bNsqbNEG7eXQMxQN89Ca8tt14I8K4HAulgM0vgV_kVJ2FTcNFTLJmMeH8tS0L-_cDRRDelE4malERh9Ikk8io87I0kOcG1ukEuQcw3poqO213NIyAZN0MMF3XiDaRc-0sMv6gXJvT8omat7XRDSCDpSyZuqI414M1novQQc4Kpu-8DhM0vYcysgPC7xgm30pLJGOTwSPZjM_ZKjQjTBsMh-yHmm3sREUceflL62b9UYeE7meyFe5ZIyEgQIE6cEpRhcTwEg8BbdhO9k90k95OjtpxJaNvp47UD3vAjZMWCnKrTZlXMy6TYte8ZImz11C_p2RiA3lQ7UGUhjPSwB9pfg20NxanF7J4LgVfu_ooYzp-1eIQC7TqdhwM7B57QlHkeAr5q7ZmSHkg6jbB246r076j05ff617ZN_zBLOoq3AEmEvZroy26t0BpNq2Pd4zJJsZi6dPLaPOD7tvde3Mj1bxdRp75ZDBCJs4YfEmjDI6QQSnUzMV45uxgIL7MqVe6EZzd9-JCZZDkX3r2WIO02kl-j8mcL5LD7u1QvFsju0vTZG0s__jlMlZAAhhAROlIeXxjF_owCFlqDe6rjJ3Y_hvA98nzgktQu8F5ewUWjX-YtKyRBKuPwYg9moUO7AH8no7oPi0pZ24KW4EzGDyCOh4ALjgDasbkCgvb3-qpU-LSe3GX0fIG0Y6A5oUuNS8QsuHVsF9yPJ1l-M8AmzJ_IHwAujMw19W_z46TWE-8gC_Mc8gEdTRhlHLFR9x5AlwGQptRNWa4F0=",
  "id": "rs_0bd8936f323cbabc016ab427c88ce887d0b98c9f79ab11559d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0,\"left_x\":0.4,\"left_y\":-0.28,\"left_z\":0.19},\"note\":\"The left arm is back over the table, and both grippers still appear occupied. The cap opening faces backward while the pen tip faces forward, so they can meet without turning either piece; I’m bringing the cap toward the pen with some clearance remaining.\"}",
  "call_id": "call_SCnEV6jmQANOeJhte1mhoXdd",
  "id": "fc_0bd8936f323cbabc016ab427c9883887d0a710e312257f9b16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SCnEV6jmQANOeJhte1mhoXdd",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.8492, 1.7496, -1.0889, -0.5827, -0.5934, 0.0662, 0.8238, 1.7306, 1.409, -0.963, 0.5255, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3857 left_y=-0.2017 left_z=0.1995 left_yaw=0.1422 left_pitch=-0.3382 left_roll=0.2273 left_gripper=0.0662 right_x=0.318 right_y=0.2183 right_z=0.1384 right_yaw=-0.0289 right_pitch=-0.4452 right_roll=-0.2945 right_gripper=0.0557\nstate[joint_eff]: [-8.9915, -1.4564, 9.1419, 2.9035, -0.525, 0.2662, 1.0085, 11.5761, -7.5966, 9.1556, 1.7656, 0.4029, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cc6f153c02060f9bf74877acd7d8efbfcc0dd99af98dea6442ccafb9c0ae37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e378f9fe05682cb9bbe43031103cf4e47def2a2496d023f91eb2674db597c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d388fa764d4c3103a10591a05d40c9fe1c1f07fc735c37d942a20222496c03",
      "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 · 8.15 s

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

message 54 changed as sent

message 62 changed as sent

message 67 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 2.0212, 1.5017, -1.5627, -0.7773, -2.0331, 0.0625, 0.9627, 1.7298, 1.449, -0.8608, 0.5671, 0.5713, 0.0557]\nstate[eef_state]: left_x=0.3086 left_y=-0.0082 left_z=0.1095 left_yaw=1.4628 left_pitch=-0.1108 left_roll=0.1655 left_gripper=0.0625 right_x=0.3063 right_y=0.2802 right_z=0.1634 right_yaw=0.1243 right_pitch=-0.3202 right_roll=-0.2027 right_gripper=0.0557\nstate[joint_eff]: [-0.4718, -9.2923, 6.9949, -0.6813, -0.4567, 0.1294, 1.033, 0.2667, -8.4991, 6.5573, 1.0037, 0.2711, -0.0269, 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 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6682, 1.1515, 1.0439, -0.9665, -0.6167, -0.5854, 0.066, 0.9627, 1.7405, 1.4464, -0.8619, 0.5484, 0.5682, 0.0557]\nstate[eef_state]: left_x=0.2732 left_y=-0.0809 left_z=0.1983 left_yaw=0.1799 left_pitch=-0.2406 left_roll=0.164 left_gripper=0.066 right_x=0.3042 right_y=0.2821 right_z=0.1566 right_yaw=0.1339 right_pitch=-0.3429 right_roll=-0.2039 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -4.2325, 6.0239, 1.2137, -0.3736, 0.2271, 1.0281, -0.294, -8.9504, 6.694, 1.0037, 0.3639, -0.0366, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.8492, 1.7496, -1.0889, -0.5827, -0.5934, 0.0662, 0.8238, 1.7306, 1.409, -0.963, 0.5255, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3857 left_y=-0.2017 left_z=0.1995 left_yaw=0.1422 left_pitch=-0.3382 left_roll=0.2273 left_gripper=0.0662 right_x=0.318 right_y=0.2183 right_z=0.1384 right_yaw=-0.0289 right_pitch=-0.4452 right_roll=-0.2945 right_gripper=0.0557\nstate[joint_eff]: [-8.9915, -1.4564, 9.1419, 2.9035, -0.525, 0.2662, 1.0085, 11.5761, -7.5966, 9.1556, 1.7656, 0.4029, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cc6f153c02060f9bf74877acd7d8efbfcc0dd99af98dea6442ccafb9c0ae37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e378f9fe05682cb9bbe43031103cf4e47def2a2496d023f91eb2674db597c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d388fa764d4c3103a10591a05d40c9fe1c1f07fc735c37d942a20222496c03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfQM-wLoWdtEj6LHF_RiA671S4iEop0JqnBAa2spDjUhaRsSuQdYLnei997N0ZRUXIM-A03hPdUF4d-7hm4euWFp3TVqo4WF5Gfzsn_tsV3yMk782e0WpYy6x1z9GPLDCe6TwpoEnSHUswsTun37A9T83LsHjy7jio7XHU1Qvf_s9U-qh-pHKPTCcrri1Ch7j8Q9jBFHrVy5dxJILtBFA9bflaHWd38S3Qj5GTKIXQfrxLZWYLN-JzC_hQcsFNku4-v-A4Prja1izLX85mm0D411f9nnj6zR1l3O1uD_wXtOiloJvLCoC2Sz_1GNM3mxmB5d5SoMlQ6U9pr879Uu1gjTgktBXDrFv7PiAH4L2m30t-93AH4hX4P28pLo2xbm3CxY8RNgSWJADax0RhJcHOoFVie6eUdWRuj_bxc0Vgmwq7_usrIBZ7MjD03dNehntdTGFDevB0Xnf_D_dI-Ecsr1OcyuWTPbWzzUeoNMn0gXnO7VznTrCB1e-EQ1q95dNzVrRyFO1W58Fde2SQyIYJsxNRDiBtlrM8ok7AFWGWx4WplX8N6LBimerHhtq3MHWomomUwWhs0R4bljIb9YvplhCBnLz8pkDtTuGUr1B4e35EinD6NLqjdFUmdKwQu9R7IHrq5Tm8egbg31ATVLsnkAynnK18v6YnNRhcrcrbvZBvGTISgfuz1LxHAHzT95vyeIqDJys-ZDI5PSDoaXBaQCs-EzS4lvVOW1Q2GseYWminBl9gEixp-n_7Yz938F070SB2C4BOEAFxtjqdU6Y0yvjDDsk21_R8_ub8-gbxVgaAOZr5aGqMQ9U8M7pY84V_skv0wah_sJq5DEtiOeP8SzROXi8tCucEXLWOsuRC42KrQ-U5G7Fv1Wzs635Qk-EUvVbmAnb2wnBCXnbwo7st4-UncGoK7QsVxjaD7d54stgOUnRxkMm27ef3CZu_CCNhJvQStq-zkWnpSIqZPeAo7ouNcTH83YqJ6x8SCrl1rpDGqZxZIvf5TDhvxgU_NRWI_pO8P9Bqm_QIupeY1Mv_P8YVhmatemowdvKqVBZC3bvmtc5F5wdVhaknQbE7mtUbLZHSMSRfaYzsBAVthTFqTWIJSTYrWy_t6J6SNfNFAE0p7hka4B6Y083RUC2AljcaFmB9VUXMYIUJX4mPz2PQQBPTUyEx9tJ4jaBTw1no5PCr0yLGR-IKvYvNDjjRZR3GK68XiV3gFCYN11R1g2zE7qEwfLXTjOgc_VZzn0OmUiI6uP1p2LjF98hGmsGzYb2gf3ZbrI-Ynm1QLWwKZ-WZw-OTE6_Ji7rdnkMXFgcj2EMLVIat88g--fOWj5JIkJrhOAUdI6WBy9sRc0bfx_9viBuEPHL4xwOB60nwajYDtBTOTjfZK1ZZZUTRexOIGTu8FPxXNxQOHHLXsebv1ldzoD-n7Vf9R8TRuPrHIY358TMSk7VdcHuMxbTEHxiv3Gksal3xdvadHJ2HqaXTFjq0LQsQzbdNHcJyJogA7xOTu6OQgS99n-XUQ2VTJKAO4f6twiVa4kuZLVoFU8R9QFpjCu030oPiKYnFax4Yw7RqTPJZDi81GUt0dnTmJw6nfkVKtYx0tBt6lduyhWrU4Tqb-MT5-eea7Cl93v4Z0xN7lMR30A6ifNRDzBc5CL0LXpCG6jokVZPna-KMDwNZ4VmpAGe2LTEXqM2ZfU0G-Z1jIAZZ39alFgTMvLIb-tZ5M_vTmKyJ6H4NZ75mrY8NEBWHb7hKHD1hHFRVIPMzGLCh8EFvLmyENf66Q9DTOTmlNL6m748q-iq63PZR58MxhGFoNBWjAQRlxRypAMFdV4X7xame-Oyo2dYuJ7wPCi4eV8Am9tCinkY_-ylU8qRzlvgNJVOXwa7oDTYxzE2NK4NYpi-r_yC2rR7z1x7CzqPK_lNg7RHMmTNrKLm2le9Y281nF6znuQeuHA0IYl4U21PMDxO39Uplfpqycf0VQJjfhNoftr0RcmH-I4MvcgeCJIfPL_AQNyKLxrxq-wPGLFKrMNTvxTw89xRKQeLGfAM8I60PPtnLpBhmUUn0oNxF0hvpi6Vbb3rOeVWIASnKaPNtS3FqaOfdnHJYHEaFUMo0USw8I0x0TbxGMXXPMM78agrVhv0VynwORJh5Bdh1E7Bv0JE1X8AsWYImSiWXomgLvhtpx34QOC1D8pneuhag8F5VTjIUESqYzo4iEoppTPHTKedwjVelQrjsCoHHyJzwH0EpSIMiXQthNR5MgzDiPa2JHkriBXq9OCC9CH7dQn84zK3ZsNZmF_U2Trtow6Gnqz3P-1z-zOh1hg8CcSX7z8Yk6jIzsBNJYZsN7DkSHScyCzpVTMTo0xeWqpXR4Qc_82ySEtIsHV-kJnXzOivDxM_X4LIW7W0_8fugYdYYY0Z5Slfzl0tDxIAzDieEFPgApAIi7xp-PSonJqbtRHzoj5oiqgXUD5H3PVCXqZnAZkL3dJpJKpCZSmOGlR626XZRav7v4RY1KqwIzaLSqB2zKnQPWVn6ekE5vvdzlLnkjeGKk-baBSX1a7AfKFS9F6WHFFMSN",
  "id": "rs_0bd8936f323cbabc016ab427cd5d0487d09892fe37f5e4bd53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.23,\"left_yaw\":0},\"note\":\"The overhead view shows the two gripper bodies crowding each other, and both arms missed their targets, so I’m stopping the approach. I’m withdrawing the cap-bearing left arm laterally before trying a more separated alignment.\"}",
  "call_id": "call_yq1TC6qj4mD5P74WEgmpbdV2",
  "id": "fc_0bd8936f323cbabc016ab427cf9c2887d08c891ddd91a1d572",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yq1TC6qj4mD5P74WEgmpbdV2",
  "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]: [-0.5961, 1.3228, 1.3045, -1.0607, -0.4786, -0.3622, 0.0698, 0.8234, 1.742, 1.3987, -0.9798, 0.5182, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3029 left_y=-0.1028 left_z=0.2236 left_yaw=0.0366 left_pitch=-0.3505 left_roll=0.2257 left_gripper=0.0698 right_x=0.3134 right_y=0.2148 right_z=0.1296 right_yaw=-0.0395 right_pitch=-0.4757 right_roll=-0.3219 right_gripper=0.0557\nstate[joint_eff]: [0.2667, -5.4222, 6.6667, 1.3651, -0.1734, 0.0513, 0.6667, -0.0889, -9.3333, 7.0359, 0.9695, 0.2808, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984059172a59c296258b5beeae5bd98f82f75c560d8b5bec47a31ef9cb979057",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12091c152de67765c2f9922ecc5f61e1c3d01110f363f6e321526b912c1816cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820bf0d375a73b0f2c600849e31811e1babca63597ab362a42070f5e0a905a8a",
      "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 · 3.849 s

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

message 58 changed as sent

message 67 changed as sent

message 71 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [1.058, 1.2236, 0.6701, -1.5517, -0.6487, -2.0865, 0.066, 0.9619, 1.7348, 1.4471, -0.8597, 0.5629, 0.5682, 0.0557]\nstate[eef_state]: left_x=-0.0655 left_y=0.1085 left_z=0.1014 left_yaw=3.0761 left_pitch=-0.1995 left_roll=0.1898 left_gripper=0.066 right_x=0.3061 right_y=0.2805 right_z=0.1605 right_yaw=0.1264 right_pitch=-0.3272 right_roll=-0.2065 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -0.9231, 6.3932, -0.6422, -0.4322, -0.149, 1.0281, -0.1709, -9.0051, 6.8581, 0.7497, 0.2955, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.8492, 1.7496, -1.0889, -0.5827, -0.5934, 0.0662, 0.8238, 1.7306, 1.409, -0.963, 0.5255, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3857 left_y=-0.2017 left_z=0.1995 left_yaw=0.1422 left_pitch=-0.3382 left_roll=0.2273 left_gripper=0.0662 right_x=0.318 right_y=0.2183 right_z=0.1384 right_yaw=-0.0289 right_pitch=-0.4452 right_roll=-0.2945 right_gripper=0.0557\nstate[joint_eff]: [-8.9915, -1.4564, 9.1419, 2.9035, -0.525, 0.2662, 1.0085, 11.5761, -7.5966, 9.1556, 1.7656, 0.4029, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3228, 1.3045, -1.0607, -0.4786, -0.3622, 0.0698, 0.8234, 1.742, 1.3987, -0.9798, 0.5182, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3029 left_y=-0.1028 left_z=0.2236 left_yaw=0.0366 left_pitch=-0.3505 left_roll=0.2257 left_gripper=0.0698 right_x=0.3134 right_y=0.2148 right_z=0.1296 right_yaw=-0.0395 right_pitch=-0.4757 right_roll=-0.3219 right_gripper=0.0557\nstate[joint_eff]: [0.2667, -5.4222, 6.6667, 1.3651, -0.1734, 0.0513, 0.6667, -0.0889, -9.3333, 7.0359, 0.9695, 0.2808, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984059172a59c296258b5beeae5bd98f82f75c560d8b5bec47a31ef9cb979057",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12091c152de67765c2f9922ecc5f61e1c3d01110f363f6e321526b912c1816cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820bf0d375a73b0f2c600849e31811e1babca63597ab362a42070f5e0a905a8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0bd8936f323cbabc016ab427d2efbc87d08f738893cc245ace",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfZYIDWcBdZYIEe37WEKZJcv252M-OAtfNK9AfcpVdfYM1s5I8Dh8aZA_YQwzz-sY46amWYTQl8TFPVRsoAh80tmLKiJqvOz-NxWmiF4MQWYDIt6g6SZ0hhPx-7kp1tQz10LwzAxqngDk6pT6LfWEratMdXHfguHl9Cy9_8VLQyLWA1_HtuW78eOEhVRzznjeeEt0Qrp5r1C_FtxFXEZJ0xFC9hkrx1ud8FYDAcf2RdH5Erx11LGJ2Bnv79fJaELNRj2WzwJh_CBhEZ_eCGfqRgqIS9dFtrz_rOAUhHkjyDEZ2XwX3ZMGIazohe6zqw4aw17tUpeK6RxT2BHWm7PUeAyXX9JC4fEc94EgqbY6JWvB2mAAk1AsSL69XlJRpUjpM6yHbYh2kGI2qCVSvDmTF8kGj8OKX_QTibVd7EOiU_sCCzmz9GIJ3Gx7Am6M4JnVbT_ZhL95WTllnDr1F-Dix8TfCdzduPCib7ILovlaae_Mn0Bbay4VQp43829PVIYZCX9hfrWKIHQa-imEnMw5qi5oVrCVbHm0DNppqyfXCTHW4UWr2yW5d7038_UdgHUmBjetdHHFl2eemczsFf67L-4mNBv3P5nOSrngnIrK9vuuFJkfOAhjnVVOQ-LPus3tFwTUKIr7rllDgy5-t-LFLJ9hN3Lig3cTsLPBfiYdmdx5aJQLcCW0xAVglbTDsybvYpC4exgaAobjOuOtqNizJyBcM6fd_AhETJCflXKj1Eh5kOuDBbf3HLC0QPLCKfImONbT40Hq8QQca1mvidle3AEHQtqcSdjwt88lPllX4kllDugm4OZ5g281XaeK5RwHQrqRueft8X5d6yp6eIWfOGzL0lleynmfmHdSaHtNJ52Pq1MDAGuzdCiuWl-Uvw-tDwWGJrVFK565LUmyjQ8WxUUF4TbZDZXSZQCOniXUpzCwQV5LjgNvlxdGXk4KaL4tACPZozeS4NPoSnT2myeP9NoU5LiX4-jq37tobmzX6sRbk60cxcF2xnu60h_5iyCRwc4m6YR2bcGtqVluPbGkPdrAsAGLMOqXEoZW6CRhQepOIdQNlXqx1afdt3RHakl2I2a75nedzCAc6b7JYtTcDFdf3jatiTfPAJvOn3gl1TvLQfIv6KqDN8yzIuyjPKS2euc9HNtI1B23zY1EqUvipWURJs0t1qqyplUdYw7YU2o86ox3wxAZvN_X5wHGksvEzod6YMERXKsjfG93TWP2jbuQb9PWOlwAOYbtB15a1sEj2etj0JWRsZFc6-JY8SjEwYmmNp998o-yTAJl1EOAWzBR060Mvq1KIQ2jsIczAsUSwexu4DylhOaPM3WUjYENfaR67sPMjSMdEi1kak4c3_Z4iOOHi3vRR1qwoeiPyJ83929IUE5WfaAVuRIMHBr1dZp1XstXuncy9BaKd5fZLzjxjYUzB6GIO21nN8hQeJ_d1kvS4L-C8tI4lvut9AreGvVZuO8PgMy1wmuT271damaAFyQgIfQLHTM6s5WqMpTwUakqKIV211Ei8HrBdPEn3G4yi62C-4wSh0ZF4rA9GLnw==",
  "id": "rs_0bd8936f323cbabc016ab427d72e0887d0813b2f754c6b8ad1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.29,\"right_z\":0.21,\"right_yaw\":0},\"note\":\"The left arm is clear again, with the cap still between its jaws; the pen remains in the right gripper. I’m moving the pen farther back and higher so its tip can be presented to the cap without the bulky gripper bodies overlapping.\"}",
  "call_id": "call_fuE0swMSiVCyURHKnUucWmLe",
  "id": "fc_0bd8936f323cbabc016ab427d7fba087d09eedbfb66b5dfaa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fuE0swMSiVCyURHKnUucWmLe",
  "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]: [-0.5961, 1.3285, 1.2953, -1.0653, -0.4629, -0.3576, 0.0732, 1.0698, 1.8824, 1.8694, -1.4078, 0.5301, 0.7719, 0.0557]\nstate[eef_state]: left_x=0.3006 left_y=-0.1042 left_z=0.2171 left_yaw=0.0269 left_pitch=-0.375 left_roll=0.2289 left_gripper=0.0732 right_x=0.2576 right_y=0.292 right_z=0.2003 right_yaw=0.0386 right_pitch=-0.4913 right_roll=-0.3002 right_gripper=0.0557\nstate[joint_eff]: [-0.0615, -5.135, 7.0906, 1.0965, -0.4127, -0.0904, 0.6178, 1.1966, -8.6906, 7.4598, 0.5006, 0.5788, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780ad3c789799fe6926a8e215e46a7b51d1facdf1eaced74deb73abc079bb091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe777f40d6e9614b92a0646b69a278d2fccff0b81d33762a45da3af427265d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151bb364433f0846e963433a94743829ee2a5075dd5aedbc9c5ebdf82eb8c17f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 4.382 s

