adhoc - adhoc_8ba8cd20.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: 251.5 s
total steps: 323

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 the short dark piece left of center, and the long pen lies diagonally right of center. I’ll bring each open gripper above its respective piece, staying high enough to inspect alignment before grasping.

move_to

left_x0.3900left_y-0.1400left_z0.1300right_x0.3900right_y0.1600right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7933, 0.6018, -0.3805, -0.0196, -0.0113, 0.9993, -0.0181, 0.7921, 0.6102, -0.3763, -0.0231, -0.0151, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0023 right_z=0.1841 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.4427, 10.5368, 1.746, -0.0562, -0.0659, -0.0855, -0.5812, -1.1829, 9.853, 1.7802, -0.0171, -0.0317, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.14,"left_z":0.13,"right_x":0.39,"right_y":0.16,"right_z":0.13},"note":"The cap is the short dark piece left of center, and the long pen lies diagonally right of center. I’ll bring each open gripper above its respective piece, staying high enough to inspect alignment before grasping."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteBoth pieces are visible between the open jaws in the wrist views; the pen sits a little right of the right gripper’s centerline. I’ll lower both hands toward grasp height while nudging the right hand sideways, then recheck before closing.

move_to

left_x0.3900left_y-0.1300left_z0.0350right_x0.3900right_y0.1400right_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5304, 1.4624, 0.7513, -0.0162, -0.4221, -0.3061, 0.9993, 0.561, 1.4963, 0.7811, 0.0063, 0.4278, 0.2852, 0.999] state[eef_state]: left_x=0.374 left_y=-0.1313 left_z=0.1064 left_yaw=-0.0153 left_pitch=-0.0802 left_roll=0.0333 left_gripper=0.9993 right_x=0.3757 right_y=0.1538 right_z=0.1098 right_yaw=0.0408 right_pitch=-0.0765 right_roll=-0.0463 right_gripper=0.999 state[joint_eff]: [-0.3077, -6.4615, 9.4974, 1.6923, -0.3687, 0.1343, -0.0122, 0.5402, -6.612, 8.7043, 1.8095, 0.3883, 0.2906, -0.022] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.035,"right_x":0.39,"right_y":0.14,"right_z":0.035},"note":"Both pieces are visible between the open jaws in the wrist views; the pen sits a little right of the right gripper’s centerline. I’ll lower both hands toward grasp height while nudging the right hand sideways, then recheck before closing."})

tool

executing move_to over 5 steps (0.5s)

step 19

assistant

agent noteAt low height the cap remains just ahead of the left fingertips, while the pen shaft runs slightly to the right of the right fingertips. I’ll advance both grippers a few centimeters and shift the right one toward the pen shaft before gripping.

move_to

left_x0.4250left_y-0.1300left_z0.0160right_x0.4150right_y0.1200right_z0.0160

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5011, 1.7004, 0.6533, 0.2356, -0.4107, -0.3046, 0.9993, 0.4988, 1.7081, 0.6487, 0.2749, 0.384, 0.2523, 0.999] state[eef_state]: left_x=0.3762 left_y=-0.1216 left_z=0.0234 left_yaw=0.0091 left_pitch=-0.1577 left_roll=0.0692 left_gripper=0.9993 right_x=0.3759 right_y=0.1335 right_z=0.0242 right_yaw=0.0272 right_pitch=-0.158 right_roll=-0.0819 right_gripper=0.999 state[joint_eff]: [0.4444, -7.4735, 5.3538, 1.9414, -0.0464, 0.1783, -0.0122, -0.5265, -6.7077, 5.5863, 1.9463, 0.2271, -0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.13,"left_z":0.016,"right_x":0.415,"right_y":0.12,"right_z":0.016},"note":"At low height the cap remains just ahead of the left fingertips, while the pen shaft runs slightly to the right of the right fingertips. I’ll advance both grippers a few centimeters and shift the right one toward the pen shaft before gripping."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe cap body now reaches the left jaw gap, and the pen shaft crosses the right jaw gap near the tabletop. I’ll close both grippers, then check their settled openings and lift to verify what was actually caught.

move_to

left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4553, 1.8656, 0.7902, 0.2462, -0.3946, -0.2943, 0.9991, 0.4091, 1.8137, 0.7166, 0.313, 0.326, 0.1936, 0.999] state[eef_state]: left_x=0.4118 left_y=-0.122 left_z=0.0058 left_yaw=0.038 left_pitch=-0.1791 left_roll=0.075 left_gripper=0.9991 right_x=0.4035 right_y=0.1172 right_z=0.0101 right_yaw=0.0164 right_pitch=-0.177 right_roll=-0.0886 right_gripper=0.999 state[joint_eff]: [-0.0479, -8.6906, 7.665, 1.4481, -0.0904, 0.1783, -0.0366, -0.335, -7.5829, 7.3915, 1.6728, 0.0708, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The cap body now reaches the left jaw gap, and the pen shaft crosses the right jaw gap near the tabletop. I’ll close both grippers, then check their settled openings and lift to verify what was actually caught."})

tool

executing move_to over 10 steps (1.0s)

step 33

assistant

agent noteBoth closed grippers read near the empty value, so the grasps are doubtful; the wrist views also no longer show either piece clearly. I’ll raise the hands a little to reveal the tabletop and confirm whether either object came up.

move_to

left_z0.0850right_z0.0900

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, 1.8755, 0.7933, 0.2455, -0.3889, -0.2951, 0.0103, 0.4004, 1.8263, 0.7383, 0.3153, 0.3084, 0.1703, 0.0138] state[eef_state]: left_x=0.4119 left_y=-0.1217 left_z=0.0024 left_yaw=0.0376 left_pitch=-0.1878 left_roll=0.0743 left_gripper=0.0103 right_x=0.4103 right_y=0.1193 right_z=0.012 right_yaw=0.0354 right_pitch=-0.1718 right_roll=-0.0903 right_gripper=0.0138 state[joint_eff]: [-0.4308, -9.1966, 4.8068, 1.4383, -0.1734, -0.0024, 0.7937, -0.3624, -7.9111, 6.2974, 1.5751, 0.1685, 0.1001, 1.2723] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.085,"right_z":0.09},"note":"Both closed grippers read near the empty value, so the grasps are doubtful; the wrist views also no longer show either piece clearly. I’ll raise the hands a little to reveal the tabletop and confirm whether either object came up."})

tool

executing move_to over 6 steps (0.6s)

step 39

assistant

agent noteThe right wrist camera still shows the pen lying on the table left of its fingertips, confirming that close was empty; the cap is not visible in the left wrist view. I’ll reopen and withdraw both hands to expose the pieces in the overhead camera for a better-targeted attempt.

move_to

left_x0.3100left_z0.1600left_gripper1.0000right_x0.3100right_z0.1600right_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]: [-0.4519, 1.6981, 0.8967, -0.0525, -0.3882, -0.2985, 0.0126, 0.4004, 1.6508, 0.8436, 0.0132, 0.3004, 0.1669, 0.0142] state[eef_state]: left_x=0.4091 left_y=-0.1203 left_z=0.0636 left_yaw=0.0408 left_pitch=-0.2031 left_roll=0.0795 left_gripper=0.0126 right_x=0.407 right_y=0.1194 right_z=0.0695 right_yaw=0.0425 right_pitch=-0.194 right_roll=-0.0951 right_gripper=0.0142 state[joint_eff]: [-0.1983, -9.6068, 8.8821, 1.3211, -0.2027, -0.0269, 0.6032, -0.3214, -9.4291, 8.6769, 1.6484, 0.188, -0.0073, 1.033] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_z":0.16,"left_gripper":1,"right_x":0.31,"right_z":0.16,"right_gripper":1},"note":"The right wrist camera still shows the pen lying on the table left of its fingertips, confirming that close was empty; the cap is not visible in the left wrist view. I’ll reopen and withdraw both hands to expose the pieces in the overhead camera for a better-targeted attempt."})

tool

executing move_to over 10 steps (1.0s)

step 49

assistant

agent noteWith the jaws reopened, the cap is again visible ahead and to the right in the left wrist image, and the pen lies ahead and left in the right wrist image. I’ll move the left hand rightward toward the cap and the right hand leftward toward the pen, aiming each piece closer to its jaw center at a low hover.

move_to

left_x0.4200left_y-0.1500left_z0.0450right_x0.4450right_y0.1500right_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6323, 1.2705, 0.8711, -0.5209, -0.477, -0.4393, 0.9948, 0.5617, 1.2148, 0.8158, -0.4416, 0.3889, 0.2733, 0.9948] state[eef_state]: left_x=0.315 left_y=-0.1258 left_z=0.1437 left_yaw=0.0142 left_pitch=-0.2156 left_roll=0.0732 left_gripper=0.9948 right_x=0.3155 right_y=0.1237 right_z=0.1457 right_yaw=0.0701 right_pitch=-0.2052 right_roll=-0.0958 right_gripper=0.9948 state[joint_eff]: [-0.3624, -5.5043, 9.6342, 1.2967, -0.4274, 0.0366, -0.1294, 0.4581, -5.2855, 9.4701, 1.5604, 0.3053, 0.105, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.15,"left_z":0.045,"right_x":0.445,"right_y":0.15,"right_z":0.045},"note":"With the jaws reopened, the cap is again visible ahead and to the right in the left wrist image, and the pen lies ahead and left in the right wrist image. I’ll move the left hand rightward toward the cap and the right hand leftward toward the pen, aiming each piece closer to its jaw center at a low hover."})

tool

executing move_to over 10 steps (1.0s)

step 59

assistant

agent noteThe cap now sits at the bottom of the left jaw column, but the pen shaft is still slightly left and ahead of the right jaw tips. I’ll lower onto the cap and make one small forward-left correction on the pen before the next closure.

move_to

left_z0.0020right_x0.4450right_y0.1600right_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5098, 1.7992, 0.9218, -0.1001, -0.4099, -0.3569, 0.9959, 0.4416, 1.8435, 0.9634, -0.0196, 0.2935, 0.1684, 0.9958] state[eef_state]: left_x=0.396 left_y=-0.1366 left_z=0.0268 left_yaw=0.0483 left_pitch=-0.2981 left_roll=0.1179 left_gripper=0.9959 right_x=0.4201 right_y=0.146 right_z=0.0285 right_yaw=0.0793 right_pitch=-0.2946 right_roll=-0.1274 right_gripper=0.9958 state[joint_eff]: [0.4991, -8.6085, 8.6496, 1.6142, -0.0659, 0.1832, 0.1001, -1.2376, -9.0188, 8.1436, 1.6825, 0.1783, 0.0513, 0.0952] 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":{"left_z":0.002,"right_x":0.445,"right_y":0.16,"right_z":0.002},"note":"The cap now sits at the bottom of the left jaw column, but the pen shaft is still slightly left and ahead of the right jaw tips. I’ll lower onto the cap and make one small forward-left correction on the pen before the next closure."})

tool

executing move_to over 2 steps (0.2s)

step 61

assistant

agent noteThe cap has slipped below the left wrist image exactly where the fingertips meet, and the pen shaft now runs through the right jaw column near its tips. I’ll close both grippers and use their openings, followed by a lift, to test these revised alignments.

move_to

left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5064, 1.8351, 0.9081, -0.0246, -0.4114, -0.3573, 0.996, 0.4416, 1.9343, 1.0161, 0.0135, 0.2836, 0.1593, 0.996] state[eef_state]: left_x=0.4021 left_y=-0.1382 left_z=0.0181 left_yaw=0.0491 left_pitch=-0.2754 left_roll=0.1044 left_gripper=0.996 right_x=0.4341 right_y=0.1545 right_z=0.0122 right_yaw=0.0922 right_pitch=-0.3025 right_roll=-0.1279 right_gripper=0.996 state[joint_eff]: [-0.4171, -6.612, 4.7521, 1.3944, -0.1685, -0.0415, -0.0024, 0.3077, -8.2393, 6.6803, 1.5507, 0.2808, 0.1197, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The cap has slipped below the left wrist image exactly where the fingertips meet, and the pen shaft now runs through the right jaw column near its tips. I’ll close both grippers and use their openings, followed by a lift, to test these revised alignments."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteThe right gripper stayed about 4 mm open around the pen, while the left closed fully and appears to have missed the cap. I’ll lift both hands to confirm whether the pen follows the right gripper and to find the cap’s new position.

move_to

left_z0.0850right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5068, 1.8561, 0.8902, -0.0269, -0.4114, -0.3641, 0.0096, 0.4519, 1.9823, 1.0473, 0.041, 0.284, 0.1646, 0.0453] state[eef_state]: left_x=0.3943 left_y=-0.134 left_z=0.0038 left_yaw=0.0592 left_pitch=-0.3099 left_roll=0.1227 left_gripper=0.0096 right_x=0.4424 right_y=0.1637 right_z=0.0058 right_yaw=0.1004 right_pitch=-0.2921 right_roll=-0.1207 right_gripper=0.0453 state[joint_eff]: [-0.0068, -10.0581, 6.7214, 1.2283, -0.1783, 0.0708, 0.7839, -0.6359, -8.5128, 6.2838, 1.3553, 0.2125, 0.2418, 1.3651] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.085,"right_z":0.095},"note":"The right gripper stayed about 4 mm open around the pen, while the left closed fully and appears to have missed the cap. I’ll lift both hands to confirm whether the pen follows the right gripper and to find the cap’s new position."})

tool

executing move_to over 6 steps (0.6s)

step 77

assistant

agent noteThe pen’s gold-colored tip stays in the same place relative to the right wrist camera as that hand rises, indicating the pen is being carried. I’ll hold it high and withdraw the empty left hand so the overhead view can reveal the cap for a separate pickup.

move_to

left_x0.3100left_z0.1500left_gripper1.0000right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5068, 1.718, 1.0115, -0.3107, -0.411, -0.366, 0.012, 0.4561, 1.858, 1.1671, -0.2806, 0.2665, 0.1448, 0.0497] state[eef_state]: left_x=0.391 left_y=-0.1322 left_z=0.0625 left_yaw=0.0644 left_pitch=-0.3305 left_roll=0.135 left_gripper=0.012 right_x=0.4297 right_y=0.1629 right_z=0.0569 right_yaw=0.1216 right_pitch=-0.371 right_roll=-0.1474 right_gripper=0.0497 state[joint_eff]: [-0.3487, -10.0855, 8.9231, 1.243, -0.2759, -0.0415, 0.569, -0.253, -12.7248, 9.2376, 1.8339, 0.2515, 0.1929, 1.0281] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_z":0.15,"left_gripper":1,"right_z":0.17},"note":"The pen’s gold-colored tip stays in the same place relative to the right wrist camera as that hand rises, indicating the pen is being carried. I’ll hold it high and withdraw the empty left hand so the overhead view can reveal the cap for a separate pickup."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteThe cap is now fully visible on the table in the left wrist view, slightly right and ahead of the left hand; the pen remains steady in the raised right gripper. I’ll bring the left jaws over the cap’s middle, stopping at a low hover to check that it lies between their tips.

move_to

left_x0.3750left_y-0.1550left_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6559, 1.4044, 1.0107, -0.6991, -0.4656, -0.4965, 0.9953, 0.4652, 1.8057, 1.4471, -0.7494, 0.2481, 0.1139, 0.0544] state[eef_state]: left_x=0.3124 left_y=-0.1358 left_z=0.1315 left_yaw=0.046 left_pitch=-0.3531 left_roll=0.1383 left_gripper=0.9953 right_x=0.4108 right_y=0.1616 right_z=0.1232 right_yaw=0.1443 right_pitch=-0.508 right_roll=-0.198 right_gripper=0.0544 state[joint_eff]: [-0.335, -6.9128, 9.7436, 1.0525, -0.4664, 0.0366, -0.1587, -0.5812, -12.7111, 10.5641, 1.9902, 0.2613, 0.2466, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.155,"left_z":0.025},"note":"The cap is now fully visible on the table in the left wrist view, slightly right and ahead of the left hand; the pen remains steady in the raised right gripper. I’ll bring the left jaws over the cap’s middle, stopping at a low hover to check that it lies between their tips."})

tool

executing move_to over 7 steps (0.7s)

step 94

assistant

agent noteThe cap spans the left jaw gap at about the right depth, with its midpoint only slightly right of center. I’ll make a tiny sideways correction and lower the grasp point to the tabletop before closing around the cap.

move_to

left_x0.3750left_y-0.1600left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5892, 1.7744, 0.9375, -0.3092, -0.4362, -0.4553, 0.996, 0.4652, 1.8084, 1.4326, -0.7727, 0.2417, 0.107, 0.0581] state[eef_state]: left_x=0.3567 left_y=-0.1444 left_z=0.0192 left_yaw=0.0816 left_pitch=-0.4148 left_roll=0.1785 left_gripper=0.996 right_x=0.4026 right_y=0.1588 right_z=0.1143 right_yaw=0.1471 right_pitch=-0.5489 right_roll=-0.21 right_gripper=0.0581 state[joint_eff]: [0.335, -8.5949, 6.5299, 1.1795, -0.1636, 0.149, 0.0513, -0.3624, -9.4701, 7.6239, 1.2527, 0.1197, 0.022, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.16,"left_z":-0.008},"note":"The cap spans the left jaw gap at about the right depth, with its midpoint only slightly right of center. I’ll make a tiny sideways correction and lower the grasp point to the tabletop before closing around the cap."})

tool

executing move_to over 2 steps (0.2s)

step 96

assistant

agent noteThe last small advance pushed the cap image farther down the wrist view than intended; its middle is now below the jaw-tip line. I’ll retract the left hand about 1.5 cm to put the cap’s middle back between the jaws.

move_to

left_x0.3600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5919, 1.861, 0.9722, -0.2291, -0.4492, -0.4664, 0.9961, 0.4652, 1.8084, 1.4322, -0.7784, 0.2409, 0.1066, 0.0581] state[eef_state]: left_x=0.3741 left_y=-0.1547 left_z=0.0066 left_yaw=0.0872 left_pitch=-0.3843 left_roll=0.1625 left_gripper=0.9961 right_x=0.4013 right_y=0.1583 right_z=0.1135 right_yaw=0.1469 right_pitch=-0.5549 right_roll=-0.2117 right_gripper=0.0581 state[joint_eff]: [-0.4034, -5.9145, 5.8325, 0.1978, 0.1441, 0.2271, -0.0024, 0.0479, -9.0735, 6.612, 0.9841, 0.1245, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36},"note":"The last small advance pushed the cap image farther down the wrist view than intended; its middle is now below the jaw-tip line. I’ll retract the left hand about 1.5 cm to put the cap’s middle back between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 98

assistant

agent noteThe left hand did not actually retract at tabletop height, and the cap has shifted toward the left side of the jaw gap. I’ll request a more distinct backward move and a slight shift leftward to recenter it, checking the readback rather than assuming the target was reached.

move_to

left_x0.3400left_y-0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6044, 1.8584, 0.9562, -0.1917, -0.4492, -0.4824, 0.9961, 0.466, 1.8084, 1.4319, -0.7792, 0.2379, 0.0998, 0.0581] state[eef_state]: left_x=0.3739 left_y=-0.1607 left_z=0.0066 left_yaw=0.0779 left_pitch=-0.3643 left_roll=0.1361 left_gripper=0.9961 right_x=0.4008 right_y=0.159 right_z=0.1132 right_yaw=0.1545 right_pitch=-0.5576 right_roll=-0.2126 right_gripper=0.0581 state[joint_eff]: [-0.7043, -9.7299, 4.8205, 0.8816, -0.359, -0.0659, -0.0171, -0.4444, -9.2376, 6.3932, 1.0623, 0.1538, 0.0317, 1.0232] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.15},"note":"The left hand did not actually retract at tabletop height, and the cap has shifted toward the left side of the jaw gap. I’ll request a more distinct backward move and a slight shift leftward to recenter it, checking the readback rather than assuming the target was reached."})

tool

executing move_to over 3 steps (0.3s)

step 101

assistant

agent noteThe cap now lies diagonally across the center of the left jaw gap at tabletop height, with its middle near the fingertips. I’ll close just the left gripper and check whether it stays open around the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6319, 1.776, 0.8433, -0.1646, -0.4541, -0.5083, 0.9961, 0.4664, 1.8084, 1.4319, -0.7788, 0.2337, 0.099, 0.0581] state[eef_state]: left_x=0.3482 left_y=-0.1544 left_z=0.0059 left_yaw=0.0697 left_pitch=-0.3622 left_roll=0.1256 left_gripper=0.9961 right_x=0.4005 right_y=0.1598 right_z=0.1131 right_yaw=0.1594 right_pitch=-0.5585 right_roll=-0.2086 right_gripper=0.0581 state[joint_eff]: [-0.5538, -8.3214, 4.9162, 1.0476, -0.2466, -0.0024, -0.0171, -0.1846, -9.1556, 6.3658, 1.0476, 0.1245, -0.0659, 1.033] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now lies diagonally across the center of the left jaw gap at tabletop height, with its middle near the fingertips. I’ll close just the left gripper and check whether it stays open around the cap."})

tool

executing move_to over 10 steps (1.0s)

step 111

assistant

agent noteThe left gripper closed empty again, and the cap is still visible on the tabletop ahead of it; closing appears to have pushed the narrow piece forward. I’ll reopen and advance toward the cap’s middle while shifting sideways to avoid pinching past its end.

move_to

left_x0.3750left_y-0.1350left_z0.0180left_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]: [-0.6403, 1.7607, 0.8196, -0.1753, -0.4603, -0.519, 0.0097, 0.4664, 1.8084, 1.4319, -0.7792, 0.2306, 0.099, 0.0581] state[eef_state]: left_x=0.3399 left_y=-0.1509 left_z=0.0035 left_yaw=0.0766 left_pitch=-0.3724 left_roll=0.1366 left_gripper=0.0097 right_x=0.4003 right_y=0.1603 right_z=0.1129 right_yaw=0.1622 right_pitch=-0.5597 right_roll=-0.2056 right_gripper=0.0581 state[joint_eff]: [-0.253, -8.5538, 4.9436, 1.033, -0.2906, -0.0317, 0.7448, -0.212, -9.265, 6.3932, 1.0037, 0.105, -0.0366, 1.0281] 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":{"left_x":0.375,"left_y":-0.135,"left_z":0.018,"left_gripper":1},"note":"The left gripper closed empty again, and the cap is still visible on the tabletop ahead of it; closing appears to have pushed the narrow piece forward. I’ll reopen and advance toward the cap’s middle while shifting sideways to avoid pinching past its end."})

tool

executing move_to over 10 steps (1.0s)

step 121

assistant

agent noteThe cap’s thicker body is now centered in the left wrist image between the open fingers, but the grasp point is still about a centimeter above the tabletop. I’ll descend and back off slightly so the jaws meet the cap’s body rather than its tapered end.

move_to

left_x0.3550left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5381, 1.7752, 0.8848, -0.2043, -0.4198, -0.4419, 0.9948, 0.4664, 1.8084, 1.4319, -0.7795, 0.2298, 0.0959, 0.0581] state[eef_state]: left_x=0.3654 left_y=-0.13 left_z=0.0123 left_yaw=0.0996 left_pitch=-0.3841 left_roll=0.14 left_gripper=0.9948 right_x=0.4001 right_y=0.1604 right_z=0.1129 right_yaw=0.1647 right_pitch=-0.5606 right_roll=-0.2065 right_gripper=0.0581 state[joint_eff]: [0.253, -6.612, 8.1299, 1.1746, -0.232, 0.2173, 0.0366, -0.2393, -9.2923, 6.3795, 0.9792, 0.0659, -0.0024, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.355,"left_z":-0.008},"note":"The cap’s thicker body is now centered in the left wrist image between the open fingers, but the grasp point is still about a centimeter above the tabletop. I’ll descend and back off slightly so the jaws meet the cap’s body rather than its tapered end."})

tool

executing move_to over 2 steps (0.2s)

step 123

assistant

agent noteThe cap’s wider portion is still a little below the jaw-tip line, while its thin stem crosses that line. I’ll retract another short distance to put the wider portion at the finger tips before closing.

move_to

left_x0.3350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.543, 1.7775, 0.8505, -0.1555, -0.4171, -0.4465, 0.9959, 0.4664, 1.8084, 1.4319, -0.7795, 0.2268, 0.0959, 0.0581] state[eef_state]: left_x=0.3623 left_y=-0.1309 left_z=0.0061 left_yaw=0.0924 left_pitch=-0.3753 left_roll=0.1273 left_gripper=0.9959 right_x=0.3999 right_y=0.1609 right_z=0.1128 right_yaw=0.1676 right_pitch=-0.5614 right_roll=-0.2034 right_gripper=0.0581 state[joint_eff]: [-0.5538, -6.106, 4.7385, 1.2039, -0.3394, -0.0708, 0.1001, -0.3214, -9.1556, 6.5162, 0.9988, 0.1001, -0.0317, 1.0232] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335},"note":"The cap’s wider portion is still a little below the jaw-tip line, while its thin stem crosses that line. I’ll retract another short distance to put the wider portion at the finger tips before closing."})

tool

executing move_to over 3 steps (0.3s)

step 126

assistant

agent noteThe cap’s wider section now crosses the left fingertip line near image center. I’ll close the left gripper on that section and check for a nonempty opening.

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]: [-0.5823, 1.729, 0.7773, -0.1287, -0.4381, -0.4816, 0.996, 0.4664, 1.8084, 1.4319, -0.7788, 0.2264, 0.0956, 0.0581] state[eef_state]: left_x=0.3446 left_y=-0.1329 left_z=0.0052 left_yaw=0.0884 left_pitch=-0.3601 left_roll=0.1195 left_gripper=0.996 right_x=0.4001 right_y=0.161 right_z=0.1128 right_yaw=0.1684 right_pitch=-0.5608 right_roll=-0.2029 right_gripper=0.0581 state[joint_eff]: [-0.2803, -8.3077, 5.2855, 0.9109, -0.315, -0.0415, -0.0024, -0.3214, -9.1009, 6.4615, 0.9988, 0.0904, -0.0122, 1.0281] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s wider section now crosses the left fingertip line near image center. I’ll close the left gripper on that section and check for a nonempty opening."})

tool

executing move_to over 10 steps (1.0s)

step 136

assistant

agent noteThat closure was empty as well: the cap moved forward instead of staying between the fingers. I’ll reopen, advance onto its wider end, and set the fingertips slightly below table level so they cannot pass over the small cap.

move_to

left_x0.3800left_z-0.0150left_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]: [-0.5869, 1.7233, 0.7673, -0.1383, -0.4374, -0.4885, 0.0103, 0.4664, 1.8084, 1.4319, -0.7792, 0.2264, 0.0959, 0.0587] state[eef_state]: left_x=0.3398 left_y=-0.1318 left_z=0.0031 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1238 left_gripper=0.0103 right_x=0.4 right_y=0.161 right_z=0.1128 right_yaw=0.1681 right_pitch=-0.5611 right_roll=-0.2028 right_gripper=0.0587 state[joint_eff]: [0.3487, -6.8581, 5.9966, 1.2137, -0.2711, 0.0464, 0.7937, -0.212, -9.265, 6.5162, 0.9792, 0.0611, -0.0269, 1.0281] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_z":-0.015,"left_gripper":1},"note":"That closure was empty as well: the cap moved forward instead of staying between the fingers. I’ll reopen, advance onto its wider end, and set the fingertips slightly below table level so they cannot pass over the small cap."})

tool

executing move_to over 10 steps (1.0s)

step 146

assistant

agent noteThe cap’s dark body now lies along the centerline between the left fingertips at table height, with its open end near the jaw gap. I’ll try closing at this deeper position and check whether it remains trapped.

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]: [-0.5224, 1.8465, 0.8711, -0.0216, -0.4347, -0.4618, 0.9947, 0.4664, 1.8084, 1.4315, -0.7795, 0.2264, 0.0956, 0.0588] state[eef_state]: left_x=0.389 left_y=-0.134 left_z=0.0036 left_yaw=0.1171 left_pitch=-0.2967 left_roll=0.0763 left_gripper=0.9947 right_x=0.3998 right_y=0.1609 right_z=0.1126 right_yaw=0.1682 right_pitch=-0.5619 right_roll=-0.2033 right_gripper=0.0588 state[joint_eff]: [0.5402, -5.641, 5.8325, 0.7253, 0.0659, 0.3541, -0.0415, -0.2256, -9.2376, 6.653, 0.9988, 0.0513, -0.0513, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s dark body now lies along the centerline between the left fingertips at table height, with its open end near the jaw gap. I’ll try closing at this deeper position and check whether it remains trapped."})

tool

executing move_to over 10 steps (1.0s)

step 156

assistant

agent noteThe left gripper again reads fully closed, so the cap is not securely held; it has disappeared from the close wrist view after contact. I’ll pull the empty hand clear to locate the cap in the overhead and wrist views before deciding whether another attempt is viable.

move_to

left_x0.2900left_z0.1500left_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]: [-0.5194, 1.8496, 0.8722, -0.0113, -0.4404, -0.4702, 0.01, 0.4664, 1.8084, 1.4315, -0.7795, 0.226, 0.0956, 0.0624] state[eef_state]: left_x=0.3914 left_y=-0.1329 left_z=0.0044 left_yaw=0.1276 left_pitch=-0.2868 left_roll=0.0694 left_gripper=0.01 right_x=0.3998 right_y=0.161 right_z=0.1126 right_yaw=0.1685 right_pitch=-0.562 right_roll=-0.2029 right_gripper=0.0624 state[joint_eff]: [-0.1436, -8.6632, 5.3128, 1.1404, -0.1685, 0.0855, 0.7839, -0.3214, -9.2513, 6.5026, 0.9744, 0.0757, -0.0659, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_z":0.15,"left_gripper":1},"note":"The left gripper again reads fully closed, so the cap is not securely held; it has disappeared from the close wrist view after contact. I’ll pull the empty hand clear to locate the cap in the overhead and wrist views before deciding whether another attempt is viable."})

tool

executing move_to over 10 steps (1.0s)

step 166

assistant

agent noteThe cap is still on the table, clearly visible ahead of the left wrist; its narrow closed end points away from the arm and its wider mouth points back toward it. Earlier closes contacted it too near the front of the wrist image, so I’ll move farther forward and target the cap beneath the fingertips rather than merely centered in the camera.

move_to

left_x0.4300left_y-0.1500left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7242, 1.3361, 0.9371, -0.6685, -0.522, -0.6556, 0.995, 0.4664, 1.8095, 1.4315, -0.7788, 0.226, 0.0956, 0.0636] state[eef_state]: left_x=0.2969 left_y=-0.1402 left_z=0.1335 left_yaw=0.1008 left_pitch=-0.2917 left_roll=0.0527 left_gripper=0.995 right_x=0.4 right_y=0.161 right_z=0.1122 right_yaw=0.1685 right_pitch=-0.5624 right_roll=-0.203 right_gripper=0.0636 state[joint_eff]: [-0.4034, -5.9009, 9.0598, 1.1062, -0.4518, 0.0806, -0.0952, -0.212, -9.2376, 6.4479, 1.0037, 0.0611, -0.0366, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0},"note":"The cap is still on the table, clearly visible ahead of the left wrist; its narrow closed end points away from the arm and its wider mouth points back toward it. Earlier closes contacted it too near the front of the wrist image, so I’ll move farther forward and target the cap beneath the fingertips rather than merely centered in the camera."})

tool

executing move_to over 11 steps (1.1s)

step 177

assistant

agent noteAt the new position the cap has gone below the wrist camera’s bottom edge, where the grasp point lies, rather than remaining visibly ahead of the jaws. I’ll close here and see whether the gripper stops on the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.503, 1.9385, 1.0157, -0.078, -0.4282, -0.4839, 0.9959, 0.4664, 1.8111, 1.4311, -0.7807, 0.2237, 0.0956, 0.0635] state[eef_state]: left_x=0.4183 left_y=-0.1423 left_z=0.0051 left_yaw=0.1449 left_pitch=-0.3022 left_roll=0.0592 left_gripper=0.9959 right_x=0.3993 right_y=0.1612 right_z=0.1112 right_yaw=0.1699 right_pitch=-0.5666 right_roll=-0.202 right_gripper=0.0635 state[joint_eff]: [0.5128, -7.6376, 6.1333, 0.8669, 0.0366, 0.3297, 0.0855, -0.2803, -9.306, 6.5709, 1.0818, 0.0659, -0.0269, 0.9499] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At the new position the cap has gone below the wrist camera’s bottom edge, where the grasp point lies, rather than remaining visibly ahead of the jaws. I’ll close here and see whether the gripper stops on the cap."})

tool

executing move_to over 10 steps (1.0s)

step 187

assistant

agent noteThe cap is still not trapped; the left hand closes completely even when positioned past it. I’ll reopen and tilt the fingertips forward while returning just behind the cap, to try contacting the low, narrow piece with the jaw tips rather than riding above it.

move_to

left_x0.3850left_z0.0250left_pitch0.3500left_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]: [-0.5007, 1.9625, 1.0275, -0.0452, -0.4198, -0.4915, 0.0095, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0952, 0.0655] state[eef_state]: left_x=0.4253 left_y=-0.1465 left_z=0.0024 left_yaw=0.1414 left_pitch=-0.2897 left_roll=0.0353 left_gripper=0.0095 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1708 right_pitch=-0.5653 right_roll=-0.2013 right_gripper=0.0655 state[joint_eff]: [-0.212, -11.6171, 4.465, 0.9158, -0.2662, 0.0855, 0.7497, -0.335, -9.1692, 6.3248, 0.9548, 0.0757, -0.0366, 0.5983] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_z":0.025,"left_pitch":0.35,"left_gripper":1},"note":"The cap is still not trapped; the left hand closes completely even when positioned past it. I’ll reopen and tilt the fingertips forward while returning just behind the cap, to try contacting the low, narrow piece with the jaw tips rather than riding above it."})

tool

executing move_to over 22 steps (2.2s)

step 209

assistant

agent noteWith the fingertips tilted forward, a small dark section of the cap is visible low on the left side of the left wrist image. I’ll shift the hand toward that section and lower the tilted jaws gently to the tabletop.

move_to

left_y-0.1200left_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6899, 2.1227, 0.5308, 1.1744, -0.8024, -0.2501, 0.9977, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0925, 0.0681] state[eef_state]: left_x=0.3837 left_y=-0.1473 left_z=0.0126 left_yaw=0.1215 left_pitch=0.2851 left_roll=0.0583 left_gripper=0.9977 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1725 right_pitch=-0.5656 right_roll=-0.2026 right_gripper=0.0681 state[joint_eff]: [-0.4855, -7.4325, 2.1949, 1.956, -0.3883, 0.1832, 0.0513, -0.1709, -9.2513, 6.7487, 1.0134, 0.0513, -0.0366, 0.7106] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.12,"left_z":-0.015},"note":"With the fingertips tilted forward, a small dark section of the cap is visible low on the left side of the left wrist image. I’ll shift the hand toward that section and lower the tilted jaws gently to the tabletop."})

tool

executing move_to over 3 steps (0.3s)

step 212

assistant

agent noteThe cap’s dark edge is now low in the image but remains left of the jaw centerline. I’ll make one more small sideways adjustment so the tilted fingertips straddle it before closing.

move_to

left_y-0.1050left_x0.3850left_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6262, 2.2276, 0.5045, 1.3903, -0.7593, -0.2352, 0.998, 0.4664, 1.8114, 1.4311, -0.7795, 0.2237, 0.0925, 0.0692] state[eef_state]: left_x=0.3901 left_y=-0.1276 left_z=0.0053 left_yaw=0.1595 left_pitch=0.3327 left_roll=-0.0019 left_gripper=0.998 right_x=0.3996 right_y=0.1613 right_z=0.1111 right_yaw=0.172 right_pitch=-0.5662 right_roll=-0.2033 right_gripper=0.0692 state[joint_eff]: [0.3487, -5.4496, 0.6906, 0.7057, -0.1636, 0.2222, 0.0171, -0.1436, -9.2786, 6.5299, 0.9646, 0.0513, -0.0366, 0.6813] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.105,"left_x":0.385,"left_z":-0.015},"note":"The cap’s dark edge is now low in the image but remains left of the jaw centerline. I’ll make one more small sideways adjustment so the tilted fingertips straddle it before closing."})

tool

executing move_to over 3 steps (0.3s)

step 215

assistant

agent noteA small dark piece sits just below the left fingertips at the table surface, and the forward-tilted jaws are aligned over it. I’ll close once in this new orientation to see whether the cap can be caught.

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]: [-0.609, 2.2471, 0.498, 1.4437, -0.7475, -0.2214, 0.998, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0701] state[eef_state]: left_x=0.3918 left_y=-0.1225 left_z=0.0063 left_yaw=0.1653 left_pitch=0.3496 left_roll=-0.011 left_gripper=0.998 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0701 state[joint_eff]: [-0.0479, -6.1333, 0.8684, 1.2918, 0.0415, 0.1197, -0.0171, -0.253, -9.0325, 6.3385, 0.989, 0.0415, -0.0562, 0.7057] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"A small dark piece sits just below the left fingertips at the table surface, and the forward-tilted jaws are aligned over it. I’ll close once in this new orientation to see whether the cap can be caught."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteThe left gripper stopped about 5 mm open instead of closing empty, which is promising for the cap. I’ll lift it a few centimeters and check whether the cap rises with the jaws.

move_to

left_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.609, 2.2467, 0.4973, 1.4555, -0.7525, -0.2245, 0.0534, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0727] state[eef_state]: left_x=0.3921 left_y=-0.1219 left_z=0.0088 left_yaw=0.1744 left_pitch=0.3587 left_roll=-0.0216 left_gripper=0.0534 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0727 state[joint_eff]: [-0.212, -8.3487, 2.1538, 1.6044, -0.0464, 0.0171, 1.0134, -0.1983, -9.265, 6.3658, 0.9841, 0.0366, -0.0464, 0.5788] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095},"note":"The left gripper stopped about 5 mm open instead of closing empty, which is promising for the cap. I’ll lift it a few centimeters and check whether the cap rises with the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 231

assistant

agent noteThe cap appears to have risen with the left hand and its gripper remains about 5 mm open; the pen is likewise held in the right hand. I’ll carry the pen toward the table center and raise both pieces, creating a reachable, clear area in which to align the pen tip with the cap opening.

move_to

right_x0.3700right_y0.3200right_z0.1600right_pitch-0.2000left_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]: [-0.609, 1.8198, 0.4721, 1.0878, -0.7547, -0.2264, 0.0566, 0.4664, 1.8114, 1.4311, -0.7784, 0.2234, 0.0925, 0.0737] state[eef_state]: left_x=0.3912 left_y=-0.121 left_z=0.0913 left_yaw=0.1869 left_pitch=0.383 left_roll=-0.049 left_gripper=0.0566 right_x=0.3998 right_y=0.1615 right_z=0.1112 right_yaw=0.1725 right_pitch=-0.5652 right_roll=-0.2025 right_gripper=0.0737 state[joint_eff]: [-0.2256, -7.6923, 5.7504, 1.619, -0.1099, 0.0024, 1.0281, -0.1436, -9.2513, 6.3658, 1.0867, 0.0708, -0.022, 0.6227] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.32,"right_z":0.16,"right_pitch":-0.2,"left_z":0.14},"note":"The cap appears to have risen with the left hand and its gripper remains about 5 mm open; the pen is likewise held in the right hand. I’ll carry the pen toward the table center and raise both pieces, creating a reachable, clear area in which to align the pen tip with the cap opening."})

tool

executing move_to over 14 steps (1.4s)

step 245

assistant

agent noteIn the overhead view the carried pen tip points left toward the cap, but it is still a few centimeters to the right and slightly ahead of the cap. I’ll make a small leftward and backward adjustment of the pen, keeping the gripper bodies apart, then inspect the two tips before bringing them together.

move_to

right_x0.3400right_y0.3550right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.609, 1.6238, 0.5003, 0.8246, -0.7551, -0.2337, 0.0592, 0.8955, 1.8862, 1.5238, -0.6621, 0.5419, 0.371, 0.075] state[eef_state]: left_x=0.3864 left_y=-0.1175 left_z=0.1224 left_yaw=0.1807 left_pitch=0.3557 left_roll=-0.0268 left_gripper=0.0592 right_x=0.3604 right_y=0.31 right_z=0.1432 right_yaw=0.2083 right_pitch=-0.2819 right_roll=-0.2361 right_gripper=0.075 state[joint_eff]: [-0.0889, -7.7607, 7.9932, 1.6532, -0.149, 0.0464, 1.033, 0.4444, -9.3197, 9.347, 1.5556, 0.4713, 0.2222, 0.5983] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.355,"right_z":0.13},"note":"In the overhead view the carried pen tip points left toward the cap, but it is still a few centimeters to the right and slightly ahead of the cap. I’ll make a small leftward and backward adjustment of the pen, keeping the gripper bodies apart, then inspect the two tips before bringing them together."})

tool

executing move_to over 4 steps (0.4s)

step 249

assistant

agent noteThe two gripper bodies are now close, but the pen tip remains up and right of the cap’s likely opening. I’ll shift the cap-hand forward and toward the pen while preserving a clear gap between the grasp points; this should bring the cap mouth toward the tip without driving the arms into each other.

move_to

left_x0.4250left_y-0.1700left_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]: [-0.6086, 1.6207, 0.4984, 0.804, -0.754, -0.234, 0.0591, 0.9829, 1.9865, 1.6096, -0.6968, 0.5724, 0.4431, 0.0781] state[eef_state]: left_x=0.385 left_y=-0.1166 left_z=0.1189 left_yaw=0.1753 left_pitch=0.3417 left_roll=-0.0128 left_gripper=0.0591 right_x=0.3433 right_y=0.3489 right_z=0.1272 right_yaw=0.2262 right_pitch=-0.2929 right_roll=-0.2406 right_gripper=0.0781 state[joint_eff]: [-0.0889, -6.0513, 6.1744, 1.7558, -0.3101, -0.0366, 1.0232, 0.9231, -9.9624, 8.3897, 1.0281, 0.7106, 0.0708, 0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.17,"left_z":0.14},"note":"The two gripper bodies are now close, but the pen tip remains up and right of the cap’s likely opening. I’ll shift the cap-hand forward and toward the pen while preserving a clear gap between the grasp points; this should bring the cap mouth toward the tip without driving the arms into each other."})

tool

executing move_to over 5 steps (0.5s)

step 254

assistant

agent noteThe gripper bodies began to crowd each other and both arms deflected instead of reaching their targets, so I’m backing the cap-hand away. I’ll place the pen on the table with its tip accessible, withdraw the right hand, and only then bring the cap to it with one arm.

move_to

left_x0.3100left_y-0.1000left_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6369, 1.7542, 0.6846, 0.6659, -0.8127, -0.2756, 0.0591, 0.9459, 1.9827, 1.6299, -0.749, 0.6022, 0.4744, 0.0802] state[eef_state]: left_x=0.4119 left_y=-0.1407 left_z=0.1105 left_yaw=0.2006 left_pitch=0.2981 left_roll=0.025 left_gripper=0.0591 right_x=0.3554 right_y=0.3278 right_z=0.1333 right_yaw=0.1469 right_pitch=-0.2906 right_roll=-0.2591 right_gripper=0.0802 state[joint_eff]: [-3.0291, -7.5145, 12.6701, 1.4676, -0.2515, 0.0757, 1.033, 4.9846, -9.0325, 7.706, 1.5116, 0.1783, -0.0073, 0.2125] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.1,"left_z":0.17},"note":"The gripper bodies began to crowd each other and both arms deflected instead of reaching their targets, so I’m backing the cap-hand away. I’ll place the pen on the table with its tip accessible, withdraw the right hand, and only then bring the cap to it with one arm."})

tool

executing move_to over 8 steps (0.8s)

step 262

assistant

agent noteThe cap-hand is clear of the right arm again, and the pen is still held with its tip pointing into the open center of the table. I’ll lower the pen onto the tabletop without opening the gripper yet, so I can verify contact before leaving it in place.

move_to

right_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]: [-0.738, 1.195, 0.4553, 0.1783, -0.9058, -0.3473, 0.0608, 1.0046, 1.9518, 1.636, -0.7319, 0.5571, 0.4557, 0.0824] state[eef_state]: left_x=0.3151 left_y=-0.0938 left_z=0.1416 left_yaw=0.1819 left_pitch=0.2336 left_roll=0.1083 left_gripper=0.0608 right_x=0.3331 right_y=0.3566 right_z=0.1475 right_yaw=0.2567 right_pitch=-0.2817 right_roll=-0.2032 right_gripper=0.0824 state[joint_eff]: [-0.1162, -3.8496, 7.6103, 1.9414, -0.3883, -0.0269, 0.8669, -2.8239, -8.3214, 6.106, 1.0379, 0.6081, 0.1001, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.012},"note":"The cap-hand is clear of the right arm again, and the pen is still held with its tip pointing into the open center of the table. I’ll lower the pen onto the tabletop without opening the gripper yet, so I can verify contact before leaving it in place."})

tool

executing move_to over 9 steps (0.9s)

step 271

assistant

agent noteThe right grasp point is still roughly 2.7 cm above the table and the pen tip remains fixed relative to its camera, so the pen has not been set down yet. I’ll lower a little further until the readback or contact stops the descent.

move_to

right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.738, 1.2037, 0.4404, 0.141, -0.9092, -0.3538, 0.0626, 0.9943, 2.0796, 1.3262, -0.2939, 0.5453, 0.4587, 0.0843] state[eef_state]: left_x=0.31 left_y=-0.0887 left_z=0.1284 left_yaw=0.1774 left_pitch=0.1985 left_roll=0.1529 left_gripper=0.0626 right_x=0.3348 right_y=0.3535 right_z=0.0273 right_yaw=0.2529 right_pitch=-0.288 right_roll=-0.1929 right_gripper=0.0843 state[joint_eff]: [-0.0889, -4.1094, 7.6239, 1.8535, -0.3101, 0.0122, 0.8669, 0.6906, -8.335, 5.1897, 0.9939, 0.3834, -0.0464, 0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.015},"note":"The right grasp point is still roughly 2.7 cm above the table and the pen tip remains fixed relative to its camera, so the pen has not been set down yet. I’ll lower a little further until the readback or contact stops the descent."})

tool

executing move_to over 3 steps (0.3s)

step 274

assistant

agent noteThe pen-hand has reached near table height, so the pen should be supported by the tabletop. I’ll release the pen, then move the right gripper away to leave the tip unobstructed for the cap.

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]: [-0.738, 1.2057, 0.4328, 0.1066, -0.91, -0.3573, 0.0636, 0.9874, 2.1273, 1.2926, -0.1741, 0.5415, 0.4568, 0.0854] state[eef_state]: left_x=0.306 left_y=-0.0849 left_z=0.1203 left_yaw=0.1733 left_pitch=0.1724 left_roll=0.1853 left_gripper=0.0636 right_x=0.3409 right_y=0.3578 right_z=0.0076 right_yaw=0.257 right_pitch=-0.2618 right_roll=-0.1649 right_gripper=0.0854 state[joint_eff]: [-0.2667, -3.1248, 7.1316, 1.9267, -0.3346, -0.0073, 0.7057, 0.294, -9.0598, 4.6017, 0.9206, 0.2222, -0.0366, 0.1001] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The pen-hand has reached near table height, so the pen should be supported by the tabletop. I’ll release the pen, then move the right gripper away to leave the tip unobstructed for the cap."})

tool

executing move_to over 10 steps (1.0s)

step 284

assistant

agent noteThe right jaws are open and the pen remains visible on the table in front of them. I’ll lift and withdraw the empty right hand, leaving room for the left hand to bring the held cap to the exposed pen tip.

move_to

right_x0.2500right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.738, 1.2076, 0.429, 0.0963, -0.9089, -0.358, 0.0643, 0.989, 2.1387, 1.2854, -0.1108, 0.5644, 0.4618, 0.9948] state[eef_state]: left_x=0.3044 left_y=-0.0837 left_z=0.1169 left_yaw=0.1707 left_pitch=0.1621 left_roll=0.197 left_gripper=0.0643 right_x=0.3471 right_y=0.3622 right_z=0.0093 right_yaw=0.2471 right_pitch=-0.2156 right_roll=-0.145 right_gripper=0.9948 state[joint_eff]: [0.0068, -3.6581, 6.5299, 1.5653, -0.3394, 0.0024, 0.6716, 0.1026, -8.9231, 4.6017, 0.8474, 0.0562, -0.0366, -0.1734] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_z":0.17},"note":"The right jaws are open and the pen remains visible on the table in front of them. I’ll lift and withdraw the empty right hand, leaving room for the left hand to bring the held cap to the exposed pen tip."})

tool

executing move_to over 11 steps (1.1s)

step 295

assistant

agent noteThe pen has stayed on the tabletop, but the right arm’s withdrawal stalled with unusually high joint effort while the arms were close. I’ll move the empty right hand sideways out of the center first, rather than risk bringing the cap into a crowded workspace.

move_to

right_y0.1600right_x0.2900right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7544, 1.1587, 0.4271, 0.2001, -0.9089, -0.3584, 0.064, 1.0805, 1.9152, 1.4361, -0.7792, 0.6506, 0.6563, 0.9958] state[eef_state]: left_x=0.3098 left_y=-0.095 left_z=0.1445 left_yaw=0.1799 left_pitch=0.2533 left_roll=0.074 left_gripper=0.064 right_x=0.2885 right_y=0.3208 right_z=0.1005 right_yaw=0.117 right_pitch=-0.3309 right_roll=-0.2915 right_gripper=0.9958 state[joint_eff]: [1.1692, 1.2513, 6.6256, 0.1538, -0.2613, -0.0415, 0.8132, 10.7009, -18.2496, 11.6171, 1.3455, 0.5055, 0.1685, 0.0952] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.16,"right_x":0.29,"right_z":0.17},"note":"The pen has stayed on the tabletop, but the right arm’s withdrawal stalled with unusually high joint effort while the arms were close. I’ll move the empty right hand sideways out of the center first, rather than risk bringing the cap into a crowded workspace."})

tool

executing move_to over 14 steps (1.4s)

step 309

assistant

agent noteThe right hand is safely out of the way, and the overhead view shows the pen lying diagonally with its gold tip at the upper-left end. The held cap points in roughly the same direction; I’ll bring its opening down toward that tip, stopping to inspect the alignment before pushing.

move_to

left_x0.3600left_y-0.2400left_z0.0200left_pitch0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7597, 1.1603, 0.4267, 0.2016, -0.9085, -0.3614, 0.0664, 0.7776, 1.3739, 1.087, -0.7933, 0.5335, 0.3435, 0.996] state[eef_state]: left_x=0.3094 left_y=-0.0968 left_z=0.1441 left_yaw=0.1759 left_pitch=0.2531 left_roll=0.0712 left_gripper=0.0664 right_x=0.2921 right_y=0.1665 right_z=0.1633 right_yaw=0.1 right_pitch=-0.3333 right_roll=-0.2858 right_gripper=0.996 state[joint_eff]: [0.2803, -3.412, 6.3111, 1.5214, -0.2515, -0.0024, 0.5055, -0.4308, -6.7624, 6.5026, 1.2283, 0.2222, -0.0708, 0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.24,"left_z":0.02,"left_pitch":0.17},"note":"The right hand is safely out of the way, and the overhead view shows the pen lying diagonally with its gold tip at the upper-left end. The held cap points in roughly the same direction; I’ll bring its opening down toward that tip, stopping to inspect the alignment before pushing."})

tool

executing move_to over 13 steps (1.3s)

step 322

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9443, 2.0491, 0.8459, 0.3553, -0.997, -0.6518, 0.0686, 0.7746, 1.3766, 1.0843, -0.8028, 0.5198, 0.3279, 0.996] state[eef_state]: left_x=0.3549 left_y=-0.2313 left_z=0.015 left_yaw=0.1602 left_pitch=0.1495 left_roll=0.0999 left_gripper=0.0686 right_x=0.2899 right_y=0.1659 right_z=0.1595 right_yaw=0.1119 right_pitch=-0.3547 right_roll=-0.2959 right_gripper=0.996 state[joint_eff]: [-0.5538, -9.5248, 5.9966, 1.2479, -0.5739, 0.0073, 0.2271, 0.1846, -5.5316, 6.8444, 1.1502, 0.359, 0.105, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 6.006 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]: [-0.02, 0.7933, 0.6018, -0.3805, -0.0196, -0.0113, 0.9993, -0.0181, 0.7921, 0.6102, -0.3763, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0023 right_z=0.1841 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4427, 10.5368, 1.746, -0.0562, -0.0659, -0.0855, -0.5812, -1.1829, 9.853, 1.7802, -0.0171, -0.0317, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab44aaff4540ced95574a963f304c83caddf9a60624cf3e208605eec9e11ad61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e618b18c8f4c98b18ad9d86b52ed4c3af983a197794211f4001b70018285f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b41923172bc592b3bf53f9c01351784489a79d2da07f97846758f5b6f0f2a59",
      "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 · 12.03 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDxzQ4551XyHHHl6w7Z255LIO-AF0w-Knj4Jrg1s1AO69fDVeKjXFnfCLKceIT8TgHFDnC-9P1Tw7Wv3rn6DBTJCbrFvzWwefGmO31iMf1PzgkeAYdl5eWUsZHdxx_qTvQsICtO-4D2sspKMfx2Ujg4JKx5mPQKdLr7WSjXgm1_gJx78KXgOAbqjFIhvpJwwzKQa4oGMZ5mKaZHoHxTDuZKTn5XkjXasgoFNNE_6ds0dgI0DKw8vWkqvyoT8GG_konQVI0jqIQMk8NmBiwR1uCvG0Dk9uyF8LWXz1MmaZpd22EzsGvdthNRdoKu380y_rjPwrMpmeElEo6TtH_cjGO9TAjqhc7fOK_ogRCd0mu2SPGCNIMcosIe9NH7k997g55tvrVOLlZqwCW8fMqMEgE2yQNI12yoJflbZI3r7Qy9ZMXRhU7wIyPdgmKhoEv_Kn_QEfJ2eFyPkLK94VjYvU68XsFfVmxvmsUMv0hoOshF_HdcYwEKx7PHY91lM_KTwuQoCg89jETCpCc8WEVd_bUc7xviiBh62FbPJGxHi0FSE45X2LXiW4bPI8X2HMk-awsDu_YAtG-QNjLBnjMpsVQ96eIhfhGmkrYd0a_RkKLi1xP8ORBevSIafZTKIkDE3fqHldGyrwZooTZA5dVs4OM7wnL5QraVGvJD_uZOO3Wm5hSqXnHPQFJ3JIiBQFRisTIM_DcyD0suUwkscabrzTv6piTkPNk8TMBcWJd2PDdRbZYA4fzKJ1zv9uZ-VLd4oI-1MttcXWa8BrgoUOvnHtUz9ef_kQt2XBUEKIxmDOxeKt8ryIEdyyWHW3pC_zSeftz0LkWYe5U9mIxqCzTMU_wNS75qsfgsHiVNlu9nHOSf5vZgCOvREhRc8oiBdB6a_fzKdYWb0QPHf1ogxr2wYuS5c4_GNEQ18653fZ5xeqg7-SZRpVTF_O82GUEhAKsjAOGZbGEdJk5q1VQ8VrWKF_OZOOHidhMCPCchZWm1tg0HNy7a-1PGxgzYm1-gU7bW0IZnGOJoJvKYSI8ZwzBoZhZmguTa53M7uZpNX--BqfOTReiomS7db3Rr3XXsdKT-biIBi8DHj65c_09kTpIc1oF8pIcbQ-Kc44vPUMBQuJcaP_XAx2R9_fQ_fPYHb0fcZuZgHu4MQpnOVq9jEpNAzSMBajByEdVk489YhKjPBRkxRrD28MI1P_4AwjmLmkWF8f7irR4MwRHopBVUR2pbP5g5CtU5LAdVSchpBTCVD3xEpuYrwFUl__5RBhzuop9n3CdSAw3ZKYEZPqsW07Y3jTGL1r8OyiWnM0NyyF63fD_LEqPBwP_CbBwNK3GUJd8fahw9mmYAWXsiQJJMAA9BilU5_A9i-Aata94HF8M_8tbQzDpNKiRKZOnoUKLRSG5qyqZKpNUHWBERo9DWkOiCLtxq6XqJo0_y_ino8bvW096f_wxHIglWSznUFyHvtDCpoW6guB8NxaVz4lrOLzfdSAanylpRiwYdPHeyRI7LirOy-g8OY5P-dyp5pKnjplhOpHqVMGcF6VG9Zd1SehtzewcLVIO6fN-RKBrv5VqqWnyRtEwZusn9rFOG-28S9OufTlZ7fUspFwgiKGiKwjFH9RlB9F9OqjO08sqsbEgqGMcvT4rjiYmkPhOu5IZVYN6AfdWgBDeOcSni1rblbM1PY5hLkta-3qp1kouglKCvb_Re4yLlXbhaY4LmOeM1vfwR1dqn04W94pzV3DMkreG3IX8f-yjk0ilDFHDKeX0y-YVSR9UgtUriFC4WN-jeZCoxrJ93PWgSbMq5XXzqAv6X-28QbMwc9uUgJzS61WZ39zujMXkqtV5KRVwW6Umtc3RQPifgwUVs2tcUB2Iyn9PGQXKJzG4_b3O4gSIBLVIRJOqQqNYwJ0AVkpauTWtjce8hw_gtCuImr7YGIHlygfcr2UY-NhlfZO1D8RFksZNQcRJW_c1-jF115bLyYDrxJ2Fc_lA-_U08w3xYKB6ErdYXIKIdji23fmSi0dgal7ABEKjjC_w5LnUc4U97WWWH3tUMy0cnJJ4pOKSKPcI0xIG8ohPWgwuTC70EjNvYirViXmoFEdrtSyDUPR5bcrzvfQBAunnBn2d5h5ot-Z02WVVN9dvqZb9VCqUhj-gkIhM6TXA0oXvpaIQ7me2Y4twY9vsFW6r6w0_G7V2vSqB_AEun6POIgileg-20l-sNzl9pjVs9QSSD6AEdamQcf1gEQwmbQXc_rpFYo0aklG7dks9RlYkCKOObRdIMNS4FRNho5lIJmNYLP_-q8t41eDYfLHAO8lxbjXy8yVrMWqNogDNorTJOm__s_qXZVgZBXmuB3oHWtJjXVBxgKY1t_ItIKZ6VPagcYbg1bF73R2zVgXYuKd9KP6y_XeWaqIY2Se5jPlZMoopjffsVKH3qST5ltkQPwpZOuyBI1jWXs6zdUf0DH-5imorag03_5-BD4mqb9Et4lIu6aKZ06LDM3so8WHszP8_9L1otWYUNGQ3jbksr8TaW-JtjJnPYF_ujZddvZ785ki1KtZBF22gkN1m6UG7mIkhEZE8B3nn9ZxVPsfse7GizwJYjGGneRTc0te7M5Sw2Zb4kxl2wLungwEOxthtsbrAKjv9VmzsC1icdmK4KZkZXBiZfUoP56MEwbx6X54CCly43YA54-2Fo7qa4p4X8HgtSaKr-6DzWdl3JO0RzWGqdmiS26yKyQ98bdD0avb_GN6yahhqAOsi52diIZOnmwwwLEn8rnw6t2E7VAJBHsHzmwvba7_N_GGfKtJVKb2P7D1RedkerIGEZbuC-i_W6jW7QQ2TuNygmGJVikK9SM29H9sL9wsXZxzlWzRT-p6rYmhhr85_mR9vgsZ7jzjwjoXcvZpgGNMbSjLxfZPwrWuk3IkPLtxIpdR3f2tzSWHro4xJe42kPWWdbz6_9AF_7fOR6u46KMB0EcXn_W66idGgiiTzMlyL9584BlyEBPvs-fl-LxpyhydRs8q_z_qEDE6VLmJj1UlqakJsB8uSUC8mZ7uScn-H2kmiF1lWmNr4K3D1Dkm8TudsZcmjPFJSpyZI2T8DjqaCCsKUBJ0AG-qu25qFV0Fzl-PTTe348vzbkhHH8A9Zm6uwUiV97b3n38CPTNQBaz-in0zR2Jx6Yb_AbntTnxyWjWm-cQEfSttVXSQWCBFhPx0MwaJWG9FupV455G",
  "id": "rs_0f2f0697e2a1f0d4016ab43c6ed73087d0ae837573de6b9830",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.13,\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.13},\"note\":\"The cap is the short dark piece left of center, and the long pen lies diagonally right of center. I’ll bring each open gripper above its respective piece, staying high enough to inspect alignment before grasping.\"}",
  "call_id": "call_567wghqwAxrjXMLeROn0xjBX",
  "id": "fc_0f2f0697e2a1f0d4016ab43c72dbd087d0a6f745f603977382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_567wghqwAxrjXMLeROn0xjBX",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.4624, 0.7513, -0.0162, -0.4221, -0.3061, 0.9993, 0.561, 1.4963, 0.7811, 0.0063, 0.4278, 0.2852, 0.999]\nstate[eef_state]: left_x=0.374 left_y=-0.1313 left_z=0.1064 left_yaw=-0.0153 left_pitch=-0.0802 left_roll=0.0333 left_gripper=0.9993 right_x=0.3757 right_y=0.1538 right_z=0.1098 right_yaw=0.0408 right_pitch=-0.0765 right_roll=-0.0463 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.4615, 9.4974, 1.6923, -0.3687, 0.1343, -0.0122, 0.5402, -6.612, 8.7043, 1.8095, 0.3883, 0.2906, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d1be88bb2737ad274233211715e0f67dd890695209740ac9827160468774da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218f50dbd45ea3610a403c024fdf5f118e64ed0fa7dd0224851236dc02c28f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22682a40c04b92ce484768f05b1e2de82f726ab2a71adc135923e87259ff4bd2",
      "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 · 6.484 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6018, -0.3805, -0.0196, -0.0113, 0.9993, -0.0181, 0.7921, 0.6102, -0.3763, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0023 right_z=0.1841 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4427, 10.5368, 1.746, -0.0562, -0.0659, -0.0855, -0.5812, -1.1829, 9.853, 1.7802, -0.0171, -0.0317, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.4624, 0.7513, -0.0162, -0.4221, -0.3061, 0.9993, 0.561, 1.4963, 0.7811, 0.0063, 0.4278, 0.2852, 0.999]\nstate[eef_state]: left_x=0.374 left_y=-0.1313 left_z=0.1064 left_yaw=-0.0153 left_pitch=-0.0802 left_roll=0.0333 left_gripper=0.9993 right_x=0.3757 right_y=0.1538 right_z=0.1098 right_yaw=0.0408 right_pitch=-0.0765 right_roll=-0.0463 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.4615, 9.4974, 1.6923, -0.3687, 0.1343, -0.0122, 0.5402, -6.612, 8.7043, 1.8095, 0.3883, 0.2906, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d1be88bb2737ad274233211715e0f67dd890695209740ac9827160468774da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218f50dbd45ea3610a403c024fdf5f118e64ed0fa7dd0224851236dc02c28f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22682a40c04b92ce484768f05b1e2de82f726ab2a71adc135923e87259ff4bd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyB6TNt09oyJPeNgD2QqSlZB-H9G8LCnPPUPmeFTkVXvxngBSgUySP9TGNaaQkpg7XYvQoOuJtndS2iEIbqRwz--w1TXHAcdj_JiSUC54j5oyrUL8sdzjtBXrOkJDVhHfRrY8rxTUf9VsEq39i6alWv2WQnrARNI_NggihvsJa4baYnrCWXRcRFRdslRJWSWKjTDz2P1KGX6gMhAtQ_xUl3r55CZf3_IJlbK0Pt7LSE4MGm-jDAsog9RBs-Uf6qB8xHaPfwn2F7OOw91fsmXN8C_sUPW4P03OuwQjfxTXndA8QgeVBdY_joffCMs_6JV3pXl287gIfmopSMOKuk79yWFrixYt_n3Mfl0ZYlm6hLzfKdVSzM6Q6jRQF4zCqYR77IqbcQAopsxPQidDTuM-y4zViHvWoAehH0MmoVoUWgqV_o9U4GaNpBNvQ5-Is-BHBFRlfAE9rgEStYRXQUw9_NWB86C8jXhAf5LarLGaQBNpHHvkxgpbi1RA2EsjTLRucx_9WnUPl40wXDjPTHrc3r3hGRN7hqU5BEnshTavAyLE_bTIch9sYPCATNECvQqg20Ko1SpcV4bNZMt0UANtAwekt-9R0WjUCm1c4jJt4oSsilZ-APYzCScqKTgTMAT84rxS6xiYEu1y4vnAasaRrrbDW2VFj1SXHW0bX3bg8jGpTdmesf2WPvhQbEMiDPsToNQCh6RGFJyiYclvD2XLxX0cNTvZH9puDReVX-qaxwRn2Gg_A0L9kC261Uax366CZ8dxQmna5JDPE3jDrKof6acBx-o8tWhxxiCehZw4PdwyYktbsC-qV_cLIfFeXwy42Q0rzT0_2FvfANQ2QUMpl4RdGCt06zSSHjek4LHnlNvWI-UmyUMBPHsuC7f4Ox92JzDD5o7GJOgCpGkqJltktUpZ5pAca18XF_rKqeBxaUjkHAtNhr5D-BRERwCJlKxGXMdpjMW_Tjj1B-RGixtpYYONisoriUawzBKwyOE4jx0N9dY045VL_RfQPEHHWFIzGzPcCGzLXIa3SNLTv87uLtVS7mEGf0QuhEC8yrW3G5I1ruwe7h5UbhDEIz2N4sZksusgcYedDH7wcZeFcg5NPUSecvqWByr-c9PPWOgTU_lhXqbRbAVEnDmPHZmyqzwrMYMm1rOavzNITmdkMVLU1TOW87clu8oOlZQ2l6CZW1pjtiJk_yw5Bn-TsSzqwWzCcirWssS2fMROGfe7pA74f9I32M4BSX97b-0Yej9-TsNes5s7tqR46qXFknEuOZCSPR4Aal128Q6HOhaWgWr2F9H8tOrmaLVdOClLcSR_WETbjfTJhRHZKAXEKTNjQCNOPn9HhvxOmY-99Dc9wlfndRO8c4kVz-w1WaPEx3scnuoFRri0DkjCqoGlGTAgXiI3-F7QLYWGtlTHekG9ehqOwqItseYDxavpr1ryhLdgteYONnn3JIIQ640qiAAkLgkb1BzICP4sX9TAZcrDTxD_yTuXPU8dJTKQIQcr6GI10e34cSRF7o0ddhx4HGGw79dik1ajBTHYXfTUC6UWQ-70hIyTIEMT_psfzjLMB_fYtp8siBX8RzzPTHhu5_b0Kq8OUzb4T-Dgz0m75U-tHdNYAN-MX5dsl56TYiZEzSc8dx7v8-Bt-BCDt5OEqNyrvOvwyY-ys5JRQtcOIqYblxhmHumz8KBqd04WnKckgXfvfq1o76sBYE0MT-vAe4UsR4nJA7DymMS4Lus_WiDTpmNI84qjNcaXiAnJOCavWCODcp1KJYZ87oaXbPRUSVKazKFP60Ka7cYlR2kpqXNEznOCtx_zT9nb_fpJ23ssE0ECNlUfsg9I4_5hOzEw_zQS9THD5QoqzPwUPWPUMYj9nmfAc7UqXcsxDB-irqAfzYXtHtkMLAc7OJmEv7KjYWtcwxnv_irYsKPbOQR9wnY2kT5dCYrd3devsRdtjdpZr_PRrAoUpNR0xiZ6eSS_6Xy8M_TQUvHo3ugsSEXu-qGHmWfUkuwSKDP-b601-WajCalXJOBK5FaD299pUSwOw3lrocEMC2OQeymtyv1b47f8A_Z1d7IHGF9a8WOmadPZln3QMuvSZU4csJXxPzN7uoG0XNf7YUxV5BTiTiEWy5Mc_WxImu2o8TGd9YonIu2cCxWl9YIAqCC2DVO0QmTxXEbnRKsmG2BVNB0sQ5cVf3Yd9fyo5XrV6K5kbhJdDeKI7Hnjsn8jbHAqAlZ1Wq3O7pk5cBpiibkK5uczrmqp2pFt2Xhk-u7NRmT13NcBOkR4krkXxFEts8Qgh7f2a9B_txhv6FdKyV4tfWq9MC2vBMlIR6VOA8LLxWAoWI4eXbbdKcZNuyOovMqPnoCJz95uzZI0HbSsDgjAqBVKXwq0d7C_tjVdMUas3fEcAeujxvj3JWc3AB0-UkUZpEl_hNrtO-yQrf_lZHvokUgTpJjwlddZ7D8ibB3AYhnS_2qN6yFxwvoy45yYWg4cfuGZRljguWGOtmq3FHxoyukB_tNF69DVrfx8el0IMnv7jQ7CzdNrJsyD6g7tkBQ1d2o4-Ga_tdy_tuCQvlPmnVnOq7EP_gXUQlG6U-C47HCp6v6hoUZYa98vLvI_PMy3vsWlKj-0xXrsHsxnENQjr96YxaMOiRxZna11SI6dc2ltctU1TLNaoK6w5I9cwMiTQvWafCEg6sG5seP-XGuyJRVuHzDXc7rMNSctq3BYdXA8U-0i_MApzqSJ-JdKuknVqnFMedS8v225zUc8MzAFIP9R4wCgNJllpjJVTeIZO_6eKaog1McmHqtFgRvRVHZNYGGnMYZwnvU03MPyYwns-s3gnYvWySM3JBQZWZyrug1TIrtq3rXERSBSMr5GcE2mkZhwkIPbErdsTtZfvqZZxKnIY4Ib15r04nbgoP2W0L2CNxj-0jv-oAhGhTvHq88WmY4ODaNRcceJFiVg1lRsbyxzyiEkJ5ht1cCPy8n5NYJRvub1ej-NpQ9PQ6SSLlezMiUPu0_qiYDR8SXOGLUipCUQmlpSfhjGt75Ub-dphSWELlEIdvcUP4zhqZAR0sUDosdTiMgVy322-tZUfDd2TZ0LWRUa347MsCuwG9gNWgmW-XkGoLxs1eiBiQwKjyXzhhUqhtOZEJ8BIIuCn8h2TmIGU3ZL735dMFygW_oQC-nC4OCbMXACPlMh2L-4SCgqhKn8CCZkAPJUa63i8khU8JaezJz7i6TLlnHU6pUxF5jxTjsS64Q99HjZ7YpdPt4Lhey4PMqIuRtXiIl_ri-KcGzz-Ti_8zoLU_BkAH1xEh3VFtmsKC-wiaSwrvuy-etGwPYJiLEjXWyuwtSalSlD-ag2lg7KNRFBlL3Y5C8nNx4iEX_FGTgRgkDavmTGfp4iE8VRBIIfWMjfmyK4TbBQKjMSvsCmnEpFDonZpqWFZ7rI30TE0T2MGS6e37dtUnmJJAd7vZtMIxWhY3NfkhgY3pTGYEO4oltB1QOMLAV6vVKxl-tLsz5qVf81j_dsEfh1FlAvI62RZ8rqcUT1V8viql6XtkyP7_kG3xXcLFBRsRABbcpsqEaWNH3hUsEGyh6IZnX3dcKDuG_ykqCUT6rls_doRGNebi2Xgk0kmWh6ADrCtvMKFI6kmpvuh4bVPuO79FGUFXphnvFtEYjeawHK4-BVNrEe5V1FPaxcAXLKyB3lfr5gtMZbMXRuG14cBPIDwdZhKOT41FurZfyfLWhca9nGRv7hh_U49YCcMENeotW0Ng4xcdSHNtqTrmp8mD49DJE-xIlpc-_Hox1nC3uFsVZ458fnE3aqvSo-eNgPxnk7xEh7MKGyCgzBm5w18U3HIVNUhgYhFwqzhFM0zHimNl-v9k4sXX6dmlN7mRog==",
  "id": "rs_0f2f0697e2a1f0d4016ab43c76484087d0b3217e397198455c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyBjU80f4F-l5gGbg0Z19VISnwFuVTBsmVpOj6bemTkQ3HUXxvd6f746gwfoCf5OCUwUBgRzF9-9u2VoZ7UDJm9pmKhoVrVz7XxBNFHnenaQwBrrJon5YV1Ci8hk3tMQ_IHAecKnjz6bIG_PoQq6Wl83YoAv1-pz3Iruv2evS_AEXhihPheApyBapdH0-mQgzGaudKvBipLPqO2IYTX4YbaEnI3TvY_c_wcIm17bkqOb0r0vHfpf86xv3OlSXx1L7pCJfyDh5Jf_j5ObvHO_MN_wzXunvREnxVvntLYCPNNFaoj3N0CVYiXgMCcLaY_fsEzSp5_a3gBwsoLg2rO4lQaM9aWSeLUIXQNnNmn57dMwzWpLzTeJvSUtbs-h5J-kruBjgrPkOL5_Xcjh-dptf1Rvgf7DeEIWGriVXOLWY2nveWjcd6SpGKKzbelT-CtFWuKhekeSTW7UlUvjY5-d4mZ2Nwndm-XzcBAv0UT495MtneX3gYvLCPLaydZrmWwi_XBUOThI8X4C7jLy7Yfiqri12D748SuTdOy9CI3pZT2H4phsPwekbinREI9QY617rYC1L5zOp66hUvgDt8tsRTtFJ8Vki1FysUdpDxOlnTdMAHgpsGcmmlsD1k7NamD_YpPpGWqIlh3gmskAx2QiZXhQuU7T0UcP5Aj4oP7iUghhvOlSW4PG5mfmrQQoQvCHHd6935JxjOCVSg3KeUzFxrN-rqmOlaWlcbA6vT2kCEqPu6URRQz2MT01LCoXYVCmwGMBTvhZOJzonMeZhKxUPlRhUhGLu6UNakvX2YHec-mU0mwpVuATOwnSRR-FX4KzXe7JT6inN5AY-uMN98ESqYgI9BPZoJg_THlLBbsPQzebC5lip3KwFBCd-gnHx_8ShHqBbvjOmCC7ATMwzYI-ebwBdeW4D-9Ebze_09c--u9Rp_8_g8TQJpBqmJAjMH06G_iRwzPOxnOS4td0mdWep6YR68nt7E9Olu9HUvu-8T-M2Cart6sCse0Z8G1SUMoVtiTtjj9i6tmEYaZLFe50Sc4h09cC4syr3JjLt90g316jHBR0hobLbIm5T33lsPNUtELTyVvnctEQyAGVX-nJ8JEcU5bbJCsyVOsELXBFwI7zJ98NUQvXOiWh2AKumqahst24PtDvHfZ5JnUGQYxlTmFf8f2BHknpvNySS6_MYDZnaCBLelP7DF_GnNMYUp0bc-uPjLFONh2CLajimy6j0L3dM6_fXNrjcw8ILpn3upctSYeI9yLeuWh7kAFJ-63BVwo6XY2jGE-oIA_xoEYDwNezzzIHHOADTttPz1rmGuHw3qkH0By4hrTINY6fQO9VLRd_pSQFBKI5sKZew4bGUD9rggLLplKmzVFuelnYWAZFlqP3Eiu7Q3DwEo-MgYUYCUe3zF8lYNILDT6BQLbfBVJaq6K01VVho8CqpUGMiTyPIMWx6VrUuW0pCb4LArTXZvWXWcvmiVBmGtwYqLbbqxL42JAY07piVNz7ZznxGVBJ2r4oe0DM7Dk09QOXbATtuwlxcExPhqyqHcBpYUeDLfpS3LrZuQjmFwBL6-dnnvahw4nHLuGfQ9EB5T4ktJFFw0dUXeQ78kNRN8-KM5fE2Twn9FTdj8SxtimhoEbPKgWRSJonU4c2s9XmLD_v3yh0Qvk94jGCuMkT5-vAyNTxfJUJYHTEW4zNyyL-hmfoaqYuBaPoMwPa5KK-pWv0fv8PO1AcK9DpffAuvSvADP2AkokcDSgBD0hNffKwMzQXlmyOf2bTA5a_t6S8OeJq7pydiQu-Z5TB9CP2gi_Jo5s4xprspg-C_Z9NSONBvwxuZ7YHKJXY5Tpz9iP5XGoXAXyqK2P0cal1bgydV9L4wKw-i_ynvbpsdgLdGbhT-d6UFsE2l_EpsBe5NhpnYIw7_SWsb8dv1olEntGJal9O6Qq4BlE9PrM2t_VqSseCxhLndZd1LZRoTqpyx8I6UWhu3dC1uIoi7XabAue4JiV3zwlpuwbdy0pAFkotnGlDpLqaBWwxvGHKthO_PMxh0iWoWgUNTFqcLLZQQ4u1xhAH6cDHjC0rylDxnXDS73BZyZQ0mCNGRwoFf3UztULcbrPHZEeLYnWMkld49qcndalkGazcwHZ5AVeh1NWfj9bTd0DXTFTu10UIyS-WvKFesFL2-W1v7GiXNwPR5SjpeoMEXZ70aYFZxqGVZYDtRux3nkir3FOwzD8TEGUsGEQimz22x8eMMBg8O05ky4KupPSmN1zCzaFnMk2Y627-3ymXVQc9i54Jz7N1lp05fBsCG2NXG3MX4I_Zy2dak12BbLNuA3mwIj98nzGLk4mY4hbdmhwyB6iQzfwpayQ8TtfX9GdFiaiTzjnbyTzpZIklz-qTaoI6K6KtRG9ieOBK9_nAcyA931Y-A2X97OzVH3WFkG1UCE1hq2s0grOp49xFekYgvzIhFLJp-veUTwADWmssPO7MV5PLAh-z67_3_DbUxVsmjENVuLWhTiAuv_mOI6VVNLfrhanAz0CEanU1OEXLu1QjDBOPiV2S4BxfEslHdy_VbSAmeUi31RfvNGK_8OZd3pcrYDkUVcTvdgHBFrcnK2i_oEqBqYp_X9tyu9E7pekcP5WPkqoostK3dRba3wv9nCfK9mzxt6a4QusFz4h7DISxyTZjGX_gUPGANEI6viYAjb_AO70ysKmD0LLhGKLct5AwDnQH_uV-5aJTLalL5SVPf8iwtdWZ0HJBgVAl79Iq0md0vt51J1cRTxR70XA75GRguD3zhcjfEMi9Yvj5ww_r-F561xPF0oKCYwpDQOEuJ9jLZjcgSW6dx9OLNKA7s-vqDic91VCWkqT8InNoMq0mx-RpWWjzFZkgOHhKS9bYeFxlaFbt8IvST-RJuPYDZZhHNu8MH5BkECkNB8ckNORofvAPHZqnDPRZPJHZGmFOrDAi4bER7E3WSmpjHDp0PKzshGgFsnS2UrnwaLrsjrO7TYQVIdedi9W7eESgEdPDYvkupZBg1ffBi0GgcbhutXuLhTdn8ngssbfh4HdC0r8kHLY8m5LD4M86oBXVzdCOFkFb3PJGhN1VyGskyGaDKVCNygd-qxELRx8_Pqn0SxA-hPl2HH8XhrHoLrHHRpnsPkwM361gguZmFzPhYVMCXl9EQVrk3ORAIIuYw0a4qlMueSMbQNaHAnC4SXXtiW5Q-1LABNPxdUNuMG5N4-V9p3eXRwuiZw9OAh9YRVbAiFpfyDr8VLoIFLF1ZfQFiTXxXedQssRwQohbqWwlDsVRG4u4LAI2kgOYsJQfHbnyp2Cik448J5bJoNMafck6FZTNrmswIg-5vBXKdEfzXfnXqYw6l8zeL5ZfBYuQQ6AZF6XEc2QR4BL3uL76UeGcZt8VQykhzMBJ71Oosc7B0CubJ2gOWNLh8LecwKOwW2VVX7nEIG0NJyytppBLCbPNFvYfjRBqGqK08SEhY2FBaEknu4ORnjvmV09-BZcrruR20fo_9-sKo-VuHEjJr1DD52Vloxz4GuMVDkEV4peFYr0CDU9_mWEmm-3TZ02-F9EDgACFNCFbkvdDy-tbHiZHjIQ3RKnlmWAjhrHDFFFVhgaIGQh-ZkwGssBN1UZC4WkTO72WlNWtt-ps7SQnfj6P1JeQYjE07wSBTBFfpC_qzVCCLkgVJa4Y7sdvbMfJSuLiJvDbftSyJvIjFY5fq-S6nv6Tx65onvC",
  "id": "rs_0f2f0697e2a1f0d4016ab43c7b172087d0b2c6097c95413fde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.035,\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.035},\"note\":\"Both pieces are visible between the open jaws in the wrist views; the pen sits a little right of the right gripper’s centerline. I’ll lower both hands toward grasp height while nudging the right hand sideways, then recheck before closing.\"}",
  "call_id": "call_vQdf0R9FuGARfeCfotbYHfHL",
  "id": "fc_0f2f0697e2a1f0d4016ab43c7fc9d487d0bd563f5eba143161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vQdf0R9FuGARfeCfotbYHfHL",
  "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]: [-0.5011, 1.7004, 0.6533, 0.2356, -0.4107, -0.3046, 0.9993, 0.4988, 1.7081, 0.6487, 0.2749, 0.384, 0.2523, 0.999]\nstate[eef_state]: left_x=0.3762 left_y=-0.1216 left_z=0.0234 left_yaw=0.0091 left_pitch=-0.1577 left_roll=0.0692 left_gripper=0.9993 right_x=0.3759 right_y=0.1335 right_z=0.0242 right_yaw=0.0272 right_pitch=-0.158 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [0.4444, -7.4735, 5.3538, 1.9414, -0.0464, 0.1783, -0.0122, -0.5265, -6.7077, 5.5863, 1.9463, 0.2271, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362a4e82e621513327f60b42e5ddf0e49c2e3fb1827877c34a782621d7393703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac410e906ae328694dba229cda8091d10c3f91d6d3af2cb035a12548b73e6c34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1644b35a879d51e1ae341b5fbfb32cbbadc47c4e1fc642f1bd6a39a34ad96fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 5.574 s