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

message 62 changed as sent

message 71 changed as sent

message 76 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6682, 1.1515, 1.0439, -0.9665, -0.6167, -0.5854, 0.066, 0.9627, 1.7405, 1.4464, -0.8619, 0.5484, 0.5682, 0.0557]\nstate[eef_state]: left_x=0.2732 left_y=-0.0809 left_z=0.1983 left_yaw=0.1799 left_pitch=-0.2406 left_roll=0.164 left_gripper=0.066 right_x=0.3042 right_y=0.2821 right_z=0.1566 right_yaw=0.1339 right_pitch=-0.3429 right_roll=-0.2039 right_gripper=0.0557\nstate[joint_eff]: [0.1026, -4.2325, 6.0239, 1.2137, -0.3736, 0.2271, 1.0281, -0.294, -8.9504, 6.694, 1.0037, 0.3639, -0.0366, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3228, 1.3045, -1.0607, -0.4786, -0.3622, 0.0698, 0.8234, 1.742, 1.3987, -0.9798, 0.5182, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3029 left_y=-0.1028 left_z=0.2236 left_yaw=0.0366 left_pitch=-0.3505 left_roll=0.2257 left_gripper=0.0698 right_x=0.3134 right_y=0.2148 right_z=0.1296 right_yaw=-0.0395 right_pitch=-0.4757 right_roll=-0.3219 right_gripper=0.0557\nstate[joint_eff]: [0.2667, -5.4222, 6.6667, 1.3651, -0.1734, 0.0513, 0.6667, -0.0889, -9.3333, 7.0359, 0.9695, 0.2808, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3285, 1.2953, -1.0653, -0.4629, -0.3576, 0.0732, 1.0698, 1.8824, 1.8694, -1.4078, 0.5301, 0.7719, 0.0557]\nstate[eef_state]: left_x=0.3006 left_y=-0.1042 left_z=0.2171 left_yaw=0.0269 left_pitch=-0.375 left_roll=0.2289 left_gripper=0.0732 right_x=0.2576 right_y=0.292 right_z=0.2003 right_yaw=0.0386 right_pitch=-0.4913 right_roll=-0.3002 right_gripper=0.0557\nstate[joint_eff]: [-0.0615, -5.135, 7.0906, 1.0965, -0.4127, -0.0904, 0.6178, 1.1966, -8.6906, 7.4598, 0.5006, 0.5788, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780ad3c789799fe6926a8e215e46a7b51d1facdf1eaced74deb73abc079bb091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe777f40d6e9614b92a0646b69a278d2fccff0b81d33762a45da3af427265d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151bb364433f0846e963433a94743829ee2a5075dd5aedbc9c5ebdf82eb8c17f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfe4U8figDPc2seC5XyJ9wdm4BiyvqYl7FUrYkPQ0sqhl5pD6vAeobI4jImRnRKpZLBJ5KP3_PhmXZMAPvDHUPnyVsCi_jmvfSIUOh8SBbs6XGIYQmLa2zKeK32tJ8dsOOTWAzQjTggzZSAEEEFHHL1RPNoK6_NFtNxk3j95Ryljz3DV8S7C2QRlunm5HgXL7wVPkEJEigjmVD6KMbB50PIsYML0ZIlFZjKwU6uUDFMnBVd3dCxe0_FSwl4UY9y9FHW85mnOEd-llPencV7skvSmuPaepDKbwUDUT1b3Ph6LO1fEYDoDwK2pG4WJ9YPYZHw_1nZj0EDl03Iu6zP3A6_1Lh218kZowmjEAlCTT03PfYUr5cLuW5zyom566A_Z2jFdBBXOz4u-7pp2JfI0XqenLV9Ebv-dAStIL92snX5LvPqPTRXBuKei-bi1Djb1uUjeqxrrF2nlBU_ayp1VeZFoxmgvBfdNmzStkb7Hf2R7WdxJ_z0fuILLMAU8tCi7Svijdxtby07iROSo7DhXZ9-qK9mIAVllqLP-nZOZA8Bm-D6GH5PnMI5QLb6HOQqPblz1YthjF1p5EyzZ5UnCyCPdfeqBygyQossilPedhEocz0Ysb8JPrYKlJMggBLE59My2l5CsUsFyb5wwdIvbKMKjvELQ09t8parMBSotLp5IchejKJe_aKzR3hvoJXSvGiM3vOI59Fnig-xlZ51_CvNgnlBL2_7_5rWoZ1HCwYZFwPkdlpP2lQdrY5qplrkYbEKs-XLjdnFQSlRuSSVjyvibyg7spYmNef7nBXYUoKr8_6nJmn6yeJCvtGTxS5NHanUEGs0fhRQ7b8mV28AE78qbu2eESE0YvQpGCCK0xbSNqYsFBfysBvFXJGCyqQUj4Z12g8GYtlafuIaOHQMG3eM8ggXIPi_0CQG0QWLPVCpu0i4ni88xgZTgytLlIz4q98WWpZCLfe4pHMP0Msu5ptLtcNVg9Sj1fEf-mbPSWcigQbUEtKJhnN6al4Mvs4IIKf2QxYFVdN5lRZ4jKDzBSynn6ISEMurA4-n8mhzwEkNoE1SenBiWyLtY1wFulfCKZcKdGffHeBWI4uQUHJH4-xF8EKbbur2Tc3C0XhxuQV4xVwoF9Hh77fehvr6Ru0ymuNoNf3q_vd9bpji_fRbnRVQ1qs2yRPpPsPf4TfSyZt7yLVPzuAWgvCMWQuxL2mB754sd7mt5V_W9TPqiEKbXi9YwOGN4glU59kbO2ONU00lgmwqzq8b-BfNa3HC3E1WboALzb2HnruWRJ9e4NpBGk_48425qPcM0L9G3XHNPmCf_e1HBcnE66oIFai8p_XTtJQtpwXfnENFMt3ZRq30Pflzt7r81eWaFOgrBiZBHpx1oHMTPMLVANHMLG-VLY9BzjDHo2eSwfMZ9OiynE9LoI-JUZXbfCYSUW6RBP8fQle1u7O6hizIaojczON8iDh8dOMNrQE9q74rKm31qqEtsfogSSCb-W-JRg0dY3JeoKNQz99i-sObhU-mj7_-CQ3nHYF1Lh4tr-q8jSE_cifpXT6zNMSIHvcOJG9coPeCs91KhDFmUeAX0O37EiZRtAgf0W7EsSl5i9qxrHwYnkmQyo3HwWS-RJQ-LOBz6c6zxQJ2dfnKQhStXy3GruNIqK808LoaWZqwJOGgKRobUF-NSLRN1NMJ7KDcz7bKYuMYrIm80DwO-t7PU9gGVMzmor8ypVXoUImVShJ2To6k-eS4dZAQrGXytoFOzcwID2-AKrjW3fTWsn1NjD1JsGXOIk60PQywpxx2C3r2Wx7g0pnALokmJ-Y8V4QW0YaX8aJxEH3PDvsnnVKKuBnnwxcM_DLHigx9LOnmSGlHEr9yEZc7c90MFJcx7svoBMNkJG5fsQONIpEsGrHKLOGzmtHk8KOjrlb2kJg0CuOG_9MZFWlZklIhuVquWFVjq4kO0DmzrSxObj7P2gt3j-uoyl_LMNV8CPgpEXCman7qk6J8ow5VObxAhNgpZRcV5iMg1hk0uDxgg5peLcxOEYr9Q14EqdD1xVvcwYZ349inV6VWjAQSyiE2bA==",
  "id": "rs_0bd8936f323cbabc016ab427db30c887d0b065a7b83dbb313a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.3,\"left_z\":0.22,\"left_yaw\":0},\"note\":\"The pen is now farther back, and both pieces remain visible in their wrist cameras. I’m advancing the cap on the opposite side, aiming its rear opening just ahead of the pen tip while keeping the grippers separated along the table.\"}",
  "call_id": "call_mHcXGmarGhfXzCRKxhtidvog",
  "id": "fc_0bd8936f323cbabc016ab427dd085487d09118577c3c6e211b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mHcXGmarGhfXzCRKxhtidvog",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 2.1582, 2.3051, -1.3598, -0.5632, -0.5903, 0.0728, 1.0729, 1.8771, 1.8442, -1.512, 0.4877, 0.7998, 0.0562]\nstate[eef_state]: left_x=0.3984 left_y=-0.2794 left_z=0.2216 left_yaw=0.0371 left_pitch=-0.3683 left_roll=0.2362 left_gripper=0.0728 right_x=0.2377 right_y=0.2715 right_z=0.1898 right_yaw=-0.0236 right_pitch=-0.5837 right_roll=-0.3875 right_gripper=0.0562\nstate[joint_eff]: [-2.947, -10.1675, 7.4051, 1.2088, -0.1538, -0.1245, 0.7692, -0.3624, -8.6359, 8.1026, 1.5311, 0.6862, -0.5983, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb07cae4b3be2f2372b17f8b8afdc4c766468c736fea6ea14b457585542021f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7223f2e92006ba1029b060eca61d90e8334b9cf770d07ab1ba64d56690c6ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8702586e032203e72ce32340835682f665e55e335b65af83b2a804dadf176fc6",
      "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 · 7.54 s

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

message 67 changed as sent

message 76 changed as sent

message 80 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.8492, 1.7496, -1.0889, -0.5827, -0.5934, 0.0662, 0.8238, 1.7306, 1.409, -0.963, 0.5255, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3857 left_y=-0.2017 left_z=0.1995 left_yaw=0.1422 left_pitch=-0.3382 left_roll=0.2273 left_gripper=0.0662 right_x=0.318 right_y=0.2183 right_z=0.1384 right_yaw=-0.0289 right_pitch=-0.4452 right_roll=-0.2945 right_gripper=0.0557\nstate[joint_eff]: [-8.9915, -1.4564, 9.1419, 2.9035, -0.525, 0.2662, 1.0085, 11.5761, -7.5966, 9.1556, 1.7656, 0.4029, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3285, 1.2953, -1.0653, -0.4629, -0.3576, 0.0732, 1.0698, 1.8824, 1.8694, -1.4078, 0.5301, 0.7719, 0.0557]\nstate[eef_state]: left_x=0.3006 left_y=-0.1042 left_z=0.2171 left_yaw=0.0269 left_pitch=-0.375 left_roll=0.2289 left_gripper=0.0732 right_x=0.2576 right_y=0.292 right_z=0.2003 right_yaw=0.0386 right_pitch=-0.4913 right_roll=-0.3002 right_gripper=0.0557\nstate[joint_eff]: [-0.0615, -5.135, 7.0906, 1.0965, -0.4127, -0.0904, 0.6178, 1.1966, -8.6906, 7.4598, 0.5006, 0.5788, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 2.1582, 2.3051, -1.3598, -0.5632, -0.5903, 0.0728, 1.0729, 1.8771, 1.8442, -1.512, 0.4877, 0.7998, 0.0562]\nstate[eef_state]: left_x=0.3984 left_y=-0.2794 left_z=0.2216 left_yaw=0.0371 left_pitch=-0.3683 left_roll=0.2362 left_gripper=0.0728 right_x=0.2377 right_y=0.2715 right_z=0.1898 right_yaw=-0.0236 right_pitch=-0.5837 right_roll=-0.3875 right_gripper=0.0562\nstate[joint_eff]: [-2.947, -10.1675, 7.4051, 1.2088, -0.1538, -0.1245, 0.7692, -0.3624, -8.6359, 8.1026, 1.5311, 0.6862, -0.5983, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb07cae4b3be2f2372b17f8b8afdc4c766468c736fea6ea14b457585542021f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7223f2e92006ba1029b060eca61d90e8334b9cf770d07ab1ba64d56690c6ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8702586e032203e72ce32340835682f665e55e335b65af83b2a804dadf176fc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0bd8936f323cbabc016ab427e0e97887d095d5fd899a4f1747",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.35,\"left_z\":0.2},\"note\":\"The cap is now ahead of the pen, but its jaws sit a little left and higher than the pen’s. I’m aligning their lateral positions and heights while preserving the gap between the cap opening and pen tip.\"}",
  "call_id": "call_bnodjrzSevPOTiMiGEv7mFnG",
  "id": "fc_0bd8936f323cbabc016ab427e3750487d0ac7db357467252b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bnodjrzSevPOTiMiGEv7mFnG",
  "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]: [-0.8238, 2.3913, 2.7609, -1.5803, -0.5735, -0.6991, 0.0762, 1.0454, 1.8809, 1.8015, -1.6192, 0.4995, 0.8268, 0.0562]\nstate[eef_state]: left_x=0.4105 left_y=-0.297 left_z=0.2322 left_yaw=0.094 left_pitch=-0.3472 left_roll=0.1708 left_gripper=0.0762 right_x=0.2309 right_y=0.2367 right_z=0.1807 right_yaw=-0.1676 right_pitch=-0.6288 right_roll=-0.5508 right_gripper=0.0562\nstate[joint_eff]: [-8.6769, -5.135, 5.6821, 1.1062, -0.6032, -0.1392, 0.6569, 1.9761, -9.1282, 8.8821, 1.2088, 0.1099, -0.3248, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da899e473143eaf8c3d7103f841ca9a2f19a10e57e380ca20b3effc6b6e99bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1857135e4958a60922981ab2fdbfe309f7c0971e29eec1284d7851bca89308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d71d41f5fbedfecf8dd93efe3fae5dfdd5f2b6fdc42027cc18ae655b68c8ced",
      "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 · 3.061 s

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

message 71 changed as sent

message 80 changed as sent

message 84 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3228, 1.3045, -1.0607, -0.4786, -0.3622, 0.0698, 0.8234, 1.742, 1.3987, -0.9798, 0.5182, 0.5644, 0.0557]\nstate[eef_state]: left_x=0.3029 left_y=-0.1028 left_z=0.2236 left_yaw=0.0366 left_pitch=-0.3505 left_roll=0.2257 left_gripper=0.0698 right_x=0.3134 right_y=0.2148 right_z=0.1296 right_yaw=-0.0395 right_pitch=-0.4757 right_roll=-0.3219 right_gripper=0.0557\nstate[joint_eff]: [0.2667, -5.4222, 6.6667, 1.3651, -0.1734, 0.0513, 0.6667, -0.0889, -9.3333, 7.0359, 0.9695, 0.2808, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 2.1582, 2.3051, -1.3598, -0.5632, -0.5903, 0.0728, 1.0729, 1.8771, 1.8442, -1.512, 0.4877, 0.7998, 0.0562]\nstate[eef_state]: left_x=0.3984 left_y=-0.2794 left_z=0.2216 left_yaw=0.0371 left_pitch=-0.3683 left_roll=0.2362 left_gripper=0.0728 right_x=0.2377 right_y=0.2715 right_z=0.1898 right_yaw=-0.0236 right_pitch=-0.5837 right_roll=-0.3875 right_gripper=0.0562\nstate[joint_eff]: [-2.947, -10.1675, 7.4051, 1.2088, -0.1538, -0.1245, 0.7692, -0.3624, -8.6359, 8.1026, 1.5311, 0.6862, -0.5983, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8238, 2.3913, 2.7609, -1.5803, -0.5735, -0.6991, 0.0762, 1.0454, 1.8809, 1.8015, -1.6192, 0.4995, 0.8268, 0.0562]\nstate[eef_state]: left_x=0.4105 left_y=-0.297 left_z=0.2322 left_yaw=0.094 left_pitch=-0.3472 left_roll=0.1708 left_gripper=0.0762 right_x=0.2309 right_y=0.2367 right_z=0.1807 right_yaw=-0.1676 right_pitch=-0.6288 right_roll=-0.5508 right_gripper=0.0562\nstate[joint_eff]: [-8.6769, -5.135, 5.6821, 1.1062, -0.6032, -0.1392, 0.6569, 1.9761, -9.1282, 8.8821, 1.2088, 0.1099, -0.3248, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da899e473143eaf8c3d7103f841ca9a2f19a10e57e380ca20b3effc6b6e99bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1857135e4958a60922981ab2fdbfe309f7c0971e29eec1284d7851bca89308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d71d41f5fbedfecf8dd93efe3fae5dfdd5f2b6fdc42027cc18ae655b68c8ced",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0bd8936f323cbabc016ab427e5b95c87d0a91b048d5b770290",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfsELhSXrp3yaa3UTDskb2X7HI4fOc0GZqox9Y7gd6Ogp6Ra_Zyryg8m7WVGGFfJbbKa2vIOPy7ciCP8nEwM1pxJO3LhfHwvAJGuyFoep4kOYY0nzjgRyAUMoIPmJkYkmJg1Cggr56ecSku99ULOdsbKFOCy9bM7cVRfcF2109nd6CzP5aL8dSdFx7_IotoIi1KQPez6OoLyUgevc1pE8cIkPvO0VM77tVf6Y9gt7M13gXU7_mWTn2aU5qCpKlcED_PBZ1dBGqXJPv6l-D1MiJWkjzEnGXfmBYdOFxi9tkbcac9GwTcrjp_FyapZuJ-9S8CGT4SWb2iog-jrBC4asrq87veT10E4054AYEzzOo8EY4jPM-zcHwLz8a7syehsZ2sEtBMHYsZLbKtJtHUfty1BBG7RNjsgqvpmHi19dO3MIQRGzDNVL3XJjFzgIOY9npUzyrZGHkN3jqNt0tmwd-EurDtudrMDNKtxsO8s4yaEYKONTIdyme4y67ZoAo6PjvsXE32M3BdWJXhxl5V2SzosYa17YHYsoLTHCv51pawsw-WCBvx24ybe_gbOVEB7CP1hA86HgGIFtRWixUW4Y2QeDXKm_Vs6IAaPxFIq_HWNVS7GzGuKk_jFKoT0t4NLZHTpi9pfBmzbcwhtPcPNSMh-0chqapazbMpzI_vaG6dB3oS3MRj55t2PSIOm-g9_GqYYAcOx1V6FxoEVN8jlbx06nnMhQvV4FUIa0128pF2Za6X58lqhh7i9bMJKUKONvpjPGALLT_DCwm3AZamSkjcdljtQgBloijivN5R7K4nFqrcTpcb_etK4J7UuQsF9zNT0d6k6r-Xq58Iyt9OvDTR8u298IwY4T_7a5jcB1oMpVX1SAzrlrnUzBvN80KLKW4rjaAmkoFp4Lbg2skJch4jfcgCG90oCymz-xPE1awzddcYQWY0YaZQw8-rZBKrKPHAiaHN-fQyXjExYhKc3IRK9U6sXS_kCon-pK_5sjYo-uJiP56qhDUL_c6y1sQyOo-2d7gQoNoQ6HD_lAsa6cj3GzPkN0QAHt7YXMg8FZ3YZb0cnRbJdA16NnHvn1PAJdKp9k1AeZcLM26t0egHvKAasqdU3KYQYDP8w7oYI8u5ed_mZp_Bg3fchgANXSg6La6uKukpfS54DK-JyttytAFQMMDLT_CWpxOQ_atPBfmImRuuzAHzcBnxuUuTflF3ODsikwuIl6RYkKtJoo8sApkhpfj1z1sU982qfJNY2Y32oPRzFa_BYG5oGfbRmaN5PpkH5nMPDm9daliuInBKFHbjXW3iEqkli-hVH7vsGEXhZNfDRSZ2nI8Zo4C7YnqMIV3eigBI747X-Zd-4KQhSoqmKnF2W5PMS6YA5ruXe5WYpqaz1T-j2GU3i_veuhYbV3R130whrQtdKa08sn7xKg0Ybwuu4E3KB7GZgMA4eNwRwn1ddhMGHwyc2R1kEXKwolQDEukHAFsTgGaHo0mwLZbOzJJeEOCYliuYd2u8yTZ1RJZq27l52Qdw2BdSs6U6r6ji8g-PDnsAH-kVGMghrDJX6a-IGpi96kO1BLypqqRXoj3fbsNv4aL1EwfRkPtGMhn9bSXG4gndx2KnVqDhfI4ifLLDs-L3iVuvUONWpWzk-3SgdoO3eklEF0obL2LW0s-85AnFEYofXS6RoX-Wf9OBfw0pUd0yaCJXMo0SgnNzMc9V8Ve4O9corC9GCFd4PiSFOj5kNhwbEwZY_QVylzTC0M6Q1qoM6LQl1Op3d1DTvnl1mDsjYY-NlmBI08URa0G4G2JyOExvMJLYg5RCB-NhU6s9esEoZsGgAvqoPcyD09RfCXCATgPWRRnEW5tx3WWIR0TwaRMn3_Rvf9T5TwTmJP0oSe2m9xJjOkW0mYW2jxAapcAsZZhJOH6bS_V7q-aBiB_FvuYfcOrlOVZKbbeSz-TfwDp7DislbQzPu7EdcYo=",
  "id": "rs_0bd8936f323cbabc016ab427ea6b0487d0b6b03f4fa3d44f95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.1,\"left_z\":0.24},\"note\":\"Both arms again shifted away from their targets as their links crowded near the center. I’m withdrawing the cap arm before repositioning the pen farther forward, where the arms may have more elbow clearance.\"}",
  "call_id": "call_2bH15y1aO1YcPqh199QvXEOF",
  "id": "fc_0bd8936f323cbabc016ab427ebafc487d0acd131be3d3f02bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2bH15y1aO1YcPqh199QvXEOF",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5812, 1.3933, 1.4136, -1.132, -0.4789, -0.4702, 0.0782, 1.0512, 1.8675, 1.7397, -1.5787, 0.5125, 0.8303, 0.0562]\nstate[eef_state]: left_x=0.3121 left_y=-0.1033 left_z=0.2336 left_yaw=0.1202 left_pitch=-0.3641 left_roll=0.178 left_gripper=0.0782 right_x=0.2296 right_y=0.2342 right_z=0.171 right_yaw=-0.1707 right_pitch=-0.6186 right_roll=-0.5638 right_gripper=0.0562\nstate[joint_eff]: [0.3624, -6.1333, 6.5026, 1.3455, -0.2271, 0.0317, 0.652, -0.212, -9.5795, 5.5316, 0.1099, 0.398, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d182f901814d63386be469b7e03cab334b0ea9b994ee83ef92e271e89d93e683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57adf9299fc0332e31f32782b2d10208d79466ed686cbae2d0106d663d3c3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c85b223a27c7dfe249de2191ae77ef9286ad3a0dd418c8df670394a367437b",
      "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 · 5.057 s

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

message 76 changed as sent

message 84 changed as sent

message 89 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.3285, 1.2953, -1.0653, -0.4629, -0.3576, 0.0732, 1.0698, 1.8824, 1.8694, -1.4078, 0.5301, 0.7719, 0.0557]\nstate[eef_state]: left_x=0.3006 left_y=-0.1042 left_z=0.2171 left_yaw=0.0269 left_pitch=-0.375 left_roll=0.2289 left_gripper=0.0732 right_x=0.2576 right_y=0.292 right_z=0.2003 right_yaw=0.0386 right_pitch=-0.4913 right_roll=-0.3002 right_gripper=0.0557\nstate[joint_eff]: [-0.0615, -5.135, 7.0906, 1.0965, -0.4127, -0.0904, 0.6178, 1.1966, -8.6906, 7.4598, 0.5006, 0.5788, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8238, 2.3913, 2.7609, -1.5803, -0.5735, -0.6991, 0.0762, 1.0454, 1.8809, 1.8015, -1.6192, 0.4995, 0.8268, 0.0562]\nstate[eef_state]: left_x=0.4105 left_y=-0.297 left_z=0.2322 left_yaw=0.094 left_pitch=-0.3472 left_roll=0.1708 left_gripper=0.0762 right_x=0.2309 right_y=0.2367 right_z=0.1807 right_yaw=-0.1676 right_pitch=-0.6288 right_roll=-0.5508 right_gripper=0.0562\nstate[joint_eff]: [-8.6769, -5.135, 5.6821, 1.1062, -0.6032, -0.1392, 0.6569, 1.9761, -9.1282, 8.8821, 1.2088, 0.1099, -0.3248, 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 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5812, 1.3933, 1.4136, -1.132, -0.4789, -0.4702, 0.0782, 1.0512, 1.8675, 1.7397, -1.5787, 0.5125, 0.8303, 0.0562]\nstate[eef_state]: left_x=0.3121 left_y=-0.1033 left_z=0.2336 left_yaw=0.1202 left_pitch=-0.3641 left_roll=0.178 left_gripper=0.0782 right_x=0.2296 right_y=0.2342 right_z=0.171 right_yaw=-0.1707 right_pitch=-0.6186 right_roll=-0.5638 right_gripper=0.0562\nstate[joint_eff]: [0.3624, -6.1333, 6.5026, 1.3455, -0.2271, 0.0317, 0.652, -0.212, -9.5795, 5.5316, 0.1099, 0.398, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d182f901814d63386be469b7e03cab334b0ea9b994ee83ef92e271e89d93e683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57adf9299fc0332e31f32782b2d10208d79466ed686cbae2d0106d663d3c3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c85b223a27c7dfe249de2191ae77ef9286ad3a0dd418c8df670394a367437b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfxBqXGAu9Ml0Nw9Lv6CB_QU_JgGQcVAvA9beCSMp2dMIYIFMtjshZIcVUfTyA9zK5c5qrjyEfl9ymfutSa-NjJK1U9M1fEz4EhFG7miS6UGW4p0iHO5NHrY33btE0qqAy8xOzTFiRxItKLSvLJYbfNg_PYG_HBab7koEthmzIO-hK1v84DNwvkGF44PHjlQp1BdBopCOcqIp5K0EKq-GnLEioRuY1bMPgBhqE__rpgzNSwBE5PLn7sGjxkmJmYVpCIWreQEKHw4NVZbm_l26r0l92y38zS0NUq0vRJ4rcfM0SveS_mVtJK5N6U8FKN-cLlr-1Rl6WBJ8tDgFOGKihZY6e_UWMkHDcRQnz86LeDSULLM1fm-UZXIGagVL1PvdHokTnQfrgOeY9rj-xs6whlCB_w3lpyE0AlPhMYgt03WCMLBkAkxwlhjlwDpoYfKE6lUS0kXWGlhduD4aLMf82e39qT0dIgyijdyyO7Ol_QVfWjI36sVhfiy8ZKcp2q1LaxoJ_aXgelxRQ9oKpZc2MV6HKDn-n5kefWmVaswbD8K3YZ-PUbIXZ8ZLCc5CmK6F3QFPAwd-1XGEDTh3QgqMJxQh5Xxr3bD0RdVmJpLfqwGyzdFSoS3omtAEVzzfb7Xe4ET-Vo52Vkli-xq812svEat9sAm0OiXP_b-iA5rYiF07gzNihcKSWhojlriULJ3IahbCef_Z8bBEdXtJW3wT7a_S__XRWEyv4vIqDpj1foXYklpu4ql_DboC2zoqvVn3djEsL2tzxysgASjDRnE-tDqdw6hNheREB5l0KkjYr9VfiPDVko2a3cwApEfcQ3DwpfGyjP9kdQSRxWxW_lns681Bt9z66_G0SphZSLhVPXnpZjUJQEGXuny1woZ2lYiu-OEKB3LllD8utG_bNPe-YvaYwcgFe_kE3gKLdqVOyNVv_Yaq882mIWeegLM0YWmxA4y-Uvo1a3CX7yByz2A4HuXUvmeRwZT_IkqVl1oCmIU3BqYjN3I67DEz8wUjA2Hvia5lBHj6l72O5Fqw0y7sESABcjs2Ed27EGnZtoJOfKMrrNDT3ARhxeAqPlzc58MYpEnH8A5FUtal6xq-XKSgsIB_MU2j2jjDf8RJqmYtaWBvAsQwEvLuQFLYnmQu-4BRJMqGTZuBRTZbBOalVp9cSVvT8cP8GKujQHRhcXsDxCkqllFmtbBvAiZ8ruKmfdfTgQZtvWBi9ACI8zK2m2e7fq-K2xy_NdzNnoE98_U6zH80AkuX2LPQmV24cuhyDkmOGj-li_UG8MGfOBooupI95wTIRkg0tEFhwffwCNw0KsciLNgfU7cvzgyIfQhU0o1NIBGEDD83Tc4teTxk527dRW1Ih4pPRQyUvYjwcGcLTJk8XJjYpomDxrZtfZRqEp_P7cbLWWv1x8QUtJc5wd5nCLohZDeRlhKx4nw2j5Dscc7nvM7MlgngnCKHurOhwqAdvgRPJHorUHqLy2VJdBBWo46Q==",
  "id": "rs_0bd8936f323cbabc016ab427efd79487d0947f682bd79fc6ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the cap arm clear, the pen is still held but its wrist has tilted from the earlier interference. I’m moving the pen forward and restoring a level tool orientation before another careful approach.\"}",
  "call_id": "call_w2yMONqVEsMMPerzZTfi80yU",
  "id": "fc_0bd8936f323cbabc016ab427f03b0887d0b3f0368291244318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w2yMONqVEsMMPerzZTfi80yU",
  "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]: [-0.5785, 1.3979, 1.404, -1.1358, -0.4633, -0.4694, 0.0772, 1.0058, 1.7477, 1.4425, -0.73, 0.7338, 0.6891, 0.0589]\nstate[eef_state]: left_x=0.3102 left_y=-0.104 left_z=0.2274 left_yaw=0.1159 left_pitch=-0.387 left_roll=0.1793 left_gripper=0.0772 right_x=0.3222 right_y=0.294 right_z=0.1826 right_yaw=0.0237 right_pitch=-0.1292 right_roll=-0.1246 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -5.6274, 7.2821, 1.0379, -0.442, -0.0562, 0.3248, -1.2513, -11.6855, 7.3094, 1.7998, 0.7253, 0.1001, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9a9346a45816e7898f3b448a65bc15e50d6ec0fa25bb5f38fbce1ee3bdfd40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5433d3061d5ddf8571e3fd930bdcea2f9371125812ff07e2a4d5b8b0d77b1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98145729f69d0cda00889a0356aa6d777b9a4cb13cc839bfc0e2d304d9c9af2",
      "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 · 5.186 s