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

message 6 changed as sent

message 11 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.4624, 0.7513, -0.0162, -0.4221, -0.3061, 0.9993, 0.561, 1.4963, 0.7811, 0.0063, 0.4278, 0.2852, 0.999]\nstate[eef_state]: left_x=0.374 left_y=-0.1313 left_z=0.1064 left_yaw=-0.0153 left_pitch=-0.0802 left_roll=0.0333 left_gripper=0.9993 right_x=0.3757 right_y=0.1538 right_z=0.1098 right_yaw=0.0408 right_pitch=-0.0765 right_roll=-0.0463 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.4615, 9.4974, 1.6923, -0.3687, 0.1343, -0.0122, 0.5402, -6.612, 8.7043, 1.8095, 0.3883, 0.2906, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5011, 1.7004, 0.6533, 0.2356, -0.4107, -0.3046, 0.9993, 0.4988, 1.7081, 0.6487, 0.2749, 0.384, 0.2523, 0.999]\nstate[eef_state]: left_x=0.3762 left_y=-0.1216 left_z=0.0234 left_yaw=0.0091 left_pitch=-0.1577 left_roll=0.0692 left_gripper=0.9993 right_x=0.3759 right_y=0.1335 right_z=0.0242 right_yaw=0.0272 right_pitch=-0.158 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [0.4444, -7.4735, 5.3538, 1.9414, -0.0464, 0.1783, -0.0122, -0.5265, -6.7077, 5.5863, 1.9463, 0.2271, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362a4e82e621513327f60b42e5ddf0e49c2e3fb1827877c34a782621d7393703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac410e906ae328694dba229cda8091d10c3f91d6d3af2cb035a12548b73e6c34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1644b35a879d51e1ae341b5fbfb32cbbadc47c4e1fc642f1bd6a39a34ad96fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyIsBHKQ5xmoCIFVC2_S-ZTJicPdD7rupi6CbKc_xGdt-ivl0NoXlsAhhAMI4pynO-HkfHcLTK2i9iw96bmqefvTFLPNHnHOndN90NQk9awOuq2-tz-NMz3eNfJVphQrJUkk9ZEB4SYEtRbY3T85GCEiaL9xXSp4rkNbe6c2--NQhDwb_2r5NGQNinBdeoiSj6CACfT4iqkp_bFcD3uy599nwpYQwSZEHZ34YsLSDDOHob7ImK7DIHvHP0LpSVZ_byXkhST9VLXw3sj4pRYRClsjTgUoNSMY9xHMN1o0eAshxLf-KU2Tn4S3OXW1tkKcGNfdAVBgZzifpIdIPPD_3tVhXfsXepXXZGrodqsp4FXfQlRMGB_2f0JlKCwY2OJVZ1ExfzIjX1YlNnipxiZuF6TUkoRCCSpyeCKs4jNPxlRn8YyRigB-Qen_ju2c-6UTEVRfMPrLezAvLaZqSY545RiZJurwz1fkgohV54wBK1-CPRUd6cwXkMdppS5LG80TI45QKJdEwGNC5oikJC2nJ-xqHMeAVJTCkeXGaDFzR2TbWZWKOUSAIXMr55M5ieUR1MVkGZxv3htpCk6UqpSDXNOAa73gCUOlI_-1CY3EvcpviyieKxU0_jZAeN0RTKRvFRJh2HIcOyJVXKev2Ntai-xwC58NbUaaj-hvsG2H-w9Dcs3lMu1oTwxHee17vpeUh2jxGQyfauOaZ5khaTD6-ZBahZlZ_wHs-rb4QWUL1nIx-9_Czrl19W-MUHwjx_lSIJU_KNyf4kj5H9z8vCrP2sOKRbpQmIsvi4ZyyGFUaD_eYhEDO1u0YV0UyS9-BJr2wEBcDzep8Jq_xWNusp9z1nc2NFoqYACsIL9XcCiEcGMVSJ0yBRUPjovD_tHS9ZbXWPHPxXHrn_11ZyQcHXTCD7DpoIdJodzeMLkVYrXSNAq4E7R3jRNHvtXS9dmiX2ZvHGOiZBXF2tueJY8bwwIIKB-No_f65P9otcBAH-zDiFp9sIb6Qp-sS1Jewoil4surQG9yDwstgMgqTyB2kC1qLOEOzVNHI7jbh-O33bk0xQC7xgixQZW54jDh-rxS_Wz62EbyH2kbdmsAbaMaec70VC4U2owMp_SgOUM1DNc_lai5SF4bQ_4bR1SXtWdYnG_eE4a3Qc7ZtUKlK6OY8l5EdXJ9dmaXu3hPUx6InXFR06ONmcZReuiF-4OkRTt3fMOsdb4uuAgllme5ESSn-a7VnGjf0LTkv3Peq4Y08W8ubsQ6iPuW5R-H8dTpcHJ6t_TvSrzyGFD19bKPKXbu003gMImuG5D0o7XINdM4SDi--j0GJqEb1L4cqb6hhzUDmahytW1NwKFxksMUMV7-r-oT9w0aiXQcfDWpCSNUq0mPv8rqBomlHKTEaIYSAX1ju8y_7LHOapMTxIbmTV_Wnkj47gDHLdkvk0xv3QM_UTtdGt2xD5TW-oteabQt-OObEUk5tX0PPiTJ4eUlPr7_kezNpvm-RGYg3bVjlv7Xq2RzU0BtqNGEmpbBU_33X0iQUxWUXvxfmfBhMwy35ynNrRBPuUsFmByPCPMSc1fhbiNfNPXBvK20eLIFp1ZpoJeMWjWHIT5EKETdAPl4i2R3Mm7F5xurPC18T_9amI2WKOvfGbN75HncR7dD1TfBLF1gkqEFWGPuCAkc4QWu6hGlwwlGFwNfWWVv91a9f_2u84J-FY7dAyPOh-5gl5_03UqUdBpgxxar6BiWB55DCzYnM8ug2aYOs_OEk0wPzRRZZmmLUSr0wtHjqFJL4H_fgVmohZXBZWkzlaZJrhlkJZo0hyna8jnaD9zHyVchvv0aBZliP-k8b0UA-vv8PhXZyDwXG8ypV50NdWTfRXa5wlSXeqxlotRbszL4ElqFpbj3oKFos2N3bpSaJZlQfeonDJIz7ombzxjOukvbMPPOPrB_nzR3rO0tXu9YclBaZ5f3sazlsg3viU-rhoCQsNe8O-R0TN4CVMmlWkNh10kSzQylYyQqaHXpGq4UFJnFbNKT0QX30oa9PY5xAZthbD7sv7j_4r9i6Mv6_JIaINoG8VnJj4xuiqmw5LLDdtF3HJkXivkvTkpY7oc2V-X_R9NomO_gVuczKPHKaFByyL2e_atu4HXZqTm75eU3R44hanPl1o6PFsZ2_fBxYKdqu72elWQfgKERczih6f2AKssR3RgQOTHQsee50m9iJtAvPY1P0lfT-HzSsDujkFMUZ-z72GLYDhpp8aS8NDIJkx064oLLnYVR2zpD3WERDOZuZtyWl76tO0GpBD2VL2qYO1SbFnyGbwebaQjQ49Xx2fNjMSKJm2FTuVtbH5Ahe1BMNIRpICq4EpwaYNDP7s8YmSLODvwgk_UMzf3RVtNKr7NosAuLKKo40FfZPt4_C5wHBX1hyogkpAR6d2FGCh35cc-WASGflGeoomKtuvBzOMJ4HVaTVHlcBUEnFghUAie5JIOuqCbGniIkzENblAklVDGAzzodYWyzLCpmv3wcyInKwGJq44BIkCLQwnVpHeUfpYmJc1Pc23QaVI5UdJsX30Ab1PSBcPapQPxriZjNmZZcf1Vs_1vgtg-Acw0vKvOfSsZAn6mtIR712_ZEid2LaaWPULbCqdxQWgU4Q_9Rb-JBCAaMPqtMTV0hO1BYV0m4CPBjYQVckZy_Yqvqky619oQqVgpDAWqvRDCJzRBj1PvHKNDnR0mGUSBw8Zpdi2fg9NNRzvYFP7jZ5MJ9eqG41PHFSHTrVaaihVq91uNxim7NOlBgyHh8sNYARYUBXsPv5UITx8Nny7pRYvJT9Gk-wUT3mSuJgKeFbNWLmzC7wt3nznRe04aRVP1tiXgEOEb4R9nMmKfm4yhIp9c4-JuBwSwMKt2GKdDp7dmGce2QPJobMNyljTpebLDzcoiVvsiJkR_Do9nmW80RbGfHXIcHcUkjd99BlpeC0fattwFZ44412t4O1BYdwupYjHiTGLSC-RHzr5nZxHqFdTscb9sLlLZxrV2PamS-ednzxZwpxI5bboFjTbnv92QUtVpEQvwPxDdcrun0KWSJ1RazHzm1jDMg8Cu0lYZ6EXMIRB_84CxASSNQ6DFcAr10L6ZNZgZmHOP3WxiUrx5zp4rXa55q51hwxXOOhJG6TC5nMt-DN1PCcWLFOz7Ckv1sjTGyT2jijHvtSbeVQRYQMRXNIMA8xI8cdI4Fd5O21j9aC6FnCQ-1gewxawLJHUKU6DpfPFsLOE2lRYoTyT6L_s=",
  "id": "rs_0f2f0697e2a1f0d4016ab43c834b2c87d083623762d4c85468",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.13,\"left_z\":0.016,\"right_x\":0.415,\"right_y\":0.12,\"right_z\":0.016},\"note\":\"At low height the cap remains just ahead of the left fingertips, while the pen shaft runs slightly to the right of the right fingertips. I’ll advance both grippers a few centimeters and shift the right one toward the pen shaft before gripping.\"}",
  "call_id": "call_S9DUNUm9xWcpXS4WhRJkouKS",
  "id": "fc_0f2f0697e2a1f0d4016ab43c8721d487d094bc7ea609dce3c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S9DUNUm9xWcpXS4WhRJkouKS",
  "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]: [-0.4553, 1.8656, 0.7902, 0.2462, -0.3946, -0.2943, 0.9991, 0.4091, 1.8137, 0.7166, 0.313, 0.326, 0.1936, 0.999]\nstate[eef_state]: left_x=0.4118 left_y=-0.122 left_z=0.0058 left_yaw=0.038 left_pitch=-0.1791 left_roll=0.075 left_gripper=0.9991 right_x=0.4035 right_y=0.1172 right_z=0.0101 right_yaw=0.0164 right_pitch=-0.177 right_roll=-0.0886 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -8.6906, 7.665, 1.4481, -0.0904, 0.1783, -0.0366, -0.335, -7.5829, 7.3915, 1.6728, 0.0708, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2cfb6fc5493f1eabfdd4cb267bee735f3b40b00e07c116cc594c456df18683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393cd91639218204d387786cd769e8f2526f9372da25754a0c1da37f348e654f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b78d38f56e7e95c9b5c120238959ce5f2bde8595a44147eaf57ca85910676",
      "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 · 2.52 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6018, -0.3805, -0.0196, -0.0113, 0.9993, -0.0181, 0.7921, 0.6102, -0.3763, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0023 right_z=0.1841 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4427, 10.5368, 1.746, -0.0562, -0.0659, -0.0855, -0.5812, -1.1829, 9.853, 1.7802, -0.0171, -0.0317, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5011, 1.7004, 0.6533, 0.2356, -0.4107, -0.3046, 0.9993, 0.4988, 1.7081, 0.6487, 0.2749, 0.384, 0.2523, 0.999]\nstate[eef_state]: left_x=0.3762 left_y=-0.1216 left_z=0.0234 left_yaw=0.0091 left_pitch=-0.1577 left_roll=0.0692 left_gripper=0.9993 right_x=0.3759 right_y=0.1335 right_z=0.0242 right_yaw=0.0272 right_pitch=-0.158 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [0.4444, -7.4735, 5.3538, 1.9414, -0.0464, 0.1783, -0.0122, -0.5265, -6.7077, 5.5863, 1.9463, 0.2271, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4553, 1.8656, 0.7902, 0.2462, -0.3946, -0.2943, 0.9991, 0.4091, 1.8137, 0.7166, 0.313, 0.326, 0.1936, 0.999]\nstate[eef_state]: left_x=0.4118 left_y=-0.122 left_z=0.0058 left_yaw=0.038 left_pitch=-0.1791 left_roll=0.075 left_gripper=0.9991 right_x=0.4035 right_y=0.1172 right_z=0.0101 right_yaw=0.0164 right_pitch=-0.177 right_roll=-0.0886 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -8.6906, 7.665, 1.4481, -0.0904, 0.1783, -0.0366, -0.335, -7.5829, 7.3915, 1.6728, 0.0708, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2cfb6fc5493f1eabfdd4cb267bee735f3b40b00e07c116cc594c456df18683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393cd91639218204d387786cd769e8f2526f9372da25754a0c1da37f348e654f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b78d38f56e7e95c9b5c120238959ce5f2bde8595a44147eaf57ca85910676",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyNrB404bLa_lPuwFC9WRMenawOh9LMPgWdGq0W7FcAINxo1YjL5nmYLuTENxSoPLXjbHHYr2ciumj3TdglaPUzwRQLDQ9XcVm9FXoj_IhekDvr1BgBYbqoMoZxxmmUEVya3eIPYYJY8dZKcpX96kFA9Mo5X2lk_a4hOEDN_TzqlWRwU4s-rDxHsBlDwm9lPdMwXxM-DGTql3-kW6wizvGq8nxH6P66sQSi_ZfTjdAqkQhgkrkwGshs-v3hzlDPQMBCIJ-S8G5DI_2V6ouUAZQlg6l04EbEoKaEno3Ftes68t1ko4hFH4c7QNKjfNIri-Hy8ogMiz-7nW96yp-AZUgU9SyiiunHF4REOjQaaJeWd6ZrJgY0z_E5aP18UPXm8vh0UNQa5D3hvo1EbsEB3M9cFyAz_nUpagO_7gMG7Px2XhTixhswAjWYKRIcwIWznqjcm8XEA9GFsTkDTbW_FIzEWmtPcDQn0EJzbqz_e_uewdUiOCDJJJ4nN8aOSUMu0k_tW0pYQk01D2aWbpWgORgsN23ONX1ax4RhMVL8yq8fcQsEPohZQMi0TywXecZ9s0dZelGZagYZvc3ECa-t__5jFJ44fmL4UHCEPxclfgRUCe3ackp_Uy4qvec42bSnreUHr_k4kmpAb5O2mYjPCoJN_suCBiwVwq47Uu0B1ONTm96G813fbgRbqMMUffc_7vkQsOACk2KlEqig6dtKkvfJxEyYdqgTfRm_zc0PrtFF9HbtBq7-JWR9j8Rugu9Nu1EeKQ80dVCPCkF5nX5WcdXVq2r1lb6FS_I69hR7cOnyVk85EO67hXe5Pu397a4qAEO-Ll3eO3v31580uPYN13sg2jyWLyq9eB2voU9cGjsj93oFiLwc39-xZYq-hjs9LdPZYysYTACsKFGqj8vapBop5ZVvYIswx5B1t9ubTLJdhDA-07twb_joHX48LuvY7_asccXOjusls9bAQTNHhNWsyjkqz4wtAk9fGu4OIiMhbK8M0o0RfXzZcquAzFITdwzuYDvTVIM-I35ZfdUaK4GrV2E82gfcDZ2o2PQXaOOJlK_SwTEwMP8nh3n75bthc_BOCMgXhZKSAHjqS2kJhJyG42gCucokPwh8yGdhVAqmSWjA_w-arTkE9bYAEuujYsXTIMHp0RXDsw-purG_rGzgp-bp6sy9PD9ebi5R57nmwxfagLQs5ZYfRJLNNTAwWWbpAD4mLNxHnByCVnESv7dHxbHv3xVCNmsfgbXaTcnnK9h_JoJqTc6DSt2JkZ0mrDOY_mQgRVNjiiJT3dbKVrzmOJ298YGriXg41yXefmIhgwL2NilNMs8IAFOfQEK37pHiKCzBL11bSP2SgYmND6QafIjtQeps9h6mFksKs8_XNgBeWnrNUNi73oSy9tx956F4gq8np8VOtE-nClMsPpMob0d3avDkbbfklqyq1iDF8_6CvSBNVnWq-Fz0_3bR94Hk-v9df3dTOanyvqQETcx-dQeVyu6GQEbaYsCsr9yFJL6BWqoMu7RYOyuyRhGJ_tbRfwNnafvya__pN2mAZjQ6Bl7fOAhKL4cx1SsK9Y6XN6fbT4-na-FhwkTjJeCMx93fBcFGEkBNsQ_aRLDQbTcXvmBhTViwtaH4ByBZK2iS_oVhQyo_tVJZhp3zZBWuKUURHTW2bQD0JeFE0SaCOH0hHXUleMagPjSF7rRHaQzrotCeymVon_jW__h6N-6xqoYzKk6uCdo8hB-NYVF4IcgQycoMK4Wq8rTjR8ZQJnkrP5AIHE7vXkIr6rX7dHefFtCuzG29FhVZ7CjDZ9x7tN928oIhLJVmhTXIR16l5onMCNnNAdb8qBprIprO5FA6sx5MRnqkrO0JyQZW2gT2wx1Y4veUPGqxeb15kkvvH1F3BVWpKLuVw0ywQe672E0JtQFZsLEksGjIIvN-OWXeuEGk9Tgw2galU53MNT7k9qpnbkt_9eqXE9GvTsJBddrWASc_ObBv7wBH1X0ga2-vBNvMIIaeUhsYXic58xxR6GTdis4i0Nrk2N4VbabW_xbOJ3DTmNI_IAY9dR7tnKbrvU7A3cr_HM-5NVR_IlXUY9lnhRARJFTyg5ra3GoIdeRxj0TEzMUPQn9p-_Y82HKQ3DOGgUYEBDjAZKbKLWLXXN6ufb0nwr9u_5h4Ey9tnyJx7LdvnHKaQH-Dr0KKposnexclQHoltuNF-FxxvlIBnkCPEl4ThY8sjLiw-Zm_S108Gxc6xIYkZ0hEVIqNizQ88F8rp-1kgkL6xsNtTj_F-usbkYGrmv2k9K59VZm9-qw2UyoQnKJGiRm1-r_hUw7w-st06TnkShXJDHT4a7HOCT7fZUNNtWza3O9f6kxPvjqi6nkzhPH1Na_ODLU_jpDHjkwfUIz0-UrOblO1olJb_LNQknn3l6OGmJOpQm-ci4M7fYgF6l000FS6hFyfWbzyQHO6b_an412EXkv_BUnuOjaDLn66XxDpnqzHVu5prlxYIrpssmZDF1tCfb1FZ4RDPA4fgCCrt60pi1jl5czZtmIKU1nfIqrpaVpwi2AEqoLbPnPjC-m-5dXVgv9j8pmYiD4i7K9EJdGAzFCmMnjNJ_XakrotQLYwugFspUvYfiSGjy7x",
  "id": "rs_0f2f0697e2a1f0d4016ab43c89f00887d0a7163a5cb5b3f03f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The cap body now reaches the left jaw gap, and the pen shaft crosses the right jaw gap near the tabletop. I’ll close both grippers, then check their settled openings and lift to verify what was actually caught.\"}",
  "call_id": "call_y105fbncj9yh2G0FpuVTSaZh",
  "id": "fc_0f2f0697e2a1f0d4016ab43c8ce4a087d0b4b2363f8d7abb61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y105fbncj9yh2G0FpuVTSaZh",
  "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]: [-0.4522, 1.8755, 0.7933, 0.2455, -0.3889, -0.2951, 0.0103, 0.4004, 1.8263, 0.7383, 0.3153, 0.3084, 0.1703, 0.0138]\nstate[eef_state]: left_x=0.4119 left_y=-0.1217 left_z=0.0024 left_yaw=0.0376 left_pitch=-0.1878 left_roll=0.0743 left_gripper=0.0103 right_x=0.4103 right_y=0.1193 right_z=0.012 right_yaw=0.0354 right_pitch=-0.1718 right_roll=-0.0903 right_gripper=0.0138\nstate[joint_eff]: [-0.4308, -9.1966, 4.8068, 1.4383, -0.1734, -0.0024, 0.7937, -0.3624, -7.9111, 6.2974, 1.5751, 0.1685, 0.1001, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7628ce32b6b046fb4072bdbcb2868c59d34c7b2b7ccd391b0fd49d91c6eb970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9586316ffc60546dfe8fce11a73e97ff02f1c7b43c567efd80439883a942d3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00ecb14cb12e51157020312964b8a2a3d662d99d62429f06d58bc509006915f",
      "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 · 5.955 s

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

message 6 changed as sent

message 15 changed as sent

message 19 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.4624, 0.7513, -0.0162, -0.4221, -0.3061, 0.9993, 0.561, 1.4963, 0.7811, 0.0063, 0.4278, 0.2852, 0.999]\nstate[eef_state]: left_x=0.374 left_y=-0.1313 left_z=0.1064 left_yaw=-0.0153 left_pitch=-0.0802 left_roll=0.0333 left_gripper=0.9993 right_x=0.3757 right_y=0.1538 right_z=0.1098 right_yaw=0.0408 right_pitch=-0.0765 right_roll=-0.0463 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -6.4615, 9.4974, 1.6923, -0.3687, 0.1343, -0.0122, 0.5402, -6.612, 8.7043, 1.8095, 0.3883, 0.2906, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4553, 1.8656, 0.7902, 0.2462, -0.3946, -0.2943, 0.9991, 0.4091, 1.8137, 0.7166, 0.313, 0.326, 0.1936, 0.999]\nstate[eef_state]: left_x=0.4118 left_y=-0.122 left_z=0.0058 left_yaw=0.038 left_pitch=-0.1791 left_roll=0.075 left_gripper=0.9991 right_x=0.4035 right_y=0.1172 right_z=0.0101 right_yaw=0.0164 right_pitch=-0.177 right_roll=-0.0886 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -8.6906, 7.665, 1.4481, -0.0904, 0.1783, -0.0366, -0.335, -7.5829, 7.3915, 1.6728, 0.0708, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.8755, 0.7933, 0.2455, -0.3889, -0.2951, 0.0103, 0.4004, 1.8263, 0.7383, 0.3153, 0.3084, 0.1703, 0.0138]\nstate[eef_state]: left_x=0.4119 left_y=-0.1217 left_z=0.0024 left_yaw=0.0376 left_pitch=-0.1878 left_roll=0.0743 left_gripper=0.0103 right_x=0.4103 right_y=0.1193 right_z=0.012 right_yaw=0.0354 right_pitch=-0.1718 right_roll=-0.0903 right_gripper=0.0138\nstate[joint_eff]: [-0.4308, -9.1966, 4.8068, 1.4383, -0.1734, -0.0024, 0.7937, -0.3624, -7.9111, 6.2974, 1.5751, 0.1685, 0.1001, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7628ce32b6b046fb4072bdbcb2868c59d34c7b2b7ccd391b0fd49d91c6eb970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9586316ffc60546dfe8fce11a73e97ff02f1c7b43c567efd80439883a942d3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00ecb14cb12e51157020312964b8a2a3d662d99d62429f06d58bc509006915f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyRpCEcR8Z4trJvxN8wJHjww17rwHhMy8n1PcWbvkwVVnfpJRaGe8hbtogWrNmIv6V9c6cuygkqFP6ICrjKz8M-i0FPDTsXo-aYEDkELc8C3rFqwuvMCRzG32-ShOXDCBmspj0eLbHYNA-CIOwIq9k6NZAJwt6KqMD3-0gLjchW2WtLfmQp5lqLofb8y4Z2br7DScU_CXCc5sv3be6uJ02RfJbWFNGXjXFG3l1FlMNEjP9PgoeTmIiHNc_nsG1i-3si6tjsh6jQX1TYo92Qbpns_LDhW-rshA1UMDclhZxvcjHgB4NpcfoMB0K9uxQCWFzijaLK8Mh9H01AXbJRSkiXKAs4HY-R71qUhdry_LtV-_nyXyQSO7BxwEHT2eHDW2YE5M0OAVhim1H-4D-yl71hnupF0_BwCqjRy_psg4Jeo8ZseLWIgNIYSM0OyjZJzDxJRGrCnylwQoz8d0I66N-MmNRae_JCiUcRR14QUP4-EugxGKdX5VYiWP5Nu8IJyDqcEkpgYV7uphC08S9X4jcwajS-zRGb9VTMb8fumO6owC8Yfio_QccHdMsbeEMugZOPuYakSLTNLHTmj3l6bGslumvpdtLvLYYCJDu3Ge9g95re9hHvo4GnYyYzerU4V2edA2PBDywrxebgWYP7i1omvAH8CQDlip185pFddsGDG8rnRn1F6FuHNf89keD6gJOiAD5lvkKTWhT4AfNuPkzt6wgw9MWgTSTkhjPuJYwp8FUeRnEAt8A5_ZLqv2geHH6KJIhYxVqfclKyUN04vO-YPFuqWMg3W-R1m4J1OFm5wzseoJGAVePLhJEajZr50-SBEdbF0fRSRpQ1AT3qsrp_hglGPDyNnIQtt6ZJMn-57K1EBqAzmL4ZR8vVhfW33utmFxTLhR67-llrq-PzKJIYMjwAllI1gWXxOqrndH8ZPXxt0mwbPmYfsk2aDdNu6_-t7pHQY3pOadt-a_C_RGOxOjTgNcjebssPHue0wJ0r2skFHqAADKw8daUAZkZ__CCs-02CF06oGMxJKzCY5Oqf9RY402sgSUZjukWA4OR_6cd1E55Aoxl4AthZCoSqrQ8-F6foQowAtKOwr60I9yaz0t6ulOUYlIDPNn3EaLVXqDAdlFFs4G-etu-VyEWOBOKvgLGm5nKkx1Ny-hlY0Y1ozH3FwZUe7t0we6uogHpSSV5IpCj64bWoPwrQsI7R-Z8pN2EPXzW-D02IAZOr1hgMw3_VCXmn3R-mRnXAfwO3aGB-T16a8UKyQgNttcnSNwIVCMbvF1Z0KXo4aZ8Hbi53paBXS_4lFzVG4d0mX-hjBj2CY8W36Y5L5qBdwNDL2OyglMPwTuTaqC0tThxAB_Vs2lm22cZMhdef2iAfKtpIvkU=",
  "id": "rs_0f2f0697e2a1f0d4016ab43c902f3487d0b6da8e601033bdbe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_z\":0.09},\"note\":\"Both closed grippers read near the empty value, so the grasps are doubtful; the wrist views also no longer show either piece clearly. I’ll raise the hands a little to reveal the tabletop and confirm whether either object came up.\"}",
  "call_id": "call_RyVKXdUFLkMIQDo1mDtvI4Ig",
  "id": "fc_0f2f0697e2a1f0d4016ab43c908dfc87d09cef49627a1150d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RyVKXdUFLkMIQDo1mDtvI4Ig",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.6981, 0.8967, -0.0525, -0.3882, -0.2985, 0.0126, 0.4004, 1.6508, 0.8436, 0.0132, 0.3004, 0.1669, 0.0142]\nstate[eef_state]: left_x=0.4091 left_y=-0.1203 left_z=0.0636 left_yaw=0.0408 left_pitch=-0.2031 left_roll=0.0795 left_gripper=0.0126 right_x=0.407 right_y=0.1194 right_z=0.0695 right_yaw=0.0425 right_pitch=-0.194 right_roll=-0.0951 right_gripper=0.0142\nstate[joint_eff]: [-0.1983, -9.6068, 8.8821, 1.3211, -0.2027, -0.0269, 0.6032, -0.3214, -9.4291, 8.6769, 1.6484, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54a2f9cbd175b3ea5ab6030af7464c9dc80e9ef4c10c38a50b42d30fdac50d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170ea800299ae33db7891fbc2db3f0acc91c9a03e2d12e21658b66d23f31a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea665d8926ec06d4ccd9572b2703de1137c7aee6355ea7d4d039b0b8b4fa82f",
      "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 · 8.766 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5011, 1.7004, 0.6533, 0.2356, -0.4107, -0.3046, 0.9993, 0.4988, 1.7081, 0.6487, 0.2749, 0.384, 0.2523, 0.999]\nstate[eef_state]: left_x=0.3762 left_y=-0.1216 left_z=0.0234 left_yaw=0.0091 left_pitch=-0.1577 left_roll=0.0692 left_gripper=0.9993 right_x=0.3759 right_y=0.1335 right_z=0.0242 right_yaw=0.0272 right_pitch=-0.158 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [0.4444, -7.4735, 5.3538, 1.9414, -0.0464, 0.1783, -0.0122, -0.5265, -6.7077, 5.5863, 1.9463, 0.2271, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.8755, 0.7933, 0.2455, -0.3889, -0.2951, 0.0103, 0.4004, 1.8263, 0.7383, 0.3153, 0.3084, 0.1703, 0.0138]\nstate[eef_state]: left_x=0.4119 left_y=-0.1217 left_z=0.0024 left_yaw=0.0376 left_pitch=-0.1878 left_roll=0.0743 left_gripper=0.0103 right_x=0.4103 right_y=0.1193 right_z=0.012 right_yaw=0.0354 right_pitch=-0.1718 right_roll=-0.0903 right_gripper=0.0138\nstate[joint_eff]: [-0.4308, -9.1966, 4.8068, 1.4383, -0.1734, -0.0024, 0.7937, -0.3624, -7.9111, 6.2974, 1.5751, 0.1685, 0.1001, 1.2723]\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 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.6981, 0.8967, -0.0525, -0.3882, -0.2985, 0.0126, 0.4004, 1.6508, 0.8436, 0.0132, 0.3004, 0.1669, 0.0142]\nstate[eef_state]: left_x=0.4091 left_y=-0.1203 left_z=0.0636 left_yaw=0.0408 left_pitch=-0.2031 left_roll=0.0795 left_gripper=0.0126 right_x=0.407 right_y=0.1194 right_z=0.0695 right_yaw=0.0425 right_pitch=-0.194 right_roll=-0.0951 right_gripper=0.0142\nstate[joint_eff]: [-0.1983, -9.6068, 8.8821, 1.3211, -0.2027, -0.0269, 0.6032, -0.3214, -9.4291, 8.6769, 1.6484, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54a2f9cbd175b3ea5ab6030af7464c9dc80e9ef4c10c38a50b42d30fdac50d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170ea800299ae33db7891fbc2db3f0acc91c9a03e2d12e21658b66d23f31a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea665d8926ec06d4ccd9572b2703de1137c7aee6355ea7d4d039b0b8b4fa82f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyX7wQyCF_bp_ArFo9RvQU3LZJbgxVSVRjXblTS5-qTkGu8V-tZPPMM6I4SsGhGBME6z9zesT4TPjL2qopsrK-MLPvHNRN2Dlwq1QSbooi3m7_m5FaO3FJw6SBYLI3go1sI5JhltltpEWutNgm9BpxN-mGHOg9YsMaTNRVyLsvjXaP5ItkWJPqlA_ijGYwHsGRCWk9TihtklsbDGavyqGF0kzT8ZX9TGmuxllT6AZWlmnMwJT1t22JyTU01IJ2CmXioP3PyvHfpQRVMozwWW8-LZdzLci3RhBuYCOIXRFsFdBF92K0GSNAbALBxCE861FCGtuXv4BJiCJGJeZNE1CT3MXfxeOEOo99QHaUovjX4mnMRTlztkByZL_exRBm3XJFyeDMy5_ScLQDVj8nWsri4K7egc1uw7gTpzRbhuaGeNsQBvBvxG7UnOdx4C1eqq8LXBkcLVppblMZvWa2E-2wvUN9yEpkf4QnxNiCjQg0PzLY9M4iIJgImy1xxVFnO-VAO2BNrXe4ZvDhSci-Qc-1SVjWl74B_YlriuQRZkpsq1HbFwm67hG-wLyELxXmGRs4y1H4hl-3NPlvaS7ASEs7EjuizK8N6P5YoctTSuFPa7IijfpwUJ1URDrAP3ixrjQqltCUbxsAWRLEl1Rhy_FRR-lQf-3IdosGN0Lxdzo0C88XUdP01oMkUlRwfZgRFLoDZp8_CRnZNw9RQydsQCsK1gidXgWWQZeyE1YwNG4bsx3sUwGroRlSIJKDUp7suclW89KNkZJpkSErRNcwcICdkcWVb1beJ4ki-7BeMCr8449u2tSG1Ed9GAPLF1iPUuGqbc-YipG2G7E2ErPEMAQIvRrjVxqzCWOGtdMQ6Qv59KLiyLRQJdnGkxKR0xdW5sSf39Yxe7nc7KtSx9NeDbimQSNJopFrqYrfq_Bqj1jJIWjmuOnGt9_VHFikg9fiPSjByy0BMt6XxTqA2-9i5cxpmQXJHdqqWwSul2_SeajXM6Z2kXQD3UIbwhzHCrFBbK-SiJvQrO6kftwyy3hVIfSiHkNJvdW7YCLaagA8aEOYwaSOB6UOBAfAagy2DxkycBVm3ygm6HQl8OERgAoIk0OaBCN4iVg5Zr8cB6vYOPPgV1j81tzYG-Ln4NcXfJ9AGlXnuUjIT0Dx5psb7BXQW3uoPOM1jzg_P0lvGhfDpGdd-pKBkNoxoA48qk5SiXNADkZ8BFvGPR-9YSwopg1sqodO-7cB_Dws17B21CJmBwBdQLQ-ASd21Zqe5Qb4Cw1H3B2dWlWTY9W3DsDs-0Nsn-NlJcUn-_1dPzoOV5Rp_c731PtCfQFFecSyhTMQpn1hTcu1R2W8RWPFZPrFtEtfT50nGsA0bcPOJ7pLAB2RFF7Fl7x6_Wts7XnG5GaO1-09ydW-244ljQG4-5D62nI_bcpcN0G7QOt91l9Eotsnh_TtmTLkXpRFSKHnqf3TlYph0TjSu_vz333gdgkS2tCFLXS9nbBbjJVtf75G40ULn0LZXemjkiA4fPHUNRDiSgxk7ylmcmtp83hIQXXgHPcg0miqFozodqo18h1jTIk4OOBCoJTz1WoJvM3hnRBx9Klen-rhKzIlOrhTkDiUxw8tKge-Ey1bMd6EGO86xRSejWzCgqm-L8JHNiKX9W9FdmdZ1DYcbpZn_px2g4rc395a5nJ_8Dx98q5H31z7q5laHRP8vcO6TbTZCrFzk0ZNmpCaQ0UPekMzOXPBUDUvXsGrnYphflqRCf91LXy4suzHvdGj2v0Qa9Q2tJ-DHdpFbhSEomNnmDDZ1l19RaUinciNHqU220ZTCwl7rSn3ADpiYvKPcPCGKKwht-LHbTGF86eovDm4LP3PHP3Oe1zoS9NSifcRiQDf9kz8wNBqDv6P1M2OD1uiYnYEnN0jxV5Sv7CiKzbRbed66X4yGfdnqpiQDsuKhxDmBiZjcIzBYpYZepfYazlu-I0h4_d7uYeR_sonhfXnfshq7JPI7DC1I2cnHNKGHQKXXOsnSJNVb6dxr6d9fs3Gvwdjf0RIJ_xt58upnEGLdfQN1zrELZxbNlaF3umKyL3Mg4MMxEO1ADV8gmzoUmwxcxGkBdJ_KpqaHLDa5VwzusY4vdEb-222NprAi_8pwR67ZpRvMxixwpIwMJi_sb2rFqNkkBVgQmk1PjNTUttJb8sYSC3zKXwYEy0QwCd1KtApj1x4KIR6R8xfu175p1I59yntlqfDA3stsbWYJb9RLtbgBttXgxqBpYYono2g1eQgbApV5eijebW12LWDrVkUibHWhziejPmjOtJI1UPyq",
  "id": "rs_0f2f0697e2a1f0d4016ab43c93ffb087d098a857480f433bfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.31,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The right wrist camera still shows the pen lying on the table left of its fingertips, confirming that close was empty; the cap is not visible in the left wrist view. I’ll reopen and withdraw both hands to expose the pieces in the overhead camera for a better-targeted attempt.\"}",
  "call_id": "call_yzZfom6of4fgB1XrbGiz58iw",
  "id": "fc_0f2f0697e2a1f0d4016ab43c9720c487d087774c3586990397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yzZfom6of4fgB1XrbGiz58iw",
  "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]: [-0.6323, 1.2705, 0.8711, -0.5209, -0.477, -0.4393, 0.9948, 0.5617, 1.2148, 0.8158, -0.4416, 0.3889, 0.2733, 0.9948]\nstate[eef_state]: left_x=0.315 left_y=-0.1258 left_z=0.1437 left_yaw=0.0142 left_pitch=-0.2156 left_roll=0.0732 left_gripper=0.9948 right_x=0.3155 right_y=0.1237 right_z=0.1457 right_yaw=0.0701 right_pitch=-0.2052 right_roll=-0.0958 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -5.5043, 9.6342, 1.2967, -0.4274, 0.0366, -0.1294, 0.4581, -5.2855, 9.4701, 1.5604, 0.3053, 0.105, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdc6b926c9b44156918031d5acab8f56c9840237b5fe3719ef29060f49905b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0af6699d8d01fdaa370de06c6c44240b960c3483a763d1c900bdaa0811ef1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74ee6529f15b672a28ed28c00316657d42397432344fe17d4d7350be01edd35",
      "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 · 5.222 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4553, 1.8656, 0.7902, 0.2462, -0.3946, -0.2943, 0.9991, 0.4091, 1.8137, 0.7166, 0.313, 0.326, 0.1936, 0.999]\nstate[eef_state]: left_x=0.4118 left_y=-0.122 left_z=0.0058 left_yaw=0.038 left_pitch=-0.1791 left_roll=0.075 left_gripper=0.9991 right_x=0.4035 right_y=0.1172 right_z=0.0101 right_yaw=0.0164 right_pitch=-0.177 right_roll=-0.0886 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -8.6906, 7.665, 1.4481, -0.0904, 0.1783, -0.0366, -0.335, -7.5829, 7.3915, 1.6728, 0.0708, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.6981, 0.8967, -0.0525, -0.3882, -0.2985, 0.0126, 0.4004, 1.6508, 0.8436, 0.0132, 0.3004, 0.1669, 0.0142]\nstate[eef_state]: left_x=0.4091 left_y=-0.1203 left_z=0.0636 left_yaw=0.0408 left_pitch=-0.2031 left_roll=0.0795 left_gripper=0.0126 right_x=0.407 right_y=0.1194 right_z=0.0695 right_yaw=0.0425 right_pitch=-0.194 right_roll=-0.0951 right_gripper=0.0142\nstate[joint_eff]: [-0.1983, -9.6068, 8.8821, 1.3211, -0.2027, -0.0269, 0.6032, -0.3214, -9.4291, 8.6769, 1.6484, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6323, 1.2705, 0.8711, -0.5209, -0.477, -0.4393, 0.9948, 0.5617, 1.2148, 0.8158, -0.4416, 0.3889, 0.2733, 0.9948]\nstate[eef_state]: left_x=0.315 left_y=-0.1258 left_z=0.1437 left_yaw=0.0142 left_pitch=-0.2156 left_roll=0.0732 left_gripper=0.9948 right_x=0.3155 right_y=0.1237 right_z=0.1457 right_yaw=0.0701 right_pitch=-0.2052 right_roll=-0.0958 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -5.5043, 9.6342, 1.2967, -0.4274, 0.0366, -0.1294, 0.4581, -5.2855, 9.4701, 1.5604, 0.3053, 0.105, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdc6b926c9b44156918031d5acab8f56c9840237b5fe3719ef29060f49905b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0af6699d8d01fdaa370de06c6c44240b960c3483a763d1c900bdaa0811ef1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74ee6529f15b672a28ed28c00316657d42397432344fe17d4d7350be01edd35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyhI5_sAI5ldvVv7eVwnlOJBiR1Tqmbt56SKU-rDDd5VI82wblzJid2euFJ3axV-puc0RGpnL1_01ejnpe69wIf8eoZkWz6F-plxZzhnf-mlwQHo2hhW3R4WhGu6PCXcq5zxn9D4FJKdKQsTXKaWq_RHAJEbIohoY5VFFJ5E9IrKYaOhTVOJB_fI1wZvOm5SoOweiXtuE7-G4fvi-TBGELUfREpQqzD3HVnWw5-ykQj4hTQ0QNNljUlPSaf2KwHeZWiBvxTuAQ2ii7SzObZNDztHW9qMJcG9K3lUfuYDtS62Hps_Wxw8lin2GJFnmS0sSXKJ0CVIH0PhGRWospuqtOTkc09a4myadgOjUvMDkHAlg4eEKpMEaIEYKT_y1PQIsNnco2-xmzOzu09WcNHQ_yH-0EE8vM5Br3dCRPNhVcdC8mx6akUUgj91lm-UkYpZDf7hTHJo4PUaZaoCFv4MN5JVbAoXKlHBej8RO-8soxZC8Nd3GRG-9OwX0PKj6WDykl0HZ79sR1Mur6xFEi4ozH-hcrjpMCXo-F0iH55CHfY5STGDH863FxKrjS8xx_yfaY1P-vW4Mq-hpS0Da9paQre4keh6RwPf-OU_XwLYY_S0WAm2QN_VNaPj6LUTSQzcJR0YIQZMpcwt69-vKBqx_jhVZiw_1R3XS8uWy4wqWsMwPSr_J2sP-CVbbAP9Sji6Hfzhx3tTjJMBQOEoGdwYxLv64rKxno3HrL1VsBlX2pkDYw4yke_J2rLJDkwUXTVTFzEOOT0El7otMmdCHq-7RZh15QfXsbQyRdsBiDpamuAlWFrNhsSBRgs5WVUQzI6IBedDYAuQZErDvQQE6z3JVKO5DKdz4s8d_l4S-GN_jPCUaH8NCRCFIGvhNCY173LcExFRnbD_NH1KbYTtxp-PtoAir7kooON2Hf0KvKgZropxtkaoFqge-DiissJjX8gUkF27e5-X-Z2WhbfQIYcPkNEC-ZjXi7g46R13YYRmvqBvQkN39279-AD3LmUb2Zleu-KgXc44oDwd6eMU80DgvAJzBbL-M9Avf677MHcf6KABH44GakpW2mjKmxydvuRC_CQIlUDXyGiW2b60oHCJGigXXAy4izF04GpjixPzhSgwhk71qhVbM9FCnSSIDNv2Bu19TDBBrdKHuP_i8L5DNQKlGaab2ElK-m4CVLXmsUrNbFru5cIgRnn9VhmhAdDg1Y88AJv0Zud2n6IK0qjrl77X7G1p8PwGCvgvFmMJTvBiNNv1eByl8nRJf8gucsaDD9d0u7ranEl0ZBLHIDyIo3o7L7hN-Gf0QGqzyXcQUyDQkT6iYaQToE_ipbpwRN-163g4kNwuzp6BC10IsU8vET2RMo6vOgFVMmRtrDj7RCPiFARTCc802bGhmR7IaOGt5UBs6B_ky0rRpTjcLLVhibpVNhSFCJmT456V5IIWUEYz1UvIzgJ1qjomuFMR4-ccqbBrPTRM_skSyD5P3SN-_FFXr2-cBFytauVDJp4e_BTHoWykC9T699qzre455QC51FR44Q3_aDKMskG5zsHfa19ThtLbHbIbVst6qpPuYsLdrmozZP1qXt69sOdUPEmw1_WjkyyLYNRgEMs89Fl_PV1ybNk1XO1l-fmCXoRILinB8D91wgk66ye7mBiEoVwciJkyFXZ9jjrAK9YE5ooJbdbIbI49X40lrCyIUTjXzkswTnStOEOTFoDTpSOz5FJ1Wxd5Yd1k8g4nhiYjv9R4dM7TiNdJV_ryRgtIjwUTzcZg8u_jU65kTT1j12rqOn6q_gZX074Yar7jVTDfYUTToMxYzAoXTpAqA_0Q0S35AysxBREV4lWoQUICrOnfNs3Xy0POzok-aYO7aWpKHLKcT4IwRPvuMFHJF4v2ien7LkEeSrpI_Ip732H1lE2ulRZoybbbPS_s2D9Fb-76oskRq57xUecYImuJuHPq5ICHtgOlOoXVTnqrUab1YQsqc8Uqci0v5qKhKdiDH3mkiXPtgQrWX14tpnpCqHhUkvXtIjjM3tTgzvZt5fpqscEjBfV40oYEcir1rDFkdoBO5j9ysXxnfiHzWWxS-vCZ2fLgC5BJ9CvtHVW46nQRn1hsYE3RtL9ZEsB230mqlTkbE2KP8U5IvlJi5eOCHvqTA-rdMDDmwA58H1tSJnX7okoYKQKwXp946-dqRktifq28_BUstbknXrKe3EU459xcvOHfayMFmFKxIr23ky4uDK4Tzwecrq8qbHV7aYO2pUaJ6943-mY9X8HybUM_M1p2GiyMhUc7w2q-oGyw1xQDkot75bSTNKhMkzcKb8A3BJjmTrUAdZDgzApDwppX_G0UGWFbtH80q-37A9Yl6odsiLyAYEeyyy-udeYYzIQSH8nOeNzT_Vjo7Ntez8C6A2ExQm5iyu6pOKYGtODC73L2ZIAsuMigmeVDWdlV_EssPvZmAGH9zsvaZ--rYLFb3Yaa1TOcOW6b5rIJu7BMMqrlri4uuq1cJf8CjenpDwiw_rc_Hd2T2Ma2oYMX8T71KBk1YzEUO9NNKjM5XjHXgn3gZxkRl9g3mTArDCE5spb7yQVzRvML_TpfLaCnCUM1qPZOF9Bz6l-kLjkhGJbDbRrrd_qiAl2b32A0J2eCXCHn-ES0n_6TM6jfTdEh8FGy5UTXF2Yh0UXKZ61yNfFMZ9TekjmzWBg73pwEM1z33vN7dStquCpfDcuLV5b4-RK8LX5fLe7-o93PeZdf_abyFC9KZzdKyyAH3abUQ-owsKeaLZBW5-AeVshNj9hhc047LYY4VluIYuELVHPnhl8hvsG3ditCKVkS5fm0GvKeP0wtZZJyTBbzVXtX-ZJp0BrahTCYaUWXzxKMv8GyfbQFzoQG883pQel_5FeKUsnLy4USCF8m50AkhRdor8Sxqlxk5hHeKbrGygIKXVEzWKocKe-EC0c7mFhR64r5y637rwpQsMd-MY-YbxlxEBO9ZFZ00VTqiecaK-Vi6JiTVT7xKzw0K74FWthPoBZsB5CXYWRJHDRTVa8mGhE05C1sGEjFQJTSyRFewCwRTtDGAwB7tjbGNC4wKvN5ZbrBkXAPsBT0LRwnq6aJTjTX-LIWivNm_yiV8atCS3qxA1CmOKRti-MH2p4oTtYJb34IIUAZmtSqXQL9tdwKDbsBhuamUvTIprZe7jv9DPLXvXp2sH4hD-r8gIY0brmf5L6yox64vjUVZ1Sxc7nPkp9abdCCCerrwg53eKawcfuLenteEIlznc12Pk_hVWGfaDPXjFC-TJyZQR5gbAab52BzwxXd9aSJzhY7f-DH2xpKKl3PTqZAmCd26D9WUj3pupYNmxXZz1lVAD0rA4IPd9o-pk5Da-w2VV0y84dnzut-J3rbDJFXRvpD5PCEOddZJluuj81yIiZgGtcoeKc8jGv0kfb2Q51_WrlbZDK1chirDfCpLiOCyak5LDc9F3HQLv1SYEypsYWrdz-JGJ73RFCNTPReHzyWHR9sAGLkZcFBU2BqcFCcHk6Y2ZIlEj-H3BARK-4UXZzlmxU8JEvS_-DX_GMCfgmaYlrYebrKFYQik4=",
  "id": "rs_0f2f0697e2a1f0d4016ab43c9a21f887d08cc45045efc679ac",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyh5cTOwbJIZ-xcvEsa43rRGH9IEmAzjjtfEyXSOfQeFCSPCRNlINa7smvgFaPImSpZ5PrRghg0TtQDfjOFz2D0o1ea5aL6CNu0OI0dIvHytDypAeop5gJA7JWyJgBgkNgwvPlipgJUWUD1nLA2jHgT3hyWI0Iof1m6s8SHXpAlDaUyA56HbUTYjUCjutnb1MrYJDJfbYxs_7DG6a76rjtFoS1l07Soa7JhdLQYdjaKpOLW6988UIQ3hyhOFu_bYcTaZbwsZqDIq-SuJGZF6sIeWVB9TeoClJCAFLFaxur9Q_zvW7o7kgXyW11933CAqvkCdlHhPLiY6JoOe8tO-m5FsIR7jBeWGd_D9PxUJnHJFao_UAibny8WD2s1hgULvE24LROcfXiL4ufEsXD8Ifq1jONicuQoEcHfeClBiOp7gXW0n1q0kEPOVYklPVk_6M0pQCz2WRUUr3seLu-LJyp_MuDFdUVmpU7v4ya2zMeIjoTI9p3cDHUyzaUuovm-9RG3zA-qBf0BMyBfZF33YA1SC0cM82KJH0f-xDEST2iG9Gl5K6il85t1XPhPwczPV-oWsNZALTR04DxfK2qWUqHryPJsbtr0rbb-HCUGEhJ6dy09M17_yiH54fRDcr1lUtIpfDhQmsCi-M4wjD_ZCiMAnOB6bMBq-w8zsAxGDQqrcswOTMTGeZ-TyzaQHBddQ4H2Bfvgw2WPXqiGlNyX-2qSa455YirsRox5Oe7tNC7SygQQIXJFvvY0-pSFgXMJ9LylwMGZGHSmt2Il5ilbi8SwLqV6S8czR31UE4ea67ZTdZPksTSqayuW4XSApwDZHHYuGBL_n391FmJPtZ3-XCISU74Fj-vhyVHdeWfDOkoFN7ztEdqqaWPqeT242YPbWacIHXJk7krt7-sSohG6fYik82tKkJQgEbGGk-tyKZt1Q-_rWc45aFXo3y5tdXkKM8vZqShKqVGsPnHLcjBEQz_Snnbh4OEV9fCLlxEe0MkbKbVkdaxaI3D3hiS4oBW0CGTUCS7uimzIa5mhBhRSp4BCejtqvXmBVMRBp6mrxCkeA3Gal4O_BiAZ61DuQeJ01y4Uq9M155vDj5BQpxO3t1gq4y32yImqRZ5tsrao2cRnPfXcI9SAfPBnkZyMBLyJJdJQqrdkhmXz9bk9nRH_qVXKOrvhaxtYnn6etpycSMGJHQR8Q3RzWkBKheo1UvUcdqcsjrusAo5ag2Ob00mvs7v8YDdfV7pN3_eYTbizTuo5aQx9gMOUYsuw_XNotThbpgfYp8xA1Ao-CP0Yj9EOT42rHMy29E7zqrzrjy-_tEYg1jl0S8HNliHOWlSg7xIW8P4ytegjCOrEvf-zayLUtDQ-hvj88G6DFTSd_Kq3QtaqCi9aCq8BcKvplLpbwZLIzT2VAtIEfddnFMhRFYKguvoBcmAbaGGZnI0jFasAYBuM-pebJDD8eIGWKk7og0Ut-Mzf__1favZs4kW2WwsDyKbfihMEFvoClDwmiaYsGh4ImGzrfABXk63H8EeM_PxeS0VIPdWHPdacMSl-fyPYlFiG6pwJ_rJz_18WnoAuU0Uro7he3U6qw-EUKffdHdxGEWkcHYqAuVS1oUwibuMpLMm8kbgHaRl2t4BsVUssdrLD-oKYeUJHzy0k6_QSbZrQPDB17ETN84wBGDX7bTIghp-a0FKkEEGpDjkEXWtBW2hpq6ThgzgRc0lh6NDzjwxWdE8aZO072VE-RTmUX5Z-ND4PY6acQ1ec9Bj956GzSvMktIT-XwThS_TfHRu8i3RnvsajX72Uee675XLA245xvtp1GPw_BgrtpFZjoFPH0CpB_r0Wl8ksmbqymaygnE28CRE2_jhu0verPBd5RtE3gWYr8lSONWEF1VHmAlm96VynxDWldCmSfuqyp9fI-npTZI3LX0lzwBhZejFfPltCUtgfYcWeQ9JWoMf7t9BhfHXj5bfmHoHuVJbrA_ymtCOvDLKW7Rx9Fp9LI4aMXCek-_arnzoKgo5V-WohBVSa48kCoQ4=",
  "id": "rs_0f2f0697e2a1f0d4016ab43c9ec42887d0a245e3ad5bd71c3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.15,\"left_z\":0.045,\"right_x\":0.445,\"right_y\":0.15,\"right_z\":0.045},\"note\":\"With the jaws reopened, the cap is again visible ahead and to the right in the left wrist image, and the pen lies ahead and left in the right wrist image. I’ll move the left hand rightward toward the cap and the right hand leftward toward the pen, aiming each piece closer to its jaw center at a low hover.\"}",
  "call_id": "call_icDYOoDeC4ritUcu5Jrv1EzK",
  "id": "fc_0f2f0697e2a1f0d4016ab43ca0773887d0a913c7b72e20bdc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_icDYOoDeC4ritUcu5Jrv1EzK",
  "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]: [-0.5098, 1.7992, 0.9218, -0.1001, -0.4099, -0.3569, 0.9959, 0.4416, 1.8435, 0.9634, -0.0196, 0.2935, 0.1684, 0.9958]\nstate[eef_state]: left_x=0.396 left_y=-0.1366 left_z=0.0268 left_yaw=0.0483 left_pitch=-0.2981 left_roll=0.1179 left_gripper=0.9959 right_x=0.4201 right_y=0.146 right_z=0.0285 right_yaw=0.0793 right_pitch=-0.2946 right_roll=-0.1274 right_gripper=0.9958\nstate[joint_eff]: [0.4991, -8.6085, 8.6496, 1.6142, -0.0659, 0.1832, 0.1001, -1.2376, -9.0188, 8.1436, 1.6825, 0.1783, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b9217edc9f828c105a82c042a38ee2c388b877cfdd5cebcdb9f9eb9e51eca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56019856aa0aeb2fb0aaac59eb692537612df1190c1df5e9f6c2412b00301c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c481ebe03ef384726af7a6b4fc7ba32ccfa4bdc93be7e17e4d295a4d2e862f",
      "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 · 2.26 s

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

message 19 changed as sent

message 27 changed as sent

message 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.8755, 0.7933, 0.2455, -0.3889, -0.2951, 0.0103, 0.4004, 1.8263, 0.7383, 0.3153, 0.3084, 0.1703, 0.0138]\nstate[eef_state]: left_x=0.4119 left_y=-0.1217 left_z=0.0024 left_yaw=0.0376 left_pitch=-0.1878 left_roll=0.0743 left_gripper=0.0103 right_x=0.4103 right_y=0.1193 right_z=0.012 right_yaw=0.0354 right_pitch=-0.1718 right_roll=-0.0903 right_gripper=0.0138\nstate[joint_eff]: [-0.4308, -9.1966, 4.8068, 1.4383, -0.1734, -0.0024, 0.7937, -0.3624, -7.9111, 6.2974, 1.5751, 0.1685, 0.1001, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6323, 1.2705, 0.8711, -0.5209, -0.477, -0.4393, 0.9948, 0.5617, 1.2148, 0.8158, -0.4416, 0.3889, 0.2733, 0.9948]\nstate[eef_state]: left_x=0.315 left_y=-0.1258 left_z=0.1437 left_yaw=0.0142 left_pitch=-0.2156 left_roll=0.0732 left_gripper=0.9948 right_x=0.3155 right_y=0.1237 right_z=0.1457 right_yaw=0.0701 right_pitch=-0.2052 right_roll=-0.0958 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -5.5043, 9.6342, 1.2967, -0.4274, 0.0366, -0.1294, 0.4581, -5.2855, 9.4701, 1.5604, 0.3053, 0.105, -0.1245]\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 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]: [-0.5098, 1.7992, 0.9218, -0.1001, -0.4099, -0.3569, 0.9959, 0.4416, 1.8435, 0.9634, -0.0196, 0.2935, 0.1684, 0.9958]\nstate[eef_state]: left_x=0.396 left_y=-0.1366 left_z=0.0268 left_yaw=0.0483 left_pitch=-0.2981 left_roll=0.1179 left_gripper=0.9959 right_x=0.4201 right_y=0.146 right_z=0.0285 right_yaw=0.0793 right_pitch=-0.2946 right_roll=-0.1274 right_gripper=0.9958\nstate[joint_eff]: [0.4991, -8.6085, 8.6496, 1.6142, -0.0659, 0.1832, 0.1001, -1.2376, -9.0188, 8.1436, 1.6825, 0.1783, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b9217edc9f828c105a82c042a38ee2c388b877cfdd5cebcdb9f9eb9e51eca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56019856aa0aeb2fb0aaac59eb692537612df1190c1df5e9f6c2412b00301c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c481ebe03ef384726af7a6b4fc7ba32ccfa4bdc93be7e17e4d295a4d2e862f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDynLUw8kcRgL2oub4hjDUQcHn174qPdJ4Ed_9iBx05fCojdIC8m4LlGI_t81AFr7hzvLmLIAC9z4c8mB_MWjAPyjCJYY_BQmhoOtjZ_nBhi0Cco_aXZDr9lWNtinGkrd7kAurhKC9MZiv4TH1a7AbzAv1-QCJAyiZkTKrC-m2mq3CjUw9lEMudJHWzkZAQRRn5syGIhwxf1yAtnyNiylVfjGJ1S_JhmGbLqZpRuVvVCPTBU0uJqp6JA7wA7S9D1yyFTTtoFxshUeNGUI98xFgOXp7OohoNM2vj_4CESiReqPCw1hbdp0urkt9EyZgpgDI8bmeq3GsS9BqjmJBAn7H2Ry-R6qzMvHzp2Zn-Ln0rSnaQsy4EQfl6z_xzngypg2oDf13jCCT6o8W0x-UHj18fKWXKbqkYYMV4L2VQzYSsB0T_gfbmi3TjrIuvy6Ft_xN_weHse0i9qknDd1eeGbkwiBwga7aa1GXT05J4TqQwb3rBW_T0IiaguxSKUyU13uE9w-F2wXc5lIymqSENcTT3upvjGsMI1fkw8v4zv-h_nGXrv3CPgKebBXT-i-NwOgbZngViE0S4hLmdcPRDI0rB5rPfs6jZrVqbHD-VTAhz936qIAgxLXziKIxUaNpffFXrMaUbFf6TeLm__NuNsP-XHd8asP001Jxz9Mx9qGJ_od-tRNQedZqZR1513Nv7NVpSTU8mKtmyvcWe0sDZRiSXKiajQrMLrc_TgsBL8U0nmzxjKlapiwFLXs1yDUXgQeO720tt_akljBZ7-w-pUCxNKqVY6gd86rArMfOiLc2257bXRneXrkPuDjBzgrwPATPL2NVIewToEAG1ephTeZ1sfNND4jgqCeYCw0ykTrCCck7WbiojMFyIYcogRoURhGWrZHAt41E1DZi7eX-xYxluJP8t-y-ynpcNim42l9cRxJKEYBPcsqroC2rb04k5oPAvs1iOn0uOWXSmjsLR90eoYjHa0VhMAjmscXgpq9cMJdhZXeSuMnc7iaVubsTL11rVcwpna2ctRON0mxPlwgZq2QNSR1nmUUtOjnYyrWbTWsAMw33r9LhBL2-wUXSwhZOJ27yg-CDhtSEXDMN7nsYR5Ek_lJ4Xt4npibNE7JAmI8lCgKl6-8QteOBNQFF2OP3Bre8mG_izIjHiIeeSCu_ZdqSXMFkNesGWcb6yaNKuEufietggCE6l27FtpBeKHH4GP80aTkhFLC31GFqR7GPNqtciB2e1g5knU3ktUe9ocosnElgxSYLxFlAwveHRlB_g9Uat4dloNoUTO7NWlKYgllVIvKYt5SrPFwZuF-JUsf6fgOLV-_fKjahDrBUIBwlU27OYeT9IaC-0Yo9yxEXHx8YnvqHB5C0V7JxcTEys60tGOF07hnEgm1RRd3_Rszrnfhn7tOhc7CVrUnXESnfdXZkr-rx5GaQxgLgQhhRmwnOIpMohz07QIDyKAF3njgr6ANDoSTSHYsXKeqTYXNcy5-riHsJxqFWK_2Y7XVx0_kgsy2rZC_dYjmUai2c-o-k0x6tJo2dBiOWrYWavyd5vOuoipwzTPSGqHRoMzIvdqxjf5UNX33jqggZoGW_-lZrH6O87Ddl5TbFnc3Pmcwwp66iCsIBU4CE-J6kmfx5tWYGs6p8_9fTqj5E7TDW8y9CwMVe-07uOAApNXBJCXwQbzHVJtcknub58vwCimVyAV7pv7tUPqLaw5F2BFXP5wtzkwmgtrPaHUOQOKLORwsIcHQuj2rK1Er8zUKIl28pfU016totXlHom4mGVW3RAhmsVYwZ6vp2RqHM24IMfn59C-qJwQdb8irfSbAxN5QWTXp4JggZBvV7xwXJ95YEKJ8Vty97_djmTW6R8aQn-Fp4HbwcAOydowU4KeLfoVZlZnNP1cQbgzgUhbyelDmxLxxYXraHo4v5wyYPQRb8zgkd7yn8nPmYefMIo6zah7YIlgLP2ofNGtMdpp2S0WW5ta0TSwojRZYZseCgTiW9bWDCY-01LPVQEK5ASa3va0ZXb0xQfUMqxflF1g2fi7HPH2tzj4ZuKR2qYaIFvb2xTX6U-EuqyohGY8F8BUs9jb_oYWcvhIDt7ZpDSjtfzRHnpB8fUPMZUdOCrdtswnOrDyeL4Khix8lsyFIv7FuKIpYy9GsmY=",
  "id": "rs_0f2f0697e2a1f0d4016ab43ca369e487d0a4b341bf11f06e57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.002,\"right_x\":0.445,\"right_y\":0.16,\"right_z\":0.002},\"note\":\"The cap now sits at the bottom of the left jaw column, but the pen shaft is still slightly left and ahead of the right jaw tips. I’ll lower onto the cap and make one small forward-left correction on the pen before the next closure.\"}",
  "call_id": "call_2S0o8S3JXapK9CoXptpv5dzS",
  "id": "fc_0f2f0697e2a1f0d4016ab43ca5557087d0af256bb6cce2e1af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2S0o8S3JXapK9CoXptpv5dzS",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 1.8351, 0.9081, -0.0246, -0.4114, -0.3573, 0.996, 0.4416, 1.9343, 1.0161, 0.0135, 0.2836, 0.1593, 0.996]\nstate[eef_state]: left_x=0.4021 left_y=-0.1382 left_z=0.0181 left_yaw=0.0491 left_pitch=-0.2754 left_roll=0.1044 left_gripper=0.996 right_x=0.4341 right_y=0.1545 right_z=0.0122 right_yaw=0.0922 right_pitch=-0.3025 right_roll=-0.1279 right_gripper=0.996\nstate[joint_eff]: [-0.4171, -6.612, 4.7521, 1.3944, -0.1685, -0.0415, -0.0024, 0.3077, -8.2393, 6.6803, 1.5507, 0.2808, 0.1197, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959a2d8232a049e30b68a1d3d0a1123ab4698b5a58b22fa38c4b8a01ef9dbf74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebaf7e8a7458fbe7b52c641751eeabdac52bfcbb5ed382691d60a34fd7dc8a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad1c5702e2d906d4b52d7f3d9dcfe5f0aa58a3e4e29c953049c391c6c6d480e",
      "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 · 2.815 s

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

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4519, 1.6981, 0.8967, -0.0525, -0.3882, -0.2985, 0.0126, 0.4004, 1.6508, 0.8436, 0.0132, 0.3004, 0.1669, 0.0142]\nstate[eef_state]: left_x=0.4091 left_y=-0.1203 left_z=0.0636 left_yaw=0.0408 left_pitch=-0.2031 left_roll=0.0795 left_gripper=0.0126 right_x=0.407 right_y=0.1194 right_z=0.0695 right_yaw=0.0425 right_pitch=-0.194 right_roll=-0.0951 right_gripper=0.0142\nstate[joint_eff]: [-0.1983, -9.6068, 8.8821, 1.3211, -0.2027, -0.0269, 0.6032, -0.3214, -9.4291, 8.6769, 1.6484, 0.188, -0.0073, 1.033]",
      "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]: [-0.5098, 1.7992, 0.9218, -0.1001, -0.4099, -0.3569, 0.9959, 0.4416, 1.8435, 0.9634, -0.0196, 0.2935, 0.1684, 0.9958]\nstate[eef_state]: left_x=0.396 left_y=-0.1366 left_z=0.0268 left_yaw=0.0483 left_pitch=-0.2981 left_roll=0.1179 left_gripper=0.9959 right_x=0.4201 right_y=0.146 right_z=0.0285 right_yaw=0.0793 right_pitch=-0.2946 right_roll=-0.1274 right_gripper=0.9958\nstate[joint_eff]: [0.4991, -8.6085, 8.6496, 1.6142, -0.0659, 0.1832, 0.1001, -1.2376, -9.0188, 8.1436, 1.6825, 0.1783, 0.0513, 0.0952]",
      "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]: [-0.5064, 1.8351, 0.9081, -0.0246, -0.4114, -0.3573, 0.996, 0.4416, 1.9343, 1.0161, 0.0135, 0.2836, 0.1593, 0.996]\nstate[eef_state]: left_x=0.4021 left_y=-0.1382 left_z=0.0181 left_yaw=0.0491 left_pitch=-0.2754 left_roll=0.1044 left_gripper=0.996 right_x=0.4341 right_y=0.1545 right_z=0.0122 right_yaw=0.0922 right_pitch=-0.3025 right_roll=-0.1279 right_gripper=0.996\nstate[joint_eff]: [-0.4171, -6.612, 4.7521, 1.3944, -0.1685, -0.0415, -0.0024, 0.3077, -8.2393, 6.6803, 1.5507, 0.2808, 0.1197, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959a2d8232a049e30b68a1d3d0a1123ab4698b5a58b22fa38c4b8a01ef9dbf74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebaf7e8a7458fbe7b52c641751eeabdac52bfcbb5ed382691d60a34fd7dc8a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad1c5702e2d906d4b52d7f3d9dcfe5f0aa58a3e4e29c953049c391c6c6d480e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyqE-jwEjUF-g0fB3N-lu4oVRv2AUBdjgr9iLZv91zQkyLuDUGnK3nDeTEnwjTNEmEuGSSEp1kIeGqheXJXDzA-9Niz-xJfSDMKDgJ5AngaRMhT5XZPafkRH-muYnsGDMYwKzd6axkq_OFmlnWnT1lOisHqIJuZX6_G4wHp-GVwcsKKUw8kB39uJQs4XIjeeX3zuoc2dZWZc7KoTLOEOLASbmB53ErOvTKVmcE_4awe_zDgHYTUgjCxOLQUZqlzMsLXG4fKm0zwXyzTVjtAaRW3oDti-_1h2tBtBuVI5i35ZZFtIP00_cMxF1Gcfo5NXDs_zkq_29N58ftT6SWdPAAyANAbHy9YCisBwYg6a-6DswsKSkMsCbfrG0-HtQ4DtRsgr8RP9y3nmgi5HvxO12iL_ZbBeSYnuyLG5H3e0NN15fEPCXJrdzQTc0tOhXO6pYqhuzmYkOgWY-4enYZWC-6gxaXCf-xkAxysSjnzLuzI36TzE7gbYF0Q4t-e2vMZRXXq88v708RHoG156OC3ONH9_Edg5_x3GDoyHua32JLWEO8P-ecR9Rmj47GxBkRn24G2EHdq5I3iJfVvs3L1H_xsimaCDMSTGorMP4wqL2fjD9w1Cs6geIQ3l6WUYQ-tpgwCfckefd5jzgzIEwrYBWIhhHptLYRmKVA0hrqlohh0AFW2Mp-zOawSR4eAs1_6G0cWMGKdzQrzc3Oirs2sEXCVzlRZI_4b5oaQGnuimeiY516RF-0kU7sUkqsAXzPVXbQ-PJvxOC4p1jhuB0LBfVYPgMw889mYDiQuUvrlb1k-lqCrtZKEutVVK_a9oqbFOAvU4A40_ChM8_Cch-Ui36w0gSRr5jwDnlQDBguzGzdd-kEwo05rn8Ul_kf5cvd4thb1e19P1dDgevsFwhEBYTYxstcY9Zz6_9-uLzlzMbYxsv1BgnS9iVS2fB_Mq1T6BLZOe6PbMq_yg9ZLH1556wfQXAkykl7WVjEYvlPVRkDwr9w_dDPirKXgIIEeBNyrT0L1DMkaA1BlRg4Gyq9SbqIyTD0U5wpd12sHyDuXDOMRbHGtAjqVx9hZQb4BvSwVnNuwWyoPfQ83VU0GAmvWnlOvGkOyo_J6OoaadvlavaHBW9HV-eQGzdj2gxqmLvJSvhezs0KTkxRT5arLJSScvRJDjNgjyTeV6vb9X6GRPorI55QPp1T4vmEl4l7rM0wLbYhJid7ki91kv_fLDq08PGAyQoym1hk7y7I4f-YiSGi3T05jl2Sq5bjFU1RDjxCx_s2mOT7qIjwtYtnGEIquRmUvtSQ9_dxfmy_iu6AMWmsxtGd18ERVuO5gDKeSJgOc9kSHsKVR0uG_X8CvhzqirRLAzW9OS5li6BLDP4Nt40a--JtTpYNgarnje3Cd0b_F-5UkePITeTYiaEKKQAASrnbpXQ==",
  "id": "rs_0f2f0697e2a1f0d4016ab43ca8df3c87d0b2783d740afb7a9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The cap has slipped below the left wrist image exactly where the fingertips meet, and the pen shaft now runs through the right jaw column near its tips. I’ll close both grippers and use their openings, followed by a lift, to test these revised alignments.\"}",
  "call_id": "call_HdOLth1DAXIadaY4fL3vgrie",
  "id": "fc_0f2f0697e2a1f0d4016ab43ca9342087d0ad883adee4772546",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HdOLth1DAXIadaY4fL3vgrie",
  "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]: [-0.5068, 1.8561, 0.8902, -0.0269, -0.4114, -0.3641, 0.0096, 0.4519, 1.9823, 1.0473, 0.041, 0.284, 0.1646, 0.0453]\nstate[eef_state]: left_x=0.3943 left_y=-0.134 left_z=0.0038 left_yaw=0.0592 left_pitch=-0.3099 left_roll=0.1227 left_gripper=0.0096 right_x=0.4424 right_y=0.1637 right_z=0.0058 right_yaw=0.1004 right_pitch=-0.2921 right_roll=-0.1207 right_gripper=0.0453\nstate[joint_eff]: [-0.0068, -10.0581, 6.7214, 1.2283, -0.1783, 0.0708, 0.7839, -0.6359, -8.5128, 6.2838, 1.3553, 0.2125, 0.2418, 1.3651]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cfab54318a97b0a20c73eb560e8802db7034665fde823f615b5ec21fa71243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9be5d30c7c8b7d983ecc3d80d94a5df21130c9a7e8e2efc97cde5ba3d77ab7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b363df4bb03a57a73ef0954f0b1925b49040d6982c7f8681fcc2945405d5a2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.822 s