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

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 2.1582, 2.3051, -1.3598, -0.5632, -0.5903, 0.0728, 1.0729, 1.8771, 1.8442, -1.512, 0.4877, 0.7998, 0.0562]\nstate[eef_state]: left_x=0.3984 left_y=-0.2794 left_z=0.2216 left_yaw=0.0371 left_pitch=-0.3683 left_roll=0.2362 left_gripper=0.0728 right_x=0.2377 right_y=0.2715 right_z=0.1898 right_yaw=-0.0236 right_pitch=-0.5837 right_roll=-0.3875 right_gripper=0.0562\nstate[joint_eff]: [-2.947, -10.1675, 7.4051, 1.2088, -0.1538, -0.1245, 0.7692, -0.3624, -8.6359, 8.1026, 1.5311, 0.6862, -0.5983, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5812, 1.3933, 1.4136, -1.132, -0.4789, -0.4702, 0.0782, 1.0512, 1.8675, 1.7397, -1.5787, 0.5125, 0.8303, 0.0562]\nstate[eef_state]: left_x=0.3121 left_y=-0.1033 left_z=0.2336 left_yaw=0.1202 left_pitch=-0.3641 left_roll=0.178 left_gripper=0.0782 right_x=0.2296 right_y=0.2342 right_z=0.171 right_yaw=-0.1707 right_pitch=-0.6186 right_roll=-0.5638 right_gripper=0.0562\nstate[joint_eff]: [0.3624, -6.1333, 6.5026, 1.3455, -0.2271, 0.0317, 0.652, -0.212, -9.5795, 5.5316, 0.1099, 0.398, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.3979, 1.404, -1.1358, -0.4633, -0.4694, 0.0772, 1.0058, 1.7477, 1.4425, -0.73, 0.7338, 0.6891, 0.0589]\nstate[eef_state]: left_x=0.3102 left_y=-0.104 left_z=0.2274 left_yaw=0.1159 left_pitch=-0.387 left_roll=0.1793 left_gripper=0.0772 right_x=0.3222 right_y=0.294 right_z=0.1826 right_yaw=0.0237 right_pitch=-0.1292 right_roll=-0.1246 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -5.6274, 7.2821, 1.0379, -0.442, -0.0562, 0.3248, -1.2513, -11.6855, 7.3094, 1.7998, 0.7253, 0.1001, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9a9346a45816e7898f3b448a65bc15e50d6ec0fa25bb5f38fbce1ee3bdfd40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5433d3061d5ddf8571e3fd930bdcea2f9371125812ff07e2a4d5b8b0d77b1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98145729f69d0cda00889a0356aa6d777b9a4cb13cc839bfc0e2d304d9c9af2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCf4iSUHmVZRo4hk7B2QPvaveREApbMO37oRaUTtdHCLl92I4v1Fx6LNhzxLGD4I_95s9FYcB09egRoNn2wAJ1NCDLlXRaSgnWEQmu44BJ4Btiub1woZ0dhTlHktFSlIBwc1mFNxWxSWADz6iGCmVfB_IJECzwoeDteL33kkHz9G6bW1YWm3VnPcft8ceQ62R2DvIc3qcI7vBUWxNcAsJWUqDzbReObqVylYtA46emgGZ3NfO99JlDo6MXz1naFBgFHMs8pGZ67Cu9hl0Hy5tODD4RgCDkBV_FqCdz592t0d1lmVgNwR9UjZaeQ2EMWAA75PqyfG716YJ8V-t0l9AdoFX3ZDXGITFCtsP9hdyn_IYI7acWbm8M-nYJ0_AvjokE3TonaQPRUkxz_uMfUUd6keilxu8dRrFoS2jT_kGPSi9p5iE4xXXb3Fe7UjPfX7krTQb1ESQO-En1GBQMcyLv-TjaRoxU0xi8GbFcfPALXIdzvhNLlzNKzqoS51of_pOhaKDFyx6qjQFSX5zDYpQMe9jUlxbB_NtCWPmVyYbvQsG0RHks9t4PryRpcCEO722dh2yvD3JFKpcUGNDxH0kcHyh505b1YdXrRn1odTpH3mR4J-VxUAcLVBQle-SbadAVPWalcw8myO9eML2XNhXJZfQF1QWLw27oRZg04uoR--z__8gb-ty0Zedbch0faB11UGE0_VCWbprzMXop6a2yZ5PeBfpAEn2lgpRBuQoJZzUgXZn0govZ5Nl4lrXaxuTG_Sq-KLVvgDyhQzPKUg2ToxahJbtlZWwMAepppRVMBY4y07UTIMflKPsddrSIA2xTm3IHnfit4Gok424PYtdSjssi1-blXHYvmE-BAgb2UnoUM5aaKfMe7i50SqDer9lrSjGywY73GihXouxPTapddSbakzf1M-av5OW6nownqE2RdeddJ7XLUtawrrgneP67JrHS9J7JhAEALNBqXnDDfDgu0TswIdAnkvcPy8lWta3IYt9o0LXhUKM4FpQ_r3g9JcbfUuTsl1U0LRAo_hH5gDZmrrKm7rZoxqPVehmLh2-vFI6SE6gB4wFT78OYxzkZlXYMylqZgwwWkOywD0nFCDgiUh34VfdyXHjd4U6SFavWRelbW90fyM6wkhku_618IPm6tY6LWL82FFcizvs1WlUPQuNNUHjl9SYKzgbl2e7sT4H45MRm2eMwIG6j4fqrt3Wv5uMGR4S76HJvU73A_wqhOdJRLfs0AgdeZhMqAThIyY_LkxPM0ulidFJLCo7FL09XdiOwq5hw4I0nBFowca9OrEAEqP4wJS2a4_F_dqg0uMEyAvhnEvnlO8piavfE1Jb7Km1oqkU-fPjCA7I6NbcOuixwA54ss_l1PRnMQ5gROKmBpmbkfFNqn0FXaHV5mGIY2uyJt3wQ-U2pJvg6RoQUwk6aPAnpEVA3dr0RyDh4wyWRyS-sGYYP0WNCloTWLLPXUkvZVF1m4KqC8kERqqnu3yaGZYbJ5mDsE7XmyuZ-ekcnPfQPJ8mCPS_dzPeS4_INilvUuSrsnPCSwbgNE-OKE2-Qqt6U3Kysj_RMpT0wZ0RgUaaaIME15DMLc-naQ9t3Ya9EB7kAknW1zsQ3D4cDAiyXGUbqm_DDJ3xI2UDqyySi0V_Bha3A8qL8R-FhR2Pydae-CRxNnbubSrkmXw2midVi-xGvRzwnfa7CV9_mXsemagW1BEJP-khxwWaX8tZwHx_Z1tbJ-KoHXSJlR5bWKj_31b_oUBrvhM0BIEohjcqkVFHBfIOln2KjRISLRrqWn68MrsvhMZEskNPzAbH6KgjqqkFh3IIIZtTD3u6OrEAB5zqclz1JbqCTphrpYE2ChEZJyuJ-01u-juKnPp7moWASV7gnn6sMD6QA1ZcvkOtO-CPI6T5YgHnsaoGRhW-mMNXbZjgwpZkzQwApC45sAz78TGQT-I997iNoCkCeDKtY0d0-zz_h7q5_L9-eNCgpNFKg3ZVO6U9XvJb-LQRPwfCcm36hRXl3TD1OhHRF54fISi8dZx6HnjUCT4_mNcJnjjWf_R2_euzOJfCzmR7TaaFa1gj4AM_XuV3MaOn9wp_0cAfs_EeW2Z7amlOOsQdByfKDg1OM-VOUfX1YsYhSgeRyn4UCCM6IvTCvKo2oIrg6KdEUKG96K86d-13Ir6peByRL2zl-XvFWY3L2OT8iWl5hh-l3L1potyWRqdYI3bnOiYCkEA0Y0vfebxCaDk8BrKwBJ4wuKYTVTYXib6O1_14-Am2wtXFUXqYIMyqRnYYy63tKda-nibt7A0QDxsBO9b_vNIloGySYWkJwXbrLr4-yJM8AE-1gCKjMamQ_UQRYc2D8fBvJaDvjGUnd12RHfjAWfmWn3zLUd9Sqo-yzN7DD2JgBeAEyUCEIZ6KLFXBtTCY2QpDIqRpkU35DrrQ7a9Z_Z6WiK-GMMofLmDOp_ufSPZcd1HNqxsPcJaJwNTlRNg_XBdLwVkV9NcbES0nlrWHOsDjZx781wZNimGy8nDkSulGlnW6tPDTcJEbh8IBHrDXItrjsDBr15OjdP-QXtRX8gCgbFauJU719xPKZOfp9Qq3AFXZ3eCk3b6nkx7E-jpQ0L9yfjyCs9AAEgB15IGMTC2iqmzTPpJlqz6T4PrW0-e-T0COGO1ysILeQVxIPyPCJsDjjYzAv_4y0ps_3JWvDCzrzJBc-P_28TD0sqE-yWV7yTUyW7dnydKq2tZA59V_c8gCrdpBozKCQqm4HfEpbZpdBsdfX7t1gwbIQ==",
  "id": "rs_0bd8936f323cbabc016ab427f43f7887d0ae9a26adb5388349",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.31,\"left_z\":0.21,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen is now forward and nearly level; its writing tip extends ahead of the right gripper. I’m moving the cap farther forward than before so the two gripper bodies stay apart while the opening approaches the pen-tip line.\"}",
  "call_id": "call_OsMAAkf4MbZhvMw58vOIgf1B",
  "id": "fc_0bd8936f323cbabc016ab427f7359887d0a8a7bcbaf895b717",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OsMAAkf4MbZhvMw58vOIgf1B",
  "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]: [-0.7574, 1.977, 1.7756, -0.5571, -0.6502, -0.5251, 0.0796, 0.9943, 1.763, 1.3987, -0.8585, 0.6815, 0.7105, 0.0591]\nstate[eef_state]: left_x=0.4606 left_y=-0.2834 left_z=0.2195 left_yaw=0.0511 left_pitch=-0.0094 left_roll=-0.0049 left_gripper=0.0796 right_x=0.3036 right_y=0.2694 right_z=0.1452 right_yaw=-0.0035 right_pitch=-0.2701 right_roll=-0.2423 right_gripper=0.0591\nstate[joint_eff]: [-2.8239, -8.0889, 7.6513, 1.4969, -0.149, 0.0611, 0.7546, 0.7453, -9.935, 9.7299, 2.0635, 0.8132, -0.3492, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d143f1b1c1aa249c57efcd839c725c2c6b350af40871cb6ab995e1701d2a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b93bfbf9be59b650b4077f72a5753ff78d78aa8a0720ac50bbae9ba849904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8638644a9bd508325b224337d4f7167fef86fc97e940b7656017f735c8cba7a3",
      "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 · 7.43 s