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

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6323, 1.2705, 0.8711, -0.5209, -0.477, -0.4393, 0.9948, 0.5617, 1.2148, 0.8158, -0.4416, 0.3889, 0.2733, 0.9948]\nstate[eef_state]: left_x=0.315 left_y=-0.1258 left_z=0.1437 left_yaw=0.0142 left_pitch=-0.2156 left_roll=0.0732 left_gripper=0.9948 right_x=0.3155 right_y=0.1237 right_z=0.1457 right_yaw=0.0701 right_pitch=-0.2052 right_roll=-0.0958 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -5.5043, 9.6342, 1.2967, -0.4274, 0.0366, -0.1294, 0.4581, -5.2855, 9.4701, 1.5604, 0.3053, 0.105, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5064, 1.8351, 0.9081, -0.0246, -0.4114, -0.3573, 0.996, 0.4416, 1.9343, 1.0161, 0.0135, 0.2836, 0.1593, 0.996]\nstate[eef_state]: left_x=0.4021 left_y=-0.1382 left_z=0.0181 left_yaw=0.0491 left_pitch=-0.2754 left_roll=0.1044 left_gripper=0.996 right_x=0.4341 right_y=0.1545 right_z=0.0122 right_yaw=0.0922 right_pitch=-0.3025 right_roll=-0.1279 right_gripper=0.996\nstate[joint_eff]: [-0.4171, -6.612, 4.7521, 1.3944, -0.1685, -0.0415, -0.0024, 0.3077, -8.2393, 6.6803, 1.5507, 0.2808, 0.1197, 0.0024]\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 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]: [-0.5068, 1.8561, 0.8902, -0.0269, -0.4114, -0.3641, 0.0096, 0.4519, 1.9823, 1.0473, 0.041, 0.284, 0.1646, 0.0453]\nstate[eef_state]: left_x=0.3943 left_y=-0.134 left_z=0.0038 left_yaw=0.0592 left_pitch=-0.3099 left_roll=0.1227 left_gripper=0.0096 right_x=0.4424 right_y=0.1637 right_z=0.0058 right_yaw=0.1004 right_pitch=-0.2921 right_roll=-0.1207 right_gripper=0.0453\nstate[joint_eff]: [-0.0068, -10.0581, 6.7214, 1.2283, -0.1783, 0.0708, 0.7839, -0.6359, -8.5128, 6.2838, 1.3553, 0.2125, 0.2418, 1.3651]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cfab54318a97b0a20c73eb560e8802db7034665fde823f615b5ec21fa71243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9be5d30c7c8b7d983ecc3d80d94a5df21130c9a7e8e2efc97cde5ba3d77ab7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b363df4bb03a57a73ef0954f0b1925b49040d6982c7f8681fcc2945405d5a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDytAUSzLw4kPUTEDJDhU8jjrkvKTfP1IQaKKGkZFnqzF23cw9_49wMDWvuXVxq8nHC2PWziOMFJU7taGys-ATK72GuyZp0NfHuWmEYS__Kvz6Zc1rAJi9ZCn1BwZQzU3mbmm8NQgvxyCsTd8IiPz4Bz5DVGaLlF61JcbWla_a3H7S5vowB2aIqwKc9-9Nv7LZyQeSx_Ay2EH94ooA6HV9Nq_SVMRPBFYZsZK1OuFRhnDPDlMAUNnuhHJgejoIxiQ1XCBw13upd2fphNVa353TyDTEVh-myCdmWjD2dgZvPZYy9G8Trpk0siJABkvkcT9ZImQ2xuqaivKRPMeMueeIO4Qo7W8ZS7C5jQeBhDjabveSNWkfp0Ye4iF_WLW7nmX6FlBfvtNPEmRv73R-XszzzNqSmg2IG3UGzXLGAmxFT5QZhrI3HO7k_y-bFnISfEgN15I_GLj1LhAfe-A99-lyWAa0uoluQ4X4qG1ryewDr-IgQC__If4b3mhmtqk67yAOB_b1Y769KLge3GiqyyoXgZH71yhCoyGeS3J4EW_AMVBqOXyjrbZE87kwsWqgVoCiivKtYF0UMkzFQA2yIZE_n6gJoJMypVYND0coydNnwzHG-5vgOTPBnZO8AWXF5wJsPQURur-h4skjnXOcOIOeUakB1a2UqzNwqce5rC8QYoC-BZzY00ep4cIrW5uhkNxqXEa2g5RFGJOZo-fci9_W8hStZZXTdLSOmC0_8IPzR9H7e2ZoJJEf2gtGYjPe0NAlxKD7Cm860HKiN2PrP-T9TRJ8J0BDSTQtKvGBNmXPeoWP6Fw216VKEsa9unjlFFTHuVTMZNZ4jSnOIZs4G_RFnaz0fz9629WuBR1HAK_VL3I5oW-7FYCMLFC9s7ABokz7WpzYGg28emk1Gn8rUCgG946zS017M2YH1PoByfcKfXzZ_Ml9Rz8d7xBYlTeqwAZOgiN4XUZ_3_DoSs06JeIKXS9k_PpuGyck9Zm1aa8ilG1kkV15TvyzsP2gpl7kEEp6YYnXOuQMTk8CQr0hfbQlxzqpsD5Gp0CNdPWSWaccJgKPrj4kaQmCrVNAnIs5495qxUkLXIrmruPP5ncbhgjkJ-rK0WBIpNn8-_PtGQCpPOW9Bix7MIiDkoU_u5Kg54Xr9b2bWcJPyYuVibOjbhtew3nYRhaeV1ltRbnTErpUB9Vs47rhV7DcPRraZWdqhHqZRpLtl8Q62537fOxOCTIXC1nyqIZOeTfFSY0c4xLA36zKvF_tKaOYI8gz_c9qDdX13AgfL1wAdmcKW8YaDbpVGkD3igvkJSxz851ZG3X8rclMXgZ6hnHDpzLN_T3Q39u4a6KTYzW47YEpdIykjM-L2xaB0GJkOIQuwpT1GhXicyfbNSvS1TiTONPjQ6g1Z-mZrs-fwuNTiZ_9dKCmDNeYiZB6eeR9f2ve6pzXpVQgC6l_cB7yT3ij3qRSVy0_Q-TbFPZyF-b7lK0tdwxrGMpm6VpgMqYT7WffFfgI9Gri9B6GQMGro-QmRSQwHrUtJs1xI2-xWbYrzCUO43sPyakEuzajtojdz2tsO-r7C9gjdGWpRVEN2EbjV8XCRgyzDsDCFGQQUQw1IEGPKfYh91rk9lMapkgp7K3rvrNOQIzI8AiC8=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cac44bc87d0bb9a4ed50e9f562a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_z\":0.095},\"note\":\"The right gripper stayed about 4 mm open around the pen, while the left closed fully and appears to have missed the cap. I’ll lift both hands to confirm whether the pen follows the right gripper and to find the cap’s new position.\"}",
  "call_id": "call_1XUTV5iSQHQQ0Dl91sQ55qb6",
  "id": "fc_0f2f0697e2a1f0d4016ab43cad1cec87d0b76769085c026a00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1XUTV5iSQHQQ0Dl91sQ55qb6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.718, 1.0115, -0.3107, -0.411, -0.366, 0.012, 0.4561, 1.858, 1.1671, -0.2806, 0.2665, 0.1448, 0.0497]\nstate[eef_state]: left_x=0.391 left_y=-0.1322 left_z=0.0625 left_yaw=0.0644 left_pitch=-0.3305 left_roll=0.135 left_gripper=0.012 right_x=0.4297 right_y=0.1629 right_z=0.0569 right_yaw=0.1216 right_pitch=-0.371 right_roll=-0.1474 right_gripper=0.0497\nstate[joint_eff]: [-0.3487, -10.0855, 8.9231, 1.243, -0.2759, -0.0415, 0.569, -0.253, -12.7248, 9.2376, 1.8339, 0.2515, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099e95f45a78bc827b6eea4e6ad107718040ca68ea842bd3a1b2b92669f68f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9caeb400ba7b2b5d81aa60d5f88e4bdeef4116fc6355bb5767e137f948b0f8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c69a7e8612a5ddf4ed3f655d2ebdc2590c1f9097635fffcc690873a56139698",
      "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 · 7.239 s

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

message 32 changed as sent

message 40 changed as sent

message 44 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]: [-0.5098, 1.7992, 0.9218, -0.1001, -0.4099, -0.3569, 0.9959, 0.4416, 1.8435, 0.9634, -0.0196, 0.2935, 0.1684, 0.9958]\nstate[eef_state]: left_x=0.396 left_y=-0.1366 left_z=0.0268 left_yaw=0.0483 left_pitch=-0.2981 left_roll=0.1179 left_gripper=0.9959 right_x=0.4201 right_y=0.146 right_z=0.0285 right_yaw=0.0793 right_pitch=-0.2946 right_roll=-0.1274 right_gripper=0.9958\nstate[joint_eff]: [0.4991, -8.6085, 8.6496, 1.6142, -0.0659, 0.1832, 0.1001, -1.2376, -9.0188, 8.1436, 1.6825, 0.1783, 0.0513, 0.0952]",
      "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]: [-0.5068, 1.8561, 0.8902, -0.0269, -0.4114, -0.3641, 0.0096, 0.4519, 1.9823, 1.0473, 0.041, 0.284, 0.1646, 0.0453]\nstate[eef_state]: left_x=0.3943 left_y=-0.134 left_z=0.0038 left_yaw=0.0592 left_pitch=-0.3099 left_roll=0.1227 left_gripper=0.0096 right_x=0.4424 right_y=0.1637 right_z=0.0058 right_yaw=0.1004 right_pitch=-0.2921 right_roll=-0.1207 right_gripper=0.0453\nstate[joint_eff]: [-0.0068, -10.0581, 6.7214, 1.2283, -0.1783, 0.0708, 0.7839, -0.6359, -8.5128, 6.2838, 1.3553, 0.2125, 0.2418, 1.3651]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.718, 1.0115, -0.3107, -0.411, -0.366, 0.012, 0.4561, 1.858, 1.1671, -0.2806, 0.2665, 0.1448, 0.0497]\nstate[eef_state]: left_x=0.391 left_y=-0.1322 left_z=0.0625 left_yaw=0.0644 left_pitch=-0.3305 left_roll=0.135 left_gripper=0.012 right_x=0.4297 right_y=0.1629 right_z=0.0569 right_yaw=0.1216 right_pitch=-0.371 right_roll=-0.1474 right_gripper=0.0497\nstate[joint_eff]: [-0.3487, -10.0855, 8.9231, 1.243, -0.2759, -0.0415, 0.569, -0.253, -12.7248, 9.2376, 1.8339, 0.2515, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099e95f45a78bc827b6eea4e6ad107718040ca68ea842bd3a1b2b92669f68f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9caeb400ba7b2b5d81aa60d5f88e4bdeef4116fc6355bb5767e137f948b0f8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c69a7e8612a5ddf4ed3f655d2ebdc2590c1f9097635fffcc690873a56139698",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDyz5AjgvPb4Q21Ui-1_kWQ4Mm-2tcDpDGy-ZITUQkjLEUYoOeVD5FIKYOe91d1hM1Zh0mA3M-_jGQJKp_czH0V2PFaJMoMWnpggT-Op9hBGEyRY8iBYjwiAnHLLUp0jDgSNBdLb1pH3CQc8q9RozEPym5Cr_7av3Ycr0_-ZlrJ8y9RsCM_08oxe6n-4lt-bpqS-l605LuOUUFXCtdbXkUYsuK5CQpb7D5c8ILjjL3wB6ZIfDGZoVWD1QYHjtfX87OulXDcPtVifPUliddYAe533hN2cxbNgIxsWwaHXxCo6pcwwB7jZi8fyO5cRcQWkEFjPf8ICaNt9piiVTyZWAMmQD7fDmbEkqbN6tKBSLEbTOkwNffULKPp1_kJyQr1fp0XfvBg8YA-z1vy-0ZcxHmr9vTUVRCEGhcf6Syo5YPnCrAe6tUcbrV1VPFGlJJKTUrUD91JTqPh5nnhGAOhgn5OVW09yXwvDjTsFY6s2h8evFb2N4-o6XHpt8E2fzJSC7pgQNKlBXtIhKuilPa1lodATNBIHVXAABA8K_fBZOdbL91jLReQJaDKj5yvj53ZtqFHRyz4pcuWPFJgI5HlnnyeEIz7RYCNP_l1960mIKoq5uSMn7p_vnO7HVqKTNx6S9-F-jd2R9CnZlIfaLiSOUgeC0lFBD2CS16LTxb34Vxa1KeSrWX2fn2y8BowzsxFwhRgw3qeL0QolCkCXM6sGFujObrUPfZFJsSdft8-2Be9wb7lJPVylHb-JhiXbU4gHzJkVbtU8aYJE0PijnlaPF-ygBLr8_Nsb1_7ZMv4uxD-BuU7K66TkVrp5tRTWixnXJ6yfSF-TZxm3RWo36Vgjk7-fCqVEYEgekrWUdf5aN6E2zO3Ur6MaLKtDrCYBRp-7rwLRWcYn8KXxUB43ccDobxfk7AoVpCTeLriEXaN2Vqj4l2onmQm0Pm9qEfKxOV7A9Pd8krDaPnKfmYqksfNU-pO4o-m0Wtcn4YjUz8xvs5ZP8eytGzF5dfhDC4KqGP3SUIYZhcRaiB01biSk6IjnZMFqoZ24xg4Ay5MJtxGZCmMhoQNIjW_MDbQvYhN20ND0iBQrb0upmxbZ-U_g8chMYpc6XQZpEEti4Sl-aqek2nob8fTTwNXV3aedEDJ7c9hnxQEMS_K4lWiiyYLKc5CijHJp5H9_AtclgXfi_ePPoTTIi9GC7aog3ZRPZcqF94xsVJsggVKDD-ThejgAqh0p0LcdV76gz03T3yiU_1PzeQHs_6lV0XXmpWAo7ohIXLkiKEVBYel4j3-kYecAgG6sJa4nsbMv3jvyI_Jk5ElSxrJ5mRIlNci-erSZx9DmwAoH240bLJPA7zWWm4sNXaZ5mK6v2eBI6BPKGT_XVnr_HwTQJvqHJ-tkGWP62sopqr9xtqP-LtmUdgy5DMJD2ycwD2fRc89OMINX1lS3pbm4WFlJbjK32bBdSCIi7bMvai4lqE95XawGpddb8pMHA3LmPloO5qkEfzQf0VGeuofOFT63geL6u2ykVWHEwnZKBIrRZAY22ZnVLgpUZg3CLV50fSP1tDmR4BY35cjO0IXC__V7z-r6ZgCWp5Or1GtTLgX527ikCVsYPJDyko03IHwGzS2XrbIEQODSbMAnKh10PRH4csFr2h2_zm_vkWINfqsDeONMHPrK-0_9hwzE21QmGpdou4uctdZDGxxfUSjBpmF0eAJX1hFkQPecRJVoxsAcg7Xi0otjeNWGyG_027qaqApF7t6vwnMALyAvo3ihoZYM9Ir0gvqZRxfudgXkOjAAoMYEDLkAYdzi5eK3YzAvORfU7decULO3F8Lf8c1vH4-QiI_VixCOintx1C7lbxhRpqg5aY6t9RjlFUpTzv43VdCPgPoQjeF9d6MrEQCu3suA_jc6fpD98ejIGBUj8n2St1dHqQnjQSXa0b0fd6yLvH6efx7oVtpFWo-5uIxpe-oOmcz9QanaLzCnyrv2RojaYujgrE-T9_PPccL6_ezvVi-GaKC62N7VSF70xOXY6Fwycfx6rZJ6Uso6kdutf-v2WUWTYlp_AbskLD9RM4yZllP1tgnobJr56myFQgdkifCVrZq1mTdoPMiPHvSankSRtwbCuW1B8c7_oEuUqGkwrN2FLPC034OoAizSB3wj2RdSziQ6j74411P-3ifvdtCAegrCGXWeuRcXienvWSNL4tPj6CFdoy58m0t9A0HNRAlJ1S7l8m9BqJaOGSSk3AMCjgxeK7VH_7lVREPoLfY7avZ420jDP1qMUJF88I1fLiAaWJ5lXwwDo79GH0DiThmmHrxs4RoBIMmOiDtyFWMKI74Y3xJSKDqXYfzExRhNwB8WQdzl8CxUpAlKashNJ38iwRS3NQqtO_0OQlrTgxdxuNl7sbEyW4A3xwEXUIcbZhvP6tqHX7dG1Twfv73aJJgyfGiuR2b-faVjHWUJ-pFnxuNayyXTofXmu0u1N0ieiHsIiKni5hKmKcMpACVllgecQ_5Ku3AHupGM7pXaZsye9zfp8lacLDxOjoHDAqWhUOIiXNbq4aL9mhfgMC-DPEc3B-95VaJcGfJjuHFqtBLHB5cO3b2M6VD1EN9D05V2FZDSj3gP_DXngElMFflvTdYrW9Ksr4vJs_iCyOSkLdyRjADDZVUWvP8X9feAsjF0lc0FQack8VMD0yNJRI89m_2GkDal4zCnUUOzsTkiic802-o42LBx1Trm8A0WdI59cdGbextdZTxC4-D8MkNAVtr-JD5Q",
  "id": "rs_0f2f0697e2a1f0d4016ab43cafd8b487d0bc371e5f56fc67a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_z\":0.15,\"left_gripper\":1,\"right_z\":0.17},\"note\":\"The pen’s gold-colored tip stays in the same place relative to the right wrist camera as that hand rises, indicating the pen is being carried. I’ll hold it high and withdraw the empty left hand so the overhead view can reveal the cap for a separate pickup.\"}",
  "call_id": "call_t670uAwDMNuHqtMr1PYdwy6q",
  "id": "fc_0f2f0697e2a1f0d4016ab43cb25fd087d0a91d15dbf95456ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t670uAwDMNuHqtMr1PYdwy6q",
  "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]: [-0.6559, 1.4044, 1.0107, -0.6991, -0.4656, -0.4965, 0.9953, 0.4652, 1.8057, 1.4471, -0.7494, 0.2481, 0.1139, 0.0544]\nstate[eef_state]: left_x=0.3124 left_y=-0.1358 left_z=0.1315 left_yaw=0.046 left_pitch=-0.3531 left_roll=0.1383 left_gripper=0.9953 right_x=0.4108 right_y=0.1616 right_z=0.1232 right_yaw=0.1443 right_pitch=-0.508 right_roll=-0.198 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -6.9128, 9.7436, 1.0525, -0.4664, 0.0366, -0.1587, -0.5812, -12.7111, 10.5641, 1.9902, 0.2613, 0.2466, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e925b5e1da91ede9638a75da3ed6cf7c862bf9e30602d4f2c53b6ac19f1d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8d42bd5283fddccf0edf0ca7136618853d0c987db7e45f6965d1e46cabe9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a6223a35fb4e42ae734e29c1bdd45a9320ce73bb119b2a64626baf2f52fbcc",
      "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 · 4.715 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 1.8351, 0.9081, -0.0246, -0.4114, -0.3573, 0.996, 0.4416, 1.9343, 1.0161, 0.0135, 0.2836, 0.1593, 0.996]\nstate[eef_state]: left_x=0.4021 left_y=-0.1382 left_z=0.0181 left_yaw=0.0491 left_pitch=-0.2754 left_roll=0.1044 left_gripper=0.996 right_x=0.4341 right_y=0.1545 right_z=0.0122 right_yaw=0.0922 right_pitch=-0.3025 right_roll=-0.1279 right_gripper=0.996\nstate[joint_eff]: [-0.4171, -6.612, 4.7521, 1.3944, -0.1685, -0.0415, -0.0024, 0.3077, -8.2393, 6.6803, 1.5507, 0.2808, 0.1197, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.718, 1.0115, -0.3107, -0.411, -0.366, 0.012, 0.4561, 1.858, 1.1671, -0.2806, 0.2665, 0.1448, 0.0497]\nstate[eef_state]: left_x=0.391 left_y=-0.1322 left_z=0.0625 left_yaw=0.0644 left_pitch=-0.3305 left_roll=0.135 left_gripper=0.012 right_x=0.4297 right_y=0.1629 right_z=0.0569 right_yaw=0.1216 right_pitch=-0.371 right_roll=-0.1474 right_gripper=0.0497\nstate[joint_eff]: [-0.3487, -10.0855, 8.9231, 1.243, -0.2759, -0.0415, 0.569, -0.253, -12.7248, 9.2376, 1.8339, 0.2515, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6559, 1.4044, 1.0107, -0.6991, -0.4656, -0.4965, 0.9953, 0.4652, 1.8057, 1.4471, -0.7494, 0.2481, 0.1139, 0.0544]\nstate[eef_state]: left_x=0.3124 left_y=-0.1358 left_z=0.1315 left_yaw=0.046 left_pitch=-0.3531 left_roll=0.1383 left_gripper=0.9953 right_x=0.4108 right_y=0.1616 right_z=0.1232 right_yaw=0.1443 right_pitch=-0.508 right_roll=-0.198 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -6.9128, 9.7436, 1.0525, -0.4664, 0.0366, -0.1587, -0.5812, -12.7111, 10.5641, 1.9902, 0.2613, 0.2466, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e925b5e1da91ede9638a75da3ed6cf7c862bf9e30602d4f2c53b6ac19f1d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8d42bd5283fddccf0edf0ca7136618853d0c987db7e45f6965d1e46cabe9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a6223a35fb4e42ae734e29c1bdd45a9320ce73bb119b2a64626baf2f52fbcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDy7w1OF5tZtiKfLPA5zrCALW68pRoJcoFhkF2a16-9sp1JmZfTNSjtG9f9jmo6_y4JEmXc4ur90HqoW4gHQLXSzgk4ODJtEiOactbs5HbBoCWtx2W-1HU_i8Tyg6Km8NSSBrc9Wt74Hdjcya-4g9mafLnGl0QMQyJ8Aja05F4F7wRovD-Mpe6IKUNRBYjkaFpaIjjRNevqRo1esJn5PDLbFAR4Vh2hdXkcB1lnBY8ylRJEojYag9dkTLJz9y37vEr49EY6j8qrnzRNEVYJxXlxt7Th8DEzTPEdhtBKShuAnCbXfnUka_FtwWc1i0akSIwbvsMICFIwqtetTPbNWVB68G5A8wMo7jZLmotgvTYlCP39GpZf68PPnRV6fRZJeOMxFgCvB6hT8E3uhywrPV3zHdEGIOLK2tk7EwGKcpSItZnC1cmMdfLJJAQxnsiXBqj5ulzV1ogaS9cb6c8VShai2mVwl0WpUq_Ep7yUywH8iUQkVyT1surcxLlKi93mRdBC3de85CP9dJTAQ6QIrc7ZHbldCa1lr1ol-hkSp7m-_CE3dxnqAptU1Qpbcw9BrzOBmOklUdDxH_gPMiJoa0ugr91jXnuhZ-bxEJnprLIC-uHdzgbdII3qSXypkHhh19m0toQyJR3nMXgEMYcGSAjEh4FLyylQws4-RfbYOqfZU7lIckuLgXGeeWGKScHjxmkLpdoUFtDUFerJa9JvD46w98g7AI2jFstOiU17m8KPuKlO8P17gnOyev9dbu26q-K1OwEiyRwGCxKT5U5349LMW2IPOjtay-Vn9mmihBr738GNmcQsbt4-TgJFK6FY3le-6oeu6pMPRrdympxI0vVYomd4wSrYg5lBEQjHOYbfpcE0qrxkxx_p8vYunaT20mfUPQD4-O7zWq0nMQU0TCbC6zRklUg6diuKSa6SdfEwxRkheyS1wkb6LVkhq9A7SsYhs9-tGq2nRmvhnkSJp2me3agnIWreSFkAE-Nq5kiXkNMokOPQAr89fz39X7AvOSOY4wRc-0FoDngDhMArK1ZwluF-VapEMQH4CovBgea4OuPuxXNlyR9JHNTLhjpWLOZMdAFDcAI4RlEJ_1ZQd7flacTqfayddg-aZc6zfkFT2Q8suJb2KVp-N4oLe0oQqIHLiSJJKY-riw2vYK13BvBW0uc85JHvde6kfVqq77Qg6VouGM1HK-Y-bTSSX6tnbmMMPZtHB2xQyVRFlQH7qMwh3AMpqU113kmfgMyUhV5MolaVtHbGu1EGVXQyOl5E1bJI87dkMznZavsx1BUDTPaORRCJ_CUpnMDBbjsT_UhbHTFzCfmjCpjJPn65dI4vZh6Su_l5nFJKFH1dr5nlN9ej7A937xt68C3r_wtnZ8ol_1049zYgYJkcHY8PqS2dGrkF-GKPYGO8PuVg8jDa9FHkAYqkNIzOWxpY3yEAeQFU4nNJ8Jqm9Y4gzgOVHlIFwwWnHMqLcaIgnh2R2w61Ju-pLzQifzHr9HF-bng34YnLn0WFCuBxkuFhZpFX96DU_WxAVplsIACBsyy7qrotBca2TT_QaPuHLVTc_WJus837nTYDO0aELpE5UWK7tqDQ6DcmW8fefsqATp6HfckGI3EYWhgBv1HHP4L0Brs9vQ5R98kQh8n64hY9FlaRCx6ygjQBOtoFfjbeqiDSoJckgueVzRNyNBoP5AyJiCXeDwJq733kTHe1auXEpqqQfo1Wy1U-RpcK2BmLmqR8oyxYaNqY-iHO-xMn2KzN1n7EDpqc8psjjErwSSMmjNmlCkljZnpppuGcxiuGZkdJXGyBLHx1h4ozaDBb9iAgNPj4ItZUBUg3ZSYPoS6tIKVclpv_f8E2sByKVKh4186ERxVyObDxAS1sLUT_9PrhxuZ5pv1sXA5rDe9cU6bdm3mGpOeY0yIknqpzXUWdUHV6y5BPnHbT3BNLfn1FzBTHHFxC9nEdDqegGyD28OJjhjWT9vT51576KYRTYp5msDIRlWiW-5aXmCDjN41eZtrlCgzw32Pq3vx3CzbYtHSOFraCr_R80aKx8QS2f6-PQqqFQ_6n6NEhtooiDkMSMpmKlVo10fqnK9RT8SJNKFUzd49EX_-GO3-VIjAap9aHaze1QhqbD20Zi3kJemdZMRXnYSCAkYUL2Y1B1U6fTDp0P1gFY6oTjBN99-StF6FfZeVOOnfK5h_U3Rm1MDxL69mumoDANJf2KDhyHvl1biQYE0euWwYnyaQrk23HRv7UJpmkPlBhrFND1E95iqBHqwr1eCGrsEVpba6ttRH_uOULvj_M6ZzmPyuZ7sjJSa0JVO7beBHo0-CrckJnptLdoXwioN1fFBwJgElJXA1W_T5v9EoAn5hMRYub7aQU9OpYt2JachmmmwRHQNK94MsCwn4oXOIulTue6hD1esWAwhjf-9UtIjRlpUF4OYh-iK6zxRTnNZAZvI7iKlP3oVP9MkZiOB6WTnNdOoRyF4ouMRvuK0AJ2HFLjD6pQQFN6d0WvfbOSaVZmQX81q4lnoMPhdQFCmUDooGWQVYgB5AHRojAfQYzN8DfMgxsDUUBW2PUdmBSLkz7sCnMrLA-v48XZ2TCoHeZ0IEZADdd6QCLO-G-cjpRZzfCjXXjVqsef2BdM1ZCygBmTPd_9Uc5_JbckdoZ8g0slSASyJAEEFrDeddB588Imlm7mYzc74JXWf7S81cHpTg_LTXMN75Gw2779yTDU3S1k7i5kSgXSUzI092lPhAcCa9HXq43kXf5x3CdOY1e2gLor5uu0gPx9EfpG5HqxQu8d09vRZF5xM2fZo0bvw5_mKq1EOw7jegPgcVM9a6rLEG7Xw7YbVtxR3MdMHlV14RCTxdf5A0puvUEWc-OrEROyt80eUxZjnzIZ8k3GV_Y9kR0FV4BIgX-nQiXADVngUzZmPis0Qba049DIoH_OIowaC6r98g_G7cwpKIY6bWk2lnAkJG6Bq8cdz1gkV-G2dUorDsycjaGzT3Ny7WkrFOz-P3kMoT4PbFnFXNC_PssYh0SLIixPKdGdzHDnmQDTR633Wf5Rwv8O0Dq_F2p0zNB-L6lkPHDDaWKikde4h0nVggZk_4qkW4gzbzC6nchPBUR5X4jxjY8n7VhM0c3TghDMUJqjE3IDU_2B_OQ1nDXUqvIZHvh61DlotYqQbJDt8MPHw3MDY-vt5xocgPUnPXCf3whXGJ65EOOLN-kQk-07WHWJw4YXBgNaVWBsauHVpJ1fFraGJGghon77EraaX_542pari_gRtZaQVdsDUEXzR0BubGiy-FJkaJ8VwkozZFX9kib2WmfaovIRCB0nv31Orhqag5py4itpMI7YG_77ZSJdjRP3A1FwVtrebxZZlciE2SyFWWGonm26D8GA2dV3pf8lKQFFSAAIDotFrfacHt_KVew83srp09oUTG0SKwKK2d-T490m-8_7WwFdZQgxB099CBoGsq7kVjYEe-ShN7RxJaU--1bAeiVuXBoGDrclFRk6kIF1ULn01ikEl0fGjLiTONT3_zJuuzKo4t1TpCn0E6keva0j6XAZ35akRXiJSlO9fOMhJ6NM4JAWtfE2scDRm8YEK4jpQxGjs5gOghfPHf3Xw9j4mbi46US7W3ionkRr6Fc=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cb5640087d09e455c9de2c8821f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDy7KamQq-8CgCEFvIB1foubUE3JFk3MISLtmlKBPMeGitzZ-Q65Xuh9g7aMYJF1AHV8_txHpyBsP99ZXgX7O9siDLYmE7ywA_NHrs3Z_ysIN-QMac7mGJDpKTkx_h-8-yVa86Kj4LKxHH1in-Qt7Wt_uu9fPpBShmxQlwGPG1RaNYc3qgFIK1RQktr-ognSvoJgdCATF31Oj-d27LP32alc5X-37ryFxSQu4wOKqNffnOl3rSE0JXbmCKJBC5pKi9x_ytQ30ctaKLIbjEqx9iW6U6b7wQLwhPL034XuPB0HGBdgnCBqT8-Eh-ivaOIqIgKJm4WZNfKvxdQi2cYgBBQ43id4whhcIZx-p77LzA4G1HPvyPcJusjT5wTk0spxS6CKi0tLPrP2RZe144U1fLNtQz5RCRNfhKnVB9gErNSzdCFOe_0uW4YHZ47ehTNcf-CzrnnFV2XjsdcGR6B9xlUeRnreUrH9yoK7kfu1vTcWAWJnF2gcRzc850SyDf2K5TCUWsJfB-nobbk7lm1_OtjJHKh7vSiH6uVwCM0GY1VhX2Dahp1VlLyFKLjbrr_qdFCOdiu5LSy3zvLSHgHp8ge2HQe-pHrHkg5MJtqkPp5G57OkZWaAjZbzVmJnuXBYo9OGZEFjUm4UjoAfe2AZKVjAgf_4b2pXgBnDn787BRbSC9qzuA2YnrGO9HVK3f3DvexZ1MyeSrH7X_19BP5L4RQO5jgCi3XwwsxKSTqBKm4nDjE6ebxqSfbOOZI76sfRDyS5gLtwEy_KXq3TFbuWKEpgBUdyaQSQxruCgRQk8sbEIn_Fp7vblqJVs9qTV0eXYQ6SOh5g3sMCqz1P7LprTzV7mWIo0a2WhsalND_d_WevYiAAhMSYpcGlfDA4hRhTCQY9YYXDZJNqUVo73rba3IWDMFeA-BV3DMQJhBuK6UYiP-yeB6d9xP1krxCSAG8J2QUpFAdMaHuzPaxX7fdLFDMDOEUm04bIljifCxsyFYQlNvVTrlMok7MxBy3hIyZvmmLiCE1kIk0leosT78rY_JNcwEHEG8DVGrSm2NMwiLvcu0RxQPKl1Y7qaLI69mmdSOX5HRYdrzvzsmfGg1R44BmUEJ0UCGLe-tkM2mMrDPhpNZzb7aIr6CfETSACvtHbEFHR9ib7jdnvItj27sKkrlj7zyHkWnZ6OQk_xYqhcPSvXUQ=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cba20dc87d0b99632b5a27239b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.155,\"left_z\":0.025},\"note\":\"The cap is now fully visible on the table in the left wrist view, slightly right and ahead of the left hand; the pen remains steady in the raised right gripper. I’ll bring the left jaws over the cap’s middle, stopping at a low hover to check that it lies between their tips.\"}",
  "call_id": "call_RD4pCtCDI9hJextcwfjBMJRl",
  "id": "fc_0f2f0697e2a1f0d4016ab43cba401c87d0873f20acd5299bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RD4pCtCDI9hJextcwfjBMJRl",
  "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]: [-0.5892, 1.7744, 0.9375, -0.3092, -0.4362, -0.4553, 0.996, 0.4652, 1.8084, 1.4326, -0.7727, 0.2417, 0.107, 0.0581]\nstate[eef_state]: left_x=0.3567 left_y=-0.1444 left_z=0.0192 left_yaw=0.0816 left_pitch=-0.4148 left_roll=0.1785 left_gripper=0.996 right_x=0.4026 right_y=0.1588 right_z=0.1143 right_yaw=0.1471 right_pitch=-0.5489 right_roll=-0.21 right_gripper=0.0581\nstate[joint_eff]: [0.335, -8.5949, 6.5299, 1.1795, -0.1636, 0.149, 0.0513, -0.3624, -9.4701, 7.6239, 1.2527, 0.1197, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4525558bf353d87736277fda1a35196d7c672d0136bd44bf0ffce4438edc10bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aa00a86b97ec4b7ff6add7f2bc6f8b74383613b095889b5d11f65671ada09f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58953b3b0aea2a26f0c86836b3109c76ded212df7b24456748ffd1e46dcacf90",
      "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 · 3.999 s

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

message 40 changed as sent

message 48 changed as sent

message 53 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]: [-0.5068, 1.8561, 0.8902, -0.0269, -0.4114, -0.3641, 0.0096, 0.4519, 1.9823, 1.0473, 0.041, 0.284, 0.1646, 0.0453]\nstate[eef_state]: left_x=0.3943 left_y=-0.134 left_z=0.0038 left_yaw=0.0592 left_pitch=-0.3099 left_roll=0.1227 left_gripper=0.0096 right_x=0.4424 right_y=0.1637 right_z=0.0058 right_yaw=0.1004 right_pitch=-0.2921 right_roll=-0.1207 right_gripper=0.0453\nstate[joint_eff]: [-0.0068, -10.0581, 6.7214, 1.2283, -0.1783, 0.0708, 0.7839, -0.6359, -8.5128, 6.2838, 1.3553, 0.2125, 0.2418, 1.3651]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6559, 1.4044, 1.0107, -0.6991, -0.4656, -0.4965, 0.9953, 0.4652, 1.8057, 1.4471, -0.7494, 0.2481, 0.1139, 0.0544]\nstate[eef_state]: left_x=0.3124 left_y=-0.1358 left_z=0.1315 left_yaw=0.046 left_pitch=-0.3531 left_roll=0.1383 left_gripper=0.9953 right_x=0.4108 right_y=0.1616 right_z=0.1232 right_yaw=0.1443 right_pitch=-0.508 right_roll=-0.198 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -6.9128, 9.7436, 1.0525, -0.4664, 0.0366, -0.1587, -0.5812, -12.7111, 10.5641, 1.9902, 0.2613, 0.2466, 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 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5892, 1.7744, 0.9375, -0.3092, -0.4362, -0.4553, 0.996, 0.4652, 1.8084, 1.4326, -0.7727, 0.2417, 0.107, 0.0581]\nstate[eef_state]: left_x=0.3567 left_y=-0.1444 left_z=0.0192 left_yaw=0.0816 left_pitch=-0.4148 left_roll=0.1785 left_gripper=0.996 right_x=0.4026 right_y=0.1588 right_z=0.1143 right_yaw=0.1471 right_pitch=-0.5489 right_roll=-0.21 right_gripper=0.0581\nstate[joint_eff]: [0.335, -8.5949, 6.5299, 1.1795, -0.1636, 0.149, 0.0513, -0.3624, -9.4701, 7.6239, 1.2527, 0.1197, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4525558bf353d87736277fda1a35196d7c672d0136bd44bf0ffce4438edc10bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aa00a86b97ec4b7ff6add7f2bc6f8b74383613b095889b5d11f65671ada09f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58953b3b0aea2a26f0c86836b3109c76ded212df7b24456748ffd1e46dcacf90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzA0fPQZ4xO2Ag5fu3A4cm1FygSYZbQQc_ZzTRO5w7JSujSH-JzA4UtwIMdMlxwvxyUx9C72k05GDVB2bVuqfNRGHsIbp-ptOqZmz0b3LUT9fABah62o4fNv5MHEW-w5sqKoxfrUFNcSItrnz3FuTXDp5xwTHWufb45TtOMqFmz3Vk_aSgVYtTnpHLXWEYCS__sFwhRykgJMVVCdTHSWWwA59gFeDbM5GNVUjAEgY_nfn09N1QbfqGHqWeSjdhRtsmLCBSAOu4zM3uTMY-gMedyf05LPtuwuBgR_2Imo-tHNDhFvkOeE0Aj5KxBDXRqe9ryQQoXgKX5eLJjKMsUOjJ0huur3Gp115hID25KaSW0cTf7HuxKKrH_Mox6EhbccXyOzW5dOdz27iWv2ygLaSBPFdT2P7tgZ4uAlrM9793RVf3CUtozBrKwWIpEy1BW8-WmvKSd2_yuEi5axt-WcuTSaO04bA-TKlPQ2kbDj6ggNf912uQs9xPqwVLEft69N2Rt2j0RoWHEnLDz2lXUHJgofO85Rj2trMjXWec1azwsT1cjuEsXb_-PLOO8Fz1BW2cUK0VQVURY36J6oR8QOSFuLrlLGS-WsNrgxFoqnbStxfSyp1wQ70RPFG4G_zz4ry3D303emGKlu_oqhcGe5QwmE7PV4hbHFDKrttRuWuHl_-8lm77Oxxwzm9VUtuZa5u9xIOivNlE0s6KGyJ3pzI2HkmEZZ7PVEu-Ug2o_2dWPyZmWYaQkjNiA4Sw3n0DrsjCBeobqc3ChJ72bSx3j3jTpKoWzCUsaG9SHO4SKHL7RZ5wrqhAjOcKqlH0KV_x586cQNsa9hxheDJdHGrHgdtDWJEYTXGLhOECmFMS_G54_IMTh6jGXK6fpY0eJU3FaQJNWf1Us5fBBf9lcBY5fbz8R73ZxRxx0DMUsNq5bFvNsIvPCsAQAp9VbXgrJodY3AKwaXi8Yc_GzcxibtPfNlunTjLwxiz6mU3wlWmbKXOQRknWjgOOHKlTCfGMo4gnZ7-OaaPWlJ70HjBtMza8i9eIN6dEYzGH-QF0KRCPHnXzGAPTfq5t_MYEZeY9O1YwUjeYlViFlIeQw1NP3WYRwtZN59AuFb8x7TXhJoDS_xZV0zBU56IVufSnwpDIz9gMhrYb3ztP2tOOFvN8AHWzKkpQBfUbukdLBQTeOcMooyXXvJSL2FWhQYW4nPkWIbPaFfvN17xTPiPy6MyJwfgb3WFMbYDk-8fhZus1y4qJFPeArcjAQEeqHxUVd5TiH2k7iAYgNMz-dKMaeibRi44TBbgKDr3u8Mkk8X_ROeyNU2lPvWWfZivKu-PyFpS3tYPfCi3qL574FXA2I2KBj0VUtWfrxUCetbu1SiZjkElxDthKn7DKNeWji1rka5_Z7NGYFFJ3j-C-SVb7aLhKkrc8pwYK99u9PZ-kKLpStb0tO968gFm5L4SS-B-dLYPCpzAIQCGj_JMiVXSAfskMm3ourxxeMlQg2LPAZt7Hc11nvv1Bf68-wm7RvLxIXXplWjBShsCeIHq0ntHwq20FF7Udu3vg3pyxOT71zQnUzeC_NNoXdNQ8NfoQexp0ooogHOQvwKe4gY7Jad8rSlNAz8UU6iHppZ-CtqOgmJm2P84hphmWvUxZ_biT8hRy7-2WI2BlyJOWx7l800TjnqRPzXeDUfBDrGgVz_YIiQ0bnoiXVV9LQleymDr0ndQC-Shm9C_rPAzCZ2Phs644bKqzH7Kg13pf-JZ8JdjeFvCwwUCHPZkAyPGd94m3M31vuJH2obH8VSc0lE-veM0pgwAlQ-hUtHy3v-5h5zOaFNoqvUM19iG3POzY-7pdMiw88TgdmImR4Iu1JvbHLFK-AqwttzwGImEwMWmhlGNMGZJlc9kGeXOnbO3d_hXWssJl-WzJGeUf8ZaaEkG_OXfTNDCML9JLreMkzjckmCKf-DmGBmjM03oJVoL3IMmTMd-T0TZ8OdPbHvlHRy5NEpp7AFgSB8-ugVLnZhfDVMOrk5SbNa2woDSqW4OQ77zLEU7vHIhefAHfYPzTCmcFRme-VuqWYmsdKZ4XZEoP7ZRUuSsRyQ3PfLvx693hmOKCwn4J9fdmpnII7FH2tRPAdsmSCLGHHAflLLhfHnoZXwyp4LTxXr61J1iwQWg0duzJM7axaPzANYh1F3-F7NIQM4Z_3U8BvFudy_kIIsMCKcZiU5Nr_nFCqGfGHZmHY4y0oyUznidN244XeRbXz78okER7DJ5BE59TmyaJ3AbzrXA8p6eCMKZYsawvJfIwwowxsJrzuGbpX604mvqZ2m9KrNFqfEtxTseGkHqPN3XprZbYW48W3Pd8POLrhB5COXMnWUVOR9YOhKo2qPJTY5Yvuo8J2q9HMbg-6CqCM7BCGzrAYrabVsAPPGVHNM3aqGDyd90d6zwpSug5E1yVwatzNKsBG46Pvf_tZzAtSAA==",
  "id": "rs_0f2f0697e2a1f0d4016ab43cbcf60087d0b1ad2db67fde4ee5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.16,\"left_z\":-0.008},\"note\":\"The cap spans the left jaw gap at about the right depth, with its midpoint only slightly right of center. I’ll make a tiny sideways correction and lower the grasp point to the tabletop before closing around the cap.\"}",
  "call_id": "call_sTMwWkcleWiu1ApCV3RkAdcE",
  "id": "fc_0f2f0697e2a1f0d4016ab43cbfed8487d0ae248c63e5540db7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sTMwWkcleWiu1ApCV3RkAdcE",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.861, 0.9722, -0.2291, -0.4492, -0.4664, 0.9961, 0.4652, 1.8084, 1.4322, -0.7784, 0.2409, 0.1066, 0.0581]\nstate[eef_state]: left_x=0.3741 left_y=-0.1547 left_z=0.0066 left_yaw=0.0872 left_pitch=-0.3843 left_roll=0.1625 left_gripper=0.9961 right_x=0.4013 right_y=0.1583 right_z=0.1135 right_yaw=0.1469 right_pitch=-0.5549 right_roll=-0.2117 right_gripper=0.0581\nstate[joint_eff]: [-0.4034, -5.9145, 5.8325, 0.1978, 0.1441, 0.2271, -0.0024, 0.0479, -9.0735, 6.612, 0.9841, 0.1245, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02fc3af0e530b737ff627fe80de7f51583a2263f5e7ca2e8c7ac663522b040b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc25c8720f0a1d167976c3d48b7b4e5eeff0bee9a458b53188de4a843f1dc29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a737665644e231bc871562c90a3899698f63a8b6d453f30eae0890992fd3278",
      "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 · 5.37 s

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

message 44 changed as sent

message 53 changed as sent

message 57 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.718, 1.0115, -0.3107, -0.411, -0.366, 0.012, 0.4561, 1.858, 1.1671, -0.2806, 0.2665, 0.1448, 0.0497]\nstate[eef_state]: left_x=0.391 left_y=-0.1322 left_z=0.0625 left_yaw=0.0644 left_pitch=-0.3305 left_roll=0.135 left_gripper=0.012 right_x=0.4297 right_y=0.1629 right_z=0.0569 right_yaw=0.1216 right_pitch=-0.371 right_roll=-0.1474 right_gripper=0.0497\nstate[joint_eff]: [-0.3487, -10.0855, 8.9231, 1.243, -0.2759, -0.0415, 0.569, -0.253, -12.7248, 9.2376, 1.8339, 0.2515, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5892, 1.7744, 0.9375, -0.3092, -0.4362, -0.4553, 0.996, 0.4652, 1.8084, 1.4326, -0.7727, 0.2417, 0.107, 0.0581]\nstate[eef_state]: left_x=0.3567 left_y=-0.1444 left_z=0.0192 left_yaw=0.0816 left_pitch=-0.4148 left_roll=0.1785 left_gripper=0.996 right_x=0.4026 right_y=0.1588 right_z=0.1143 right_yaw=0.1471 right_pitch=-0.5489 right_roll=-0.21 right_gripper=0.0581\nstate[joint_eff]: [0.335, -8.5949, 6.5299, 1.1795, -0.1636, 0.149, 0.0513, -0.3624, -9.4701, 7.6239, 1.2527, 0.1197, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.861, 0.9722, -0.2291, -0.4492, -0.4664, 0.9961, 0.4652, 1.8084, 1.4322, -0.7784, 0.2409, 0.1066, 0.0581]\nstate[eef_state]: left_x=0.3741 left_y=-0.1547 left_z=0.0066 left_yaw=0.0872 left_pitch=-0.3843 left_roll=0.1625 left_gripper=0.9961 right_x=0.4013 right_y=0.1583 right_z=0.1135 right_yaw=0.1469 right_pitch=-0.5549 right_roll=-0.2117 right_gripper=0.0581\nstate[joint_eff]: [-0.4034, -5.9145, 5.8325, 0.1978, 0.1441, 0.2271, -0.0024, 0.0479, -9.0735, 6.612, 0.9841, 0.1245, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02fc3af0e530b737ff627fe80de7f51583a2263f5e7ca2e8c7ac663522b040b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc25c8720f0a1d167976c3d48b7b4e5eeff0bee9a458b53188de4a843f1dc29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a737665644e231bc871562c90a3899698f63a8b6d453f30eae0890992fd3278",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzEa3RmlUd8BL4iKd1Jy__h_tHyPHQOeeRLCv0zY3LV-e9c05u5RttFsMyw5wXofAb1PqGq5-CIXL0IBotaQxkQxU3QfBFe-IXYzg6KUmX-VZ0MHYo1rskuuWLK6OZ_B1Z74VtcNAqpAYgHyQ_itTev5TPSuqWbkHfE4TZEYh3rX32nnBWbDhhIzpIsqJoBQHk3fofCeDyuc51zi8EjvlXhvqeqCCkSo9MLAT4nASdQSCJyBrO0CabZgQqRnnqZtUba8Eqawr45Ibe2xARwOdAI4zg48Mx51nNPhRSj2D7NIisJzlVO5gYuqKxFAEb6eBfuHtHmGxLZh6FOUzcaVXgTAZV36ktGLR8ukHiQ0T8lZYF0Npt4-4UhPQ8BWMJTr5DqK1PTxNFw_7-ufOvPf2uPM9JQ8-g-a6-S-Vef4b7DlWqIN2KOfUk0Ddcgm_R-iTI-yVvCEV7a4KXVS4QVpwR4jfxFI0s_-DOBZZofW99iAUTp3IHwr_QjV2OfvG3nn54dtPZe_D_Hta61T8EO5zn4tzVuNWa69z9Ibrc8ZrQaORT5_3XF4KHPCuGrDlcL9eU_Z7rzNPqMDDrPYYWR4dEl_bKTkHsQXNCGhT33Zui5XH-tWfRIbe4AeY5dsjqHWhd5L7u1JApWJA2PkajGfgL4ydS4dnAfacKYYnt5ggBcuEB9LWOTf3Uz1vBBkmSGZYoXKXe1Z-tJRFW4wxPGbU-jztB1_tBWkqYXK0GimWQu8lTvk29zLYRrITs7qUxCH313aMhqYfWnaGqjUGBvcfoyCLzB2nBv9Ayd4NKjwMC2ouMCcXPCmmgHl2D-1xKXyxFGyqTAAgQsH8Ao5roRNHPL4murUSXdLAy6bnuKMkucM6iUmyPSm2y-v_HiPQZ0lswm4o36YV2vRmUoGAmRsDZu2rWOtxAgbZS6la4idHR_HsM2HyX9CeGkeXL1G9mFXNM7zxEAXam87dRhPTogvH0sgZu9ZwQ4CUBo4k5-MCQmr4klrJqdtbkuyNC6IrhO5W8NpbKAxXCgtNiiuaPcddnbjiX0MBM-_53tCp9e99itvsC1-Hkn5J5l99j7nPcQK0891yxSqiE9LSI3HvwmJf1R_rQakVuYnSTv2cgQ1sq7RTEnIvuY-cYjCRZz8ZfibH3Jmwq87HGZHWFp4wv5_9hpglHt4RrqQZ8Tlc73wFviTQlzR4KZjCUHKRtbqw5dyVTzqkAbbylbz_s0uQp8FDSwDik0DtecAK2IU-5WG4wAm9g-1xpm5Ojg8bkc8QO1iRUAigZuoWuFwXknZFeMJFDp6mfX3Im9NrBLjOJaFPQN-oCfhlqpULoE4gNM_ObJihFh19hmZhTEW9JbY3jAsxLnGl0YoMCCM2AYCEHJ0HCUSxFRZef_geL33XN07ubIwWme-JfvSOVFXzJcS0vnK5ZXnR9oMbnzxOmoNeIDEtlPvLgVeKWBv-Jv9uovDTLU9okCVHY1dtlLs6KsuvH482oYhZ4hJW8cWWWZMWknLkCLfQSAEWoVP04zUe8ymfq_14B4rRXUbcywHveBBORfiOf2hDJ0ltckkl4FErw8okP_LreJ-HpFX1hWBEE3mXnnA-diJz9biVOeQQF0gQQyZ_23eb3mDPtEW8BE75JA71EmUSABb9z9tKo2kz2hvW51mmUwFjgnXKw_rwSlJ_qe9-hu_hZhpJ9wx03qC5zNjJisiwuzhmzk1yLJjJoHjcASoXT-rYj21dF_FzYTImp-e9e5IeOvgWG-4Fsoml3pX50e8XaA3oA1A4_Y86P7NQoMpAblhtEQBWTN0wDPUK-WB167fUF5BLWr3k2CVEYkDycV3qmt9kfx1IgfXUykhMfLr6Q3VBs3NHv_JfYKO-KxDabwS8WS1_IKGg-5JCgoOCwmQbO76j3LTnwgs1Vwoop1BaGFXKltWiP-JMHmWy9j5RRGCSunSPnAST9_0XamunnL3iVukRLGC3dsex74vNxQG0h_wKeqEYs74B58kB1zbIDvmFMNotOBbbJV-QyLrv6gooEBwIlK7hPNtpVWLJrsU0R2tEJt_-bfhrZ0j3pRhh_IKNAJjREiwQ5sngff92W14cpKJ9EDISYiH4lNLTk7Rp9Bb6op80jSZ2dE10USt_snifN6OhDD8_zyrWDWJBwVDbM=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cc1fafc87d0a45020914dca3675",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36},\"note\":\"The last small advance pushed the cap image farther down the wrist view than intended; its middle is now below the jaw-tip line. I’ll retract the left hand about 1.5 cm to put the cap’s middle back between the jaws.\"}",
  "call_id": "call_cw0mU6PHa8uJjEzYQ9UE9ciO",
  "id": "fc_0f2f0697e2a1f0d4016ab43cc4130487d0bd10ea80990ccf6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cw0mU6PHa8uJjEzYQ9UE9ciO",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6044, 1.8584, 0.9562, -0.1917, -0.4492, -0.4824, 0.9961, 0.466, 1.8084, 1.4319, -0.7792, 0.2379, 0.0998, 0.0581]\nstate[eef_state]: left_x=0.3739 left_y=-0.1607 left_z=0.0066 left_yaw=0.0779 left_pitch=-0.3643 left_roll=0.1361 left_gripper=0.9961 right_x=0.4008 right_y=0.159 right_z=0.1132 right_yaw=0.1545 right_pitch=-0.5576 right_roll=-0.2126 right_gripper=0.0581\nstate[joint_eff]: [-0.7043, -9.7299, 4.8205, 0.8816, -0.359, -0.0659, -0.0171, -0.4444, -9.2376, 6.3932, 1.0623, 0.1538, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95f804842c38cd4710da435e789fcf0fa1b4c3e5288d0fc257181b410630fbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9297ac13a2a2a0876065c4140b6a204a3c979fb3b7b330fb57e3498f18979119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff8cd5958b905921ae28b06ed2c6d45ef24aa48f6d661c83ae88d54dc7b3603",
      "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 · 2 s

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

message 48 changed as sent

message 57 changed as sent

message 61 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6559, 1.4044, 1.0107, -0.6991, -0.4656, -0.4965, 0.9953, 0.4652, 1.8057, 1.4471, -0.7494, 0.2481, 0.1139, 0.0544]\nstate[eef_state]: left_x=0.3124 left_y=-0.1358 left_z=0.1315 left_yaw=0.046 left_pitch=-0.3531 left_roll=0.1383 left_gripper=0.9953 right_x=0.4108 right_y=0.1616 right_z=0.1232 right_yaw=0.1443 right_pitch=-0.508 right_roll=-0.198 right_gripper=0.0544\nstate[joint_eff]: [-0.335, -6.9128, 9.7436, 1.0525, -0.4664, 0.0366, -0.1587, -0.5812, -12.7111, 10.5641, 1.9902, 0.2613, 0.2466, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.861, 0.9722, -0.2291, -0.4492, -0.4664, 0.9961, 0.4652, 1.8084, 1.4322, -0.7784, 0.2409, 0.1066, 0.0581]\nstate[eef_state]: left_x=0.3741 left_y=-0.1547 left_z=0.0066 left_yaw=0.0872 left_pitch=-0.3843 left_roll=0.1625 left_gripper=0.9961 right_x=0.4013 right_y=0.1583 right_z=0.1135 right_yaw=0.1469 right_pitch=-0.5549 right_roll=-0.2117 right_gripper=0.0581\nstate[joint_eff]: [-0.4034, -5.9145, 5.8325, 0.1978, 0.1441, 0.2271, -0.0024, 0.0479, -9.0735, 6.612, 0.9841, 0.1245, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6044, 1.8584, 0.9562, -0.1917, -0.4492, -0.4824, 0.9961, 0.466, 1.8084, 1.4319, -0.7792, 0.2379, 0.0998, 0.0581]\nstate[eef_state]: left_x=0.3739 left_y=-0.1607 left_z=0.0066 left_yaw=0.0779 left_pitch=-0.3643 left_roll=0.1361 left_gripper=0.9961 right_x=0.4008 right_y=0.159 right_z=0.1132 right_yaw=0.1545 right_pitch=-0.5576 right_roll=-0.2126 right_gripper=0.0581\nstate[joint_eff]: [-0.7043, -9.7299, 4.8205, 0.8816, -0.359, -0.0659, -0.0171, -0.4444, -9.2376, 6.3932, 1.0623, 0.1538, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95f804842c38cd4710da435e789fcf0fa1b4c3e5288d0fc257181b410630fbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9297ac13a2a2a0876065c4140b6a204a3c979fb3b7b330fb57e3498f18979119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff8cd5958b905921ae28b06ed2c6d45ef24aa48f6d661c83ae88d54dc7b3603",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzKjuaqqzXksZGjlhoJg8X19czGSyhFuQCGlO2tYLEP6XSEGeihpYLGKFiPrT3cNpDT3edWrukdT8d80Ciu7siIuBB7CsGAs3BQUJS8WUCIAmRjE2zRoxMl2GWvKuP6TKRYaYPt7cYyONUaZMQ4g2JHQwmHPutEHqyy6Z08QcTkA4V0PCU-hmVrt7xE73pLAMArx0fWeNIdkO8ac6hC1m9UUK3S21M61kd_DUS_DG9hWBLC6BEfNgFOZBoq1htayNTjytArTBiXW81FRlaEcacekbIihsuSVbMqtEFFChW1E6BIefrATeHGMGZMN-oMB2moRf8DE7m06VJ2AEqUyQSn056quVl-YBLu1yTFgCrVvrq5b2t1sD7635T2k-uhspE7PxikCNGZIV4DtfLb9wgb9EGBC240UuNLRREMIevjRMqozzHysFkITuRhZQLpWw-B03PcLJaW0SlU0k-JSZvJYWNBCxaLQMLNXECJ6qy_WuIw0LUBlhiYTTkMiCtNhVc6I1LRo1Kn33P2Np8NLN9OZL1C7l9ijIiNGd2_mXYAMY8w0zzaIE2pne1ga08VWazDnv3y-ISqDZhc64rRN3eWUl7SRYf6JvQZBKNr0BEIi4hSU7dpQUg44Uc18_6-uYIoKPi2hYIL7cdXQ7kDgUURkOIV5ha1w7v-DTe8fzuKLOQMHO1qJOJvqzczXiW84mfag9IhZsLqhDg6UOiqcCIYdCj8a4dC_uOjIGOQiopp2aXgOmliixkOL4jWp2XM4y7ospU-v8B4rB-KuZ3_Qn3lb9r3gHq7VUxt-QM6nTB3CO2-KoApQAMCT13V--tIwM7DlA2aqxWJjKZH74F2a3TdZg9bb2hX0q7TUHiAf0nyC8WY07RyxmeNb7sBfcNvlFFkSPyebQHAmmOZnJjB99PzdeATMLYZWY9B8zjWLllDeS4Gi_QUlb-_4GJntkkyyPDVlnAr2zRW93tVysZZxrxzVruW4t16ODjUvaQlq3awZdFGjrtdGIA1j7TbGYa_YigiuJi15o-UqemXQw4scfxleTPLL0mjWoLi3MBhLXPMzR9-kQEHZQeFjT0dRIuFPxngnFPMrNYlsviILYrZ1VTKi8l9ZJOH_TYC5IORwL83PACOK9g8KL36P6zHtGCNoPXFCZT63aF-UJISYVf5IKgW_vWwd_DkKNp5-GhNXwHCWSX3Rzmg2fXrVxcS6OkHqE1w--bIKD96172mE6p6d_latPqm9GrhoCm85_QXw_UbhixF9dAleM0XBFMirqeQf4rF_tGJC6fnSKIWCqKaK3tlCwL75dCcK1AoUTpQtgM5Uqj3Y-ZGPs377I5eVcGBrYwZpcarnWLpbdOp56WkAKcJE9dk8_bZAzgXlHni8tim8aDlagNuywZGBBIKVUmCQ7CcuYyDLHC3jedRrZmlkFbwsW2s03m0uSOSuwYBMbjSZP_EBDoM2dWWjoTBv0DetDfy7jQcQWgVyQUiV3jcC2eigigpRBeNsRFwI96dQVYx_rwHcgC5T5msm00VjuArrhaEpNpvMFNfn2XXM2DZ72dwOTCCx9SoBsnPtKKn_6bwMWNW_g_C_inYS72nvRKHDTNt5UwsKmcqkDpXxWdXpZZTiby9z6xI1jL-q83B3aw8hHI_LUle51buQoU6SChpH85jRCV2pwYc1NFHFjvoRzI6pSmONogKMTmJzFwyq93i-4B85vVT6s7eLdiADqVZGakcKCtFh1qUr09uwx3KJwWcIh2q0i5k0t2DHDnlohP_rNRUOXmbIUitagDmT5vRtp-z0nCeeKh3qjDzgM6hl3J4Mr53soxRBJnlBRwvNArt7bZQ4WKCunqPhWghZnVzASCWf77zqjqC8q_aYuIxBu_U4zC0KopsVU28-adRdOOrYW2LTuh5g0tn6_VpzTcvanVrg38ytIeCvKURzUMwHqw_rykLwKDTQAf7FRsN1-KMb0IWj8h2TamfcYgMnMUSGOB62-XApx9nu1Kqht1cd5KdV_9paLJMVVbAaglj5ol2wKh5rEK4B6ANzZqYuW9P6HrQjY1-R3hhDJqOZ62rR59PKcZEeFlvQ3YKRCQ37FEumsbVy9_5bJCg-YGTWYkCtHd835NaSauNsCj5wKS7wJiPqL41dHQreCyfRpm26J01pDUeC28DB-tV6BnSnMcHJoPWYUCVd4btqJxu20bb6dccyVK_dzuLDQYW4NndfIKFwLlLS1mWFR8srQNQBov0BGkq7H5IxvPiH_JTyTRsa1jl1Vig_wKppqsPSZnNj6TN4j2ky1h0431ZFjCI43GkPbdmUXNpZ4mZyeQdyM_F0FVt3I-j2cgK-yzhawqE8EGTqRb7DQVy7k2DtxlR-5Zaud-6",
  "id": "rs_0f2f0697e2a1f0d4016ab43cc606d087d09ad5506df431ab0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15},\"note\":\"The left hand did not actually retract at tabletop height, and the cap has shifted toward the left side of the jaw gap. I’ll request a more distinct backward move and a slight shift leftward to recenter it, checking the readback rather than assuming the target was reached.\"}",
  "call_id": "call_j95ZVesH8Llbg0cf6Kp2CvnF",
  "id": "fc_0f2f0697e2a1f0d4016ab43cc889dc87d086fa9eae27adfd2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j95ZVesH8Llbg0cf6Kp2CvnF",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6319, 1.776, 0.8433, -0.1646, -0.4541, -0.5083, 0.9961, 0.4664, 1.8084, 1.4319, -0.7788, 0.2337, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3482 left_y=-0.1544 left_z=0.0059 left_yaw=0.0697 left_pitch=-0.3622 left_roll=0.1256 left_gripper=0.9961 right_x=0.4005 right_y=0.1598 right_z=0.1131 right_yaw=0.1594 right_pitch=-0.5585 right_roll=-0.2086 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -8.3214, 4.9162, 1.0476, -0.2466, -0.0024, -0.0171, -0.1846, -9.1556, 6.3658, 1.0476, 0.1245, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ed8bcfdf3ad8f55ab50a62d7e548d341e454d42a2221bac65cc14cf32f27ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15149911a038a8d6e5f5d9bedb53397113e991fffcb8181087f0cf36888dafb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a8660c533602d1620ef6d3b97a4fbefc0fa89ca169bf59194be489b40186e6",
      "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 · 5.928 s