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

message 84 changed as sent

message 93 changed as sent

message 97 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8238, 2.3913, 2.7609, -1.5803, -0.5735, -0.6991, 0.0762, 1.0454, 1.8809, 1.8015, -1.6192, 0.4995, 0.8268, 0.0562]\nstate[eef_state]: left_x=0.4105 left_y=-0.297 left_z=0.2322 left_yaw=0.094 left_pitch=-0.3472 left_roll=0.1708 left_gripper=0.0762 right_x=0.2309 right_y=0.2367 right_z=0.1807 right_yaw=-0.1676 right_pitch=-0.6288 right_roll=-0.5508 right_gripper=0.0562\nstate[joint_eff]: [-8.6769, -5.135, 5.6821, 1.1062, -0.6032, -0.1392, 0.6569, 1.9761, -9.1282, 8.8821, 1.2088, 0.1099, -0.3248, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.3979, 1.404, -1.1358, -0.4633, -0.4694, 0.0772, 1.0058, 1.7477, 1.4425, -0.73, 0.7338, 0.6891, 0.0589]\nstate[eef_state]: left_x=0.3102 left_y=-0.104 left_z=0.2274 left_yaw=0.1159 left_pitch=-0.387 left_roll=0.1793 left_gripper=0.0772 right_x=0.3222 right_y=0.294 right_z=0.1826 right_yaw=0.0237 right_pitch=-0.1292 right_roll=-0.1246 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -5.6274, 7.2821, 1.0379, -0.442, -0.0562, 0.3248, -1.2513, -11.6855, 7.3094, 1.7998, 0.7253, 0.1001, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7574, 1.977, 1.7756, -0.5571, -0.6502, -0.5251, 0.0796, 0.9943, 1.763, 1.3987, -0.8585, 0.6815, 0.7105, 0.0591]\nstate[eef_state]: left_x=0.4606 left_y=-0.2834 left_z=0.2195 left_yaw=0.0511 left_pitch=-0.0094 left_roll=-0.0049 left_gripper=0.0796 right_x=0.3036 right_y=0.2694 right_z=0.1452 right_yaw=-0.0035 right_pitch=-0.2701 right_roll=-0.2423 right_gripper=0.0591\nstate[joint_eff]: [-2.8239, -8.0889, 7.6513, 1.4969, -0.149, 0.0611, 0.7546, 0.7453, -9.935, 9.7299, 2.0635, 0.8132, -0.3492, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d143f1b1c1aa249c57efcd839c725c2c6b350af40871cb6ab995e1701d2a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b93bfbf9be59b650b4077f72a5753ff78d78aa8a0720ac50bbae9ba849904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8638644a9bd508325b224337d4f7167fef86fc97e940b7656017f735c8cba7a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCf_F5H1xbaibqBHxWpnWvZ0doLrmmGiWFRN-xlW-b20P80XrimitzaCrou8tDBnwuJACPGgvcHYBeUTBDG10-kMOytNt05RlsApvHuCEDjGx0uS2bYVliQfcS1Vt998Ypyai9xgKfgbK-Rgh4jgmnpB999jxAysSbDQOPQ7EyJ96cOcMqOx7rtkDceyge0IrOb2__xCIn39ueacdYNI-gFEU6L2TsXViMYDKb9-4hv6iQ2Oql5MB1hjODNxxs6y0UUPTh_Sn0yWDAAxTiZlGgXF7-Q3_s4UZ5GzaxyabwVzrFSlCED1BqtxyIonD5humlfh3oZt6WYB8-2it_EFCV2MwTcD7Ldb2N25RLV7-Cfp4EVn_1A1hR9jgmC5Fl_6OMSjZrTP6x-tCDfI7IsQlnqOI2TuP3O5cR1xG82XNJT-re8lEljdMAt2v4EpZzAJ8kcPYm_1FQmiHbIzWeENxKUlf99i0GiSYYHkyfsYMY57jw-pZS5rseKyB8vpsmm98ru42NLk5AEPrkOAAqbweyPqSTO5X-dSqscuAoEtWrS5ztqsfe1AE3i6i-_8qJ5_68b9X1r4QxeRPEFUSjG7UDCgr_dTCSGQPk03lEXnxFtvbVcf-eVhDwfXm2sfPvH7xsp_6qU4W-QxvCSCdLl0U_Jxg-SEvt7UtPmNdEsJj45flblordSIS2R4kUq2q3mCn_IhvkWIruVXkbhCDygL05mHg3AwOhOK9JRHSRN5dxaAmvL1uXwd5TVXuEntPF4fGY2VfJZ7SjBgOVn2sQZp6DvRb4DCWoEO4nnVkUPRWA7XSUL3_XaIvsKCSvR8xHJNrsS7QU2y9v5tJtQ_pIHtQuHynuAXf1dT-wX3xtwgqioQmEVMminCT8-TWTwb6yhyZyqG81mZblh2q9UM0aTM7kvER4vMH_99tql27nJEvUwQR6EE5HrClDQM_a9Gt4TOvAf2dV3KFBRGVx1Z1v9hwb1ZPeH84heIry9eAhkLdWmUP_dBgDFPInCZ4gk6lPBD9-Nkf84uU8XTZ_kOascEF5Do_x00Wy4Y4JJSzblp6X-VOqQYxLodDo5aLQP8hkcyFoAmcjMywDtaUraeBdFgMieQBmGA9WK8TXduEKYJ3hXaLCh9RPAASSdF7I9JevvyeJruhBPFuopKOlD4GB_z03Ar-1SXKFnjdJRoRlUOYaqVo9JFU-SauRNL5d_WY5k_HJ5uOpHxLVUS6fXtj5ZxthuJR5rey3TB7KBvjT-AutBh0iT5Az-1Uw4a-Tc-KUO040TE5CD_pRA8_1Sqzfsz8RpgDF2JjE8QT1t7EEFEzGek8gqib2R-WPyulkRr1oaMBY24-fmaA2wagCIKIWkKkHC5eZu7xriKasvlXayZsAhSuwDi74eieCqf8aJeTPOGCjeF2gxgSUDsmo0MtKu-KmLLLXcitovPg4DlCYMAk3zCnlRSQRji4o3Of5hV4HXDRv_pFVA6aeGEnPXZpgtlOVZUjLis7EOrqn7NNQrOKiOLzbAqqkKNvtYyWv_UJ30kG5QWXaUFMo4LIigDeaijs9PlnVzFxwaaH-tNN-iS1DXQNa49IqVvArgvt6do9daNcpyfXcuQYAwKorf6LpMvd9gqeXTtNURhlnAWbkOjP8EU5M1Y3GQFnS4MrCCpNh9TZ6P2doQuSDeOvIoocyuozGp1jX2F33OG5cBdhVvH8hL7y5Tp3IrPIeBjYzzTXDAOAezmhhXmNRda0Qbyrp99miEHxGebL5se4PqnshapUNslEp0WMAwlsWRKx9TUd_nLgIFapgkrZDdQIj86DowgWdkiuKg54j_mFQHRwp5xBfjfpPiKq8jXVVmqexrkE2BeFToN5keZp4XrDx4WQVsbl2zwhpvHpMkcUvct_jg4qvPatEOsVsgF_hSDT6RNybBR_v61EYvn4_uKxscrtrR1IO72iOCqULOI9xOsQISKODIQ8yyn4PBDu4qRyCMOqfvQCE39elPbuHY5tdLJpXk-170xsGNlhtsOPM1wcA3vP0DJLt1zCX4xYQ6DZDTeg_uq3MI7irHgTRfU90p8Yo_Z8qW2jv3CdxC0m0H3iRI1gzMbqG7BTNPZKLP5lc__njdootYyG95zJxkVW6e_LCpdqgl6SvUuoVld7qKyPFfaExWnxcxBPULKi1ICCZQ_yztO2LGEto8qufpUhEen6WWyfvGoG429RghquA0T5MpKAvF83GWBtWryZo1Wtd8UzcFW9wdf3bJLLRuBlNdNwA7NPkzSaF-MgszYSDJy3Z9rxumQGLWi-WgZtm8UMo5jt9xT78i9FMeyl47HJfrkOiN37ET31LBoGYhAGIZqs9hlk7Cd1YtKGWlQSoxx8PRAXweGDmYzUxZ-bKfanKxEBMmzQ46Wk4klEzBMNsOAJ0aqYoLsrJD21vbPeQmHHl5hz2ylvifzQoWIBL7J16ZwomcSqgjzGM2uomhaw5j5BJSkQSkX-Fkog6_OZzPNeOVQPUvOoUIvadDXhO8QH9u0_-h2KOhljdFMrKm5CTBllONTqynV6DynbzxQVgPxAZNpjDKV0dIx_kMqy-k9dvjdV0xABerdHj6rJwp1KTv36Xt9BfgV1rklaP0-5Bbd8Bpf5P5-lTq7y-HyZkyNou5w5_P5ar4aSjrKt8Ek9jSYAv7_5W00VtJtOcfBrm9t3CI_gQxdVSeNgr8lUktfbalrFFZFquK7hbV_YWCTE8sUPOc1StFfX1toomA5oiyZd0RHtXhlp8ZpHeNlzSt6foCGmPx7aFhawxmSwsE--gd8JAAa8O0Koes=",
  "id": "rs_0bd8936f323cbabc016ab427fb02cc87d09eb3f23395d8a75a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.33,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cap is forward of the pen, but the pen-bearing arm has sagged several centimeters and is still laterally offset. I’m raising and centering the pen while keeping its gripper well behind the cap gripper.\"}",
  "call_id": "call_9XQzFSHPkQk4lMwNgWVogZcx",
  "id": "fc_0bd8936f323cbabc016ab427fe344887d0a13ce510fa68e348",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9XQzFSHPkQk4lMwNgWVogZcx",
  "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]: [-0.7582, 1.964, 1.7809, -0.6132, -0.6552, -0.5152, 0.0802, 1.0859, 1.7649, 1.4429, -0.881, 0.7929, 0.8845, 0.0609]\nstate[eef_state]: left_x=0.4541 left_y=-0.2768 left_z=0.2202 left_yaw=0.0491 left_pitch=-0.0331 left_roll=0.033 left_gripper=0.0802 right_x=0.2909 right_y=0.2898 right_z=0.1695 right_yaw=-0.0523 right_pitch=-0.1525 right_roll=-0.1489 right_gripper=0.0609\nstate[joint_eff]: [-0.3077, -9.8256, 6.5026, 1.9609, -0.2466, -0.1636, 0.7204, 5.6, -9.265, 12.7248, 1.9756, 1.1062, -0.1587, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89353f3387e5d82808786312689eff0685e2c2d13cc32409b0ef15b2caf1148",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395175b7f204c47959e4ca257b68f2da77643912774ac478bbca89c60133543f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89031b7db43a20c1b8ba4652be6c3b3ce4304ddd5180d8356dc202e80d36f844",
      "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 · 3.818 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5812, 1.3933, 1.4136, -1.132, -0.4789, -0.4702, 0.0782, 1.0512, 1.8675, 1.7397, -1.5787, 0.5125, 0.8303, 0.0562]\nstate[eef_state]: left_x=0.3121 left_y=-0.1033 left_z=0.2336 left_yaw=0.1202 left_pitch=-0.3641 left_roll=0.178 left_gripper=0.0782 right_x=0.2296 right_y=0.2342 right_z=0.171 right_yaw=-0.1707 right_pitch=-0.6186 right_roll=-0.5638 right_gripper=0.0562\nstate[joint_eff]: [0.3624, -6.1333, 6.5026, 1.3455, -0.2271, 0.0317, 0.652, -0.212, -9.5795, 5.5316, 0.1099, 0.398, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7574, 1.977, 1.7756, -0.5571, -0.6502, -0.5251, 0.0796, 0.9943, 1.763, 1.3987, -0.8585, 0.6815, 0.7105, 0.0591]\nstate[eef_state]: left_x=0.4606 left_y=-0.2834 left_z=0.2195 left_yaw=0.0511 left_pitch=-0.0094 left_roll=-0.0049 left_gripper=0.0796 right_x=0.3036 right_y=0.2694 right_z=0.1452 right_yaw=-0.0035 right_pitch=-0.2701 right_roll=-0.2423 right_gripper=0.0591\nstate[joint_eff]: [-2.8239, -8.0889, 7.6513, 1.4969, -0.149, 0.0611, 0.7546, 0.7453, -9.935, 9.7299, 2.0635, 0.8132, -0.3492, 0.9353]\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 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 1.964, 1.7809, -0.6132, -0.6552, -0.5152, 0.0802, 1.0859, 1.7649, 1.4429, -0.881, 0.7929, 0.8845, 0.0609]\nstate[eef_state]: left_x=0.4541 left_y=-0.2768 left_z=0.2202 left_yaw=0.0491 left_pitch=-0.0331 left_roll=0.033 left_gripper=0.0802 right_x=0.2909 right_y=0.2898 right_z=0.1695 right_yaw=-0.0523 right_pitch=-0.1525 right_roll=-0.1489 right_gripper=0.0609\nstate[joint_eff]: [-0.3077, -9.8256, 6.5026, 1.9609, -0.2466, -0.1636, 0.7204, 5.6, -9.265, 12.7248, 1.9756, 1.1062, -0.1587, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89353f3387e5d82808786312689eff0685e2c2d13cc32409b0ef15b2caf1148",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395175b7f204c47959e4ca257b68f2da77643912774ac478bbca89c60133543f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89031b7db43a20c1b8ba4652be6c3b3ce4304ddd5180d8356dc202e80d36f844",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgHnkWCPTpLaroRGH2oCYKo-1Jf1GFO1pZ9JQuXeQnsIEBb0iAKpRcSyRcV52cqfwNAWzBK7FvWKXZjxqMus4wH0jAusPVtnZ-y9AmxhP-Gcmm4eKDUoDPUn24Lt_eZxrj-ElZVOaQQMhb_V0CPuLVL1hZAJ_PeneNYz-esT9jk5he6c5J9CRj0xL-uVk4lDz9owYiGJ_cVjs9ojQTwZ_4ryxuAtlwjosiUW3SH6npv_HKjyh4d-D7dq3CzujUn8qRVcSeP_SIyRag5AQ-Ia2SHmJXB5cLaeaYMQaVGUZLcotgyIxRUBrPcErClZClnsBst0IxW9AWISfzHtsojSUk_yo8zbAMgCSz_6U-jHvcAae28wL3rl7EgR5Ro3A6dOswsiD8muD1SzO6sm20lppY3TlYQLUera01gntEk8vHPILX3qwBn8sa9kBIpllC0oVBvJAgNyoB_XnXz-nmauN4iZ33DGzM6D0MD0xm5q2jtRActQk6v-5Y1ZDRekmMMqoSXqyS_dljPca0omgYzdboffDBbn8WwpOmZXstxVYa_4T-qs94XkJ2Q_P0cK9_LkAddeN-CoplrOxEhUukrNekdEGXdb1dullDuo6kfocVyH38aY_LhGlqjWiOq0TgnWfhKSGGOZPJNuMBY6NmkJcCiVsqQDbVnmL-r2TBHBIILszw6ctF78_xzHnXaFx5rXI-1LO5Qk8v-zbAhL_DvWUeNAU8ADMFLXvycMbnyXvU647HJG1AzCLQrOY14xKtUBhb0BTXcGyIwp1OeLk_CNiy3FyD8pEvWdLxEtfExYjA0dWh7ebqGI1JPQ3EjvHoJBC-jt33yx4myfnd58PHExXk3smyUDXfGkE9rK5Fi2H_IU3AgWOGo4unye_37iQ0q0JTAYSDFozz4Ida_wMYTr03h8F3odfr1eudjVUGFkyhiDBqMl7VT3Y4xfhO_10NS9CfhjtbaQBCWMkjY1Gqc-g749e-or3p2qCaFgmMw9HfSJMZpvWtKHDqRZaKtNylE3Fs-sEiZ-iU5oQ8C_5aV36e2kamZAFh54QnmDAPM8SpjSB0e5YdLwXYMO2c5IiC2gE5hiLkKiT6QSynZdejMXJ0E46dkff3r5zrseOldKdcCX__EUkAjS8JRdhNzCj2gnFLH-fe8bItv6Cw9SjT1i44xfaCnvMx0jKq4beZGdkLbwd-NTtvuTmt_CfzfAcw1S8afjtnq-RWhX3AuvYlxu6jNW4NCGFyrI1yjhPnz8CDMtlMPXUzZVBgNFv52YzlPyAzIso4UJYnEi-MYtGS1_bVOvF2PJGH-eznHyTHxcAy7iPxt_kqnTML2qhvZ6bOxM7bOnZ6evdyr79I1cB4U8hO4CKhJTPHQY74Wp3XiwsQHz7CUCAyjh9PhVHPO_CnA_DXuWxi0aUvNdWPNQiYQmUa0AJYmcyYGssYO53tw96MJUwEfn8L7YcmhbRKsZn3_WMj7-eAm7arh5-l8RrGpVuadkYfG9-wgY5eSoTtfqQlYX61iIOASrwXHJouUGPqbdkN8FZNHfqHOB6XAGOYI0oPbomV4Q3xwRXGJVNqwHC7qq_zlpbZouHKC8adslRzqJrqBHTxED0TnbFsdq2b21x70ExuEE0uvOQt2NtVpivDi1F0upqPmloMSXBk2LLav9sfhFkL9hELXU_xPG6jqRhVyNtDBKru7n319wrWFSEKw_Q1RZse0HX7Qr8EhjRNuFSLdBqoi4Fhu6pxF22Krxh-t7fbhfGmbWDlnxI8l-WYXXvv5Ocd73CjAXDjc2vJGWO-i5LCn0HB90NDYBjtcf0P9EXe5T6xS_NlVP0qmUqIAKlE-6KRsqGH6-5jxGsO5BkY_ZjrxFzxiP5tF_1RAXNvdchimmI7jUKd4ctiLlts9csHF9AYzZdAG4dLUjXStNRy9TWXLxnEbSXLOCk5T488nuOo5lfmdFLvHTsw-bP8YHYbeH4al1c95CPXa9gcPe6h2QfydJiIJihLfHWF_bbH1Vo0S_uzxlRRR9ZDqYpLJSHGQapgeudJ3YRYwVfOr3KekmRpX4dKqXA91A_R6T_zng1LGlAFN_rveQCUSxJcHjhm75lqhzkecG6vJOFoA5m5WmT6HkG13LIBz5eXBU43TUplkHeHjhbHVyJMGtckfUn0jxmi3WmABUbY5DW6pCzuaO77PpuVssDW3KpYev43hI4iOTj0B-t9Vx1K139JR7V8xxPsWrUPkmLeMAzi0If1KjKmgyJHdocG-zh802N3f7tQfqGvk-keZOUNtGrrsqz44C81x0i7Wzms0B2x5Cts8C1oezKBAcF8gthocyVFBGGXdBRrsLFtsMoxL_RM31Frl0gskUshnIaYrbl3EnY0CSvCokkWA6xljNstANccYq3G3VYAzfMpmAak5nWoeLLUZBqKay-hUiAOam5fE7C2SG7gbwlpg-wYEmeD6X-pJFAsWCtG-10GM1EQJSakOPNqVZQqPTrVr-HgAaHlha8peOJ6yxurmMOv5Q0HlmlLIuzrXoCcLn5qEW9jWB_kYRoOXlXHN3kHRYdhUkNOtjdYJBQ5KuebBjD7LHsK4VtRurwSE_qDnGfqhxI_0TOP0jTndTVHS0gG5oJGwZGyDyhg03knEqwEMgNYREz_IWw6ffJQnHbFHysu5ko7MSJ8xOaAQH0k5nwWzpn87FMyGUh4PGMMevPE8nJMR7ewd8XKf2OLonrUcuIVzVXnAhRh4uWo_hc_DEzLyaqO5gX8SRHWCy0Aq-iVKL6Br7AGOvZloDBZ6h2a5kXquf3H2YbU7cZR15Y0FR6BVsmIDfdt_u79qg1zjm3GWwsQTuez2HeDFFjVrppTzW1xiVr4-xPM5eIFhrh2oL2yGRRGHORkRKlq9Koixkt60dvWm2hKRoTMOvVCO8FdtviU7UGOsACqWktDZNLZKf1rUkuih074s4l6YCR0w3EC5gZvx4h2qmbl19bUfii4STju6sGczGU5-eCmlg4R9Q7u3Krm-sjzvNXCe6Wn5oKIDsUVIDyZfssheYksjdFxzQ4of7hfGjVN6M-nbKFbK96EW9KN9cGWD5IozdwJdxd92gDgRKRAAre6oHmqLgKxarfSvzpm9_JG4SlBjDepc3jY1DOcvLXhGxmyMO2QHbX_v21TY1VZWq_n0XEQfFF6HkJkdAV0QiRZG81dqbgZGjq3Gmr-qQpkADXRHf8OgEXxfm3GGFCh9RaXerTrF5u0L-lo6e3tkGWKalheoo3KSaBqbSy1TK5XMZFqE3mg1PVhywrMt5ebrJAujUc1WVMX7OONgzfLt6uOe5NEdbQnOJLCKLCzfpcWEi550-OgpKt30P6nHM-K14z5RXRwy5C0rPf8vA_6Kd_zraNV3LLBj0488RYGMY85vS9j2-he0knXC78qGEhUqRCEVjpDORAqLKxZWyQASVdjeytbVbMELUmeQjEhtNJ8C2AF67YgYeSY_AuZxsGdiZkWhe3VVfRn40HauAjH4N39z11pbA9zLv5hulUme25E4QCHn933B77cu7PCTw_yqf_o5BFIov0YjLfAauwkjR6_lZQ8XUmmOx5gNq5W4nUcAS6hHZOd54iKMU8JptLXClXWKWqcOpruKkoQXeB3eSw1G0znKvZ_O5Wff0fT520EuXsmEKiiVpQJ5xNX-vvm3CrhfvNwzZNKJv12vv5L2zxioSx0HrR97klKQW8w9BAt4WpPMFytxqBXpUrSVu98jj-jLST1L_P1Y4bLCmJvPTbR8JHICTEE6CAXTF2sW1IHGnBOEzHQnzUgo58YM2DDI90bJgANl3YDEAHE8z0nQOFic-Gk8YdTFgj24Oh59uMwDFPfrcgl3BUHuxi-dYDQWUVceMsJ3-X9TQHvwM3HXvkHe9Ls=",
  "id": "rs_0bd8936f323cbabc016ab42801c01487d08c2a74eb489a0fd7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgHgg-ncIIva-WZZCYymiIUn_0QlJRyGcICmuNkK8QJsTkuZxveyLYcrbuXYDlGDzfgmGIS2e59mPkpKnEjxsRdJoTBBnIyXw2i1D8nM_ki3O93TI7wG19uMsWS_DiuyrXtiPlwtanj-JNdUwN8Nt5DV69VG6x_uqu1K2g7_zUbOkjki5PYz4N6IrvxvLxH0el8uaVEG8wSJaYn9ovU8lvhTwYO0V3XHx_41OiFq6CAVc0t-0QWpAPUffN_TA6e49cA4vDJ5-bOKKmcOhLxyoj4F81xxl-TTkvWOZVumIYQvn7T1HTEMbQkOzbzbXZtroqOHRAWHtEgSmG6S9O2sACwhJYk8CCCw50z2ikohrOLhfZtuZlSP0qZS5kPCsF6MnvVyCbW30O3WHFwPpGPe6tsrK86OB_AzWZwHiwjIS9esL1KWrmzxun9xa8A2o9Rg5nHS3XMSqLpDTHAH3gpNpa2-zJx3wmrl8pt0EWZGCVnHloLzXpGn95wUG4a8x15IKJ8BO61MTgC-AHpIKfSvNHCzO8BQtZsVeKPOriOb6OyIrRImzRpVjTDLahQthQiiG5OPLyMO2gozPPl_Nkb_wTHV88O5jw8fhteemNsR9M27KllojZNi5M1PHn7PKhiyjUd5QyUMBas5o2w8Caz3MXdjLetkb7ywpf-6X25YionVfi3orys5djfB_hAud5m50l8f9z2uZ2wutp7I3t8yVrC6_hLKfI2qaODmWnGbk3RSkU5sBV1_ZYghnf5ZRg-REKgTJZtyWBN4e5x7avZQ5u-ehaMvTuPfOMAyiLC8Wcpm6GwQNW6YSJaV14J8bBo7-4Hye8nCsgqJawmb3-8-Lxrq8BI58J8sQOb5t8MdfyuucDV0cTY4vRN-8nvSiRlVer-6afsEIisOwsOKwaX1fdhZvM51_58IsL5Py_aQOrqUg8uThIYp3Su-puu6lg9II-yJMOuPxwREds9e2Ecw8H2xp0MZWLteZjPbnFJXIVbD8lAV6vObEZhaTjfFAtT-v05nZ6Wyr7EmdqQ-cvOLCcUBk5qgSsYQjkn5VmgLztVR5u6fxSRt3h02kZa5XwgaHkoTVP2qlJwR4zS8QAExfzp0u41AdeZ7s6GZfbxgxLEvfl2FQWXq95J6p3wa1eLvsyQoa02Rg5PtDYuMqOn5HFFiMUWcpvLUSEyfFI4WkbV0hQN2ehobhG3rBtgHAaX4TiKFs1we9tdiMR7N8o3By307nneJgq7acVVIAN1V3BORIQL3zmiAziQNSizu-Ijis4Ihen_3fIusnnl3cYEB0WhD2cPpYFN-C6bXODF1_s_GTtaX39UaWBZVHPhrK2Qphz8TCQYo1mzOAGFeIsTst-_oCb3wYeoApMK4X5JhbmKqKl5d2jXmCAAJM7RkW-kZEMLizbW0CnWZFC7xvRgsIn8HM5wDsFal54bxbQtTUriysqL2ZTudyyEv8uhMpFV2ecJQNlyctLe_iqvrPtwlBWiLnS8JmCAjWReaPk9_qyMPcAOOFTk-dwNOxb4Ted-9aWuOZ4tcxiAxpI_WQFEXNeVH_m0lRReRI3V6k8TMQpsZiUMak4T8U0NyXNrHrQGL1xW",
  "id": "rs_0bd8936f323cbabc016ab42805d2a087d098521163692597a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.09,\"left_z\":0.23},\"note\":\"The arms are crowding each other before the pieces line up reliably. I’m withdrawing the held cap so I can set the pen down in a reachable orientation, then approach its tip with the cap using one arm.\"}",
  "call_id": "call_SGIf73OUqJfxLzH0ofvHVSOs",
  "id": "fc_0bd8936f323cbabc016ab42806b67c87d0bc65c392263d06a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SGIf73OUqJfxLzH0ofvHVSOs",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6353, 1.026, 0.9356, -0.6353, -0.5739, -0.4332, 0.0822, 1.0866, 1.7695, 1.4193, -0.8837, 0.7811, 0.865, 0.0617]\nstate[eef_state]: left_x=0.2973 left_y=-0.0956 left_z=0.2306 left_yaw=0.0664 left_pitch=-0.0213 left_roll=0.0117 left_gripper=0.0822 right_x=0.2872 right_y=0.2866 right_z=0.1587 right_yaw=-0.0408 right_pitch=-0.1773 right_roll=-0.1872 right_gripper=0.0617\nstate[joint_eff]: [0.1846, -2.865, 7.1726, 1.619, -0.1685, 0.2076, 0.5641, -0.4034, -9.0598, 8.4991, 0.9011, 0.4664, 0.149, 0.9011]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93247b7cd7741bce7cd9f0700e255141d9482398e941399a427135c43b666f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905179e48201454d9ab55bb65bc1cf4706040c9f07c9c40f8179790272aa0b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef7100f8e04214491b4d99c66509038ccea621a1701c2b224831359dc42d844",
      "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 · 3.829 s

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

message 93 changed as sent

message 101 changed as sent

message 106 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5785, 1.3979, 1.404, -1.1358, -0.4633, -0.4694, 0.0772, 1.0058, 1.7477, 1.4425, -0.73, 0.7338, 0.6891, 0.0589]\nstate[eef_state]: left_x=0.3102 left_y=-0.104 left_z=0.2274 left_yaw=0.1159 left_pitch=-0.387 left_roll=0.1793 left_gripper=0.0772 right_x=0.3222 right_y=0.294 right_z=0.1826 right_yaw=0.0237 right_pitch=-0.1292 right_roll=-0.1246 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -5.6274, 7.2821, 1.0379, -0.442, -0.0562, 0.3248, -1.2513, -11.6855, 7.3094, 1.7998, 0.7253, 0.1001, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 1.964, 1.7809, -0.6132, -0.6552, -0.5152, 0.0802, 1.0859, 1.7649, 1.4429, -0.881, 0.7929, 0.8845, 0.0609]\nstate[eef_state]: left_x=0.4541 left_y=-0.2768 left_z=0.2202 left_yaw=0.0491 left_pitch=-0.0331 left_roll=0.033 left_gripper=0.0802 right_x=0.2909 right_y=0.2898 right_z=0.1695 right_yaw=-0.0523 right_pitch=-0.1525 right_roll=-0.1489 right_gripper=0.0609\nstate[joint_eff]: [-0.3077, -9.8256, 6.5026, 1.9609, -0.2466, -0.1636, 0.7204, 5.6, -9.265, 12.7248, 1.9756, 1.1062, -0.1587, 0.9548]\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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6353, 1.026, 0.9356, -0.6353, -0.5739, -0.4332, 0.0822, 1.0866, 1.7695, 1.4193, -0.8837, 0.7811, 0.865, 0.0617]\nstate[eef_state]: left_x=0.2973 left_y=-0.0956 left_z=0.2306 left_yaw=0.0664 left_pitch=-0.0213 left_roll=0.0117 left_gripper=0.0822 right_x=0.2872 right_y=0.2866 right_z=0.1587 right_yaw=-0.0408 right_pitch=-0.1773 right_roll=-0.1872 right_gripper=0.0617\nstate[joint_eff]: [0.1846, -2.865, 7.1726, 1.619, -0.1685, 0.2076, 0.5641, -0.4034, -9.0598, 8.4991, 0.9011, 0.4664, 0.149, 0.9011]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93247b7cd7741bce7cd9f0700e255141d9482398e941399a427135c43b666f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905179e48201454d9ab55bb65bc1cf4706040c9f07c9c40f8179790272aa0b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef7100f8e04214491b4d99c66509038ccea621a1701c2b224831359dc42d844",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgN6lbBT6Q48E58i9krTI08YA3OWxlpRmRIsXtmHipdZBB-eBL_XjyJsT5sSiAoqUToyMuVyWT0uCrOIQc1TdilQ_1td4kpuf_L0-mMvRWMttraNphZWRyTllyh9_qazZ-hJm9i12Mf8ZuZGoFRHxzXFBM0KwKbOPyMs0P40HM2ec5hK2zZMEW4mBdBsRPJAncQMY4tCzwSUlHNYx9MVyJG0WcndfCX3GVTEKVxoFRG-zoP7rdKrCQz1bcmq_2KMcEx9bNel-JOMo-wZ9_gaQBLadhTpu2IHXCyOPMsJ8_UsjQoNG65F0TfeyJuKZwihTIDMX2vi6aro-dVUrTjbC4LHaesveBWHwMdclQ5Zjb-A4C1azEZuOtT4J6589l9X-GCgU8Wo-kPF2Ex6y-tsjOZzqNHCVUQuT-l-_ZzBFoewynUGjH_wCx9ZlTZ8s4X2bOtmEJx_GxtsrBLFyKjkhzalH4Om3seD44HyBsWea0whFo7HTAATrH1iGaCQ_xJ_bE1Lt65BJKD1JWqFN6ZmxUwPIccPt4uwB2es_yz0pXsOE8YGy_sE91TK8g68reNP2GDzAtFPCLIZVOAb_xk3He-AzTNdRLTauKVS1YivIdxZ8DcZdj2zGsEXUlLS17fdLhDXFFal1dXbxq5Iw9uU6WmlMRVzUCmUJ38qQOYQhW5PFbh-7JQsGSZdzGM1IPfb_nEl4VRu9NmeTDuOPm3F0g-LcwoyTgic-GQIz-ELn6gTdlKwiqpvnQ2RaEPancC3Za3Fc7CbohMik64ws0J6Uj9mDAYzrB2WOLBPhAMSL4hTud_HMZGUp02EpdEVty-62p48ROkLeBHhqZbPxwJorYv4_ArGWlYA4eQrwPWl3wvnPXEJMcGS73PGSBzjt4MxG2Qbm4Z_Iow1x_4EmY3wj7ZenU-7_2MgHMAv8Gp_AnTo4tvb5bZNPGFtuHii4wJuMARRyArIKGBLUPNYJz7uBahIP43z2MyFSkg1MLwhgPRmQY7fvMOOXL3RHpdTPuuxvTDtd6AkocBx2_movmXkDlSqcXmNpkIiVYU2Z_OTUmS0E2r4OX2V0kkgbBJJ9CLkPoDKrJWwKC-TOYSL5nQG0UQceT9mlRhfKRGlDgoJFaBycw2onOXi8VXLFs9GiKROPyPUTwvlhcOXHASJwu-anwJOwXg3L0O23gLQn5n4KgKIvLTsenKy8J4qElDQ7uLDbU9Jkt8r2ablRJUloZmrnTqYFP2kNvvPgw_uGCZl7RU1w9XJu0Zhpizz3HP85BZbxuBrDvL8CoUMrgYbq42d-E0Mdcj5TSfuLj52WnsvTrXIVR0EVQgZrL-bKRYrTcA8Om4zf9I5CgIP2KkXq76OSB--ox0E2-mN8N8wMcZFZ81-R8SyokzA-tXaszdSmVhPeTE4ns4dcl2bTKmb5RB2XupveMLKXD1c6dJNJ4QqI73waD3Wev4qt7yAEOEoOmoVJnbsq48ISBC6iYyawRNTNex16mUxwmbj61k40KeWUu_Df_nrk8egBjGqQNYH-iEOJ5ZRUyw7MccoMtsrsyQ5uq5udA1AXHzuM3EoVbyJhvE0lF9bdvPIZ7nWbTQwKfp0gf4HaMhth9FSI0tbcSLmYXn9NSgXuOFNOInKK5F1BkI1U29eZjF2Uz4gncwFqqnlOnI_aadTVI0eNQe00X6jxRs-RdRb4PKQdo6dJEFW8WPc-Dp_I4jV4u5kn0kH9n7TO7pu8pTM-IFEUyo5kTOQtK_LfJPx51F1cprOsPWyrpCyC5b7UzxBKmrfdq3xQffdRHf9y-JXi3M9kaJ8WE06M9CEAixtypApsKUj1EoYVbE-n-TDGCMVrcVmbFQvehP4jI1NZPUAqDoBp6FyN2Lv03KhqmSyrZyJ-52NxBxzaEQln8eKWFYGsQkq-Xo7Sjz6P3F",
  "id": "rs_0bd8936f323cbabc016ab4280a7d2087d0a1f8d9a19ffead08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.34,\"right_z\":0.014,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cap arm is clear, and the pen’s tip still points forward from the right gripper. I’m lowering the pen onto an open patch of tabletop near the centerline so the cap can later slide onto its tip without the right arm in the way.\"}",
  "call_id": "call_NhhizrUbCbDhgwI889pJC5y9",
  "id": "fc_0bd8936f323cbabc016ab4280beda087d080a4c601fd513afd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NhhizrUbCbDhgwI889pJC5y9",
  "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]: [-0.6315, 1.0332, 0.9291, -0.6617, -0.5686, -0.4355, 0.085, 1.153, 2.0457, 1.0763, -0.1127, 0.8459, 0.8829, 0.0649]\nstate[eef_state]: left_x=0.2945 left_y=-0.0931 left_z=0.2214 left_yaw=0.0684 left_pitch=-0.0542 left_roll=0.0329 left_gripper=0.085 right_x=0.2866 right_y=0.3286 right_z=0.0136 right_yaw=0.0032 right_pitch=-0.0586 right_roll=-0.0596 right_gripper=0.0649\nstate[joint_eff]: [-0.2667, -3.2752, 7.5692, 1.7851, -0.3101, -0.0024, 0.2711, 1.0325, -9.3607, 4.6154, 1.1844, 0.7302, -0.022, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650b9002eca20357759941638b8f82d874cb1a9859b08bc9b0603ee530d60ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113e354d3d7e736deefd202d48739a3bd1e11e00894fa88aa70b63d3f923507a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9a44947b5cd64cc7f0a48281da5f69ab9d93df3363e465eca5c40bda7cd9ce",
      "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 · 4.145 s