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

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5892, 1.7744, 0.9375, -0.3092, -0.4362, -0.4553, 0.996, 0.4652, 1.8084, 1.4326, -0.7727, 0.2417, 0.107, 0.0581]\nstate[eef_state]: left_x=0.3567 left_y=-0.1444 left_z=0.0192 left_yaw=0.0816 left_pitch=-0.4148 left_roll=0.1785 left_gripper=0.996 right_x=0.4026 right_y=0.1588 right_z=0.1143 right_yaw=0.1471 right_pitch=-0.5489 right_roll=-0.21 right_gripper=0.0581\nstate[joint_eff]: [0.335, -8.5949, 6.5299, 1.1795, -0.1636, 0.149, 0.0513, -0.3624, -9.4701, 7.6239, 1.2527, 0.1197, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6044, 1.8584, 0.9562, -0.1917, -0.4492, -0.4824, 0.9961, 0.466, 1.8084, 1.4319, -0.7792, 0.2379, 0.0998, 0.0581]\nstate[eef_state]: left_x=0.3739 left_y=-0.1607 left_z=0.0066 left_yaw=0.0779 left_pitch=-0.3643 left_roll=0.1361 left_gripper=0.9961 right_x=0.4008 right_y=0.159 right_z=0.1132 right_yaw=0.1545 right_pitch=-0.5576 right_roll=-0.2126 right_gripper=0.0581\nstate[joint_eff]: [-0.7043, -9.7299, 4.8205, 0.8816, -0.359, -0.0659, -0.0171, -0.4444, -9.2376, 6.3932, 1.0623, 0.1538, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6319, 1.776, 0.8433, -0.1646, -0.4541, -0.5083, 0.9961, 0.4664, 1.8084, 1.4319, -0.7788, 0.2337, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3482 left_y=-0.1544 left_z=0.0059 left_yaw=0.0697 left_pitch=-0.3622 left_roll=0.1256 left_gripper=0.9961 right_x=0.4005 right_y=0.1598 right_z=0.1131 right_yaw=0.1594 right_pitch=-0.5585 right_roll=-0.2086 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -8.3214, 4.9162, 1.0476, -0.2466, -0.0024, -0.0171, -0.1846, -9.1556, 6.3658, 1.0476, 0.1245, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ed8bcfdf3ad8f55ab50a62d7e548d341e454d42a2221bac65cc14cf32f27ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15149911a038a8d6e5f5d9bedb53397113e991fffcb8181087f0cf36888dafb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a8660c533602d1620ef6d3b97a4fbefc0fa89ca169bf59194be489b40186e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzMO5_t36VClR-Hi225A6yz3VX7i62S4Vuj80Ux1fs1dOhC47PyW24_JxSRFQbfdUhdiLBRSHcLWL6WVuXglIrOLHrqKUntQrm4QxR0amfdx6Fb6Wrhv66ok1nZfB5RaENqJc0nHAkzmeVDhICwnvyQHKwLbVqY1kBwmtEdOpNChstPeC0qnqZzchAdRFHR6td2ovfqIIHwNQGpi0a5uyYBLF76Ee6_hBDt3Z6pMrNI08-XyG5xFXwGjCj2OfOyOQG4ledRUj-A1pOrFXwfe8g7GPuUGKQnFzNNhoRUv0oDPXdv8YKlg-j2WUf6_R4BREHD8xm_VHUVqRZeHMFDByAN58h_XOY51-a2E7CB8Y0VWKPpe64k8KZG0rp2FvfGjFUVQGrqL7ytZf4VsHZySAq5P3GUEuZ1jh_9Hy108Wwaqg32uvoMgseaWKgVfMWxccCIIWVGynE820Jw2sbqi57QzqIVzgV9YU4qJvHDW7asiFykFpAqCT3Y70mzZzHeAk6idRuh6J7zgDAACqB-V4JcTzMdn0Bbc9-HKP10RxpkBuz-n3p0YLzEshky6Q2AXeJ1lXnQohKLUlg2l7EU4siYXRGDZ8UH8sFtMYrkHfDJ5d1cyKu8wdSf8-br4MRN8Om1u6S9vZnxf4NyvvaVmdFBApwE_eYSqTEZRKjeDaqE8CVLmxHSnwEvCDFd4nxPYMg2ByYdvBzzpsQB9Kx_nGsRVsuq5FZpbu1n-dsBpwV4jxv0VHm4M1RoVCEVI_eSLpTGrNRRtpuCoCRVEU-2btKMbD9vl9B99s6yy1tWERk2i0ID1hYZCP7frU9BvhfYX_SBddDIeq3j417Bgbe42FxBZPdoSV7whiiwVAqCY3v_jPApGsF8h8uDkGhSEFOWYnEXYsXKATu_O454arCJIV6WCs_mOb7QSareeSVK9dlS0C3PT4RwHAO4_RWXK8m1bKO-zTSY-60IiDhefEapUJ2LtAOBdxelK5x1MvQ7AmINc1fjxZpKQnixgGoqJKg6dHpVuQZgjAlz-GwnJVX-09QP3yogS_zDZeBS66qIqko7Te8b8i2_xEAQUW9qfRaQIl_SaTKVeLukhuxSzV6enY4lR9oZkksFQk2WzIXVVDM-ERan5UVI-QxbuEGVn1MQ5908Pj-yeZ3i6ZYWQN2qK5OY7nHX5M-Oo6LEff-oDOrP6avnhYBRW9DwRyiiVjpiKrTwx85Cy1nE139jdfg9FCp-edKOh33PHW4gIz3olsnh51_yLa-EXRFPFiuYxTlrcIdgmQEfzv5a0jq0LHS1JnNlapvFq-LeatNOVlApsVfraWA8YhFqQYLgW7c7Dj8We3_K",
  "id": "rs_0f2f0697e2a1f0d4016ab43ccb8c3487d08ad53fbaab01a6c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now lies diagonally across the center of the left jaw gap at tabletop height, with its middle near the fingertips. I’ll close just the left gripper and check whether it stays open around the cap.\"}",
  "call_id": "call_HySwbHupBJu5RUh5TuAUVhfU",
  "id": "fc_0f2f0697e2a1f0d4016ab43ccbdc9087d08cde39cf0b90444d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HySwbHupBJu5RUh5TuAUVhfU",
  "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]: [-0.6403, 1.7607, 0.8196, -0.1753, -0.4603, -0.519, 0.0097, 0.4664, 1.8084, 1.4319, -0.7792, 0.2306, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3399 left_y=-0.1509 left_z=0.0035 left_yaw=0.0766 left_pitch=-0.3724 left_roll=0.1366 left_gripper=0.0097 right_x=0.4003 right_y=0.1603 right_z=0.1129 right_yaw=0.1622 right_pitch=-0.5597 right_roll=-0.2056 right_gripper=0.0581\nstate[joint_eff]: [-0.253, -8.5538, 4.9436, 1.033, -0.2906, -0.0317, 0.7448, -0.212, -9.265, 6.3932, 1.0037, 0.105, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8d07fce4ee6a1554aed29c1657a390a4e03f0b20945e89a72941ab8dcd8693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113a75e59c0b1fc54dd4b5552380c5c4097269ffc75d1dd60490f6f515572fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0b8e9254a8efe495c4627ed432d26fb5936b9a4c015ef2c973a5b3c6d65b31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.899 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.861, 0.9722, -0.2291, -0.4492, -0.4664, 0.9961, 0.4652, 1.8084, 1.4322, -0.7784, 0.2409, 0.1066, 0.0581]\nstate[eef_state]: left_x=0.3741 left_y=-0.1547 left_z=0.0066 left_yaw=0.0872 left_pitch=-0.3843 left_roll=0.1625 left_gripper=0.9961 right_x=0.4013 right_y=0.1583 right_z=0.1135 right_yaw=0.1469 right_pitch=-0.5549 right_roll=-0.2117 right_gripper=0.0581\nstate[joint_eff]: [-0.4034, -5.9145, 5.8325, 0.1978, 0.1441, 0.2271, -0.0024, 0.0479, -9.0735, 6.612, 0.9841, 0.1245, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6319, 1.776, 0.8433, -0.1646, -0.4541, -0.5083, 0.9961, 0.4664, 1.8084, 1.4319, -0.7788, 0.2337, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3482 left_y=-0.1544 left_z=0.0059 left_yaw=0.0697 left_pitch=-0.3622 left_roll=0.1256 left_gripper=0.9961 right_x=0.4005 right_y=0.1598 right_z=0.1131 right_yaw=0.1594 right_pitch=-0.5585 right_roll=-0.2086 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -8.3214, 4.9162, 1.0476, -0.2466, -0.0024, -0.0171, -0.1846, -9.1556, 6.3658, 1.0476, 0.1245, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.7607, 0.8196, -0.1753, -0.4603, -0.519, 0.0097, 0.4664, 1.8084, 1.4319, -0.7792, 0.2306, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3399 left_y=-0.1509 left_z=0.0035 left_yaw=0.0766 left_pitch=-0.3724 left_roll=0.1366 left_gripper=0.0097 right_x=0.4003 right_y=0.1603 right_z=0.1129 right_yaw=0.1622 right_pitch=-0.5597 right_roll=-0.2056 right_gripper=0.0581\nstate[joint_eff]: [-0.253, -8.5538, 4.9436, 1.033, -0.2906, -0.0317, 0.7448, -0.212, -9.265, 6.3932, 1.0037, 0.105, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8d07fce4ee6a1554aed29c1657a390a4e03f0b20945e89a72941ab8dcd8693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113a75e59c0b1fc54dd4b5552380c5c4097269ffc75d1dd60490f6f515572fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0b8e9254a8efe495c4627ed432d26fb5936b9a4c015ef2c973a5b3c6d65b31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0f2f0697e2a1f0d4016ab43ccedbcc87d0a4bbee0d1ea390ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.135,\"left_z\":0.018,\"left_gripper\":1},\"note\":\"The left gripper closed empty again, and the cap is still visible on the tabletop ahead of it; closing appears to have pushed the narrow piece forward. I’ll reopen and advance toward the cap’s middle while shifting sideways to avoid pinching past its end.\"}",
  "call_id": "call_YjwJBCShWUU7hpMNgydjbONK",
  "id": "fc_0f2f0697e2a1f0d4016ab43cd2795087d0908d00d43497f04f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YjwJBCShWUU7hpMNgydjbONK",
  "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]: [-0.5381, 1.7752, 0.8848, -0.2043, -0.4198, -0.4419, 0.9948, 0.4664, 1.8084, 1.4319, -0.7795, 0.2298, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3654 left_y=-0.13 left_z=0.0123 left_yaw=0.0996 left_pitch=-0.3841 left_roll=0.14 left_gripper=0.9948 right_x=0.4001 right_y=0.1604 right_z=0.1129 right_yaw=0.1647 right_pitch=-0.5606 right_roll=-0.2065 right_gripper=0.0581\nstate[joint_eff]: [0.253, -6.612, 8.1299, 1.1746, -0.232, 0.2173, 0.0366, -0.2393, -9.2923, 6.3795, 0.9792, 0.0659, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3efe4b4264586fbe2207cffa0364e1efe39ff64d4c95202f1a393f124dfed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc4d26569932b7c20d8ead0c8a0f1b7f2b9d2aec654f0d8f37074dac67599b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cca9dab479f13a99a28a36d4d6d05064f42ff4f0090b7b8d4ca0cfc469450c",
      "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 · 3.942 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6044, 1.8584, 0.9562, -0.1917, -0.4492, -0.4824, 0.9961, 0.466, 1.8084, 1.4319, -0.7792, 0.2379, 0.0998, 0.0581]\nstate[eef_state]: left_x=0.3739 left_y=-0.1607 left_z=0.0066 left_yaw=0.0779 left_pitch=-0.3643 left_roll=0.1361 left_gripper=0.9961 right_x=0.4008 right_y=0.159 right_z=0.1132 right_yaw=0.1545 right_pitch=-0.5576 right_roll=-0.2126 right_gripper=0.0581\nstate[joint_eff]: [-0.7043, -9.7299, 4.8205, 0.8816, -0.359, -0.0659, -0.0171, -0.4444, -9.2376, 6.3932, 1.0623, 0.1538, 0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.7607, 0.8196, -0.1753, -0.4603, -0.519, 0.0097, 0.4664, 1.8084, 1.4319, -0.7792, 0.2306, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3399 left_y=-0.1509 left_z=0.0035 left_yaw=0.0766 left_pitch=-0.3724 left_roll=0.1366 left_gripper=0.0097 right_x=0.4003 right_y=0.1603 right_z=0.1129 right_yaw=0.1622 right_pitch=-0.5597 right_roll=-0.2056 right_gripper=0.0581\nstate[joint_eff]: [-0.253, -8.5538, 4.9436, 1.033, -0.2906, -0.0317, 0.7448, -0.212, -9.265, 6.3932, 1.0037, 0.105, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7752, 0.8848, -0.2043, -0.4198, -0.4419, 0.9948, 0.4664, 1.8084, 1.4319, -0.7795, 0.2298, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3654 left_y=-0.13 left_z=0.0123 left_yaw=0.0996 left_pitch=-0.3841 left_roll=0.14 left_gripper=0.9948 right_x=0.4001 right_y=0.1604 right_z=0.1129 right_yaw=0.1647 right_pitch=-0.5606 right_roll=-0.2065 right_gripper=0.0581\nstate[joint_eff]: [0.253, -6.612, 8.1299, 1.1746, -0.232, 0.2173, 0.0366, -0.2393, -9.2923, 6.3795, 0.9792, 0.0659, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3efe4b4264586fbe2207cffa0364e1efe39ff64d4c95202f1a393f124dfed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc4d26569932b7c20d8ead0c8a0f1b7f2b9d2aec654f0d8f37074dac67599b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cca9dab479f13a99a28a36d4d6d05064f42ff4f0090b7b8d4ca0cfc469450c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzZnijuAXokloY1Qt7FSCZVyauSZvfjO63ehDxUNMk_T8FE61W0AQIIMcjairvbjhk1nIUSR9FJWG0OSwyixxi597NhPLCdainALcYiT7hTDOM_uNrEH8cO2_mhxhApev5Nbkh8b8WOH7mCqFiv4cDKJav3ra3hXwBuYtpZM32p_GqrIoCWIH5z_LGV5GVBbnVvRNcZ_xphU9tWVPn21PWaEoKLaJ5W5H0PGKEuUjU1XsgwJoOnk8jTJgy15JlL2QYnqOXiU69trssIHKTgqdgLGENoUMpJqH56F8QiSxhc1LB2p8atcDPkxEc1yMYrnai9jHsFDiKCFsUNOQfRUJUuJDUJIaKmRBxNAIrsaS7_xC9nPX0QE0JIrd3eqy-idf6QpDdZRvV1_QeCfvuhh5f4cg--ntPoscml2pTczk7DDXLxQNr47BuFCD9MYG3PD7hNrbzfwUKh9GGpRRy5GpMC5wM0wiTBmGeVY4FnXanRAIbZfkbQQEI1kL76f5suzDmgAvB7tdavX3o1r9j1wu9_hmZijFVegTav9RtQCcTPup6j42LVDaf4nDcsL5XUmkZCEdweNH6lfEM5XrpM7cZe1jxzU2_L0mpYzd46Ny2aNQcsGomQKPcRIpKQccbsUVhI0dO1eNe765HS_AP9p5gaGJgmS7tocbPoIpTnqG69grl2UuqIO22mKTDEy2y08hXJdoavlduwxfLmuoWiu8CjO-dxpFGsvRz_JjocPON6_wKSUPHvDYrQvxnDNgGKhYD9nbNXCBxYpzSJLrgPTahmmZ_gYzmWGNjtONK-o-vQbcvTQUYI5n1JiK3DLN4Q7eF1qZ9AUeu6Yzsjiu0-1nQn2yMXS17mO28kRDTuPdC_uk_tIZzecBBUenI5jkU_3NhheD9ig8xh6awbiE4XlFTx-e39jPZ_tq-KiocWNbf_Oggcn_cToGW6i1cqKk6mTpY8pkckYFR6haMDuJ3REIMNMFXxYsOKM-yrF14u8mm-y5FJx0Ufk0kOpo4oyZuPX8Xi6tNgx2SAYOYKHvJv8GER8lewQ3Ncdxhczqgkc2V_6AcfDU9kwOYNzMxzNcE4O-tWsyes9CbYldjbr-Z5kU__5z2OEP6OQExiHdy-KvW869AF_7nyW_5Akk9n7AbcfaRYUaU-XvXqFp4inCNJA38kY33LgxrSfWMlrABthvOZ3JYZS22XunhjULCVVgH4PghG2BRCURGkTPSfAHUpwefz5M9LU9Jqg4gi6qAbUnLYZAGmzEvaLE1nuROHtPoVZ0GQe20ZWiyWS168zDj1PVAtLA686Xdt4_SsFnvvthyikjZ2-qABYzYaYJP1x1hXCj6jB8U76T0Yo7WAGgRYYqEKlylwChzWQ75MMc8N37JmWOvYQLbInP1Q45M1o6tHRB7ZPxB0mayuBoLz1Vg1dGmzQFJpzu6K-jIPj7ABVsKGv15dERpKKLe2tPJb8-X5RlDuRqXLbZ_BvooOcioCWRhkq1glm__C6TNVMxiGCSUuiSh5qARsCe0b0QJn_tfebWBsCSgtWCPxnKmtnneUS5upNcE76uxqWAbbY-Mwl4pEQvXV8jIWsTNSCbpVEUCiRA8XsD5U5H-RRpt27hNcCTbtPknTwX20nGrLzTBGtLDUqunDKcvJzIPkA_1ll-zUX9iI5G5IAg4wDSsRwe7GRwThJUPC30pa8Er9gpC_apmX0MuUkpzfshc12FTq_tVKSobsMGZppabQDle3VTTO-pV6KEwi4N5avs9DBEuaq-k3-MqDRzuobVuvtuax2jZWOLItr0MWUNw-6ksBv51MjRwzKDLK-pqJuT3t1sJFH0gQUe9DaHtdNTG4V-WFWcALfM8JP7vEYd4fPir9EA56IKM3Z9Gp2ynovP6bFcuwG-M-yUbwr4mcmJMudQ6_op4Mie0pKn8QKPn5HuMwGtfekJLYpeN3jBBWQP5B1V_cznO5IbX-UgUC4OY0tGG1IZ5KXRnfD0fmOcV8c1SJRa42Bv1ySTzSi6qJuZ7yqdOkQ-__gWUb66F6MOQ1ccxoaWl1pluR3MrvzuPzGNSeFBXCwxelkkB1rtTCtDcLbpQyuY49ze9r9zj6ElcAa7qkZzMXnxNGdh9MDNmPhLbp5zb4yyEGKHDhMREN2PQNkGdZwZbbcpC05Ea6vHGJU51C8KtTDL6-RZ0iFtyujwl_yW34Qv6pAKueYwX4YK2G7FrZSXtadAOoEV3dfZGTMq_-3vEi9iICJhDjhuEycY_8b0ZNlrmO9U22fV389rcQ1ZLNcGOJBFKFfx4rrwaJ8CHJKzUWV6rBmPAPoo4e7MHyWOIxP7wpdw==",
  "id": "rs_0f2f0697e2a1f0d4016ab43cd5fbb887d0a7cb70369b12c123",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_z\":-0.008},\"note\":\"The cap’s thicker body is now centered in the left wrist image between the open fingers, but the grasp point is still about a centimeter above the tabletop. I’ll descend and back off slightly so the jaws meet the cap’s body rather than its tapered end.\"}",
  "call_id": "call_QakIi3iu6mHTb7w5QmFhixuA",
  "id": "fc_0f2f0697e2a1f0d4016ab43cd812f887d081ef0d8bb5cd3ff1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QakIi3iu6mHTb7w5QmFhixuA",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.543, 1.7775, 0.8505, -0.1555, -0.4171, -0.4465, 0.9959, 0.4664, 1.8084, 1.4319, -0.7795, 0.2268, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3623 left_y=-0.1309 left_z=0.0061 left_yaw=0.0924 left_pitch=-0.3753 left_roll=0.1273 left_gripper=0.9959 right_x=0.3999 right_y=0.1609 right_z=0.1128 right_yaw=0.1676 right_pitch=-0.5614 right_roll=-0.2034 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -6.106, 4.7385, 1.2039, -0.3394, -0.0708, 0.1001, -0.3214, -9.1556, 6.5162, 0.9988, 0.1001, -0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08db285c649e6da49de31bf07cb01d5c9d516a47f1c78a0b14331c2e4c940b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b0b24e97643757816833007ed1d6e356486f2939ebc1682ffbe94295103f3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0aa976ceb7ee4fc5c64969155cba70a4120bc9f1d3f433c2a8f226653f9521",
      "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 · 2.078 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6319, 1.776, 0.8433, -0.1646, -0.4541, -0.5083, 0.9961, 0.4664, 1.8084, 1.4319, -0.7788, 0.2337, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3482 left_y=-0.1544 left_z=0.0059 left_yaw=0.0697 left_pitch=-0.3622 left_roll=0.1256 left_gripper=0.9961 right_x=0.4005 right_y=0.1598 right_z=0.1131 right_yaw=0.1594 right_pitch=-0.5585 right_roll=-0.2086 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -8.3214, 4.9162, 1.0476, -0.2466, -0.0024, -0.0171, -0.1846, -9.1556, 6.3658, 1.0476, 0.1245, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7752, 0.8848, -0.2043, -0.4198, -0.4419, 0.9948, 0.4664, 1.8084, 1.4319, -0.7795, 0.2298, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3654 left_y=-0.13 left_z=0.0123 left_yaw=0.0996 left_pitch=-0.3841 left_roll=0.14 left_gripper=0.9948 right_x=0.4001 right_y=0.1604 right_z=0.1129 right_yaw=0.1647 right_pitch=-0.5606 right_roll=-0.2065 right_gripper=0.0581\nstate[joint_eff]: [0.253, -6.612, 8.1299, 1.1746, -0.232, 0.2173, 0.0366, -0.2393, -9.2923, 6.3795, 0.9792, 0.0659, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.543, 1.7775, 0.8505, -0.1555, -0.4171, -0.4465, 0.9959, 0.4664, 1.8084, 1.4319, -0.7795, 0.2268, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3623 left_y=-0.1309 left_z=0.0061 left_yaw=0.0924 left_pitch=-0.3753 left_roll=0.1273 left_gripper=0.9959 right_x=0.3999 right_y=0.1609 right_z=0.1128 right_yaw=0.1676 right_pitch=-0.5614 right_roll=-0.2034 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -6.106, 4.7385, 1.2039, -0.3394, -0.0708, 0.1001, -0.3214, -9.1556, 6.5162, 0.9988, 0.1001, -0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08db285c649e6da49de31bf07cb01d5c9d516a47f1c78a0b14331c2e4c940b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b0b24e97643757816833007ed1d6e356486f2939ebc1682ffbe94295103f3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0aa976ceb7ee4fc5c64969155cba70a4120bc9f1d3f433c2a8f226653f9521",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzdICILymszdP2DDo6itV9Vtfuz1L9JOqADScfE2Hhqnkiz4rfptxgycbRMJvV9xcZ_1Lcabx3IPpOKQFAFG3ORBXyHxd9itsmEoXkcsXnpoYkIlUgTjTJhHeQz1sNwhC23yEDzJ1yGWhNC2XjJDLRxhqRYTBKv1qsJkeIfs_AE8NAcKlvovjJo3KZIkqkPV5Cr4j7C_eUwNxIIvSAUNYzf3N_-Cxy51o1G5PoH070n63cQiUiyEO_AzoY8tzuI_xh4qqndYnlf4mUpOQ2iqd5eKfiI7XAXF9y4p_i6G2QgrXDd1mU_kcMTQyLsSTT0hgaubui9Yc7FfZzaeIvVDS8rB6bH_jWjqDCGTEKgJsdbNe5yZxiUeelkAcBMiBFj9DOfc4yOBxlPOiitCbhcv6UWWAbKhDGhOyfx2N7jFuccRbUZb515sl1GB7W2XvRVE_efudCKqARcxS1rpS2QLPuFUcLTcWKyaA2vk8CsPau-kdPSb1WRpIfSPdW2qXVeJcrwE-a7MCsVTdoI5qDuV9o6GVCnXu-uXy-c4M5QsB-fxYtERzBijazQxlYJmyjT-0hN-Osa3dBPKOXoSB9mNUlK19wf5Py7vu-fpPIuzBFkiosuldamMqu0g5MGvF83gEk_s9QLnCsmBo_mL0zH5xjXa849ont0Rd9P9UUL_GiVOT_QoqptAX0WftGjseHANZxTLPEam7OE1BNYbYrKrQFPkhIEKm81ZFCW8jt78WEwyTIGH0a3o5BzqPDZO5KKm0EETcM8eISLKl8teL6sxzC78EuOxyHn3Iky2wvZE27xbPLJyG2fqrsRwzOYtqHlHgHNHqLfM3U_wWUbqsbXJelf_YWNQVZmW7fQH0R-8OLPTft-j1n3xGt1hNRvJl6JpGwDfUUwxdCinFE_w0VGyAsU1-ICvN_nAL70rZrpgSy_Oco1Jk63rauHErU8b4ZTFhqF4W2IwH5ry_gZrVaT-TnBIvAjcbTl4g5K5oPGxSUmbUSYHfv5bqUDERD0jEp5rOkE78_UGy9CbuXBRosfK9CW7qU_mAZ2zRAGGSuXsJ0xSLGWgwo6kKHFDjF2SLolsHexL5G1_ORnNeZ-7iLe-3FHaXo5-ahqW8N6nd7F9Y9GRO6STILlimyz4goV5TdWMGcyHfKWWgYzQO6xN7H0ianHibDDJEwX5D44oVcgq90LYz8zRQWrKvWT0NQ3_bV1vSjtCQEoqV5lJ8Tc6yGot8JT2ta8QWT67rotj5dDpvK_fGVZh7DlkBR2Ym73rYUGDuoAlAqYhtpyb_HinH1Q0gDr7ClId3-NEwF5xg3UpZDhMq9ZGzyAr7Nsk95qev8t_-uMHFnYzNJUjaLYev7gGuBe4A6z1tSp32ZkpszKu7gT7JkGPKNznOeHXoBnde7xm7vevGF0Y9yAX-N8gz1U8D0keeexuGmYPixa7U2Z23AdioeDe_Q0rvmwUwhlvjngizq33Vz8jLYOHYlzDdkn59nJam-ujg11n9kN4ljE7neXqDqzYYW_hJ-aR552bDTPxAN8uBo8XJQtZm4-6r4DOgejt78B_hQ7pVIl29SjhxdU5I9hccZ2jqRbYr_Xh7aAXR8jPRT_fqnVifMdnPLb7-1YCp4xpb3eLIo4ZOGnvoH3Km5eJsHDSnGRzyfaHjvZN06p8WeJmGKuZnuyXcSpZ1CwidsUC7aLhOTJWuCONH2L0UHSbAmin4tmqjGbMsr8kj-4SjSPA5KVmZ9Idn2UEiy-9jek9TlfN-inMasKR7tHjYg-e6qMu5ACM1SfynrEJndGlP8Hkbge-hC2vr-3t9LaBKQI-7Q9q_CvubLpKiqS_Ys=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cdac82887d0b247300e98f5aff4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335},\"note\":\"The cap’s wider portion is still a little below the jaw-tip line, while its thin stem crosses that line. I’ll retract another short distance to put the wider portion at the finger tips before closing.\"}",
  "call_id": "call_sjOFbn1WbNQm36JsPASswXKw",
  "id": "fc_0f2f0697e2a1f0d4016ab43cdc502087d0b5d24d8b9843a3c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sjOFbn1WbNQm36JsPASswXKw",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.729, 0.7773, -0.1287, -0.4381, -0.4816, 0.996, 0.4664, 1.8084, 1.4319, -0.7788, 0.2264, 0.0956, 0.0581]\nstate[eef_state]: left_x=0.3446 left_y=-0.1329 left_z=0.0052 left_yaw=0.0884 left_pitch=-0.3601 left_roll=0.1195 left_gripper=0.996 right_x=0.4001 right_y=0.161 right_z=0.1128 right_yaw=0.1684 right_pitch=-0.5608 right_roll=-0.2029 right_gripper=0.0581\nstate[joint_eff]: [-0.2803, -8.3077, 5.2855, 0.9109, -0.315, -0.0415, -0.0024, -0.3214, -9.1009, 6.4615, 0.9988, 0.0904, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a4dc18caee21ea64785226e4dc40f9bb58d5d7234ebf0e66fcaab05731f602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a09e08a07c236ffb62738e958b76337b35ecd20e5b07a835ca456fac8ffda7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cf58aa0093b8ce31a6c5cc2c06e507f83a475520eb5021a2ba150748a095a5",
      "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 · 8.515 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.7607, 0.8196, -0.1753, -0.4603, -0.519, 0.0097, 0.4664, 1.8084, 1.4319, -0.7792, 0.2306, 0.099, 0.0581]\nstate[eef_state]: left_x=0.3399 left_y=-0.1509 left_z=0.0035 left_yaw=0.0766 left_pitch=-0.3724 left_roll=0.1366 left_gripper=0.0097 right_x=0.4003 right_y=0.1603 right_z=0.1129 right_yaw=0.1622 right_pitch=-0.5597 right_roll=-0.2056 right_gripper=0.0581\nstate[joint_eff]: [-0.253, -8.5538, 4.9436, 1.033, -0.2906, -0.0317, 0.7448, -0.212, -9.265, 6.3932, 1.0037, 0.105, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.543, 1.7775, 0.8505, -0.1555, -0.4171, -0.4465, 0.9959, 0.4664, 1.8084, 1.4319, -0.7795, 0.2268, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3623 left_y=-0.1309 left_z=0.0061 left_yaw=0.0924 left_pitch=-0.3753 left_roll=0.1273 left_gripper=0.9959 right_x=0.3999 right_y=0.1609 right_z=0.1128 right_yaw=0.1676 right_pitch=-0.5614 right_roll=-0.2034 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -6.106, 4.7385, 1.2039, -0.3394, -0.0708, 0.1001, -0.3214, -9.1556, 6.5162, 0.9988, 0.1001, -0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.729, 0.7773, -0.1287, -0.4381, -0.4816, 0.996, 0.4664, 1.8084, 1.4319, -0.7788, 0.2264, 0.0956, 0.0581]\nstate[eef_state]: left_x=0.3446 left_y=-0.1329 left_z=0.0052 left_yaw=0.0884 left_pitch=-0.3601 left_roll=0.1195 left_gripper=0.996 right_x=0.4001 right_y=0.161 right_z=0.1128 right_yaw=0.1684 right_pitch=-0.5608 right_roll=-0.2029 right_gripper=0.0581\nstate[joint_eff]: [-0.2803, -8.3077, 5.2855, 0.9109, -0.315, -0.0415, -0.0024, -0.3214, -9.1009, 6.4615, 0.9988, 0.0904, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a4dc18caee21ea64785226e4dc40f9bb58d5d7234ebf0e66fcaab05731f602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a09e08a07c236ffb62738e958b76337b35ecd20e5b07a835ca456fac8ffda7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cf58aa0093b8ce31a6c5cc2c06e507f83a475520eb5021a2ba150748a095a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzfub10S68V-bT_AeqVpcgCDNvUOT5EEBUieDg6axCSQf7L06LFX9GGmQqB5sszxEGlQIFLo0z3PX3nz8glmNB5YshjYjuCKm1j1mOtrUGru41OIERvqLD80D1kdKsM-3qWgR3MInbypmzPpJ-WYhN7ZjsRnT_QCIgn3Nb0D_rtpBkuqomIFcqr8DvTXbqx4H9LGx0l0qgf-9Zl5-XBNWIZrWhwFqi3UxSv88LgXZbBM1WKiBziipEGId7hwPs3FGxNPRzYZyCLWC-5xpegkZa4YmKH3_DUiYobPu1p8jJ4AYVm8oToFM3iZ2B66tfQ_kVd51F41cSoVHwf3Tot0ryRlpdTtcm2aEmfn6OeUiehctZTA6FKyagq4QAsZ7Qt2NgAqQsiZFpJUiDZm8WYprPaJ7hWT6xxlWDDtwFZEcpfgvOWtnQA6SFfYgD2-jgfZUroQvBDLXLrL8dM-uGomgVZGkjhB_MB-6wqccO_uFxgPlHE_Ck7-fR9WofwsewIaETP6pKrEqhY0WLpkFLMsFWbMdo32gC88EYxaQAIhs-eEGdRV1o1AEQr0X8r-3TiSWNrFh62KxS1fbrbwKsNykBdn_XTh_2D2bIm4enh5IqbWzkGkyBzyz6ptlQSm3m8bc--YaD1Ys-bfnzT-45Gm5D9W-CKFP4HZ1pUvHCMjI0wG4-w5zwQaVQ2hXrOoIb0brQnyt4iJTmJqdLACHcO_kn9IzuqOr4KgxTTGy20UjvfS3nKSVixJA4KUQ4AE-JgpHcSHSLMZjTbJL83Epe86yD97RH7pDvDbfQIc10EeC6VMhnB7feP8frn_H7xW5XSka8CJsAy4GIvoJr4Y3jMUQvup5xrzVp9vgl0JJw2ykDIW0JHVoAUQm1MLUgBMOEv2DkDj7Cb8FR18pckTBtrgP1GB3WzHWJK93I_koxxW3YADa-cnZ8G9rPiL_eu5xjIGjdHuUDd6glvWsoZWDrB5VwNQzSBPhOSXF-WB03xg_cWMbSYWVYloHHzsMMOaKSv7S_wUlbGr6SSpQ-SCX6Vc9hSzydBPw7eMO0zzzI2sZTdT2sGFxzIkpFzBa-1KOiBfnK23SN3fXxJEQmT1Lqd9FpSNe94Jf-YWPXQ-HMZGBpyihEjrWwp06wBXk_cBZHi1_jT8zx4yqJoqD8fZSmdtE1mu8OKHq_7_Rgg3Ef8EPYl8D-xsVJYZt8O0MkAfiqdGi0tHhXmObLktehonfFUEHG5S0uE-nfSy4uG_Qscn5ypYCmcYnPUaMvDnAryBcEYLqxf165JKBAj0pNWfe2I-XD55Mz0NG0nTx7LCXptQIp-ebaUtgWiJzkB3gxJi9xxys-j",
  "id": "rs_0f2f0697e2a1f0d4016ab43cdeb6f487d0a68f2b5692c59b86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s wider section now crosses the left fingertip line near image center. I’ll close the left gripper on that section and check for a nonempty opening.\"}",
  "call_id": "call_CSNE6uujmI74hqA6vUITqdNk",
  "id": "fc_0f2f0697e2a1f0d4016ab43cdf0b7887d08be3af39b87d2c2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CSNE6uujmI74hqA6vUITqdNk",
  "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]: [-0.5869, 1.7233, 0.7673, -0.1383, -0.4374, -0.4885, 0.0103, 0.4664, 1.8084, 1.4319, -0.7792, 0.2264, 0.0959, 0.0587]\nstate[eef_state]: left_x=0.3398 left_y=-0.1318 left_z=0.0031 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1238 left_gripper=0.0103 right_x=0.4 right_y=0.161 right_z=0.1128 right_yaw=0.1681 right_pitch=-0.5611 right_roll=-0.2028 right_gripper=0.0587\nstate[joint_eff]: [0.3487, -6.8581, 5.9966, 1.2137, -0.2711, 0.0464, 0.7937, -0.212, -9.265, 6.5162, 0.9792, 0.0611, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7227157efe682587993aaf087a1565de0ef69f4b245496c6f59d7a70d1b79749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e8715a60b3d348e60239772893b54698b0cd32a0dbb2aa731f94fe38147ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7be2bf238ac1ad86aa22caa956e4f250958b6ce5eeed7edea1a6150c5e25f6",
      "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 · 2.52 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7752, 0.8848, -0.2043, -0.4198, -0.4419, 0.9948, 0.4664, 1.8084, 1.4319, -0.7795, 0.2298, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3654 left_y=-0.13 left_z=0.0123 left_yaw=0.0996 left_pitch=-0.3841 left_roll=0.14 left_gripper=0.9948 right_x=0.4001 right_y=0.1604 right_z=0.1129 right_yaw=0.1647 right_pitch=-0.5606 right_roll=-0.2065 right_gripper=0.0581\nstate[joint_eff]: [0.253, -6.612, 8.1299, 1.1746, -0.232, 0.2173, 0.0366, -0.2393, -9.2923, 6.3795, 0.9792, 0.0659, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.729, 0.7773, -0.1287, -0.4381, -0.4816, 0.996, 0.4664, 1.8084, 1.4319, -0.7788, 0.2264, 0.0956, 0.0581]\nstate[eef_state]: left_x=0.3446 left_y=-0.1329 left_z=0.0052 left_yaw=0.0884 left_pitch=-0.3601 left_roll=0.1195 left_gripper=0.996 right_x=0.4001 right_y=0.161 right_z=0.1128 right_yaw=0.1684 right_pitch=-0.5608 right_roll=-0.2029 right_gripper=0.0581\nstate[joint_eff]: [-0.2803, -8.3077, 5.2855, 0.9109, -0.315, -0.0415, -0.0024, -0.3214, -9.1009, 6.4615, 0.9988, 0.0904, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5869, 1.7233, 0.7673, -0.1383, -0.4374, -0.4885, 0.0103, 0.4664, 1.8084, 1.4319, -0.7792, 0.2264, 0.0959, 0.0587]\nstate[eef_state]: left_x=0.3398 left_y=-0.1318 left_z=0.0031 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1238 left_gripper=0.0103 right_x=0.4 right_y=0.161 right_z=0.1128 right_yaw=0.1681 right_pitch=-0.5611 right_roll=-0.2028 right_gripper=0.0587\nstate[joint_eff]: [0.3487, -6.8581, 5.9966, 1.2137, -0.2711, 0.0464, 0.7937, -0.212, -9.265, 6.5162, 0.9792, 0.0611, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7227157efe682587993aaf087a1565de0ef69f4b245496c6f59d7a70d1b79749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e8715a60b3d348e60239772893b54698b0cd32a0dbb2aa731f94fe38147ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7be2bf238ac1ad86aa22caa956e4f250958b6ce5eeed7edea1a6150c5e25f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzoa62TobtCtmwlSPwajnj6OX1bvCLQxWSKqi1sVmqOKn42Bgk091cuTdGazn0QEi7tmYcq7EpCT6yL0zzPZ90-YozYYxf-eSOTce7c2pMpDwAHGcPmzvxTXUYaRtiR45Ht_BWVlKg_XRVrOPD2Pgr0oEafNSjYb2DliUP6PpD_V1F4AVX7KfcIZVvNAC_ME4KsQebndPOYsliaw0vL4LlSwSWB074kQ8eOAOxrhOfuDR79LIEuZ_b1GHaMT9J68QOOZFYyV7aZC1gIVi2JlluLaFyjBTIPWvYoLxI6KLaYGPjTNlIKrk9UPUWARTfeZwWrNmyC2DTEWnbNFnscqszOdOG5WT_5BtqdOauQJ0rMQAUyh1yhfk_U3UDgV-d4bysX4mGdmbKhU29r1087DzsIXPgY1vMk8HBeN6hpY9mXFVtEY7f8PjQJPcyP8zjpvuMuB2Y92KdQyYQ4ywuYr6RG0_hVGxrfI9IHep9i5Sor5MBlJyU3mR2NSZPu4UWmeEJhZb-W8b21HlaYbfmWMa-pEMhdy9jStHjAGKjRu0rhSwkOV51tWBG2e4NvCJ4RLYwraAmZ-rdOENXEPICwv1nA0Ga3CK8HCUSY8lsH6wHYWhi-zqASGD7hasxCWnPLvvcwW9alanFKfCnxjRd70CV1WLsa4h9e0jbGIyHli07oMWAgagL30CafqDa7UqTAxz6RToNeD7c_WGfRM-panRGy3HRC7aKu1u5KGF39KUpPxFsS-8U7n-VDi3yhZ3xLiE4uGMfeICK2ft1J5WmbjV2_j6Wlr23sK0wiuYPuePaHvDvrA1gkQIdAs13xWPARPJcLiVshhE0GmMJixugfexY185bHUr9JcxWH4ulaLoBFt-undniY0Q8XZSwvt2ewEgg35T0n3dzkZL7VBzipEFTFwSxciz3yTkHuqw1C_etYStdcClSYCp-eftjcuFG1GleYrpsl6nz0HkEYFofWRpjp0NE_6QaKeqdQemIzkiTLPtmVTO7xajWqzla-vrEZ8-a7ZW-3ooouKXk6XKY1HLauqiG3AuipIYdBH0xfPeOOZRM9j-W4aWEbr4pdlSQ9D6IRGX-Fj_7c51bQPWi8xKYIZGozI-HivPupUGwuERZLjKDRevSnQ4aX4oXUmDLGlFxcVGG-RSJLO0oG9etR3F5HgpiSdKA1f_8_eM-2tfZ8noiC9z1OiSG5gP9fxi_hrDhk852QlNkqnNCXTBjriWvzk0nRYyegDaojD_-uj-TUGqOwmprhxQngkYHU4U6pnJ9c39inp0gOyRbzOLHfHex5yjNOjKqJ6xtnWKYdf4ChYZDPKQ_FbSVHcvfU73T1ltcQFZl5W3HuP5iV_DvcPMppfFpIW7pFU9YkUzXRgSrQZXI65gvDJh4lfuGEF2SDAbks37YC4sqYFHoZhy0d4USxpAIXvI78wH7frGfSiKJ5JrQ9IQNexrRZ5TZW0en95OeY3AZLtypjaNEb9Hk18n92jj7Jc1nxKoqO1WUC1YQuY2jEEdgPuDuC2IL9zl1MW8f3qs6DX72plYZrsQrMBXby_C9372mj4DjCOtbbGRga9Os2CE6WxLPpuk_9kR5buv9HvJb5UgmY8G75rgcm_KKi4r69zWJeuMvesaJXJgjYjdVYJuuNq31lknDCNhBvVpqh71Rhvm4a6-5gnNDjBcx9CLh_Ivr2GLybXERg_ufMDioirhOR535AOrDAe_9Ycls3fNkrSXgZrwv5_ScSBvMd3bYSbCDo_YYD-SVfVxPNh5wp_EHNuc3hFoHKqnwlRTtWjL2PKZDnPBfSTVYRIlfyCoGc0khMAab9He_OzfRXKZ1S2VcAs7oMORr61o5diXUfpJ7O4xj5yOnODFRxgZcQus0l64Yh6aUqC7VWdVYqIs_nTqQvVXqoYA39US-BGPem7Vi7QjdX7Ladx-iQhh0u3y_Nki2hWBbPEGBzlDkMxdMnlUPeNrLAAHrDwrywtvblLwv6gZtzcGwZlCL1Q3cIUUlbGcA6rd0jpKU62YKEEsv94imtvlLcqybds-mb7MhJw_ZOK5-o275yIgEogh61YQvW43eC8PBFhq5JCJ7WDXWXesOEPAHk7Ok7OwvgEBdfaKsXOZuPC7hmcqdsFG0LseUJqK--vrxFxHxSWSx0y2ymZeJjF_0LW46g_vFJlVqe1ppXBsUIdydqyz17vzXXrmQRsBr2leJesWbBvHZ4hs9EwMWcl__ZIzS9Uq39RgRIFc51Wh92trXsl0eVvsmh1ZyoEkv5OFleUoS2DSrj9wYSMd-tCukeji-AJNIZeSdasSQvvGoT0_O1sU_dsiFvAQ3NtJTWX1-_rW7tif--D12c6TjRdX7mJhprVTqhykzWrEaFo2kItNO98LBzQus4Ox9i_aHGZly71NOD6iNCGXmQz-GD7mvJC7vTQueNVMlUuqngLkmgzA611fdcQpPZcRLyuNljtYIlIfeot_n-v2JIo76QI65ueqFD_fBk41i-EZUY1qvJVdVh4kyu_-IBeIarBOTrJmS4q19bj-mQa6_TQuUu0EZ5MeGK8kUmUW9tw6QlKiGDb_FmEMGOS2H9KrFlYva6ya9kuTZ7w6PLaXk3GIdwUbW5TvrMFvxUGfPOSHx6gC5MpAK3R9fHsnoUee45SiNgKrVCjcfdluVrcGh8DKV-Z5tww4mmrkbLMSJWAXzP0zZ7ki1W-oOK5WIg6_Ayd64f5UQ3rRW_e78BlGQuNIdVvklTuDT5zvCqThe8j6avIvngJpr44ki0Y5aYXiYcuxTtfntRFCQRL1SRBCNUSGW6dxAcdt6bzouxHruc5Lo-V3XdhOKw3o2sN3NPJDsxlSp-ntCgM60YSQ3g5pa4oky1bPzq9dGI3XB8S3K3Pm8-Hiz1Er0kcRlhjisLtVZizOPOpsrrAYxo36CwISFQkKus0tYEhfaUqv_lBvpOphh1aMqSzto7IYy-yl8KGQnVm-6hPPerp7dbcESKMJgp9vI5YlCsKRfjzPFlf_Qohx_yDIFGnKnz0fxfjDTp8C8JySNT5lTk4OPdPICHbPzAtISmjAsdUK6xvRpXdxZYwPGzPgzjjNGazEMlCjxF_WC0uRBpneNyNI9ag6FQEtezIhOS3x85Yc0BpGoOe_PH7GwsLxiYNiy_dWzwC3njtOhEbWCkNT259aENJYtRX3tPRgVPKt13XaWfF4s76UQjEh96trU548oJ7Zx19sv6J4K1-y3S4k1hb4EaNGwbaqdPz8LN31VdIxm_vx3iJgfvUd2Zh41TmLJw3lW909F2AQOd67X9hyybojE0pjNZd7v4zP7xnBbdfWMs04phiXL5asWyiCruA5Mm8O285Juv6JgRsRjopel7qmSguhrsREQr-VWw34iPZEE8AYBYMnfb7a1nJ0D48ElYhQ2Cse3XpE1f7JcpAitmFr1Kc4BbQra7E-q4y1hdjeJGIZAaYniDXLh98B6b5W1veaFZvohu5kpLlzn_pNG9_-NMjfikRJnkiyNMluW6LD2xks9wHGwYBREru-KTJL7s1SE2247f13ycMVtihkqV2zEZdKu2WO5TDvkCgvLPYXzvplkqglr5R-vhdctUMqpb4FyTRp2G1lM9HJbs1WCusPbSkN1U9YhirmyWGDYUiuRqUfECmkMiim_eBlF64Q_ece5WqKv8eTuxIGNf-mZ0PNUbbpeRs83r_K1Djncwc5wmaa-VNXf3PaTClsBDqrQsHyz_5fhG6Q==",
  "id": "rs_0f2f0697e2a1f0d4016ab43ce3bbac87d0bab972f228037fa5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":-0.015,\"left_gripper\":1},\"note\":\"That closure was empty as well: the cap moved forward instead of staying between the fingers. I’ll reopen, advance onto its wider end, and set the fingertips slightly below table level so they cannot pass over the small cap.\"}",
  "call_id": "call_Dfwi9ttazEbgtTaNZAIiWEjZ",