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

message 97 changed as sent

message 106 changed as sent

message 110 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7574, 1.977, 1.7756, -0.5571, -0.6502, -0.5251, 0.0796, 0.9943, 1.763, 1.3987, -0.8585, 0.6815, 0.7105, 0.0591]\nstate[eef_state]: left_x=0.4606 left_y=-0.2834 left_z=0.2195 left_yaw=0.0511 left_pitch=-0.0094 left_roll=-0.0049 left_gripper=0.0796 right_x=0.3036 right_y=0.2694 right_z=0.1452 right_yaw=-0.0035 right_pitch=-0.2701 right_roll=-0.2423 right_gripper=0.0591\nstate[joint_eff]: [-2.8239, -8.0889, 7.6513, 1.4969, -0.149, 0.0611, 0.7546, 0.7453, -9.935, 9.7299, 2.0635, 0.8132, -0.3492, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6353, 1.026, 0.9356, -0.6353, -0.5739, -0.4332, 0.0822, 1.0866, 1.7695, 1.4193, -0.8837, 0.7811, 0.865, 0.0617]\nstate[eef_state]: left_x=0.2973 left_y=-0.0956 left_z=0.2306 left_yaw=0.0664 left_pitch=-0.0213 left_roll=0.0117 left_gripper=0.0822 right_x=0.2872 right_y=0.2866 right_z=0.1587 right_yaw=-0.0408 right_pitch=-0.1773 right_roll=-0.1872 right_gripper=0.0617\nstate[joint_eff]: [0.1846, -2.865, 7.1726, 1.619, -0.1685, 0.2076, 0.5641, -0.4034, -9.0598, 8.4991, 0.9011, 0.4664, 0.149, 0.9011]\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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0332, 0.9291, -0.6617, -0.5686, -0.4355, 0.085, 1.153, 2.0457, 1.0763, -0.1127, 0.8459, 0.8829, 0.0649]\nstate[eef_state]: left_x=0.2945 left_y=-0.0931 left_z=0.2214 left_yaw=0.0684 left_pitch=-0.0542 left_roll=0.0329 left_gripper=0.085 right_x=0.2866 right_y=0.3286 right_z=0.0136 right_yaw=0.0032 right_pitch=-0.0586 right_roll=-0.0596 right_gripper=0.0649\nstate[joint_eff]: [-0.2667, -3.2752, 7.5692, 1.7851, -0.3101, -0.0024, 0.2711, 1.0325, -9.3607, 4.6154, 1.1844, 0.7302, -0.022, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650b9002eca20357759941638b8f82d874cb1a9859b08bc9b0603ee530d60ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113e354d3d7e736deefd202d48739a3bd1e11e00894fa88aa70b63d3f923507a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9a44947b5cd64cc7f0a48281da5f69ab9d93df3363e465eca5c40bda7cd9ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgRy_O4ROEpGffMLJncTht1NSdoz7tvD3EYUxqkIlvaeyCHwnp-EX3CtcLRh6LpNuC4ZzMvJW4PZK3VGK_s4-1qJjlLcQLD2wzisczEmWRabsWak8ZywWGQObG6k6XC4TxFV7UiNwTNiXgBIKXUhHcegBZDev6Y_xtxEXcV17u8kDKV1S5F-DxQCDJjdf1R6C1O2vT054bD64QPFtRxQk0d3F9T7tYJg6GFxWIotxCZXRM0GVJYAouB27wkVFel247rbn5F3-WfWMkNfNRPmtVn-4PylQP_WinFpASRfekR6EUMFBrSrMEomdPCr4r2qvVngHbo6-hmlQTAKYBls-Mkcby7llyOzF1lTYLevKGQgAyZj6cwGg2MmWRf-nTPRfRuMUhB4G8dZPxzc7Jvpx-xr3i0zgsB8-J6n7CQzRYJ8umyhHLEOzIs4FR4rgiNQPIeAWcrr6Ls8wPyQnvRSV39037cQ816ze5M6bju5DBBgxiV-VCGtXvgtnzNQqA6OSuSM8WMmgkht2EcjLcjkTqtBRlFlntXZwDSZtXesHVUDG2g2ixphJcFcBnuo91PErcSLNtmAh-50avSta9vHdi-RmozAoZq4ik4CCSs3yy6DeSLEGFK_zfsNVvumc71tAF0280pG8F_lsqu0khJON2tU9pyyzybF2Hw8k3Hv4_w0_A84khWZp3ocZROC_bR-OhJkKEcftGjqSfpuSXZd8QNYshcr00Wpv2eGFRnwgZsbsILHcBlgqmG41Z5eUNboM4nIeWosZIvrmCVG5scF8D48PHOYSv4eIF8Yb7FYvKaDNgImaKj-z1vlVchDilEw_4qA0VxmGAl4mkWNjA3FALWaHcfdp6gKDTbz4X6EZ18v7LiDMrKiDigg6sj2Syr5YDNOcjmSJUNZiP3UElyMEwTHVJfsierfaz7X-NVa0pwUTYa4t12e-sSWDpY5Q8hchq9Eti-nVT2Z7eS_Esw8-l_VMIEqZzSogoOxVHf7NIVZ8NsDg3yUysehkQEjjsUbCu9dJwxnu_JPycMAxp4mQc8cjkaktYTWtzCaA7QMbQ5vQ5kGpNyMFasaGNSk4e6aoGmZP967pDr14KVAq3zfPe9NRabaSM00zqRtFfT6m3I-y10BYkQMru30TIaqEIEph0njF7R9vYboTztCgpPAE5Y8Q_VZRT_2TSJXDLx1TqYWUX8fyFsaqrsRD00auAsSgKYuLf9N0bgP3R21-a5eLYyaYoefiaS9PVzSfOJA8ozJjlyfEwcVrFN0dGPtA1OpSsuddUdhz5CtTvx8MgHJ5rFdOS7wDLrkwjQwRkltrZocuOIP1_dSgdvOacyooIPbcKm",
  "id": "rs_0bd8936f323cbabc016ab42810c61487d0874bcadfa3a018e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right gripper has reached table level with the pen pointing straight ahead. I’m opening it to leave the pen lying still for the cap placement.\"}",
  "call_id": "call_3pUe2aVSARteBqkgBepsrIA5",
  "id": "fc_0bd8936f323cbabc016ab42811135487d0a288f9f0f8b595fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3pUe2aVSARteBqkgBepsrIA5",
  "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]: [-0.6315, 1.0336, 0.9291, -0.667, -0.5686, -0.4355, 0.087, 1.1519, 2.0655, 1.0676, -0.0963, 0.8387, 0.8833, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0586 left_roll=0.0366 left_gripper=0.087 right_x=0.2855 right_y=0.327 right_z=0.0039 right_yaw=0.0047 right_pitch=-0.0694 right_roll=-0.0678 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -2.7145, 6.8991, 1.5018, -0.2564, -0.0269, 0.2027, -0.2667, -11.6991, 5.7368, 0.8132, 0.4274, 0.0073, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47f72a337c0040fc2863124cf1e36ff11857d81eecbf31d847323e9148b54db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e554c550c95c13a2ad20d4b57d1f0a518e06e7eb6921c634496c9fb77f6d581b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c593da9ae71d07471ae3dfed47efaa3cca6e7b63bc586a94fe00886dbf98ed",
      "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 · 5.387 s

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

message 101 changed as sent

message 110 changed as sent

message 114 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 1.964, 1.7809, -0.6132, -0.6552, -0.5152, 0.0802, 1.0859, 1.7649, 1.4429, -0.881, 0.7929, 0.8845, 0.0609]\nstate[eef_state]: left_x=0.4541 left_y=-0.2768 left_z=0.2202 left_yaw=0.0491 left_pitch=-0.0331 left_roll=0.033 left_gripper=0.0802 right_x=0.2909 right_y=0.2898 right_z=0.1695 right_yaw=-0.0523 right_pitch=-0.1525 right_roll=-0.1489 right_gripper=0.0609\nstate[joint_eff]: [-0.3077, -9.8256, 6.5026, 1.9609, -0.2466, -0.1636, 0.7204, 5.6, -9.265, 12.7248, 1.9756, 1.1062, -0.1587, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0332, 0.9291, -0.6617, -0.5686, -0.4355, 0.085, 1.153, 2.0457, 1.0763, -0.1127, 0.8459, 0.8829, 0.0649]\nstate[eef_state]: left_x=0.2945 left_y=-0.0931 left_z=0.2214 left_yaw=0.0684 left_pitch=-0.0542 left_roll=0.0329 left_gripper=0.085 right_x=0.2866 right_y=0.3286 right_z=0.0136 right_yaw=0.0032 right_pitch=-0.0586 right_roll=-0.0596 right_gripper=0.0649\nstate[joint_eff]: [-0.2667, -3.2752, 7.5692, 1.7851, -0.3101, -0.0024, 0.2711, 1.0325, -9.3607, 4.6154, 1.1844, 0.7302, -0.022, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.667, -0.5686, -0.4355, 0.087, 1.1519, 2.0655, 1.0676, -0.0963, 0.8387, 0.8833, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0586 left_roll=0.0366 left_gripper=0.087 right_x=0.2855 right_y=0.327 right_z=0.0039 right_yaw=0.0047 right_pitch=-0.0694 right_roll=-0.0678 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -2.7145, 6.8991, 1.5018, -0.2564, -0.0269, 0.2027, -0.2667, -11.6991, 5.7368, 0.8132, 0.4274, 0.0073, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47f72a337c0040fc2863124cf1e36ff11857d81eecbf31d847323e9148b54db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e554c550c95c13a2ad20d4b57d1f0a518e06e7eb6921c634496c9fb77f6d581b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c593da9ae71d07471ae3dfed47efaa3cca6e7b63bc586a94fe00886dbf98ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgWYkJcp435LJk_uK7jn3hOm6XnfqLNusIr2DQE67Y45ra9hF240H4_ya0b8st0oTqN9gD7-VLvEVTJUDx61duvMJjLrm8pomARfoAzXbKehGZC9627QW7_qLnbQgbcTnJ5xRQY5nFbPoptg-EKEuzPESlZOdnRlBtxIFKctWFc3pfAo2a8OPneTzOiNQ5aESHvUUS_XMCB_rgOYPdQEJGtQbHv0PaJdhSum-IngTErG3yIpcqG1aSCJ84HOILiLNBv_OjCmMdmHZ8Xhfhr9YI47PZxcglpnGjw8QLBKDoU6RRMraP_gcvyLrXsSKhGR0qnBg90IYOpMUGPUQ2Gh5aDPvk5Xdd8gzuKrK18nU4lEOgcqOAs4kczNQnuhC4mM9mDRVeLG4lBDijkF-Ll7gMK_YqH4yQbVo0MqEv0z_aXNX4UmfChYQ9tV3ad0EDuHkojrRH_TO8pTHlitgxeEKyXFjkD2WhW6DhMiKGbA5euxy2dzbXIMz42J5RzLnBm8WduUJJRFyIYgRuoHH3JQkgiBPSp_4csbFlu9NAAI6-ZdRp7NTvgsVDol21QZapz8cMU8w3SiveajufVdK74a8hV9nlIMMV_FqnryOVBm97cP6dpuL0hYGmkpGIe76u9qleJRJCDqLbTLE3u8o691gXoa_ckwOvvhp6JJqylax6-Gn7UNcBOgs4N7QuL4PIQIkF1P0tCnVv_3xum7e9D6Ah2hdZMt_SwTohds2WxfFJjeHNweTYcVdikFlEceOR9ZEawWS0Ii7KpwQ1v2gX3YlSjN8s7Bp720I33EWy_qcwsb1CsMhMLtkLwuGYYfdTUpxxw-_3X0QB-nUk5PJcOJ9ptoa09BXf5VawZUO6bgWpdl_eXcqY50Oc5KosXBM_pAcBoklxO8MDv-dgt1MXXIMy6h97i2x2eR0xL85o8oWfPcAkqF4ysgwx33-C50w24mVwa9wi0cjkMr7IplXOCUGA2a986LvyhN2Lg-P2JM2c10v0P6Bijrp9A_wI99Z9NPmq2L3RrHn2i1egs6P4L6ewoUke7QG7RchoFGR3EW0A0x3dXaSvaCr7f7IXfHZsfXLATPSLWPyHwwcctBFb_Uf5aq2P6BVVJ9XxaFNYWTb9RB7B8Sq-Tz8a2r8dIzzKLETOSRtb_jPo2QGL5KodLrgY4pm9uLv1WA3MpgY_GMN-5Xzj3WtahmUi7xDJ6MZ8faETLyWZbEMpAlPiJ7cziojOchiq55qCWtr1J7fFpG6VUayXy_0O0tM1Fp4P05t-qDmVCR09Q98aOLuD_bNO5oXnViWb20u7e-GK7rnOnvIkkUYlbwJwZRYFbbhXrbsjmyh_jByLyCpsy2CYs9Zi1EvPc7LOcyooXf08uQ_NU0cqB-QwT3s1xOiqio8tGOF20n_CbhTBClnBKgPcO3abseE00ZND1aGKYQq7E97q8p9Gbu20Xsr0eVOhJB4BK0UBqPuBkjQqcykFsARalWwb1M15f_veKur0VgUC6UAPDPM6QMlszsfU_qTL0G0bCTwNhXgk4opvRkXw5fr_9qLzaI9s_Eo8ghsyOhp6GWFEpaSx-b4_EvAv1-yzxKMj8x5ZPLs0CsiPPxD0ikmP3z-SHFJuaw9KCx3SYe8pzoqoR6Qd4HYVvCGglCyCZeVguHrW_o6tjzQCJeZ9I9sq-4w9QSQ8usFZoDkiRRTGHQS66K0mYphMCWGvS4t4TEoqj4VetWFyS-3YaRML3so2nv4NVr6R-aA80gPIdJMl-x_dzI7VuAmS5RHQK6XFpiYl3MXs63T9h8aILltvGol178OCkNHnYl9I-pDovXb30oHUzMFZBMw-267l-7oVE7N1_Mj4nHL7q42rWWIfkChmvHQYuL28DYHzixHiz1SDglKdCIbVBhhZOrw5ruCTOhhRqJj1l6E6h_4wdGV5UANoKRPRj_gDe_STOmxak2mCPZZ2gnA3Homp-OXYI3cPpfLj2AIXuVpBPN4DKFtrCUE8BwN5L_O7a8lWi5ycfTaNhhl1GZRM_-qbuxZ4i6wMGs1D4rthYbAo3hi13p6cCjlTmm1PMPylFe_H15ieceE-PnqNrcAfrE-6twxKpRalsXZb6-ih1Dz-Qu7GVUKBvLpkkJ4qh9vdNAGwbrq-o3V1PGlkFCH6K8nhU_u3CUcSphzFLCjHEjBIsmR_cONLHnyLVizSAI1f8Pk0iIm1ZKVqal-Gp26XNhson0bkLvCvoluS25fgflHAm1oQv8TL1JFj0QR11y0g-t9LQ5Qsb2RGWxfcv4h5EOGqVs8f5nRDddBPaceBPiv_jqRU5jzVq26RDrXbvStPkT0Sx5G5KSft7NKvl2D6xvJyj6XY1trDXCcZQWYWsLkNri9oFZb8EMIxvLt7G52kHt6WVhuD7HlY6VTZho5rFdaqsKH7M0quLwvdMj2Agak7LmE2mFZV5yMjeS8qRnBNtUUf4e-xLOOwWkJdv6rzh3uE6hdjMndWtn7BxptnAeqO3nNC1Lw17AqCilTzBHQZOF-zixy6sTfCvQ1tSrBIIP42FDd84B1QWbp0s8AaYmQ_jzZEJ_ekpa-qD5lErGBWiX60YH_-cwv-aIttYBsoATIZuhC_du1TnR3NmR58v7QCJ_SheoUeQX7fALwGKumV_QBgeepAjn-Sabw9XnEOH2DfyyKowCDTTFqufaBnM0oybh5rCzVGLqORqaWLgFL0MQzY9v4yXQO61AxIqYRmfNiBr45NVf4oRPdoMGtxJJBsJVuZ8upWV9pFA6v2E9-5LTu4XpPB_ssYJBpiSJxJjTulSDFd0KXmj7KTexlnMfH-kznl098TuAEEwXpX689uK0w==",
  "id": "rs_0bd8936f323cbabc016ab42813dbec87d0997b34fd6d77a4b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The pen is resting on the table after the right jaws opened, although it rotated slightly as it was released. I’m lifting the empty right gripper straight up before moving it aside to expose the pen tip.\"}",
  "call_id": "call_eX3nomXrCN4KixLbIgiBJapV",
  "id": "fc_0bd8936f323cbabc016ab42816593887d0a95d479c859418dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eX3nomXrCN4KixLbIgiBJapV",
  "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]: [-0.6315, 1.0336, 0.9291, -0.6674, -0.5686, -0.4355, 0.0887, 1.1519, 1.8217, 1.4902, -0.7887, 0.8223, 0.8776, 0.9962]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0589 left_roll=0.0368 left_gripper=0.0887 right_x=0.2856 right_y=0.3321 right_z=0.1736 right_yaw=0.0136 right_pitch=-0.0937 right_roll=-0.0899 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -2.4, 6.7214, 1.4676, -0.2857, -0.0611, 0.1538, -0.1983, -11.8085, 8.5812, 0.989, 0.5055, 0.0366, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbffe3ea31cedd6ea49c27136525c4f8ce96d22e8427220e630249ec864f5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad1475f91048a2f273d0f2534d4e13fddf65450846542bdbf4bdb651b4e46bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b786156729da7e93d7730ed70c935db47c1e5128f7a5ce83e5db09dc859dc8",
      "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 · 11.15 s

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

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6353, 1.026, 0.9356, -0.6353, -0.5739, -0.4332, 0.0822, 1.0866, 1.7695, 1.4193, -0.8837, 0.7811, 0.865, 0.0617]\nstate[eef_state]: left_x=0.2973 left_y=-0.0956 left_z=0.2306 left_yaw=0.0664 left_pitch=-0.0213 left_roll=0.0117 left_gripper=0.0822 right_x=0.2872 right_y=0.2866 right_z=0.1587 right_yaw=-0.0408 right_pitch=-0.1773 right_roll=-0.1872 right_gripper=0.0617\nstate[joint_eff]: [0.1846, -2.865, 7.1726, 1.619, -0.1685, 0.2076, 0.5641, -0.4034, -9.0598, 8.4991, 0.9011, 0.4664, 0.149, 0.9011]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.667, -0.5686, -0.4355, 0.087, 1.1519, 2.0655, 1.0676, -0.0963, 0.8387, 0.8833, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0586 left_roll=0.0366 left_gripper=0.087 right_x=0.2855 right_y=0.327 right_z=0.0039 right_yaw=0.0047 right_pitch=-0.0694 right_roll=-0.0678 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -2.7145, 6.8991, 1.5018, -0.2564, -0.0269, 0.2027, -0.2667, -11.6991, 5.7368, 0.8132, 0.4274, 0.0073, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.6674, -0.5686, -0.4355, 0.0887, 1.1519, 1.8217, 1.4902, -0.7887, 0.8223, 0.8776, 0.9962]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0589 left_roll=0.0368 left_gripper=0.0887 right_x=0.2856 right_y=0.3321 right_z=0.1736 right_yaw=0.0136 right_pitch=-0.0937 right_roll=-0.0899 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -2.4, 6.7214, 1.4676, -0.2857, -0.0611, 0.1538, -0.1983, -11.8085, 8.5812, 0.989, 0.5055, 0.0366, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbffe3ea31cedd6ea49c27136525c4f8ce96d22e8427220e630249ec864f5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad1475f91048a2f273d0f2534d4e13fddf65450846542bdbf4bdb651b4e46bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b786156729da7e93d7730ed70c935db47c1e5128f7a5ce83e5db09dc859dc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgdOsWxJ1qLDeOwAXJNtsml4cCM_xe_u5cNvaVdApWiLdHlWQgCV-1xoC7HAoBLn62VRd53tr8Hayk2R07KcmrG8dyYfHHVwBiaaGMATIIY26xuTOLnzJR0lo9ZK06apTFmcx0X28WzE7Q4SE-VkfFR-mYb00yS2uSLtrKb2CL4_46ffh1LOoCBeENZBTpR8WwvEirvTuCP03Zv-_LnHxLwLRhEzyWqZdWI67MUOtkm97Ib-zY7XnYcSFA-EauYpwbGh8WJbmRxK1f5jKX3aYKw6CfQ1kJkX-dhO6XVWHTd7yP0ZsRi6oAoSdY-DZ_K9pNQtvouXMq_rZg-ueC9TO2ycwpBkQ-Cgo0NPMicJtQT-lOPj2fMvqOUUPWG_2sWfc0DYJ9K-FHwiTxERZ5LFJg396xdVTc-c3cEkGC_jvDEBSnFJBv5kMCg-LOfvc58e7weps3sUeDfx2OuFQm-zoMS5cUH75nXukKgPZNARuSLZeEXJYGEwgiA_HO0-MemiJel6C49m5aBl3EMjVMVWNvUp54ubKuRyXEgrYjPtltgWv0WMDHjME6TUG87UUh_JQ4z01aneCWHSzuavRBCSFen5DcK2iNyuoVNotRXLt7yRUHUJDOL6NIminy_AxAOTuReT9gG23B4nABB2ukiIJcVRWmpOIMO7k_sgO2hPE019dhxUg_TrFN604dryldp89yEwGYr_zBy-OPANOtZkDHS_ncF9NsjgsuKiEMzahY2UEaQZuuzPPPiqXtdeMZTrHW5oJeL_IzIPSTts3cbzHHRptFvJHe-yhfqRnahX0eQEnU__cSCeim_OMcvJNFgNGm8kqGtts3FlmRiUENHT9t8Ljb16YJh4lfqL_jHi8ioVXONR_F5B6bCfmyt7rb6sIV8TZKq2Vh7c5gR1PJ49REToK9DvqhaW6f-kt-g4LY0g5M60veeFbRVup9tAcIdSmMrQjTO0dekzOOZxuC_rHeItZQIAlq3vyaTbeyRdQ0gaB_rd_ZOTHslUJsza9UNS_kXeBtvw00gjI6fEco-E39MOhlU3yFKEi_3gltKeP87j9fLzXzeCzTmOGUZz-2sZfsZqz7ArGmkEqLc4z3eHiHtG1u6AIXDLlexjBD1L2WQvNJ2O4uGDpWdhaEOFYBYCOMXnrl8FUCETqxJiIHGKtLTLf90T7paybF8NHL44EydSBsWxpHEdtYjoJytSuGBUOp26RfczjIDE6gY42l2wJHHeRSfsCkViYGZIzirgejCB2LqJu0evJb_nEKc6Cp0d02VbP1EN0cZSKwJ_jBHNKH7POuSW4vshO8_ZHG72GxbhlwpmAtJGM7kmwqCDQ1xNulrFpJEJaYMbA1HqwdgPcl50BWOnUquLm07WcKpwZX530XD5JAXiIHa30NP_KV8AveTBveTN4lduNkbNyDF2HsA04ERm3jR0CzK2Uh_VgdozqNsBt-R32Tx0mgQ1LXIrsEA0tdvcaDegSECwPtKAePQLYvTIhXvQ2qh6XI5XZZVeVUxDgfqj435UrZc0Zo_KKtmSjmsn2CZiEy0Gct6VCr2GQetgoDThgJGVUmkEwJC8ty7GoUclDVMTgeZkhFAzEWs1ec1lcn_g7fg3Zq_YA7bkYMUmy_x8BKAkxawswxx96xoT275195tze-Qwt2dHYTK3A990OuOxHTTMRm7Q5EspbPzPgvxejpVWEK85x5FWW2oQt07pcQUavNr9HpxIsQDQ6yd6HdfniBIiATaQnK8RA==",
  "id": "rs_0bd8936f323cbabc016ab42819cb3487d08a4f51cc21e00f09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.02,\"right_x\":0.29,\"right_z\":0.22},\"note\":\"The pen stayed on the table after the gripper lifted, so it is free for the cap arm to approach. I’m parking the empty right arm on its own side to clear the overhead view and the left arm’s path.\"}",
  "call_id": "call_V88dzcKVybxkKUIgRujrmxNa",
  "id": "fc_0bd8936f323cbabc016ab4281c534087d0ba04f32c0d9e855e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V88dzcKVybxkKUIgRujrmxNa",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0344, 0.9291, -0.6704, -0.5686, -0.4355, 0.0907, 0.168, 0.8944, 0.8577, -0.6712, 0.1963, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=-0.0924 left_z=0.2197 left_yaw=0.0687 left_pitch=-0.0618 left_roll=0.0393 left_gripper=0.0907 right_x=0.2879 right_y=0.0175 right_z=0.2108 right_yaw=-0.0349 right_pitch=-0.1261 right_roll=-0.095 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7556, 6.9265, 1.4823, -0.2906, -0.0024, 0.1978, -0.2256, -2.6598, 7.1726, 1.9609, -0.0366, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb120a884248712ed9fc7ddff8d88ca442584d99f612e7eae1d18d9a557b032",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6065c1d320e6df528f6498c92d31406d55b46f1e61a1d0387f43b47bfc40516a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1408626ee8037a27185402b44092c59b4f8e66991bb30268268ecb7ad9881e",
      "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 · 9.606 s

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

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0332, 0.9291, -0.6617, -0.5686, -0.4355, 0.085, 1.153, 2.0457, 1.0763, -0.1127, 0.8459, 0.8829, 0.0649]\nstate[eef_state]: left_x=0.2945 left_y=-0.0931 left_z=0.2214 left_yaw=0.0684 left_pitch=-0.0542 left_roll=0.0329 left_gripper=0.085 right_x=0.2866 right_y=0.3286 right_z=0.0136 right_yaw=0.0032 right_pitch=-0.0586 right_roll=-0.0596 right_gripper=0.0649\nstate[joint_eff]: [-0.2667, -3.2752, 7.5692, 1.7851, -0.3101, -0.0024, 0.2711, 1.0325, -9.3607, 4.6154, 1.1844, 0.7302, -0.022, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.6674, -0.5686, -0.4355, 0.0887, 1.1519, 1.8217, 1.4902, -0.7887, 0.8223, 0.8776, 0.9962]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0589 left_roll=0.0368 left_gripper=0.0887 right_x=0.2856 right_y=0.3321 right_z=0.1736 right_yaw=0.0136 right_pitch=-0.0937 right_roll=-0.0899 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -2.4, 6.7214, 1.4676, -0.2857, -0.0611, 0.1538, -0.1983, -11.8085, 8.5812, 0.989, 0.5055, 0.0366, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0344, 0.9291, -0.6704, -0.5686, -0.4355, 0.0907, 0.168, 0.8944, 0.8577, -0.6712, 0.1963, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=-0.0924 left_z=0.2197 left_yaw=0.0687 left_pitch=-0.0618 left_roll=0.0393 left_gripper=0.0907 right_x=0.2879 right_y=0.0175 right_z=0.2108 right_yaw=-0.0349 right_pitch=-0.1261 right_roll=-0.095 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7556, 6.9265, 1.4823, -0.2906, -0.0024, 0.1978, -0.2256, -2.6598, 7.1726, 1.9609, -0.0366, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb120a884248712ed9fc7ddff8d88ca442584d99f612e7eae1d18d9a557b032",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6065c1d320e6df528f6498c92d31406d55b46f1e61a1d0387f43b47bfc40516a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1408626ee8037a27185402b44092c59b4f8e66991bb30268268ecb7ad9881e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0bd8936f323cbabc016ab4282114c087d08503bf4f9c753c7d",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0bd8936f323cbabc016ab42825c30887d08323e9137aeee878",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgrOzplcyv064E4jS1OSYzDS-hRvGOnHw1raeilSf4cN5pgvGeZNENVf-ch8qfYid8Q7nfugunkjHcFdeFU36XscP8eI5zdTHmEhrvNcokg2lHujdCVi5hiL-BT60ij1hfgHHpCOKisOOpNuRBlOYh5sc868HlWJCc4Utrbboq7XFQg7OoV2jq6wAMuCLeb422zRI83YjzsXlIYm6PdL0v8EqTneWaoAoAba0mWiXNBnuZrjI6HantvcISEgw6c8y4HfiVbMQFA2LYmuHcBheDgSom0tuDQ-HoO97ho-qchy-F25LsCH0Seopc4S1A-TSCxWlogNQ2x2zm7zYQQcg6PKgA-5EfgpEQWH6UJA8I4eHR-Pm1d7ed4tHXVVjWkUijaeNvwS2a61bFmxjiDx1DynSWPStYXbS3hiq8Tt88SRMwCrHaBiDZognHMxz2m2e_jOvOMzJ9-3uSJnLduLVuco2hTRQzwnCQJ_LNkza6lzvIoEsdqERC6tafb2aTO_hZd2zm29KdpSjHkmToxPntGd95Anws8mLcpa13YD8w232Ntuju_2VrfAMPZlEc4KDoOZM304dImBKj1GJ9sJ8WQmUn-bkC2cHDFzkHVmk3BLtgRKHZ_5qfkgnzsdXQNKFdIczSyqXJnqBn3e7Dc2RQ8CAk6dFFGoCkWU1reUzD_iFIE-Fb2CiSfCTa_tDSRjBYY2T41-s4cVDQojN-qfvZEjTc4ywTZH0hPaVy2J3vGe6LL06IaRgNPqj0C4TEklj5DyNPt5BFTqeOkpl4mtSlDH3A1vG4vjyilThQB8a0enIOfVxa4DiyhBC0EJ6S8oa5f6xPbn6EUIzg9ueVqENaRP3236SmVTuYfKUeAg5IFviwUozPRA0aVUrLWpcOx84ckBqusNmBYWztoDq36kqaJ3MARQ01E-UxqjLCl9MLTPk9EE5GGvQ8ji_YU7esBhm3BH_uAhIATvZjpBPl0qPwV2qVSVbbSSwCZ-F1gh6M6SnUJ6mpVfrYCUq-QTIiRYFX6A-mPkY5UUeTeiGED-AWRnE9euYzrPAQJKdSiuBLevxiIf38ajR-VYoexaiPgrJ52rPLv0m6gq7ztxHijzuCzS3N7jPcPO9jzGy-K5LY1vUdzzSbEaFb7oRsDI8tI3_RUDtLnPycqr4_6Gf3pGPUQfjOYstYIQsV3PTt5Sdm0i1k_IXR5LAnzLP6bdd5xfebosFplkYjgzsOFX9YzbS7CGMUGQsXR1zE6QJ64jGGcua4v8h-mS6FqbI1lasKFiliKYtsgeRz0w2wd-kjkEmwqUIVOvBhP0JA0deYMs8qUv-GUVdAgRNrrM_Ys_cV-9r9s4jBhuW4mQPudCjv-MCktwiq1XYbLeNeuQIgjJxny_iVyprVHlSElKX1xIuHcAmRIr68mA0Xn-fYiNJOBKiJm8o7pvsDT3WYOz5S7ehkfgh2Ah5Yu7dWe417EsbZTNvFd6E1n0vX7FxKn_Q-y8EP486Pv0Znu0RwhCTcf_4DLob2yteb_QOpcTn1LVHoIgUIxRfMghZr8FNjbvJ9vyaLOcMDqIclrn_W-5kVecWERe_3DzShgwwswMMh7smq-VVUUGw52E61NW5aqRNDE3oKjmAz9FljHXa4W_AotYL7AXHiVuSKvY5CmL5ZMJDGWyna7NIVtZXkG5BjhmQnoy1xSqZMGQsHp4wtodElFZvV_LZYSz87MahLobcuor35vYsByI4QkuRpafmgN8FmaV_qZHNl_a57xKSOAD7-LNIKwAReZTjPHPu1OB_J0IHI-SqtbF_p2qSZsrpr2iqEV2ZQ3ZIc42ep1h9n3zdEzmjUiV5j7n2RQ7usLP1dugAtNgYuswNQOnuItnDixQtLNsLz644pccISTnb7ATXQBppOZ-l9lb7A8HedkAMBL83zvHVa3jPw_Acsvd7qsVSlke52NaQ==",
  "id": "rs_0bd8936f323cbabc016ab42829054887d0b7f252ea40de2790",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.33,\"left_z\":0.12,\"left_yaw\":0.3},\"note\":\"The pen now lies exposed with its writing tip at the upper-left end of the diagonal line. I’m bringing the held cap above and just ahead of that tip, with a small turn to match the pen’s diagonal angle.\"}",
  "call_id": "call_IpmSD12nqsXaSjhXDXgTAXfV",
  "id": "fc_0bd8936f323cbabc016ab4282a61d487d0a42b2ccfacc809f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IpmSD12nqsXaSjhXDXgTAXfV",
  "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]: [-0.8742, 2.3394, 2.0129, -0.7929, -0.8322, -0.9421, 0.0922, 0.1658, 0.9005, 0.8539, -0.6819, 0.1825, 0.0334, 0.9963]\nstate[eef_state]: left_x=0.4476 left_y=-0.3259 left_z=0.1101 left_yaw=0.2898 left_pitch=-0.0814 left_roll=0.0371 left_gripper=0.0922 right_x=0.2863 right_y=0.019 right_z=0.2053 right_yaw=-0.0188 right_pitch=-0.1487 right_roll=-0.1007 right_gripper=0.9963\nstate[joint_eff]: [-0.8, -14.106, 8.3624, 0.6471, -0.5836, 0.0708, 0.1343, -0.0479, -2.0308, 7.0632, 1.7167, 0.1441, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17997c77b6cefe95ff70c94a2f6cfd8fe7ad15602f222023c95d8d2fcef75fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a87c28326dc3abac9a3f6983376ce83a99aad2e1794d5e3ff8270f48cfadba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4f49b382214cccb7fb0a2e31ce6204e64fbe8c6a3e4028652dbd375af64e0b",
      "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 · 7.255 s

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

message 114 changed as sent

message 122 changed as sent

message 128 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.667, -0.5686, -0.4355, 0.087, 1.1519, 2.0655, 1.0676, -0.0963, 0.8387, 0.8833, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0586 left_roll=0.0366 left_gripper=0.087 right_x=0.2855 right_y=0.327 right_z=0.0039 right_yaw=0.0047 right_pitch=-0.0694 right_roll=-0.0678 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -2.7145, 6.8991, 1.5018, -0.2564, -0.0269, 0.2027, -0.2667, -11.6991, 5.7368, 0.8132, 0.4274, 0.0073, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0344, 0.9291, -0.6704, -0.5686, -0.4355, 0.0907, 0.168, 0.8944, 0.8577, -0.6712, 0.1963, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=-0.0924 left_z=0.2197 left_yaw=0.0687 left_pitch=-0.0618 left_roll=0.0393 left_gripper=0.0907 right_x=0.2879 right_y=0.0175 right_z=0.2108 right_yaw=-0.0349 right_pitch=-0.1261 right_roll=-0.095 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7556, 6.9265, 1.4823, -0.2906, -0.0024, 0.1978, -0.2256, -2.6598, 7.1726, 1.9609, -0.0366, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8742, 2.3394, 2.0129, -0.7929, -0.8322, -0.9421, 0.0922, 0.1658, 0.9005, 0.8539, -0.6819, 0.1825, 0.0334, 0.9963]\nstate[eef_state]: left_x=0.4476 left_y=-0.3259 left_z=0.1101 left_yaw=0.2898 left_pitch=-0.0814 left_roll=0.0371 left_gripper=0.0922 right_x=0.2863 right_y=0.019 right_z=0.2053 right_yaw=-0.0188 right_pitch=-0.1487 right_roll=-0.1007 right_gripper=0.9963\nstate[joint_eff]: [-0.8, -14.106, 8.3624, 0.6471, -0.5836, 0.0708, 0.1343, -0.0479, -2.0308, 7.0632, 1.7167, 0.1441, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17997c77b6cefe95ff70c94a2f6cfd8fe7ad15602f222023c95d8d2fcef75fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a87c28326dc3abac9a3f6983376ce83a99aad2e1794d5e3ff8270f48cfadba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4f49b382214cccb7fb0a2e31ce6204e64fbe8c6a3e4028652dbd375af64e0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCg2zJ9MubvZ_pcOc-f6ufoq0QHQZtWDsssTIP6p20gFuO9_6zrKel-36cyHQPGz3QwrdttREyawt-vCsy2_poRww_Va_PAK3eYgcOMj04JpvyZoX53GSBmnre2END0Db0ISK5K0CqG0_V_BvUuR6iFZFUvdqC4rJFJ1KD2THgBY7hbldQRfeFUvHQkdccq-U_0V7mzr0uyhusP2uyHrR75IjYh5covidGbrOuOakr-oZ3UMI3PTPSrfqFCom2j9C8vdKKaMq8nrOn6RsqVtRmcI2jPXW0u2PtRBffs4COkoOPylmqUH5854mFEDJIdJr5tN0CYS_kw8zCpXjCkR-ZasmWzhiRPL4gyhFpblOU28Kzwb9hlpkvw21XH5D---OYuyfHhojjArM0ICbUneGAksssITds9NPnoSfTfpckrrTtZByinZ1aWauNEMP5Xqox38lhYVnXps7bOhj06idVnab36Gg_Yu-TCjpIR1bLaH-_WkB-Eg6lNeVrSWRNXrlRGbZqzEiYBAz8c0SQCGb41imWO6Ha2J4AmupR5XlcJ6WqOproeD82wi7epbT-aTz409GCi7IyyHRneqLYOVSKkOjkvUJUg-y03Fcx7xL7UvpdUk66wTqiOQ1SFErhHHUVNcvAauGiEGR7NVESbULfA-8daA5tyVbTRlZ0gME9Teh3lOP8ubdpavTd1qoKRKd6oM_5e8eAY6ixU2GLVeBDC6soGDP5whX4ON88V1Ex-WkkJFzHGjiW_vw0nPomknvNz8CqarcIV96NbcS1Ikpw2gR-NTbc2UuH6Ze5OTnjt3R7URM47KYEXM63uEJBPUIBTrdEYQsnK4F-ATG0hv2m185Q1dAWwpah-rw6GWkCS83nvQVIlCBETwMX29-7U1kjWkQpeYn0y63x5rLKh_5ejEwwtY2PpiHausBtNf3hdjiTim_lbms3F1aXCYaC7F-RFRWI2Jq1NnlTvnt4nZifQ8jOzvF8xZu9KYB0LN_OYj3gSXHtZlaoMuXy-ZlsCsXkYDpJFGLwzVFRo8WZhXfUTK9oI13CgZhtLi4PbwzxO8WEEpPeS24rNMgcsiVJ5yTipHaS6X3_8EtlZJXmZmMenO9bqJp7Q8EH5HWmpmQB0G9YVuf4Ns90nBh9BNR0z3rwsFnt6afZEMG7Y0BA3FAK9M27IEvk3-3oafbOr7qDD0g97NObEiiinV8dnGi1aJX43-rQgP-8nlJAkOlUuYOyFA4dvKR31GVxoCSYhHX7FQUDfSPyQuKhjDqstue6mQKdaj4ixVtXGi4r29C8goY2_-9SOfSBRbHtS8U0FWFXqA8tmxfW2gBxAm4bqBbuy1OqH62qTH28wsHtKEo8G2IhSdkhX5lwwNVLZ3vUEzDQ1UkkotGwF9L1uzk9yiQnp3L0DZc6NbvYQSAjlJH688CBltB59_0UTsJLuHGAYk4emKCkH3H-rOT7CZmKgsZjEOjaruwC9ZDOiRDV9Z_qp0i0C_xFHLk6giSwEviDzuWbHsExB6-DnjllxUBexhF1RIE483_Nj3Y17VrKv5luJ0yGd1vASD4N0um8nA_ow8U9DpPUomHLLyJ2ASkOSN-RI03ndlG-jbi0_xxQNrH3Oqd1Tvk_qJwkcdfN15i9oc6YZ8ZycQcRrsb-iotRBKTS6TM3vJUmHp-E08HHemNvrtGF3zf53ZEdvrBLPBFPMBQ4K99IkzrQhrVe0nUwJUSyav7PrYcpXXYbzo4pBkH3lQUcjfULtDDUcyVLdi8Thc6KP6lcY5_eYEH208ChV2tFWKgDMvS2RxjxhXmbCuQe8PvBBPIBMmhaGohZIxBh0EiiInz-uEybdiBKllhwNFbZz3MJ4Nuol4jJu4lIR2NJtLmM-TH1Fnk3ZH6NvM-iFEgFBU2aUsGk6KQlu4xMqcEBAxT71009b26F408_R06F_NaK7IdRdgKbSWiww0fdV0-NM2WCmMDlJJB9x4-X2aD6LotyFxShK0NzLnhGQXfLyz0WDs3obo2jHAV3TClJwWJldroFc3pUr824zuAjyheZ5y2QOaAdR0meRDcM7IZBxJcS3i3JVBSHxTSGLlxRc4aUBtKV4P5Ve-b9vmmf7QroylKUT5W0YoJZl2Bp6A-_yUq92w7LNcl9bURFePRaAVWnl6AFcdK1tLYFYfzs6tmbjBF1N8ACYDI_9sAzgtd-TwwDs0qG7L4VhxP6Dse0QEcwYFq9YYmJljuuFhmF2srnOmkmJySgDlP5DgtxJ3KOE4gndrrJd2pvr9HibmbC2It55GfAVoUeDRWwF9iQnRx7IxiIVCDksq-hwIfINtPlXGws3GqG5Ob74c06k8j3drx3aMzn5MZgt3mwMR73UEIhHt9V-QkWS-g5Zl7I54ZeG1HJyxguEVwmVHvVEpyOANR-pyCmcQJtMmCCOr4-zE61g2-e3q9nx7uaYLj4BC4K2SrGe0sJEJNf0IlGkUpQcczyVrX62oaysMHJ84s2DlzjcD494A0hNk5ERgC_C1KG0sP9kFAyzG3o9aCjCT8L1hZW7jKCajJ0gDrBjdZij57M-8oZEUQXETY0tgnHqPIsk_AlqqmhuAnJ0-O4uFnEfG7G99upLag_ywqeAS2qGu4K2iLQUH2Snwl-8HZ0MHZXT-lSE3TFwXv4uT67b7WSZ6lbFYiS2Cc2lZUeMMC_FnPMZLtTQizcJFjoqr2dqv6qcRxCP52TRzin2AKpEaNJjjggU26sU47NQVmmR2tte0-7FnVbN4qH0-2qfzPCQc0V8Pb0ysAVxnFlhA6t9Fz26xFGKInB-Ermz-nbcnm2YGCnDNiA_3XNvjMkQd5SB6XFuU9F6XeN9sZjqTxaviCBSYIJUSTd9TO__FTz9abRj98uW-Di9Ix-hAaRRpCsTL9e1heL-gx5g5srsPb29JmYhivdIAnCn4nfEWxpGFwmamF5fdwBmmKf2_IkjdBy3m4qLri3r9QZOQLYG-3Y-2pkfZmS8yFs1CFEyBsybplyEHsPZGjV5N6vs13-qP3isuzr0tmet9u9h0XmD_-rEcwhHz213DX4lLkWYRSwbR2sfD2-CXHv9KHk8BWuwOMECcdFI1MWVkAhL6gBoha33N3Q1r2K2WdgEfAuXgTf-B0Ou20jC10E0nWFzfYmrmc6_GHO6J768hpVkY6W--6aTn3V_I3vRjNbs3Q1z4VVLO5LRwow9MHwlcYKwovO5orR9eNkeDU-hhxtRwufi7fEs_n5tq5o-EGjRfQlI0_woqfUy78XddfeTjxQoktQ7QA9C1YXRU3r5CrwEmSFncJa5WcPMTEL6SbdrVA6LHcTpztAfzeH8bfkfHe00YSFpXOhLpdcHC5G-pPBk5a6ZrqVDF0qQGln1Q1kdrGqX35vYSxCXS2rs8oeoIlp0r01LRAn9FOJNsqa__gzqEuOqFfHBYbnUY-V0hype9LXhBEAahAKsqqNcAUPUgrY8qpypRNozRt0vhclFmdzuc7RyAjSHv-8s_bSef7YQGooxXKIBfC0A_vCk1xTk7ASE7NYkNcqmR0AWKVdh2OKFB_szq8KGci5HEyAGa8MA=",
  "id": "rs_0bd8936f323cbabc016ab4282ef64487d084376bf88a2a7170",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCg2XZMDJgX4_csV-IVq7XC-CL0iSU3hrAeFV0zkHo_ErODXqMB_Mx3W0TzhLYaZlqoAPBfVGHC8e6lsYf7kipow5grDdzRVlsFidS_a-hTMKHVVYz2mXHBxVl1xy_sasKDXHj6yzgKWlBGR4uVN5oaoK9mgxePntF-G_uqLoT2AKMmRsMr2YKe0UVlbzb2ENmMw5HoixD7xarR-gKEwvCNQuaqW1eqAi6UJ_4sIFBbvB7Wvt4QWmlcy_ED8-YT3JL7mm2G1Ou_jkkQ_DH8BvhahLp10BjSg3Xo1lFkAOKD0HffeZno3xJk6NAjDbYcDelwMBgpLCWA-zfSodVdAjbqRK38RABmRShLLvSUIyzRbMXx4l-j8oU1IVGhmwjydYd7DJ6clbVgYbpS_zE3GR-KUihD-bZwXTSF3BFJS3JQ7FA6eh_ePN-rrkNk391dXMcxTshjAP03zVdGhflidGCZdjICzuEsHXzVf2Z4QkNSAdgF3ZwvbnPcT0nis30HPQv2NHhllZioyJA24aR0U70TP-OI2KKA8KX3iicSGQF_4S5ythQ0Tpt1Cf1u-cSIXupuq_a6YuWgR8hKUcWG94Is_df3qXT3QaLMptBskTFt898zTm9n7_JfignIcwlSu0uoKvxHEKK7O74Cn6id4OX_PGOlezVZBG0ERPj6QHyxVrBEJ1c4yv6bKCVzWV4N9ioSw4yEVVlbpLmZOJAWOz9jCJMltKM7isFSwoRSJ_5sWme-PY5oaoQadytlM8lfd64zn107k3hJWZPGT_2hUltd3VMwgNyB4TiuwZ9jdDXHqLbHeJ65fOQc595v9zlwgOjTchbaLiSCbOEsiX7tnm4XnGQWJP63PwFzArOYenHhrcH5WzmjuoyYo9GqPkvOFp_5Cg4poPsa-R9cQ3UnGe26Y3R_fXRSJXjV8pGEjO9TVa4Waoe7wAEv38DC3eRiHT3FISJDYJfkV53lm9CM1a-i1K62NJKQoRGxlgiYN_luu3ZqhTiJVaSwHYsuspNeDHOy874JZwmJHqN8cBERnBtsWsWj3gD1frpgFlQAGnB3y1nJ8z-q6xPiGECpiK6bF8PZVpC_pMZq_Ra_-KHKwGdV-S1VBPkLOt15PyozbFVqhB8DFjf-9qS6i77ZGF4uTw7kByee6FYXFOi_9rGyoTaqcjFo6bGr7wZlE-0Pgb0YySHdHGK0Tm6V3Nb5v_IOikNjFurQ-ajVtcsChUzpYH4jv001UqoUWfRkNvEyOIZphfBzMMGx1SrXZRqelWwFSH8WsBpSp5wb2nsaubaWVUBMTz6hF_-PuI11wrMB3tJYjq5RYsfzaO8oxH9Kkq5erIbf9c-aXMp_WDEKrcpFuBYE9t_3cWtEW8Y7ZQ1kVnwkx-Wttl4sA1YqQLh71X9YDIsFwqSt6TGIkiGRzDLjpz_GKYbug8OrKqEDq6LAB42aCuoM8KDDKuiqHeQ88kYuEKuF6W-8xZx_kfg2G-k44WQnWLHmVu2QFClpRtPraNa8RQh19wgR0z3bREszOubpGVIH4wtEvOR0fUXhQ7zYgUEnnZbybxjFjPdTy4563NJDSG4EI3lBMbHsnutAmk6Y_udL5QsQjYY80adD_Z3SFOqBQP0zjJ2hs3Q9rETpXfxVN4zfyt3ea5aHXo2HapeXVXcJ_zl8QuXBVynz217xr1I_rIOeCmB7UVhBoEJ5B9Q6oAUuRc25NkwofVaoIjlCRfcoRKi2fDlnf2SwP8Q3TlWTIolRBix6p1AXAlL5K08r5EdvJBMHJAPpFw-ncT7-8bGdoxaM3p6InJMdrrF_5viCr13AFl8tituGyV1-cLSJ5TgiXd2D4LK8jYl8hVBs4y586yz1AhiBWun3iTEqNoNCXxfylYGbsM55XaL8XocGcZIw1KutoCxFf9Xou4oJ0wqcHAm3WpO8mpPZ8175r2Xm3MS_75XD7g_TvNwgnS997wxqbxlSvWZUAaP_Sg0BYLVXndaqQjDt6XsyxR73ZHtVdT97sJsMX4-5FQUpWeQJMZz9RYciQ6u1IybYfFaMAuakc09XPSWvPvmseprPUvpfjyLERrVCqR25Vui0QOzRWE48LYbeoZIGQA7q3GFceaT_UymicXLsDSVNUNs8HGjWEaJB3mv6g-dp57W-oRLTmvPR_iCjcnf3zRdQh8M7mhfVagc3vcx-krRPak2EWj2QmOHfX2ybf0NTL-CuT_4vVXq41S9WCwYaKKTtnIwcgmKPxEeKfgZV4GC1rZCuYBPLA3qThkVgleOOKksYBja4kcEk=",
  "id": "rs_0bd8936f323cbabc016ab428337b4087d0877cbb1966932267",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.25,\"left_z\":0.045,\"left_yaw\":0.3},\"note\":\"From above, the cap is forward and to the right of the pen tip; the pen is behind the left wrist camera’s field of view. I’m shifting the cap leftward and lower toward the exposed tip, stopping above the tabletop to reassess alignment.\"}",
  "call_id": "call_teLBMxCy14Kxx1N4zeYydvNu",
  "id": "fc_0bd8936f323cbabc016ab42835d27887d0880075ebc1e09832",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_teLBMxCy14Kxx1N4zeYydvNu",
  "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]: [-0.8116, 2.1689, 1.3903, -0.4057, -0.804, -0.889, 0.0935, 0.165, 0.9054, 0.8539, -0.6853, 0.1814, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.41 left_y=-0.242 left_z=0.0225 left_yaw=0.3175 left_pitch=-0.1341 left_roll=0.1275 left_gripper=0.0935 right_x=0.2862 right_y=0.019 right_z=0.2033 right_yaw=-0.0182 right_pitch=-0.1571 right_roll=-0.1023 right_gripper=0.9963\nstate[joint_eff]: [0.1983, -13.9966, 6.3932, 1.2186, -0.4908, 0.0269, 0.1245, -0.1983, -2.1128, 6.8171, 1.6484, 0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316d08d8662919e4e530ef3de2af9dedbe50f6fa778fcd19cb9e3eac26b84b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491c2d4c16da6e59f1c446c3c7a1ebafa64cd16cb0c69f94cd2b2dc898bf0a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00598def4b1cea90a897d4d8926e88e8d1957e5e992cea662b488401c869598",
      "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 · 5.434 s

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

message 118 changed as sent

message 128 changed as sent

message 133 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0336, 0.9291, -0.6674, -0.5686, -0.4355, 0.0887, 1.1519, 1.8217, 1.4902, -0.7887, 0.8223, 0.8776, 0.9962]\nstate[eef_state]: left_x=0.2938 left_y=-0.0926 left_z=0.2204 left_yaw=0.0686 left_pitch=-0.0589 left_roll=0.0368 left_gripper=0.0887 right_x=0.2856 right_y=0.3321 right_z=0.1736 right_yaw=0.0136 right_pitch=-0.0937 right_roll=-0.0899 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -2.4, 6.7214, 1.4676, -0.2857, -0.0611, 0.1538, -0.1983, -11.8085, 8.5812, 0.989, 0.5055, 0.0366, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8742, 2.3394, 2.0129, -0.7929, -0.8322, -0.9421, 0.0922, 0.1658, 0.9005, 0.8539, -0.6819, 0.1825, 0.0334, 0.9963]\nstate[eef_state]: left_x=0.4476 left_y=-0.3259 left_z=0.1101 left_yaw=0.2898 left_pitch=-0.0814 left_roll=0.0371 left_gripper=0.0922 right_x=0.2863 right_y=0.019 right_z=0.2053 right_yaw=-0.0188 right_pitch=-0.1487 right_roll=-0.1007 right_gripper=0.9963\nstate[joint_eff]: [-0.8, -14.106, 8.3624, 0.6471, -0.5836, 0.0708, 0.1343, -0.0479, -2.0308, 7.0632, 1.7167, 0.1441, 0.1001, -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]: [-0.8116, 2.1689, 1.3903, -0.4057, -0.804, -0.889, 0.0935, 0.165, 0.9054, 0.8539, -0.6853, 0.1814, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.41 left_y=-0.242 left_z=0.0225 left_yaw=0.3175 left_pitch=-0.1341 left_roll=0.1275 left_gripper=0.0935 right_x=0.2862 right_y=0.019 right_z=0.2033 right_yaw=-0.0182 right_pitch=-0.1571 right_roll=-0.1023 right_gripper=0.9963\nstate[joint_eff]: [0.1983, -13.9966, 6.3932, 1.2186, -0.4908, 0.0269, 0.1245, -0.1983, -2.1128, 6.8171, 1.6484, 0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316d08d8662919e4e530ef3de2af9dedbe50f6fa778fcd19cb9e3eac26b84b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491c2d4c16da6e59f1c446c3c7a1ebafa64cd16cb0c69f94cd2b2dc898bf0a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00598def4b1cea90a897d4d8926e88e8d1957e5e992cea662b488401c869598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0bd8936f323cbabc016ab428392fc487d0a132c616b176f680",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCg-tHkGtj2z3f3oowmyfM7Fdl2gdsQwxqF4WDLwtLqqdrx-ldHUhMsawr4NTPeyGVtrR3Wl9OEgmVqm1izDw706Jpn4OYAGpV8FwHWOuOFG_MRYVcXNLhBRja3fBLj-zHRU-BASh1-PfyuWV920iTHh7Mwy8HP1anYXCdRVWtDh5f4VqOyTWivm0OxA3pgSkGu73D4HJ6uYDB82juPHngM9B0k-pH5vXLXaQKBdGmwAdSTak0-43RP3qJz5J8HrKBLvr0q-1Ez-ueks0ZEJBzTaRCDI2Oz5Z9jViIqTMDMVVJBhC0kDdEyNY27bsK2TSkwasEW9Xt8tLcx_gx5e7Ec1VBt8qNdWHJz2j_FCfA8isMNBigV3aiu4qw24z3bKGa1zBYOtpDEdmpAh6U-YXooToKszufQvqMqwO9QcOq-6E7RZqfLfTAbcdNJgmF120Tl6goAQONxvFFRS_3O2PAU-tW1dOeJvCDe6_jvsyfJUTFrwlY-cSdXCKrVCKqOECQVOv_zh1zmHdRkYes8Lc4HvNctex46lyCr-GEOmW7z8CF0QP6_Rqrcl64JQnR9OuJWzumm0S0MCpWxHZssM85cHZ5SUfx8Svb1ALtjOH88TcrvWuSBGtj4FvDj-lROfZw91ZO1JSOo0jR0kj9nXuzUic-VqILmvbwLaij-TPfUHabaPl8Qv-CEVp4lqdqQQ5WmEhERND-7F8_Z_aMnrnpnDxPuD8vp47NpasjquhbPbNhIJMaiSo5bKm_wA0OhkOIVghtVH_6q8CPiXV9e-9MfdmN2cNJzT-oMzjXsyBopfGTXAMoLRndzQ12bJrhn5-3DUFQAiO9za4noDHwKpi3V1xC9K7ZIJUVbBQyPRtnHivsMFxmOCBhoHSuvoO3PkIEph4mnRaAINK12ZeHcYABqHQ94sFqN0V6VH5YNG_iuQBSUy3rDSDa5GrvCsbhrB_kojMtCs4xKawCaMKAYhGQEoTEjEyZe6BECTFh5fD4HfpdaL0aAxfSlMTMGs-g2gf5NtxGou7duFQex3ijz1DcPWNVaJbxLxX4jXDJHZP-Dios8ItCpnbVuclOb_SCwHFAD4Gj7TdZhe_PL0rDMazGOpfSfL3uh67PRc2WNWP1kwLOHZ6b_JBCBMm6c-kLgJzf65d9gXV4sQ8If46n5hCmVfX1bvc4OI3RRObT6OeK7gc4UEtHjThe9sA9uckDv8DMGDhByzFuC4J4kgw1YQT8-p0QIiQEB0TLkPJIfPpKh0kAfNqNA6HOUKmUgU-Xsl5urS8dfTYN8rzxq5ayYQGvE8j7ICYM9LcDZMPh_QsxgUtxnDHYX0WpqZouPM9fUsw5zDWQuJyMUFlzQsD950T1LPo9tuQhHrZHWZWysZVg9ActfRWEAlrD6VsJk7hNPeY-lVZQYmkwDerAHOVZfcQcyacbTX88KY3OY1s-Ug1wqErJrY7H37-ZQX9NYR6an1mKN7eZJN0jFzcipINRnc0SV5NZLIL1oI3HOg9U4zwi71rMkienM_-hepHT9dm9Zm4s5ayycpfeRAFCaHxgwFTwIuE3FVcHRNCUfuwXtsNlA3pvTd2IBvaSdYM1NTrANs5UWrZRfHTZhksE_GJy64WHdcrvrKuH5qTVj_XTFpml0S2OU4a05j73ux4AYvLujowEHqYXRn14Yi0PYzqoC1H6JwMy-xvdjGal-I7hqMwEOyXZvWEI-PpoS7A1HcArUjQXM99SVVzQ0j6_QANV-u0yH22VPCAdKuu1QGxCz67VpP4BqWmsOWsS82aTd1kH1h-NczPU3tz8VmvVjtWvOiJ806nL-qweOgzqIh2XuoD7Ta1DA=",
  "id": "rs_0bd8936f323cbabc016ab4283c7b5487d09631c8b45a6ca58b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.205,\"left_z\":0.008,\"left_yaw\":0.3},\"note\":\"The cap is now near table height, and the pen’s upper end appears close to the left jaws, but the pieces remain slightly sideways from one another. I’m making a very small leftward and rearward correction to bring the cap opening onto the pen tip without sweeping the pen away.\"}",
  "call_id": "call_be7yQMR8kJEsrQKudyy9tprL",
  "id": "fc_0bd8936f323cbabc016ab4283dcc8487d0b8ff834735251ebe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_be7yQMR8kJEsrQKudyy9tprL",
  "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]: [-0.7708, 2.1075, 1.1927, -0.2443, -0.8017, -0.8326, 0.095, 0.165, 0.9073, 0.8539, -0.6926, 0.1795, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.2053 left_z=0.0047 left_yaw=0.3238 left_pitch=-0.1292 left_roll=0.1473 left_gripper=0.095 right_x=0.2852 right_y=0.0192 right_z=0.2015 right_yaw=-0.0168 right_pitch=-0.1664 right_roll=-0.1027 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -11.8222, 4.9026, 0.9792, -0.2125, 0.1245, 0.1392, -0.1846, -1.8803, 6.7761, 1.6239, 0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2c01918a029137e69593ce397cca19326ee44527613abcbe1b0a268913af62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f7741985718cfa9362431205eeff5c95400b456b82f3087526a8876cda59cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4177ce68fc8d3b5dca29d65a73f3417938260d3ebbee339490dd10325129975b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.85 s

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

message 122 changed as sent

message 133 changed as sent

message 138 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 1.0344, 0.9291, -0.6704, -0.5686, -0.4355, 0.0907, 0.168, 0.8944, 0.8577, -0.6712, 0.1963, 0.0471, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=-0.0924 left_z=0.2197 left_yaw=0.0687 left_pitch=-0.0618 left_roll=0.0393 left_gripper=0.0907 right_x=0.2879 right_y=0.0175 right_z=0.2108 right_yaw=-0.0349 right_pitch=-0.1261 right_roll=-0.095 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7556, 6.9265, 1.4823, -0.2906, -0.0024, 0.1978, -0.2256, -2.6598, 7.1726, 1.9609, -0.0366, -0.0122, -0.0024]",
      "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]: [-0.8116, 2.1689, 1.3903, -0.4057, -0.804, -0.889, 0.0935, 0.165, 0.9054, 0.8539, -0.6853, 0.1814, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.41 left_y=-0.242 left_z=0.0225 left_yaw=0.3175 left_pitch=-0.1341 left_roll=0.1275 left_gripper=0.0935 right_x=0.2862 right_y=0.019 right_z=0.2033 right_yaw=-0.0182 right_pitch=-0.1571 right_roll=-0.1023 right_gripper=0.9963\nstate[joint_eff]: [0.1983, -13.9966, 6.3932, 1.2186, -0.4908, 0.0269, 0.1245, -0.1983, -2.1128, 6.8171, 1.6484, 0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7708, 2.1075, 1.1927, -0.2443, -0.8017, -0.8326, 0.095, 0.165, 0.9073, 0.8539, -0.6926, 0.1795, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.2053 left_z=0.0047 left_yaw=0.3238 left_pitch=-0.1292 left_roll=0.1473 left_gripper=0.095 right_x=0.2852 right_y=0.0192 right_z=0.2015 right_yaw=-0.0168 right_pitch=-0.1664 right_roll=-0.1027 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -11.8222, 4.9026, 0.9792, -0.2125, 0.1245, 0.1392, -0.1846, -1.8803, 6.7761, 1.6239, 0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2c01918a029137e69593ce397cca19326ee44527613abcbe1b0a268913af62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f7741985718cfa9362431205eeff5c95400b456b82f3087526a8876cda59cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4177ce68fc8d3b5dca29d65a73f3417938260d3ebbee339490dd10325129975b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtChEJOFFfdMoPCMa3nnjpqeJNVgWvzud-Mu5lSQy9T8sWQF1GNWg3SrjFCm0eK8tM1Ku30Hii3vKQs1-Zrks2_pb29xdYyaH3XTnlP4wQ_ZNQal70_iDsP-R-P5JKMl3fN_sIlMyHHLdxg1jFQZA998GgOkdnCiu2EHFlMUmD6DFEChLaPNg7EL_9vxO5_boCL-DJ4l-ll_BYJUuwhdjtu7i4A9s4Lhj2NZLpdD1vfwyFzV_DIWu0RK0nfw6cYWEfNd0Nk1SONo9Aq3FTMZgrLgjRn7O_IaiKuC9sBke98CO6rw4pXGaNopuhqdMN_VIlRlUWnC7d0sezUaPjumssWfiIdvL6-088CnQh9IlaBifx_W2r8PofepOhWnZgw4JDJ-m_BU5t5U3c-iSxwRUQSyca3cPZNgwKCX9MKgGWUBwmenkHmvKLe0kJVjHxSD4i695iVX_gaIFj-uM6JTlk4_XOoIpc0skiFKCBwyz9Nm2OWa8XMMbWc-4SyXmmkAxSaM1ISFifqhtswRkqY4tC6Ov9VM3xqDhxLOpOMwps5q0Aruce6HPFGMNnCSZVBdiY8JsS3Z2H-zYozFnl7-jyTFPVQWKRgWmqZuxWYqkX0A5ikfTOW8RSE_JpKqW8365Gn-22YwjHrtRTO6ql1I7lQwns2scaELBqvDfoWqa9Gf_qbGFl73VEY2WVArP3s6qtg-RTGbv719YTNlhxUEWoSGZvsEs7LMez3tIGlzpqYODb69qRaKIkU24nEYdu9qE8DgkdsJLjj-REIn0yU6PKkcxCsHt9REUw1RhHBleSpSVil-JNtWVHLoX7VXyw_uXQGL8DKKXFtXlg_fLtZlKX8maZet0c2RuZjaNjWd2ATXAk-Ll_sK-cPBpxeAQKlesJyk8abjbcqUGqkrCHn6WBmDCvmGKjio_prwdZG1t3Er4rjyoMDKeBA2qV2BYFQcM5Ec2_ZzB34uJW3cqQgQ0w4Al7ukwE-jFbA1oyr_p-_M5BZFtofJmujmEhe5iPJ-AAnkr_k-z5jYcQd4_bEwepjbBm_aWqDnM5f61itWuF52wYPlpupiMTwS-8BuDPFsbd6S_tYFn39pE1rA3IlsR0C8iTEUeoIiorm41sz8NxBGSQTiyTU5QayARh8lhtgNHAqpFrMLW4C9aGoBi80r6UecBN12SCzxqbszn4k1LhQPe-3L46JGJ5GHCMNZ8r_V2Pzs6wCVQRNPCm5KY6tArJYeEeRcX_LTRYjcwCMZ_cmwN5NZJrUOzyRLyRlQ4C-gsmL7Pj_cr1IRhBr23M_SJeeULFxhIVcndk55T5BMt5ZRps4--q1pNykgl5L2dfi-rAYi16hheKvAhPSpwvFYA2ROyTssaMWY3hoVARvqhwwFiYEWsbh7QiOWG42Aupd-47jLUvj8siX-nzYYho0W-iN10i1xUbBkk0aUCFaKF6YtzmqeG4wh_mY2A_nzVtfNCQh2qsim12h1Jeee_jE5EsZg2EDkGCdZ45n4TVrgsBKjoLAfsKxXTHT0VPCABXc8YUxFO4r3mPY3HogqGeBFJmq4LMce8aro3Rcd-aA1h2qE6r8fDwKqGKIUZTrOueUEgqOrNiVeuME82-f_P9YQFtT--SP3lGWcSGpBlcjxXLAGMh6wRS8jHg0V76NMZc3IVn1XHh4k5mtmrMddArMC-XrIvU0i1OcFWWvLUkadwoVZr-xDEhq1i_eloC45MFLdCPbJUncjb0f4oBZcX1LYXt8v20BTz1bIHFmJ2nRKvZGrEbp29qgtfCYdAq3IOvvcGGVDJ9ZdZAW8zLQxjgplzJ_6HXjniTNvTBEqKdg4xeQGU1uNo8LjtoyMsyOFtHvRpuGHsl7o0tlsrR6OqfgpfGaarikr9E_AsfR_mw0S2FRHgiBa79nRrEOWPCeeNy-WTRNJ9cvNB43tGN4NxM5rakQZPX08Xwz6mz21KOioDwuh8Zh-ZZcerbzWBdrS8RRROqLKLP6AO7OvEdRSihiKGw_deBshD8yXDzynd3mcznaiLxC4TsaPrr96y_zC253FW-g9Q752K9wLDU1KI7dYb2_XCrBJyC6qgHn-IRkir36fVCLTpaHQSYeZf2xTpIh0OIJV1d8TDGlV4_blIDQrDfF5Deq8BO7O6CsP3l2T-iZ6Wb1CWwednTra3Sq3QQkGliZLGlDW3bodyYEu_mtHPaJ3FyIx6UYUBP_vcjl-jVpQB40L63kr12ontResl3mglOUxiLjmRcTfwzaL1pUn-32YY-zIFs6tk9SJJ_r56NoMgfp9i8SE-jdzoXn-ZOUatXhlMHKEtGyDAromPpHGi941pZvu1nGmMZW9BJB7YSJo_kB-b4KMBEOWnuYga3pVQ-KE4ql431lu0JMolbmgmtRCI8h2oG6KzdrVbu0HF6Z3wfcQW9uRhbfeDDcmaSMV0Ig7iQ_EJKrxOOMtO9H3rjzmfnAi78guVgtBw3J4_OJlGkxmObJIafExgJ6fW464u2mIKh20dVRgH5ZUG6LCJjZoqTHCw3Xh0t3KFA-PCWRGI75h1_F7dvlGNlHMHayOmfeYeyZDPvBpDFNKVXe8-mcKC6Nr8st8JSxCLnCE5Kl_Gg6ZlU4jiyxQAowmlNSbtTfVxFreFwVkik2bi3TETyv6_NVNArJ4slHuQixk_XUZbM4LpiLCL8TviXoDFJP-YyLlj-IqvPsQfgbWfzfGunEFyOHB7muHCnBPlW2sH_98qL45ssScLTGFM1CNcv1UqjBzA0lnrgWmrnmuTVfvO1zHywkbK0y7DBGTRY5ceWNX0Xeb9N4BW7gLBsMfTfo--9fV9xcA1FGzgcq-NkOUZc7UVa7BTp_2Ussw9kTiZes3fvV8jcOW-WwKkCyOKWkTBm9ro9uy63F2BjK0oN9AK24U2_Q==",
  "id": "rs_0bd8936f323cbabc016ab4284084ec87d0900d2eefdbed1a92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.16,\"left_z\":0.012},\"note\":\"The pen’s tip still appears just left of the cap rather than inside it. I’m shifting the cap a few centimeters toward that tip while keeping the jaws at tabletop height for a straight insertion.\"}",
  "call_id": "call_ci1xDg1oP4sABkhrbogaTvoW",
  "id": "fc_0bd8936f323cbabc016ab42843fb8487d0b5299480214f573f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ci1xDg1oP4sABkhrbogaTvoW",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8005, -0.8242, 0.0965, 0.165, 0.9081, 0.8539, -0.6964, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3278 left_pitch=-0.1222 left_roll=0.1366 left_gripper=0.0965 right_x=0.2846 right_y=0.0191 right_z=0.2006 right_yaw=-0.0166 right_pitch=-0.1709 right_roll=-0.1033 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -12.0957, 4.465, 1.0427, -0.1929, 0.1685, 0.149, -0.3624, -1.7709, 6.735, 1.6044, 0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823c2463ea20e4a41b632ed7620136fc7b888f82da60415eff8dbcc38b44c2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede8184e4b0073f0522f98622e99181726ef8a6412407c39a79fa1167b06af97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e926f67c7bc61c649c32336cc32ce1944b5744672b2cf99fa336cb66b720aef",
      "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 · 4.187 s

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

message 128 changed as sent

message 138 changed as sent

message 142 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8742, 2.3394, 2.0129, -0.7929, -0.8322, -0.9421, 0.0922, 0.1658, 0.9005, 0.8539, -0.6819, 0.1825, 0.0334, 0.9963]\nstate[eef_state]: left_x=0.4476 left_y=-0.3259 left_z=0.1101 left_yaw=0.2898 left_pitch=-0.0814 left_roll=0.0371 left_gripper=0.0922 right_x=0.2863 right_y=0.019 right_z=0.2053 right_yaw=-0.0188 right_pitch=-0.1487 right_roll=-0.1007 right_gripper=0.9963\nstate[joint_eff]: [-0.8, -14.106, 8.3624, 0.6471, -0.5836, 0.0708, 0.1343, -0.0479, -2.0308, 7.0632, 1.7167, 0.1441, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7708, 2.1075, 1.1927, -0.2443, -0.8017, -0.8326, 0.095, 0.165, 0.9073, 0.8539, -0.6926, 0.1795, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.2053 left_z=0.0047 left_yaw=0.3238 left_pitch=-0.1292 left_roll=0.1473 left_gripper=0.095 right_x=0.2852 right_y=0.0192 right_z=0.2015 right_yaw=-0.0168 right_pitch=-0.1664 right_roll=-0.1027 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -11.8222, 4.9026, 0.9792, -0.2125, 0.1245, 0.1392, -0.1846, -1.8803, 6.7761, 1.6239, 0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8005, -0.8242, 0.0965, 0.165, 0.9081, 0.8539, -0.6964, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3278 left_pitch=-0.1222 left_roll=0.1366 left_gripper=0.0965 right_x=0.2846 right_y=0.0191 right_z=0.2006 right_yaw=-0.0166 right_pitch=-0.1709 right_roll=-0.1033 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -12.0957, 4.465, 1.0427, -0.1929, 0.1685, 0.149, -0.3624, -1.7709, 6.735, 1.6044, 0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823c2463ea20e4a41b632ed7620136fc7b888f82da60415eff8dbcc38b44c2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede8184e4b0073f0522f98622e99181726ef8a6412407c39a79fa1167b06af97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e926f67c7bc61c649c32336cc32ce1944b5744672b2cf99fa336cb66b720aef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtChIni3QdwmxFAV6akCV70E2vTWh1Hrq0s1Q8s2i4tJn54m8yPpQmHe3cjveya2zrDx4f5tlxei83kQlbtd-RyNUCYJ0tc0oAoc9_FtD1xNzEWf6X_HRAeDHVoe38_eYAPrt5ZGh-WSxzUw31j4zZ1LG3WqRdlrbesTSCAk3-njwwIRCcynNm-c510-u9BrZxRqKDOvED5n0E2wefefMJRhDR8KfS8ou1Oqp5NYWBJEDU27FfIa2UqePt7CwslRliFNrEth4GROFF2JimcBBv6FJxeG0CHG4pTNq86z87F9C7RveaOdbGPr8878G6sR0Ufx6RlmFu41h2SrL0cp3KYFu7BYPTh6vX0wg10nZ3Vk6ksIgU11rm_vqAwF4obL3c32NstDhCRjrg22kZ1_FZEqzyozyFOwI26v-IV5df7HpubKAx1Dq09rkHuniNSQ1rFjhSF_6vPdmRqXd7IQFLBUV6pKIjA19CRlJNzIddGg6sT1TEaC77U87a3mdzqCjLQJasVJ63-gVTCD-kbUqlmniNKghGYy7n9svD4AwgQH2TqH_deR4zG7XjMsSt4ke_0ccseVkxc5W7TJIAQCJjWoDZ2FYEboe-uQk_yHWT6S3ULwExJPLdmoihsSsN80DSNRTyiHjFpTPdydiuivv3UyrNO9yJIJg1EY2GxeF7YLm20iVpDpMtxg4BXHy2aGXbNjjaUuThhr5rAZes8--n91ZkygtQiNIvAy7dNjRZ7LlZXrtsIyIJJcMBOuFMKCENrwlb8cBKfY2na8QLYHjautdOvDVo1wFJfa8z2bfFsCHwWxlfHhGGoSmL4cBNyvEAVdLunV5NJf3LXzJfmd-TCft4JO9Q7xUcfRrMoQKwvcD9jbt44FeMGTg2lIj2WTBQkye0Z9kNrRQbJW6g-SovrqNdPOfRUmSFAOsvYNadGeu0n6fd5y2JbIBzzDk00m4Cd781zKeXslRQ2D7dHrZKXF2S76UaqpjD2gOpOAPrcOXIPnqQJOkZnNA1itCZFsYx8Pg0bKANK_WGBo_aT194aiiXPSVoCZhreGqh_BH4hqZQYAql-m0kCq9TkcPxfokAgCcgArgEDD5j8s7cJNg67SYUkoscX1qlvvfyQBlw1L8MhiOqtjoOvAu5ovAZTLbr-hSZxJBjhE5fClLDTEztf8m5AjlhmEor9vpbSu_sE-J0XwlmQemrsTJeqV3Y3kcp6bm3XQ8np3_XkeWhAnFRP47qwWNKjtj6xSWUh0EZusxgUgxJGGCmvZZgoTWIJzWnhfSFBbngqWaLHlciyIgGQnpoSYQz1YwpM0ivyE7-4gOst11EopjV0OZnqSx1FFFYf-ixbj0Vckd-iwweAyiZMuCR6GgKFjIXlfLjiOfB3tT3JTY_jVZOGCURv6kBdMcH6rdbBuMEAymjOGJD_6vgrtuCvu04AKMChpoxEFthm9zKTpKaKOIyn-9bO4OTroU-COdcpLDX_rt0ogyQY8YxHVr4KwgJ6RfbijZ49zJd_QXewdVQoo_8Chx_ncfVDKSGkuoFg15pUXRipsdhr8yfKbdUpsGfsEyUfmAXUhAU85WgkUWpvYkgh3THuS2N9GTzsQT4ynPv7xtA_PwvR8NTEjtband8z6rcy2kWChub-I4Y9zSCyfHz-0oiMPj1mChPH-C_RZbuH2UavUreZBbIS78CTMIS55ZyjRdNB0xitj5CA_HzS4R6BxtJMz2dKApx3hAwxiBXLF4pUDWe0PFCo7xdp4ycyLQt4_orVwWMcheEyd1y4xYbw8hCmr4MJS3-tQxRh6UwbZrcpZqbche9bMWcgMGFZkvh6Z0Sf9SAylb4-MqzTfFRcXZr2XNb2X-JIwQRBpRduCkFYg1DanER6x7KrGW68iajCnEns-k8dfRTH9K4CGNUK4-XDE99Ur85TNWOKMMQ4nNpiOOubbM5U_v-_CojKyQ4TS7_kenFosGzEsOdGhdk23bj-83Gz_k-9DKe5j_E3WY2RH9FnbNI5c4m9xjoyxUrtIr8Sp67zPSZX3Hol5u7Upa06QZs_xNl4YpzkrXxy6VYWz7DPE5Ql0ibBzeoRi3OU3J17I2xuYjsJLjqpGFyvZz8Z-t7QRUPFfieeklwduqgmslxCmLSWK6nQvhWKF5hPFix-FFW8mwYYTebUT6sMiT2yrPRx-Mm3D1cBqGIQYCEiLdtQYMHLIJbloVZxzkMLylcnr8wy7pp99HEVrTK712oaw3qTtuUfoEUlIChtFYGvCl1czPMg9GdQ==",
  "id": "rs_0bd8936f323cbabc016ab428461cf487d09e9f39b8a1281c7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_y\":-0.17,\"left_x\":0.405},\"note\":\"The last lateral command barely moved at table height, so I may be pressing against the pen rather than sliding over its tip. I’m lifting slightly to release that contact, check whether the pen follows the cap, and reposition without scraping.\"}",
  "call_id": "call_GeiVkSQ90P5RVgdEK9N2vY6L",
  "id": "fc_0bd8936f323cbabc016ab42848177087d0ade07b53da6078b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GeiVkSQ90P5RVgdEK9N2vY6L",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8001, -0.8238, 0.0978, 0.165, 0.9092, 0.8539, -0.6991, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3274 left_pitch=-0.1225 left_roll=0.1367 left_gripper=0.0978 right_x=0.2843 right_y=0.0191 right_z=0.1998 right_yaw=-0.0168 right_pitch=-0.1747 right_roll=-0.104 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -11.8906, 4.5607, 1.0183, -0.2125, 0.2076, 0.1197, -0.3761, -1.8393, 6.9675, 1.6093, 0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bd41298348d36c86abee9d95e8772d6b0bd5de67427529fe3212b8b2068fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebb21c830b87ae4f88d3d1bc671cfcfb0a4ceaefdefe27566314112e6b345ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bbd059ad04acbc8f7a75764f3a167954fdf0a8c3a702d3b37ff3ad75bcb8eb",
      "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 · 6.415 s

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

message 133 changed as sent

message 142 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]: [-0.8116, 2.1689, 1.3903, -0.4057, -0.804, -0.889, 0.0935, 0.165, 0.9054, 0.8539, -0.6853, 0.1814, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.41 left_y=-0.242 left_z=0.0225 left_yaw=0.3175 left_pitch=-0.1341 left_roll=0.1275 left_gripper=0.0935 right_x=0.2862 right_y=0.019 right_z=0.2033 right_yaw=-0.0182 right_pitch=-0.1571 right_roll=-0.1023 right_gripper=0.9963\nstate[joint_eff]: [0.1983, -13.9966, 6.3932, 1.2186, -0.4908, 0.0269, 0.1245, -0.1983, -2.1128, 6.8171, 1.6484, 0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8005, -0.8242, 0.0965, 0.165, 0.9081, 0.8539, -0.6964, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3278 left_pitch=-0.1222 left_roll=0.1366 left_gripper=0.0965 right_x=0.2846 right_y=0.0191 right_z=0.2006 right_yaw=-0.0166 right_pitch=-0.1709 right_roll=-0.1033 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -12.0957, 4.465, 1.0427, -0.1929, 0.1685, 0.149, -0.3624, -1.7709, 6.735, 1.6044, 0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8001, -0.8238, 0.0978, 0.165, 0.9092, 0.8539, -0.6991, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3274 left_pitch=-0.1225 left_roll=0.1367 left_gripper=0.0978 right_x=0.2843 right_y=0.0191 right_z=0.1998 right_yaw=-0.0168 right_pitch=-0.1747 right_roll=-0.104 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -11.8906, 4.5607, 1.0183, -0.2125, 0.2076, 0.1197, -0.3761, -1.8393, 6.9675, 1.6093, 0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bd41298348d36c86abee9d95e8772d6b0bd5de67427529fe3212b8b2068fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebb21c830b87ae4f88d3d1bc671cfcfb0a4ceaefdefe27566314112e6b345ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bbd059ad04acbc8f7a75764f3a167954fdf0a8c3a702d3b37ff3ad75bcb8eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtChN7xZAn0YitPmIGuaaZ44pU-U9kWCXY6aR2Byo8WQ76MNoVRWXl-qVK8lDWcozmClUiKmAYgrZcI2MhbNvwPq_JB9378cnyVJl_vVyhoKheKsgugf40eGAVcDZHpPaX25wixd8WCtRcE1jpGwv1Qjzoulf3Dqu9Pq-bAR82QX90mvzIZukvFTvVOB8ykT0e5WaBq-w_9Lqr-o9mNmLZeC9pJOmx_rAygfjmmUxjIKy7bV-o4D-0EoVzp9FON1zLWApIihTzOx0u2uNFjTVGUDLHbpchBI_0NgHDYTiCwHroxxsewx-QQe-wvo3I_7S_zERP-9NyZYgeOCymTniYYBW2wltzvCK_2EmzSFr5bYsHnKlSuIs5ERhtUtfpmTtSmFTUs2mZamv88Wgx_pMp0636Duou77W8h7kS6fMwD98s0iegA9cqVCe3pnGdr70uxhE-QgFV_YMO4JwFElI34O02taT-AaT360iRKJm1-Iktt31tBLc1wcPlkFxwOwuhe9rBSNx5RN11KR76PVuBSma9lkdUKcTpT_h57ieMmyl1at7A5uiP377KT_y4Hc8pu6FAQctWz0ZPHc4fnNObp7pvoo28-USuMWISD6KPhpdbkZXgMP5YaHPTkvOpNRapSHqluZ44fnUPIK5cXIpGza7yLl-nFfTWaWIU3G5hEy2RtjGSBoCJR1R2fiBY8kmk6XhVC213j2PiS9GC_XIgYUcFYCjd_pCZSn3gybEiZs2ycWUZljrBfrtYrN1KthLTd8JUR5Qp0EXijhfpeQlMx1Yf_aWiBwl9J-QR9L0HLT7gnVZqH6AEov2B349iT-30gkc-NQluruWIGpT-IvU4tHYJGfM92Uj8yxfm3KA1iFtRSSncc-oxl9zxBbRl1a2meI8JMKJvRocVyi9D4gy2euQjDC_abZ2XOIKvMdkBSxxI_fv2cVJuCCFoLAxDgvJVLmiYBcZe0tP_OTi-CIEg_G8_it9ECbdKT7T2LgcX55WNEV8wqyaKa3Q9AlwGx29ZoRsvWHbx2PN8viJEJ3WIl_J5CC71UgZity5V2PwU3sjCCk4u-aAmJ6-Cw7MjzZgck6b3JUL5IYJ3sWE8OBAhiV2icdBN39u_do_cFBHmSm_axfeHZyY7duT6NJez81CIsi8V6YZf-WFJWCeT4WQaT8bBpHtTGxaYiLyOz4kzh7vVWE_GK35MqCjv3SotHuUhMcwV4gYuM58zj4Gq9k4CBtJqwuPb-oXIbORpYnGHwuhaJ-DLYybTcaPU4h35VNJ2IxHZOUQVD957TQVXOVz1ykfO9hx4U1sQzoDQwXoAxujrCV5ZCWSjZk-xD_lQEWLGpKoyP6-73rtjMM7Bq8HV8RUhZHgGCAThQBAtQFerpRsG5-qx0FCiNRN8duCPdzWqn8V5-Mli2fAEuqjzML6xMH1XdzHlBk5P_Bc4PAc3XA7ZdhThFDtal7x14HJCfkUPfLoYYk8u1dk1geFqukpAbv-Xm5gq9p0qsQ-ErfjUBdKV-CB5AhocauQBdXVcBHhacPqSHLT-LMOnkcA-2e25rcJoR_KSxEdMNRFTF9Ae2Z8XP6MD32tgCCw3FDbVJN2cAC8jJDF-ZvJt8qFyGPn_IqixYKnL_br7Lntvm-WRouqup5QbXvgye6gC1joj7uoS4ysCAaMocZTHGzZHKLNuXUFbXj7mvsjuH-lPS3XLUpmULCvM0iBhM_gPBppK1BSL-jGH4QLTQFNAWlmnkrTOST6cUdDlUkWAIIY7gOsyR-LLtxFY04H_cCrOf2HA2EERSIq",
  "id": "rs_0bd8936f323cbabc016ab4284b759087d083e0900c504c25de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.14,\"left_yaw\":0},\"note\":\"The left arm did not rise from that low pose, suggesting it is mechanically blocked or in an awkward joint configuration. I’m backing away and upward toward a previously reachable pose to free the cap before any further attempt.\"}",
  "call_id": "call_t6kPnIfNx0IbdR5l40FTBK7L",
  "id": "fc_0bd8936f323cbabc016ab4284cac7487d081db134c88182680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t6kPnIfNx0IbdR5l40FTBK7L",
  "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]: [-0.878, 1.6642, 1.0969, -0.4305, -0.7151, -0.6327, 0.0985, 0.165, 0.9119, 0.8539, -0.7029, 0.1791, 0.0319, 0.9963]\nstate[eef_state]: left_x=0.3434 left_y=-0.2267 left_z=0.123 left_yaw=0.045 left_pitch=-0.123 left_roll=0.1233 left_gripper=0.0985 right_x=0.2839 right_y=0.019 right_z=0.1984 right_yaw=-0.0168 right_pitch=-0.181 right_roll=-0.1055 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.9368, 8.3897, 1.2576, -0.2564, 0.2711, 0.0562, -0.2667, -1.9897, 6.7624, 1.6288, 0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d65b12ff9fdfa563fe5aa7fcd64929dc54b037832ef68358e97cbd1b62959d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4beeb8c3d97c3926b0784c78e204b71773b8cf628f603c5258eef2a2205c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee6f9342d060f7bd5575fe6944ef9403545bd64fb04feedfa9fb0dd3dab0ab7",
      "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 · 8.781 s

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

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7708, 2.1075, 1.1927, -0.2443, -0.8017, -0.8326, 0.095, 0.165, 0.9073, 0.8539, -0.6926, 0.1795, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.2053 left_z=0.0047 left_yaw=0.3238 left_pitch=-0.1292 left_roll=0.1473 left_gripper=0.095 right_x=0.2852 right_y=0.0192 right_z=0.2015 right_yaw=-0.0168 right_pitch=-0.1664 right_roll=-0.1027 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -11.8222, 4.9026, 0.9792, -0.2125, 0.1245, 0.1392, -0.1846, -1.8803, 6.7761, 1.6239, 0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8001, -0.8238, 0.0978, 0.165, 0.9092, 0.8539, -0.6991, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3274 left_pitch=-0.1225 left_roll=0.1367 left_gripper=0.0978 right_x=0.2843 right_y=0.0191 right_z=0.1998 right_yaw=-0.0168 right_pitch=-0.1747 right_roll=-0.104 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -11.8906, 4.5607, 1.0183, -0.2125, 0.2076, 0.1197, -0.3761, -1.8393, 6.9675, 1.6093, 0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 1.6642, 1.0969, -0.4305, -0.7151, -0.6327, 0.0985, 0.165, 0.9119, 0.8539, -0.7029, 0.1791, 0.0319, 0.9963]\nstate[eef_state]: left_x=0.3434 left_y=-0.2267 left_z=0.123 left_yaw=0.045 left_pitch=-0.123 left_roll=0.1233 left_gripper=0.0985 right_x=0.2839 right_y=0.019 right_z=0.1984 right_yaw=-0.0168 right_pitch=-0.181 right_roll=-0.1055 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.9368, 8.3897, 1.2576, -0.2564, 0.2711, 0.0562, -0.2667, -1.9897, 6.7624, 1.6288, 0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d65b12ff9fdfa563fe5aa7fcd64929dc54b037832ef68358e97cbd1b62959d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be4beeb8c3d97c3926b0784c78e204b71773b8cf628f603c5258eef2a2205c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee6f9342d060f7bd5575fe6944ef9403545bd64fb04feedfa9fb0dd3dab0ab7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0bd8936f323cbabc016ab4284fe1c487d0848f8bf7e6ed4498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.03,\"left_z\":0.22},\"note\":\"The left arm has freed itself and lifted the cap away from the contact point. I’m clearing it from above the pen to inspect whether the cap seated on the pen or whether the pen remains on the table.\"}",
  "call_id": "call_RnJzV0y42PrMtqaPjTW8esTg",
  "id": "fc_0bd8936f323cbabc016ab42853ab6487d0b2a9176b0dd04a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RnJzV0y42PrMtqaPjTW8esTg",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3458, 0.9577, 0.8959, -0.6922, -0.3946, -0.2024, 0.0986, 0.165, 0.9119, 0.8532, -0.7029, 0.1787, 0.0319, 0.9963]\nstate[eef_state]: left_x=0.2937 left_y=-0.0298 left_z=0.2132 left_yaw=0.0926 left_pitch=-0.1187 left_roll=0.1107 left_gripper=0.0986 right_x=0.2838 right_y=0.0191 right_z=0.1981 right_yaw=-0.0165 right_pitch=-0.1818 right_roll=-0.1054 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -2.5231, 8.2803, 1.5507, -0.1587, 0.1685, 0.0024, -0.2393, -1.7983, 6.8034, 1.5507, 0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f9fdc63055cce3f2f8d7df21158b5063cbb3c639eb9ba523c0d33fdeec8686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6fbab1ee9d22995295f53ec383b2a5deb1ee8d062b97b127f27f9949c2fcda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd96f85eab24fab92881eb0d094648717f8bf5378426f4b6f61b75db35777066",
      "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 · 4.809 s

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

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 2.1006, 1.1751, -0.215, -0.8005, -0.8242, 0.0965, 0.165, 0.9081, 0.8539, -0.6964, 0.1791, 0.0322, 0.9963]\nstate[eef_state]: left_x=0.401 left_y=-0.2011 left_z=0.0048 left_yaw=0.3278 left_pitch=-0.1222 left_roll=0.1366 left_gripper=0.0965 right_x=0.2846 right_y=0.0191 right_z=0.2006 right_yaw=-0.0166 right_pitch=-0.1709 right_roll=-0.1033 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -12.0957, 4.465, 1.0427, -0.1929, 0.1685, 0.149, -0.3624, -1.7709, 6.735, 1.6044, 0.0269, -0.0513, -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]: [-0.878, 1.6642, 1.0969, -0.4305, -0.7151, -0.6327, 0.0985, 0.165, 0.9119, 0.8539, -0.7029, 0.1791, 0.0319, 0.9963]\nstate[eef_state]: left_x=0.3434 left_y=-0.2267 left_z=0.123 left_yaw=0.045 left_pitch=-0.123 left_roll=0.1233 left_gripper=0.0985 right_x=0.2839 right_y=0.019 right_z=0.1984 right_yaw=-0.0168 right_pitch=-0.181 right_roll=-0.1055 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.9368, 8.3897, 1.2576, -0.2564, 0.2711, 0.0562, -0.2667, -1.9897, 6.7624, 1.6288, 0.022, -0.0659, -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 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3458, 0.9577, 0.8959, -0.6922, -0.3946, -0.2024, 0.0986, 0.165, 0.9119, 0.8532, -0.7029, 0.1787, 0.0319, 0.9963]\nstate[eef_state]: left_x=0.2937 left_y=-0.0298 left_z=0.2132 left_yaw=0.0926 left_pitch=-0.1187 left_roll=0.1107 left_gripper=0.0986 right_x=0.2838 right_y=0.0191 right_z=0.1981 right_yaw=-0.0165 right_pitch=-0.1818 right_roll=-0.1054 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -2.5231, 8.2803, 1.5507, -0.1587, 0.1685, 0.0024, -0.2393, -1.7983, 6.8034, 1.5507, 0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f9fdc63055cce3f2f8d7df21158b5063cbb3c639eb9ba523c0d33fdeec8686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6fbab1ee9d22995295f53ec383b2a5deb1ee8d062b97b127f27f9949c2fcda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd96f85eab24fab92881eb0d094648717f8bf5378426f4b6f61b75db35777066",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0bd8936f323cbabc016ab42857fe6487d0a66fcb8e56facd9e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtChfeSATLORQGqIAFE91JAdDhIhuuNWTITNRVRLT7CSSP-QTSrjHZhDZZ_O2AXdCsY3Glsc1YJX6YeMWKG2YyoJzIN1NuhHjk6BEdzkXCE5fBe6oYEsZDzS2JFyVQuc26AiQIANWSC7C5iff8ADgRlChMEwliCohKZ5781xzPr7DmYvW0WCururqTSSI4zz2Ksm23fTi0YsLVq0gdadkbFqrU-KaqZwErACbjFK6rWj30bk1pBDpiQhHbKlFSbkLT-lHK9LlgrUlMwei7HzjG3ZM9bgpLFN5WJA4NpUh3-lOgUXbn37rA_OKj37lcyuuTQYwz_Y8DCeeo_h8-6RYqWVDAVxC1BTKv8-LPmHeLV63Q4Fr0251WCD86GcooSzO9JTHHzKFUOtcHa-Jvb7K7kS5wHl8VjuXXdHhz2Dkyegknc6I6WB-R-MayCMMcP4UfSha5Sx_gNSxXXwmuQlP9m67-0KEZ8u5dm-UQXPCqA42somp_vVv5Hvj_MJ-igvliyvqrXeeJoDkI9-T690xbEZVIcPeu9VPlg6zBO75US-aBzV0_40Ieda333HyU8b_zQI0CT2NDB8KVEXMZez74vUvL0K29rHZ_B2nKWyJcfzm54fVeOZt-8S3g60rHdlb8ULEv1IVQOviOyydzE6dlm_EZUOIad_hC_N-3qOOOMvIuwrDT_8BHoOCyMcPPdNopjMU0cAAaDsP4AkHIsSwbX5-5N2yOg-qA9Q-MjwHvoAd5KRAIHu041JzWxW8nx9qkoasYOhS85qISsP6EDGLXS78jE0Csrr-N73ThJbLQnvS_8rS5Gjmaq2XpQ04uXyV1WgeLXdMN6uy7bCPIa9mS950Zzmx7RoHDcNAqOVQu-1CL4y8kfBbqUKcQ-ta85JLVOOnMO3AxuO_nNjaHCrtpDRSbHSVkjL-UeCPbgIN3FBf-7NIO5bO8ZNREh1tNh-d_idq5mpb1Enn8t194C-YUu1NuaQBeX4sbBRR3NyT_FAUF0GeQDKyommt40SNlVkY32E5AwzggSayNiRx-M6sLABmmOSLyypJKyBK-LI19m6mqiG6b4jFbLT4W4OutxwF505-ftT_biLinw_-v2y0TzjM1BDxXEFOB1smNNuEJbSl62OcUWzNRYaze0LqxTAME0PfAt38X_Ti66HdrNf09KwMYTRb1LVpo5yo1R_CWJQ3ZCoWI6MwpITBhMwBNsE-IbBYyF0YqRzIGPKWnLcNw6vVF707XUlPAYWcRPRANX2Wn43gAb2V6KfchrPn0VU6VdZSW0iFdWaEEsmYxheikpeeHLdRoCoSiIBtTqln51zsBpgZ3IvHRyqxEPkB-shzDrc5yugmx62dfVMilJP-4xL0Q-d87D88lVPG-vh3XtJC3J3wfL8DWE-8J4Q7RwD4ZVr4cjpHEvs7K5rJcmcjQ8fELOpNOUIBqRq-gb9N33ibBZe3rNnlZZVR7M0lbF3_VVOzyKQmz3bCJu053va7-xVoX2r_WjqbB_xrT6mflRxYjb701D7_BB9YklcuXOXlxn1oK0KbeIFnRene2omAjZGNht_gMPt3WUeSOUWLGYFKXCn3kv9xvJvZV1nG_Dv6657IDe8_LY5YsIKuCwGWPeHZm_tnTjc3nnKta0C4tu5pRGPFz5t81AG3qRaku6u_CDMrraVHyUc9Gd3YLnXTdTu4vxngv0ge8iXT6sYaOXDqTN_6VUFkgPwxs-o2ZgbMpnro6LKv2AVJlofME9eNP9FsIHU0i82ykKKLcemPlgun-KXoMdBFGIdmE6Te4QC2v2euqDsQZDN5YrgA92_WVEOX3VRPWCQ4k2CUJ1sqf5AOFbfSueyVIytgPYn15HrOwzGUoHluHDVVAeh_i5Zf-pcqAJKr_0SkvH8S7KkpbkEaK-4M3yCnaHiWvBvV18yLNRwI26xTgVmZ3hP_5nG2U2jvqyAFLwnOcti5H6_xfWmFfwH16Ko2FA_QEPze8khqITc3ucMXJgKaIu7q7Cyc7pZ1Qf9CO63LLKn5Mfs6x2FNbvvW4FvvlheoVxt33px5uy98qJWBGEdMrXEZ-6BQWbZj6UWkWNjVSuhatvdjYAQwK_jWVCAKXD7CO5PZs8J9K7c2yLVWL8GAWHgTAB9imjiFgUjpZYIgUXktT50jU-1SCT746rLZiZNqOAe8F6zW9-sUPmYORDP33sPtOgTANwNVDG_fz-Dkjc8veEOWl2Z9pPFzC_GL_JQujsVvScNBfLnCFmfJ_hDHuUJwG0q4Ye5gils1b518Qqci_7tp35qHtFtoQWs0EmQJU2kXXmSLzb8azDdUcmo9UvFA1GHvTS9qXdn7d7O605G5bet00_SyiFDcsbq_gwNMlOtf-pSKJtIMy2KnYKQsboWQQAyzk6jDBBZmghXhXsFQ5SreyRhd6FE5Z8YMN6K9YnFd6BwN4liJeRU2biYm3JLQ7lCX14N95RbdaK85Sntnj4AHC25NxCxbieAlcOC0cuvTXVUd4xHOaAsxOoO2eVFTG8z7PAtLkujlG7AvHFJlmrkZFpGkw-zSOAbdc72VgD3D6RAmL7B6HRHwqD0FdbvqagAMkGTBhEFDf9ia3A7ePOHWHgujkROZRLAjzQTbcUsJv9lQzEwJTY1Q17dBYbHzc_BgZYHYeedsv8Cq3W3CzVNQ3fJWcSLkdLXqf4jdxqELycU8HSscKPX53eKAUilln2ROtRZaS03l7awvVgq4P6jl_wxZNWiAkYARrOhzGXl50QkGaq_MA7v0oS1RJsBJT-cjJEmdpCrr6ctVYEr9hJawQaVrA0vdDaXDeADwmyFnibG_jVXIFI6e_38wsOgIbbCT_YO2Dias9ztHOstHR7tARVjFlg0LOi5zhEUK0wFzyFBQxLUjSDkAq8s9hkq4K_RFXs7nPt4nCTp8ldYvFf_8f95pFtVvEelP1QAgc1C_4IOVZNt0ZgpQwVJCPFIFthU-XkTwtnBLgcd-3AsDLYQNslwvT84=",
  "id": "rs_0bd8936f323cbabc016ab4285b9fc087d09e90120a38909e7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.26,\"left_z\":0.007,\"left_yaw\":0.35},\"note\":\"The overhead view shows the pen still lying uncapped on the table, with its tip at the upper-left end; the cap remains in the left gripper. I’m making one controlled approach to place the cap’s opening directly over that tip, keeping the empty right arm parked.\"}",
  "call_id": "call_HxPfVDmtvGagpOS3qqzIQnfV",
  "id": "fc_0bd8936f323cbabc016ab4285e55f887d0bafbb27fde3ecfdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HxPfVDmtvGagpOS3qqzIQnfV",
  "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]: [-0.8318, 2.2436, 1.4391, -0.4179, -0.8288, -0.9432, 0.0999, 0.165, 0.9176, 0.849, -0.7036, 0.1791, 0.0296, 0.9963]\nstate[eef_state]: left_x=0.4102 left_y=-0.2516 left_z=0.0056 left_yaw=0.3411 left_pitch=-0.1246 left_roll=0.1303 left_gripper=0.0999 right_x=0.2836 right_y=0.019 right_z=0.1947 right_yaw=-0.0159 right_pitch=-0.1924 right_roll=-0.1093 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -11.3026, 7.1179, 0.6325, -0.0366, 0.0317, 0.1294, -0.3077, -2.0034, 7.0906, 1.5214, 0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a532c936a3b3444c958dd0f729b4c6ee4461eb395fefa83f5dd9fa10ca698f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b03c7fd93a92dac8a5e2f14a70930a8c16d2f9fc4cf6b319658b64490a9678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984de7bb31e0bde5948c4e6ea70813c72b51d292392088a499cf3cc0765f3098",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]