  "id": "fc_0f2f0697e2a1f0d4016ab43ce82f5087d08a57e604bd2d6e79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dfwi9ttazEbgtTaNZAIiWEjZ",
  "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]: [-0.5224, 1.8465, 0.8711, -0.0216, -0.4347, -0.4618, 0.9947, 0.4664, 1.8084, 1.4315, -0.7795, 0.2264, 0.0956, 0.0588]\nstate[eef_state]: left_x=0.389 left_y=-0.134 left_z=0.0036 left_yaw=0.1171 left_pitch=-0.2967 left_roll=0.0763 left_gripper=0.9947 right_x=0.3998 right_y=0.1609 right_z=0.1126 right_yaw=0.1682 right_pitch=-0.5619 right_roll=-0.2033 right_gripper=0.0588\nstate[joint_eff]: [0.5402, -5.641, 5.8325, 0.7253, 0.0659, 0.3541, -0.0415, -0.2256, -9.2376, 6.653, 0.9988, 0.0513, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654ee2c3bdc01b453255fa5f82fb7e27f3469490600a4efac15fccc3917fd78a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac93fc6d1e211b466d8e2fcc2d0302d66646fc1683e0dfd8c1d8b361230015a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de88993a90b1c06b252d6b377d041c56784b0a038fa9891ea78e107268488c16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.785 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.543, 1.7775, 0.8505, -0.1555, -0.4171, -0.4465, 0.9959, 0.4664, 1.8084, 1.4319, -0.7795, 0.2268, 0.0959, 0.0581]\nstate[eef_state]: left_x=0.3623 left_y=-0.1309 left_z=0.0061 left_yaw=0.0924 left_pitch=-0.3753 left_roll=0.1273 left_gripper=0.9959 right_x=0.3999 right_y=0.1609 right_z=0.1128 right_yaw=0.1676 right_pitch=-0.5614 right_roll=-0.2034 right_gripper=0.0581\nstate[joint_eff]: [-0.5538, -6.106, 4.7385, 1.2039, -0.3394, -0.0708, 0.1001, -0.3214, -9.1556, 6.5162, 0.9988, 0.1001, -0.0317, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5869, 1.7233, 0.7673, -0.1383, -0.4374, -0.4885, 0.0103, 0.4664, 1.8084, 1.4319, -0.7792, 0.2264, 0.0959, 0.0587]\nstate[eef_state]: left_x=0.3398 left_y=-0.1318 left_z=0.0031 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1238 left_gripper=0.0103 right_x=0.4 right_y=0.161 right_z=0.1128 right_yaw=0.1681 right_pitch=-0.5611 right_roll=-0.2028 right_gripper=0.0587\nstate[joint_eff]: [0.3487, -6.8581, 5.9966, 1.2137, -0.2711, 0.0464, 0.7937, -0.212, -9.265, 6.5162, 0.9792, 0.0611, -0.0269, 1.0281]",
      "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]: [-0.5224, 1.8465, 0.8711, -0.0216, -0.4347, -0.4618, 0.9947, 0.4664, 1.8084, 1.4315, -0.7795, 0.2264, 0.0956, 0.0588]\nstate[eef_state]: left_x=0.389 left_y=-0.134 left_z=0.0036 left_yaw=0.1171 left_pitch=-0.2967 left_roll=0.0763 left_gripper=0.9947 right_x=0.3998 right_y=0.1609 right_z=0.1126 right_yaw=0.1682 right_pitch=-0.5619 right_roll=-0.2033 right_gripper=0.0588\nstate[joint_eff]: [0.5402, -5.641, 5.8325, 0.7253, 0.0659, 0.3541, -0.0415, -0.2256, -9.2376, 6.653, 0.9988, 0.0513, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654ee2c3bdc01b453255fa5f82fb7e27f3469490600a4efac15fccc3917fd78a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac93fc6d1e211b466d8e2fcc2d0302d66646fc1683e0dfd8c1d8b361230015a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de88993a90b1c06b252d6b377d041c56784b0a038fa9891ea78e107268488c16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzsH-yHvmAbRNy9rfY8HvPvZq90YanB_-BzZv8usSsrAbGqY66HCCFtx6rVY2328d16GkNPwtzKRLtzvVFs3gQIDkQoGKhEbKc_Zu8dPOhiCVshbYuQa3gnz08oUzR0RRUf87HMySydBS1R78_jfDJGF31xkL5BBgrjXR-EfNBbQGKW5seUA_oHPwfCgw_dhAL39E1CRrh0QiP5kXUhPQdRsy0zdbZsanTHugrXSlzmsZ8m8Z-6S5CwO00la_0fPZGcglxm5kktbfCQKLbNNQf2ClCcP0tlB7tPjucGcRwq3xZiN3cvUo-ueCtN-hCh5Bss3JVxW8Hz2mGckql60K2_KqKyKfE2lUqKAF1UN4DHrGQZuasl5bS4PiZQ_pMOvBuEf_k9H1CE9gh9O4cx_FH9n3pDHNXGy5nvZfezkafzsh0707MrGgiyjQBKFq9XzLOwFjdZB4i3u3rFqZCRaC3xc5ujwjOmENp4SiKLPFP1Hr9nm-PWgzOwJMXKcU2y7tjK-fUKf9h4oMD1_PBjtAEUX6dT9zntOk6snTjZGUyT6qpLcU1kMsgOVEQU0wcCu3y1CXPFThjlHBEJWva0r0hZx6-_rlm-Zb-lQSJJT8rq9LDyZLt-EV-tnGmqrn2pqFH1bNnb8j5s5opsx-claGJj7TbUp3DBL9jqOxCCLZ5FcyPLHPQTa1OWjb0LFyjdh54HAaPeH1Sp0lQ4x8Wq_Jd_qf5rcFL4MHJGs4-ihiKoQYmXHCD8gpXsbUXQrQK-0IyB44YK5brvxOLbQN1m2q2kgcvbQokGECInyGTdUcl17vmCMP_MmwNmGszVWKsLsLDcQNFUXX4EnrSt6lypsGlGeHYg8JJJKzBCkW_A1soAKDWQoDd2OA609tvMrANU7TB2Rt3i0646-aDeq_0nfybUvp9L1sCs43sDQBZ_YMr_7Fdelhl8i06sDQra0qPWy4G-rML40wkmLaboEOBtmcNsXjnkaSgEiULJwKbaF3X5KbAFma1atRdmoM-YiqC7xvM-Leo-YEDfPK8c_3Iw4I5_qZ6V9nk-7dDN_bsvC3QfADoqtXHiIR2zUcpq17IOPCfyGP3OM_1i1hDx8aVQm74vl4CwAvV2j1_B12BzdvvCqDrQ0OBAEo8x9fVUnjr3rJWtl7t3icE3xPfUyg__KkMN9BAqiflFBrh3FnPconviJj-k1jrG8eyGtZaV20Y7lI-hJ0pncWE0Cap0g87CtlkN2V6U2kXQZmj1ANX7YP5n5PpfTuOuzqNYHiB_jYUC3l5RMSA31wAE1riZXltoCoBE9lFU7yRtBN7TPO9XmkyRCdiUgtFPLtKc7R6FTi6XGbbsK_RUgwe7_FFsRd4_nVPjgqcysmK9vGuO8Z9aldSEdx7P3mVL8WKn0nlHV8cGw_xluSbfCykMYAKG0pQEOf-KJNtakAFiPAWHg_W-uDSs0UU=",
  "id": "rs_0f2f0697e2a1f0d4016ab43ceb18cc87d0aa417099e366e098",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s dark body now lies along the centerline between the left fingertips at table height, with its open end near the jaw gap. I’ll try closing at this deeper position and check whether it remains trapped.\"}",
  "call_id": "call_TS92hQnaQIyxtx7k3Snzpzns",
  "id": "fc_0f2f0697e2a1f0d4016ab43ceb84cc87d0946798cdf360dab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TS92hQnaQIyxtx7k3Snzpzns",
  "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]: [-0.5194, 1.8496, 0.8722, -0.0113, -0.4404, -0.4702, 0.01, 0.4664, 1.8084, 1.4315, -0.7795, 0.226, 0.0956, 0.0624]\nstate[eef_state]: left_x=0.3914 left_y=-0.1329 left_z=0.0044 left_yaw=0.1276 left_pitch=-0.2868 left_roll=0.0694 left_gripper=0.01 right_x=0.3998 right_y=0.161 right_z=0.1126 right_yaw=0.1685 right_pitch=-0.562 right_roll=-0.2029 right_gripper=0.0624\nstate[joint_eff]: [-0.1436, -8.6632, 5.3128, 1.1404, -0.1685, 0.0855, 0.7839, -0.3214, -9.2513, 6.5026, 0.9744, 0.0757, -0.0659, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8ec633b8597c276449017e8e18c3a51755bb447f3e953bb0fa1551e2c4b79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d754cbd32708a4fceeefd398838fe52bc001f0e1370abaf29638fb793b7a1552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a569bd16a34661692810491b5cad8abfc7c18b1f53cebbf26331be3d3c30dbba",
      "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 · 7.982 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5823, 1.729, 0.7773, -0.1287, -0.4381, -0.4816, 0.996, 0.4664, 1.8084, 1.4319, -0.7788, 0.2264, 0.0956, 0.0581]\nstate[eef_state]: left_x=0.3446 left_y=-0.1329 left_z=0.0052 left_yaw=0.0884 left_pitch=-0.3601 left_roll=0.1195 left_gripper=0.996 right_x=0.4001 right_y=0.161 right_z=0.1128 right_yaw=0.1684 right_pitch=-0.5608 right_roll=-0.2029 right_gripper=0.0581\nstate[joint_eff]: [-0.2803, -8.3077, 5.2855, 0.9109, -0.315, -0.0415, -0.0024, -0.3214, -9.1009, 6.4615, 0.9988, 0.0904, -0.0122, 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]: [-0.5224, 1.8465, 0.8711, -0.0216, -0.4347, -0.4618, 0.9947, 0.4664, 1.8084, 1.4315, -0.7795, 0.2264, 0.0956, 0.0588]\nstate[eef_state]: left_x=0.389 left_y=-0.134 left_z=0.0036 left_yaw=0.1171 left_pitch=-0.2967 left_roll=0.0763 left_gripper=0.9947 right_x=0.3998 right_y=0.1609 right_z=0.1126 right_yaw=0.1682 right_pitch=-0.5619 right_roll=-0.2033 right_gripper=0.0588\nstate[joint_eff]: [0.5402, -5.641, 5.8325, 0.7253, 0.0659, 0.3541, -0.0415, -0.2256, -9.2376, 6.653, 0.9988, 0.0513, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5194, 1.8496, 0.8722, -0.0113, -0.4404, -0.4702, 0.01, 0.4664, 1.8084, 1.4315, -0.7795, 0.226, 0.0956, 0.0624]\nstate[eef_state]: left_x=0.3914 left_y=-0.1329 left_z=0.0044 left_yaw=0.1276 left_pitch=-0.2868 left_roll=0.0694 left_gripper=0.01 right_x=0.3998 right_y=0.161 right_z=0.1126 right_yaw=0.1685 right_pitch=-0.562 right_roll=-0.2029 right_gripper=0.0624\nstate[joint_eff]: [-0.1436, -8.6632, 5.3128, 1.1404, -0.1685, 0.0855, 0.7839, -0.3214, -9.2513, 6.5026, 0.9744, 0.0757, -0.0659, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8ec633b8597c276449017e8e18c3a51755bb447f3e953bb0fa1551e2c4b79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d754cbd32708a4fceeefd398838fe52bc001f0e1370abaf29638fb793b7a1552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a569bd16a34661692810491b5cad8abfc7c18b1f53cebbf26331be3d3c30dbba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDzxGY53ibl4iEyXtidaP4KqyDdSLugN94tEeyQmStzv-teCTvZXL5Lg6FI0I2pZx4s3oUn_5zn60RrNSWd0lw-ansPkXiOuSrR9sCeunTMo0mKA6nroKEZPuic5avPXe5lY029B62LmdpDWdBBmotYA2vH0uu6PILoLeMv9l4f4jZ8-o1zh-vNXAdaxVjSI-nl7QK5MAVoSSe5qfMv3rnN7ZgN5ClBt2gxHXQ3aBRcdXbCm2ENKGkaO8-st89EZ7f3ihvqh6HW6U6rX3funA2EXbp8oR6eMqfFP_o2GVVWmA3e3Ozlcudomq3UhRrYbghNXKU9i3TpkVUHOwG57ZaoPHCdyxHB7W5rNj3_PMv2q4oP5iirzmuGgMGolyd48wLODuM1_ZDxO0mZkna_Hcp-ABJ8HxFn9nYjE7qMmDeJcPxDpY9w1Tckgqv6sgzqD5Qnr5J_QEVhT4-vyZj5msGPjDOdF9urU8N4f1YUah1ZBOGwRsHLMLH75O83E_GFfieA7OYjcz83RxhZDkh4vZZR0J1QfToeYAsudg0yvFZA13p9jNY18K2UeYBrySA5D54WFXBsTQnnnaoUYgE31iHx7vb-E_t8TB84-5PJcxhm4XrTNBieTtgLMn3gdWheWUmjZ9JvdLe97eRsl86vsq7_uicyUFUALWuRFUDn6BtbVCHlahdYtzwc3e_xLnBFZt0NVeAEUz5MXTrCvo5Rw2EgE_zFJoD2VU_I1tkwx73gWYi3AfJYrnaB8Yd29zIBFv2gBTxMFjEMApt8YegZ8KhIEGKkF4oByJOCbdRd2ks_LguCh1zrH-7-eTcKhhN4MxDCq0DmQmguAOZuH2samfgRn3uuES8UmvWftgTuxphqZfgwmk8OL-8IW4kCHNEcaiPoSHTZ6fccuXxfxeqxknRTAWpunVfu_6aG9OH9G59PAGkit3dgs8KEqahaWOflp1xK1Mqtm0UWuEQ2Sx04bjQ7rDzRu0_a7rfr9JG6M2RnRBKgfKr2bRsDrfypcPiflLYBQ6oZNv31q6iAjldFVyiNaNfRHk-MPwSxJp8A5H1On9j0Ua6bRoHS6Cj5X-wgyvvNDpM2mrxT09ALF4AUWbt0pEbggBtJODlb17pqMkPJxrEGokhCykTzHNxaJnXoWQQfSzlpVjEq-1tUyS2XnNSe_UmUzLZHR5QXAwLtrpvXnYoZF40M_0_y8I_mTtxM2h8fhV9togNZaE5ruzTG0KydJ_1IAlVYv1z-E8dDEOJlv-18RTj6GP0aPY1rQ0aU_ShswqOi1kH0VoCXUyW_CLtb1gs2gzC6sXqict69T8ZLjbu6h1r4Bdhl-LpQzoZV7iCyKEN2DomMM7tOifnbo932yWU9TEiLq_0EYEH4eq1o4FzKdu3XcJtpXDU8w2RMSLfKVGr9JtnZqWgMiIW02FFLk7Gj8-jPlFTQeNIGoHYAn4mAvET78sgIEAin_Tc6UNYNGgpTflYMtPnYPAvnMJEmQ7QmxzUUPh8J6NsHpTkZ1qdzbe0vEDK4dxidtIxk2DzNVEV5TgApeASqVufzir5UwhArBWl9HnU1jhZORhPWtzYDAzWpdmWd8thvhOilBovsKTodR0Wxxzs2Iwgdrp_yZsK5SDYJZ4Fj3p9LJac5qetFrbLUdpKopYrkZaF5WF31ySmYQ3p7vulKSyzwZetdPxIls0jx9L2kGVrqFMiOvExht5g-uvZA--omB0XfhKnT7PAjLPh3kqidsYzwVUnpDVrzx6AUv5c35t5bugv6qbK4=",
  "id": "rs_0f2f0697e2a1f0d4016ab43ceef97887d0a430e067672b3453",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The left gripper again reads fully closed, so the cap is not securely held; it has disappeared from the close wrist view after contact. I’ll pull the empty hand clear to locate the cap in the overhead and wrist views before deciding whether another attempt is viable.\"}",
  "call_id": "call_f42twOq0vRaXNSumqovTCg6U",
  "id": "fc_0f2f0697e2a1f0d4016ab43cf0125087d0a158d3f166c237a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f42twOq0vRaXNSumqovTCg6U",
  "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]: [-0.7242, 1.3361, 0.9371, -0.6685, -0.522, -0.6556, 0.995, 0.4664, 1.8095, 1.4315, -0.7788, 0.226, 0.0956, 0.0636]\nstate[eef_state]: left_x=0.2969 left_y=-0.1402 left_z=0.1335 left_yaw=0.1008 left_pitch=-0.2917 left_roll=0.0527 left_gripper=0.995 right_x=0.4 right_y=0.161 right_z=0.1122 right_yaw=0.1685 right_pitch=-0.5624 right_roll=-0.203 right_gripper=0.0636\nstate[joint_eff]: [-0.4034, -5.9009, 9.0598, 1.1062, -0.4518, 0.0806, -0.0952, -0.212, -9.2376, 6.4479, 1.0037, 0.0611, -0.0366, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55beff2e0c2cd37f7b7d3a5a28985304f16ac48c9c1c009a31fe52fb8cc911f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d36dabb2cee4e155a626e7d2d54b8270c3c89edfb4d2334196f90278a7367e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbc5de5e43388e435af0eaa76683a5b4bd2d2e3cc0e03a81041a09c665d7fed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.438 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5869, 1.7233, 0.7673, -0.1383, -0.4374, -0.4885, 0.0103, 0.4664, 1.8084, 1.4319, -0.7792, 0.2264, 0.0959, 0.0587]\nstate[eef_state]: left_x=0.3398 left_y=-0.1318 left_z=0.0031 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1238 left_gripper=0.0103 right_x=0.4 right_y=0.161 right_z=0.1128 right_yaw=0.1681 right_pitch=-0.5611 right_roll=-0.2028 right_gripper=0.0587\nstate[joint_eff]: [0.3487, -6.8581, 5.9966, 1.2137, -0.2711, 0.0464, 0.7937, -0.212, -9.265, 6.5162, 0.9792, 0.0611, -0.0269, 1.0281]",
      "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]: [-0.5194, 1.8496, 0.8722, -0.0113, -0.4404, -0.4702, 0.01, 0.4664, 1.8084, 1.4315, -0.7795, 0.226, 0.0956, 0.0624]\nstate[eef_state]: left_x=0.3914 left_y=-0.1329 left_z=0.0044 left_yaw=0.1276 left_pitch=-0.2868 left_roll=0.0694 left_gripper=0.01 right_x=0.3998 right_y=0.161 right_z=0.1126 right_yaw=0.1685 right_pitch=-0.562 right_roll=-0.2029 right_gripper=0.0624\nstate[joint_eff]: [-0.1436, -8.6632, 5.3128, 1.1404, -0.1685, 0.0855, 0.7839, -0.3214, -9.2513, 6.5026, 0.9744, 0.0757, -0.0659, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7242, 1.3361, 0.9371, -0.6685, -0.522, -0.6556, 0.995, 0.4664, 1.8095, 1.4315, -0.7788, 0.226, 0.0956, 0.0636]\nstate[eef_state]: left_x=0.2969 left_y=-0.1402 left_z=0.1335 left_yaw=0.1008 left_pitch=-0.2917 left_roll=0.0527 left_gripper=0.995 right_x=0.4 right_y=0.161 right_z=0.1122 right_yaw=0.1685 right_pitch=-0.5624 right_roll=-0.203 right_gripper=0.0636\nstate[joint_eff]: [-0.4034, -5.9009, 9.0598, 1.1062, -0.4518, 0.0806, -0.0952, -0.212, -9.2376, 6.4479, 1.0037, 0.0611, -0.0366, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55beff2e0c2cd37f7b7d3a5a28985304f16ac48c9c1c009a31fe52fb8cc911f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d36dabb2cee4e155a626e7d2d54b8270c3c89edfb4d2334196f90278a7367e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbc5de5e43388e435af0eaa76683a5b4bd2d2e3cc0e03a81041a09c665d7fed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDz6RYiV0arlDGeC9DkEOPon3n33bkD9f7H1kdDxLW3ycGH8gWnO7BlFXXolZhkvMIacBrubjfFWNU14m9bYp9pbTPH8cgtaiQujJz_1S6CJlXI57B70ObGEpZ6--dHgp18XrZeT3_unoa8jDwXDxYbon-jhRuAxL3QJtBJbE6kWx3RK4v_xOKdkgyFFTPCdeM--B3iLFdF3N3FBC-Z8ydIEjnmnxzxjX5fxqAbuVYXljbccCccAlLClqsjBq9dnrQJYfKtTyeTmSvxvDujRWQt2DG8PaxljwLjsOqIncvnpv_upRFpYOWmA4Yfqo6NT6IW7crMYNF8eWCiRAigmxxhA-xelVeoeV_zDgedyfFU1uJNV_-Cjxlb1-wcS7KwvVNIfhfFdQrAsbcw9zr2nVB0ga7ZiVSbATbGFrC7DItLmkI_HmJ295mC8QbUYJ2saxRiAtrG3IQp5p4tCrZyohB4WeZeDISEIj8j8WKumsYAhMwEAL2tVIDDZNila0I_ApdHoiTV4gJ63VSekhMyK0wizmDcWMdXNYjJicMpIfDif6CHskO7-IV9yauoS3iCmh6CilH5n6JZIq4NB3VRX1vyfgPZja1ugmt7GpOZaLtCiZDWWtxNl8NsQa0FuBead4HqbPYJZtrT-M-2kjA6tGLeWc7xyoO6TGjzFclhVJI880RcQOzAkKfY3UoVahwMzr08ng5-G-t8G-PWG-KaNlso-IWdf75Qjj6fNZOsmvpf1Eldo5UItZ18wXWnah-koVNEKVnAbw8C4SmgIfqB4MXg7E7L0bBuXd2Lxbb62nSbTyNHBQ69sdv8qy8n_4UQ4fh4AzX05PaaT_2WbAeZsx0LVj9jdrugPL6-mTvqa5OcMVjTNUFcxdeE4-PYqJ5hpxS3t6NipBk_8BfHjM7N9Rxi5iGFcDgv0DxJccGfbzGyzBhKzq1d8ZOKddcdEjDT6qHqwulQYGm9-4iv0reSMSixMNUC7Qeh-yAPcXH_5N8-YclIkjr6w9LFwv0XgSRgVrgFamhZmyoDfcZz0xTsbePgVJ8WtR-0-ZjKW53jikP6qpx-YMbT5fJowsNv_-XrJWW4w8vBZxh8zuMQjpvU6BwqgYOPBG8BNQijx4XptWfe3FcIO73KM4kOEDQraDIVUlEGBzquRwcbpMvj7lgdwXPtt25u63BC4E1Ip7nv0R6PpPVdRdzMz9bedpHgQA3c9B_bzKaJNmIy17yMM95aWPDDRdJGqOKXoJXRV_VrrPmupLrQwIPw4OqhgmLzIOWb0OhZfkOFbRr7UBBZcONzKhlexg-ip28K0PdGZhJuTse5kiODwGVhUzk7LkorlNR4TZ4GX0uU5_P9IsH0v0QH0buQbFe0j9N3cKbSgkqaaMhCP8KpMjEc86l2xPrUplKMRvPm1tRXyJtJ4Y_jts94mi1V-awW7Nd0R8vFW99TlDpsn2sBHc_vjffG9oNHoh9CUmcUFGq5A5iAKJU4pGcO1pXEPy92rgBMMcmp6Y8PHpLXb8SRJ1C4do4mcehK3p3_HrTUmo2HzW0phdVfp8k9PNi3t9JQTSy3m-oXVyrbqbE9rHR4EdxJnNb8L2vfg7RRHdvqH-ks0I3xCviEhxo0qZIhh7BmddbPm7tu2mo62_jKyMAL-vwmJMAyz-W6EoNQe1engAqJ12ZNoUaBohc5R0K2AbDD5jBU1pA8gETg53jTWkmmhEMlEv8imOVz4gHfdOeqxFSWNYYThW1cHHWlJlB6TIwCOxaSeJrX3Qef6I1vsSlMY4R-SyP9MfkiKCxZEw9rsF1YouMKVvhO4rIeiDNybKkqtNwFYFKLs6ZYEYh3HgIfxe-Gq9p-pW4XJ93WCuBNDwxEVfnX38NMFwHvfnwB63MKUR3aVZ0LpOem9_cccPJiOtFprf0vDwXqGlQ4hBSOGJnXgwnXLBJkfjYXx-ssbKLXBNd_8zVEVndDpdHYWAiUFTTqUVsVVsrmCFUZ7hsXKP1BUsl608YH0aou2ppkgK9imUgWarvY8ZnqDH1Nk9d3cFRDmlZD68PgC4zDP8ldPhdeR-_WZQhg0Nqq9b62BP9nHXptcAi9VwBnJHqtGdgNDR-pIiQBaVPfbCHC2-jRiZVXxlydwCrhiTEbQTY8noPP5bg5ch_pFYZm7sA6XdhrQgqUL1tb9bLtMupiDwhkps4g_tEAAnKmOWVKhFBSEw7sYsBTGVc0gK7gR5IcGN1p-3INwKNcwQr6cjKeBeodcqKho9IIJOB6C8pqk2Hv9TFwZXQfoKwMLFbF498z634qko6TtKaaaGLNOr1hjsDBCYHDwt_1xe3J5zAQz0ybtHPFRebBN54MSw0qJPHye4LA4ht16ovSlrA3lX4fFjJoHCtnAHtN_C-Miyi7aQ6uw1wZVbQRj_2l8vKIpZ-R3Xc1hmMqlJa3dQU49scKantig2YZTkcMeLMWroN0RvKnvCQR4U4Z8cXKdN-16nVWwpUeZOo2sCnRkxsv73sP64uo-IXpWnG4fWpD2FFjzDuDniB5TB9ph3wBDvOwvbuDgtAmisfq4wMCx2GNDyQDpb0ESrISUod2oT00EudtBGofXZZM1DoH_qphAGFEbJd6WgC7GQqbxAp7Wtl-1i78aAyrYBnnfp_-a3JEVsyY1RzfFayuEuVALddVTPwQjl0s6unaIgoqiLy-DJPCEQ0hSyVhLYe04jsInrwVWFvsizMoAWC5CNNGvN8FoajMiI5dJtWor0GcHcy9unAoNIQtXh-9nT6rwtD6rQs-xChmbQdiOt5uYjf6pljOrGQwDzuNbPBz9SqqMifVOEAuFvnGWVPEsmN4l78iv7tWKWtK9gGsoxDqhQBJIDTxiH5GLj9EQrSzLJgs_uszuANRGNNigqp9z5UkY9DggbfL5hE-cZQ91FoJp63mWDhvbpH7t9knh80MFab8mlhOxZx1cIgJS4oEG0JV8UiUychXNTyfxhCfDhQfM4TtjUOZSyzPZs3jQhvX5nFi45RHqbaZ7AfOlmVwlHCTQ0AhTcpMPoAwO2hI1yphdBbi07u2uLrFl8nDPuzSKdGOwmuoh1Jjit2AaIN5OYIJFN24MPJxJolvH65xiuQ==",
  "id": "rs_0f2f0697e2a1f0d4016ab43cf4e61487d0b6a95c7d92c8cb3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0},\"note\":\"The cap is still on the table, clearly visible ahead of the left wrist; its narrow closed end points away from the arm and its wider mouth points back toward it. Earlier closes contacted it too near the front of the wrist image, so I’ll move farther forward and target the cap beneath the fingertips rather than merely centered in the camera.\"}",
  "call_id": "call_8GuNm661wogLdlDsXCsitpDW",
  "id": "fc_0f2f0697e2a1f0d4016ab43cf9145087d0ab7b5ca50592fc51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8GuNm661wogLdlDsXCsitpDW",
  "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]: [-0.503, 1.9385, 1.0157, -0.078, -0.4282, -0.4839, 0.9959, 0.4664, 1.8111, 1.4311, -0.7807, 0.2237, 0.0956, 0.0635]\nstate[eef_state]: left_x=0.4183 left_y=-0.1423 left_z=0.0051 left_yaw=0.1449 left_pitch=-0.3022 left_roll=0.0592 left_gripper=0.9959 right_x=0.3993 right_y=0.1612 right_z=0.1112 right_yaw=0.1699 right_pitch=-0.5666 right_roll=-0.202 right_gripper=0.0635\nstate[joint_eff]: [0.5128, -7.6376, 6.1333, 0.8669, 0.0366, 0.3297, 0.0855, -0.2803, -9.306, 6.5709, 1.0818, 0.0659, -0.0269, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe42f9285e1ea87e7712cd29e8fc3f958c46de10c646efbf1164ce8697e2c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2185fec04160202106c3a20875092984bf2a6a6abb5441b3bad8a58108995351",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c589b6f66cf0aac4d5eab1fc041743e19a14f16f6686c8550018d0431ceec1",
      "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 · 6.783 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]: [-0.5224, 1.8465, 0.8711, -0.0216, -0.4347, -0.4618, 0.9947, 0.4664, 1.8084, 1.4315, -0.7795, 0.2264, 0.0956, 0.0588]\nstate[eef_state]: left_x=0.389 left_y=-0.134 left_z=0.0036 left_yaw=0.1171 left_pitch=-0.2967 left_roll=0.0763 left_gripper=0.9947 right_x=0.3998 right_y=0.1609 right_z=0.1126 right_yaw=0.1682 right_pitch=-0.5619 right_roll=-0.2033 right_gripper=0.0588\nstate[joint_eff]: [0.5402, -5.641, 5.8325, 0.7253, 0.0659, 0.3541, -0.0415, -0.2256, -9.2376, 6.653, 0.9988, 0.0513, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7242, 1.3361, 0.9371, -0.6685, -0.522, -0.6556, 0.995, 0.4664, 1.8095, 1.4315, -0.7788, 0.226, 0.0956, 0.0636]\nstate[eef_state]: left_x=0.2969 left_y=-0.1402 left_z=0.1335 left_yaw=0.1008 left_pitch=-0.2917 left_roll=0.0527 left_gripper=0.995 right_x=0.4 right_y=0.161 right_z=0.1122 right_yaw=0.1685 right_pitch=-0.5624 right_roll=-0.203 right_gripper=0.0636\nstate[joint_eff]: [-0.4034, -5.9009, 9.0598, 1.1062, -0.4518, 0.0806, -0.0952, -0.212, -9.2376, 6.4479, 1.0037, 0.0611, -0.0366, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.503, 1.9385, 1.0157, -0.078, -0.4282, -0.4839, 0.9959, 0.4664, 1.8111, 1.4311, -0.7807, 0.2237, 0.0956, 0.0635]\nstate[eef_state]: left_x=0.4183 left_y=-0.1423 left_z=0.0051 left_yaw=0.1449 left_pitch=-0.3022 left_roll=0.0592 left_gripper=0.9959 right_x=0.3993 right_y=0.1612 right_z=0.1112 right_yaw=0.1699 right_pitch=-0.5666 right_roll=-0.202 right_gripper=0.0635\nstate[joint_eff]: [0.5128, -7.6376, 6.1333, 0.8669, 0.0366, 0.3297, 0.0855, -0.2803, -9.306, 6.5709, 1.0818, 0.0659, -0.0269, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe42f9285e1ea87e7712cd29e8fc3f958c46de10c646efbf1164ce8697e2c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2185fec04160202106c3a20875092984bf2a6a6abb5441b3bad8a58108995351",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c589b6f66cf0aac4d5eab1fc041743e19a14f16f6686c8550018d0431ceec1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDz9ckxkln1SSLRbRPN1HA67bSa9NuYtHbJqwhwqCbNMAHPAzLP42rMW8zfF1lnvRYEAmRhJXdauL7YjdhHMPMLnHQ_4NgcYpaJcmyBkpCXzzLy-rQw2hYz0wnzLEs7HXsfKt-bJUOfp3uUjML42qrxfAebqfdA0HMCBgGQFQskbx4RL-AAd91hrIFDaXOnIfAu__8VjTmj_DMzlPPCfGOG5i3GFngC0nR9SEmiyW1ePJAEvuHqkmjC6O5s3r0Gc8PC_duBJkDKtM-AsKSrENdDAc_3QjHjmtgoI8z3Ba6VqP-vS2LodkjLgwC2-IgYG-eFk2XoM3vLcYd1jezCw6PqLflHYZG6KI2ndeWXTry0-SuUg2_pU1jFBLbBppENWe6yeoaooVVYrOcJuzQxvKbP_h4ArUE9ECCChQny3YpCLpuRmWlRgNoiAqEvAJ-ustTvexPCtUm8PR80qOOgAgNu3MWYxbTmMORkiJ8boiXoaV1zJlGKqR_y3iWz2_On3RKdCImD0VKpjGzPbU9QvQcHby6ysoT_Rx300bH2N9Mze6sGZnZowDhtkzwaq16M2WuafhLLqMFVc-GKjwiXMbRR0w81u8e2xhrQyGlv7HWQrhPBTjuzPSTjAiNhkejE1jVMvhigKCIseAe48w1HtWDIOANW0CVQ7A_r8l-ehTCa8dV3P6H8-7Njd5f_rCfoeBOQ32z52EHZsSBeXaveHG5w7WpwntrSmZYd2QgcRoNJRlmF0-TAd0higYUEXXkXzwoPd-xL1EadzKCbXUWV2i9YuEb8v-PTmrpEwETk8hB__DxBM9vX-Gd-VVwD-XIsr-Q7IaRKKaDUgBP53tBidJDN6s-lgtBwijatCnhVI93dG8PjmKpgOQ9PAF51UgF77B_yfq_6ychr3yXAl4mog9XGiK_Qu7aszGQr_yOJzbn5QMj5WVBt_c4fyNx5kFdNWvAlRhWAejmGPmj5SYxlE_as8nnDvM2z3sLZJHhy2RHYYoNLP0-36lvmhgTUM1Ohz2L-8-2JDhbz3U3UfbKPiTANPW_bhIFMfWDJUIl2v50KbangbkY8cLnWoDymCek3tx_0O2wCMXNIWXiwAsmnjoy8Az0Kx6IjrSuRRrIb6KLVSsU2peMk5g0hfLCP7BSWY4Ud4FJ_f_GGCuwifFN1l3gW-mDbFvtEckKehuFr7UX5CxAExO7Aw2Rej1rQ3-73wgL364hOKNYTZLa_dK3bOAkGl3WhnZOdQxWkf82wW0iK_r9DwfOqTi0AzJ5bO5sPNySZMSeKREP3JINUR9C6TAi1xOf5KNxwJ57afcK47A5K1E7C9otni9QJxmgdfe1Op7ZZ06_aCeg5z9C69mkYGDWDh9cluREfDBhlcFmxuKMgZvhndL-ai61KOxsDJ0__1Mt-g",
  "id": "rs_0f2f0697e2a1f0d4016ab43cfc452c87d09fdb584a1d5dc91d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the new position the cap has gone below the wrist camera’s bottom edge, where the grasp point lies, rather than remaining visibly ahead of the jaws. I’ll close here and see whether the gripper stops on the cap.\"}",
  "call_id": "call_i8rIEOxapGZkQd0s5UJ2iNkj",
  "id": "fc_0f2f0697e2a1f0d4016ab43cfcb8e887d082a3eb115eec7f7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i8rIEOxapGZkQd0s5UJ2iNkj",
  "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]: [-0.5007, 1.9625, 1.0275, -0.0452, -0.4198, -0.4915, 0.0095, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0952, 0.0655]\nstate[eef_state]: left_x=0.4253 left_y=-0.1465 left_z=0.0024 left_yaw=0.1414 left_pitch=-0.2897 left_roll=0.0353 left_gripper=0.0095 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1708 right_pitch=-0.5653 right_roll=-0.2013 right_gripper=0.0655\nstate[joint_eff]: [-0.212, -11.6171, 4.465, 0.9158, -0.2662, 0.0855, 0.7497, -0.335, -9.1692, 6.3248, 0.9548, 0.0757, -0.0366, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9abaf82dd1108142380839733025a467257f56624fdd1e28b79be5ea0d21cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77b55f0b83fbe76d296ddafc668003a8b5eb9913e17bc8aab7810c19c087a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d002f0069136719f461138db4528935f7326ae3d4809dba8feef0d326e2f8b24",
      "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 · 4.556 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5194, 1.8496, 0.8722, -0.0113, -0.4404, -0.4702, 0.01, 0.4664, 1.8084, 1.4315, -0.7795, 0.226, 0.0956, 0.0624]\nstate[eef_state]: left_x=0.3914 left_y=-0.1329 left_z=0.0044 left_yaw=0.1276 left_pitch=-0.2868 left_roll=0.0694 left_gripper=0.01 right_x=0.3998 right_y=0.161 right_z=0.1126 right_yaw=0.1685 right_pitch=-0.562 right_roll=-0.2029 right_gripper=0.0624\nstate[joint_eff]: [-0.1436, -8.6632, 5.3128, 1.1404, -0.1685, 0.0855, 0.7839, -0.3214, -9.2513, 6.5026, 0.9744, 0.0757, -0.0659, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.503, 1.9385, 1.0157, -0.078, -0.4282, -0.4839, 0.9959, 0.4664, 1.8111, 1.4311, -0.7807, 0.2237, 0.0956, 0.0635]\nstate[eef_state]: left_x=0.4183 left_y=-0.1423 left_z=0.0051 left_yaw=0.1449 left_pitch=-0.3022 left_roll=0.0592 left_gripper=0.9959 right_x=0.3993 right_y=0.1612 right_z=0.1112 right_yaw=0.1699 right_pitch=-0.5666 right_roll=-0.202 right_gripper=0.0635\nstate[joint_eff]: [0.5128, -7.6376, 6.1333, 0.8669, 0.0366, 0.3297, 0.0855, -0.2803, -9.306, 6.5709, 1.0818, 0.0659, -0.0269, 0.9499]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5007, 1.9625, 1.0275, -0.0452, -0.4198, -0.4915, 0.0095, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0952, 0.0655]\nstate[eef_state]: left_x=0.4253 left_y=-0.1465 left_z=0.0024 left_yaw=0.1414 left_pitch=-0.2897 left_roll=0.0353 left_gripper=0.0095 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1708 right_pitch=-0.5653 right_roll=-0.2013 right_gripper=0.0655\nstate[joint_eff]: [-0.212, -11.6171, 4.465, 0.9158, -0.2662, 0.0855, 0.7497, -0.335, -9.1692, 6.3248, 0.9548, 0.0757, -0.0366, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9abaf82dd1108142380839733025a467257f56624fdd1e28b79be5ea0d21cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77b55f0b83fbe76d296ddafc668003a8b5eb9913e17bc8aab7810c19c087a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d002f0069136719f461138db4528935f7326ae3d4809dba8feef0d326e2f8b24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0FZIx9GjLhwhqJrRVqlt3csigrOaPC8GyIgQxpYn8PPqzRxVG2pmr-IPfi6pf-pLFzgJJJXf1yvXTq4HELzpw5tJdkOSLmZpkzd6iHEHhFY2rsXEVFNZar5My5UNuEVx2plxuuMWNSg31x6Er4DQ0vxhQesaYF8IATuTZZEyIG0704h7-uWGGit4JO_8cAMPSe77QMvshbVmYuS_1bHLTmovT3sKFBsBfoHtHQA7fytOx0gDPvv416qUJy166BZGqO1B8Raq6KGD96b3xygO7S8K9c9eyyksud-IVEYHpoJgfmKnf0uu-IdRO115NvqWQ1Z9V87Wd2WOOOZSEos52-KtPnYMYNmqwRYVYNNzACkFVtrWAF4tLzRRX8GpaZ0HYdew95s6gMMEz0tbvn9qi-LHYW6COWdWn8aIeYV8--WaA4tCVdnIyVqdrDVv8iMBsoOsMeV-DFh2lh9FHGTwltw7XswbKkt15_25sqBCzyL8QMNKMQ3_0dZwuwEWMQqLuN-FaNWEllAPvmZX85Vaku2C6mLa6srtLpTwP8gzsdIk8Oiwzkut1XEffqmIl6n2Gh5tRQUVcwKMgZLHmzgYhTDncBVjtJi82VJr874wrfmJtEQLBPWhzuGJA0e8LNugfvGF5JydxkLAqGm2f0KaUFeFIpc2sKiJp1Uv8OTq_E9rnmaAJRyxzuLEw7_WlAHKxZrhlPOwexL4b0vZsupUPI8vnCCWvdjwOWEfbJtjemDSd86mW7d-RIUtpmejstvfm6e-4mJIgeJTsR9XCdMzzXh8dd2nLJgE_K9kwNToTj4ObOXiSozP9kv6gdS2exNOVPiFDdic-OkLFyucyyu_FE3yQhuI_o572a23k6if-tPhj3a4T9rODgs7Zz3M_YU5tTixq_hmMiwYR0uRvmdvu3z1gk2Mlw3pCwxRjkG3zGU4xGIsWNNNUssU_2oa2-noON-ybQFZ8jiM-CwvNUwHlTrqBduP5Yol8z4UgHwwfjRYnXzrCAasYTP2aIIAUupOqzYlqviPKfM4mdRc9s4AR10RHubMaiPpumgwj4xaYft03zt4Al1moWV8THi__2MKNBL2qRXJXAZyGlEtqzpFrz_H8c9VbsouB_zjrP6ml27wOpgatKel2EREIyEBTq1510euVS4VDBSXeEK9fq74kNz2LfnKSE0t6T5A_wPsTacQfW1gnuavBmS1qdcosOXoN4lq-XMh-5KvFogqeLIXiXTH6TYvUKExVM6GSgKomojJndmf0IeVsVGFPOHIl-A0eVUjUK8kFFIgyYKezo7xoFomPo3xAXHRvkXZxABwxg_rxcS5pp2g3zcWe2n02b7B-KdA3EYvrOkmdbIZDWk6KZMnBqwXVKruliAzZwIXsJvPbSMPt0HvP6aotJeXQ07dm1tGXwddVtHS6PP3eAz9T_mJnaIRVkERw_NxLIGR0tfU71YnsQrrWiW9QySn3AW6xcVawZXAFC1PSTkXNax_e8g2JRNxXFO4tq2eClVzwtcnDj7D_s5PgtRfnK-mjvXThf9-zCbXgMmcUxfOfsUNH0DVjz5zCPTSfDytH22QtX4OGPXFHhWps1WMzYXAtDcDDs2rPT4ADh4LUfXEyvqF9kae1-lNtt5QOvGVr9TCL5rV7WQ0rOASmFn5enK5OX4we2yXEE90qKsbdoe5Cx3hnbzq6kUVPnbAt1hxqHTx0ddRPY5MddTxu8_l94OrCPgWsTaceo1amv0qD0P2GLcuLqLbmXPI0iaja5_fBDZ4yZOfUroy2hajya4t7gcqyPcuBoe2OPdg3TFKoWMkyOFxV4hufK7d8sM-wwTF4Ce7_X87V8Do7HB2xnE5B2kcrVABohA80VRxxmyJ9IUpwHjT4AezJm8S71i5uPqhcttIRMOm8ZSwdC4-YKcGqs6xgcYqA2JvqgCZ--llXMYOs2Hgm1f5hlBeK3PWcS-4DYaJQYPVGoSmfMGfpieBJSM_sM5sD_3ewEP9ZWxGgzGMA0fR1MbBvUuCx-BV0XeMwA1EIiQihVVsWKcwqA3qIJx9mcMZjyhUlxp9sUhtDXFm1kuAt72Xibv42mHHu2fe0m5D-T8Kxj3nrJ-H_HyVC06oGSGTtfDblLORiAHN9tFHRC4GV2lrZC_jnA1uRD-V2pI84LR1Q80PByj6ZSAjLfl4MuIgkb1R5G2mC9iEKcX07qFnihb78qNpZZYG6iDt2KPmdO-341WH7KdmxYPNYCYtEPixywFxlXGKB2yZ90J3zySvRKJKVgjTYDf8MG55K8Ec4UZbwmYCHJCLBjElJ0V9h6WDbxv-PBOFL6aH1yppvqhIEtT2O3HhEviX11gYBjzDyFutQbdXw_PnhnfqNxx5HR6pbMeL1np_3xnTdYF4pmXZlBsrCo41-Se02xPbwsm4qm1SKw9OZwYmhOyokzfaBB6Kj636_KGIWQO5gI9HR2TquactW-fit5QVnxbVCPBhQAzbFuET5whicc0AXlf8okp4_h5T5LZNFjFtUb0UqO02hlZ1_qFat0drxR0kBLtJZmlyY6dNPS1ddUqtnHntR-iC9FAHLRHFXsPNnhqOvuyfXjVpz4qEVJvXESTwZnxa-s5wZv0Cv9L2__JrDTkHw0JRbgQV4RR4hM71PM9dI_VUNNFkYe9QxSjzNrOrwhxkQWq7fmFnlLVQaLW7uk5VKFeEyruCYeaZUbGVXgcL63XKwK2yHGIAQr8BjhOKcShAH6V8qHhCOHr6sr7zvsUJYfS9jlEigaZP_48vgUrC0_DpPb68fi32PdwNH-QU4OpFx8NidM56et6pT6Jo2ekY-j3s51EH1HNBf3J8sZdbLOdLS_Eef9Ffb2YNLGNlQI-xtQD2OnfDBwrJTQE8LmQdMb2txez1udBBYhRTpXqkywg4pK-KPvHAilztl6Glczf0eN1X4MBYxRiOnzHXWpTOrKkj5NwLjg2kzg-iTksZoH4tWv-muIWUzBAxPNqprBn2DsbkeIb7XoF217gddgGiMM3Ga88OLCOJrOzoIWAW604NNKgyvyh2LRBg9L8C9sdMMe-QBau05bfiW14c3xFpm78RlFruivghJf9fIarhLlWH-Y_uZ4OGAXF9zZUfArqOJxvxDyhsnEd3X_HGM7F7tGaDppRKESUmPQ1o_KCFqdckckLVF2rdTI8iJTFaori6b3Pwl-O9eVUexky0OM9QnMy2R1Owwb_SOmlQ6hgVRpi9X4Pp4rHk0TYLXm35CBMhW84MZu8XePZlU17TbAmLLbI9lPLbtHxwAs4P104MTZIZ2NLKT-kf-H3C2TE1zNo1T3QBiNl1oPo_2mt9BSqntwIYOxTH1UfNznCwr_dyTHuzhFNTctnDKIja1efkuxALgBVXNo2lnu_LozL9B__avj0KhkRVIENM2ImxR77r7XmKuyfV6o7DFbw-FCDvJpHPmtGSoTl0CWNpUbvSVhSz7i6DsHclv7fruBPRoqARNOVCu4xr74doOiAZdLJQI04fJEGOlu2_UYvItW-llmF2XJMVL_WRwKzLYV7RUHcj3ldw5Uyf21GcAbKxjQMgeOhxJjVZvQONrIWMeHq3esqRZMk9SVxUW9Mi2XKZzvDYvuu7H0st80owrOwtWm-_4gXty88rbt1luH7iUjyzKia4_tRgNyiz8ZzjnKGEo4OTbGPzyT4Y3ymZ02KnITTrC9Ty6gCW95wqCOa_G9Rb7g0BOa_1V_tUnLCOOV-RNCw7PQKD8qLPneaFpRA7jAxDjcdsmyxss0bC97hsp1j7cyXVo-5j82TW9OmIi_pEdpXS5Nqp-xCCXDME5J7A0vFiuiiuKXBJ2ICHaFv8n25MTqbBNicxF4G5BiI2GAGeRBxrRMQmXiCtoUMSApOuwLZeBfJSfs90I=",
  "id": "rs_0f2f0697e2a1f0d4016ab43cfff9b087d0b53d3baba45d72a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.025,\"left_pitch\":0.35,\"left_gripper\":1},\"note\":\"The cap is still not trapped; the left hand closes completely even when positioned past it. I’ll reopen and tilt the fingertips forward while returning just behind the cap, to try contacting the low, narrow piece with the jaw tips rather than riding above it.\"}",
  "call_id": "call_56TNp7vVG20cqdINfqcvf171",
  "id": "fc_0f2f0697e2a1f0d4016ab43d0422dc87d08776c9567646764a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56TNp7vVG20cqdINfqcvf171",
  "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]: [-0.6899, 2.1227, 0.5308, 1.1744, -0.8024, -0.2501, 0.9977, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0925, 0.0681]\nstate[eef_state]: left_x=0.3837 left_y=-0.1473 left_z=0.0126 left_yaw=0.1215 left_pitch=0.2851 left_roll=0.0583 left_gripper=0.9977 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1725 right_pitch=-0.5656 right_roll=-0.2026 right_gripper=0.0681\nstate[joint_eff]: [-0.4855, -7.4325, 2.1949, 1.956, -0.3883, 0.1832, 0.0513, -0.1709, -9.2513, 6.7487, 1.0134, 0.0513, -0.0366, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959bd61a5c8f4fba66996a09bd10af12920bb9c2975b16110d5c73d4176fcba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8fdfac205a7852d2e04e577f8c02d7dd790c542b266f31035d8526a61e7426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11929853248d06d6dfcaae296e85855455b395db6d8b81e93ad43843b769b9e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.271 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7242, 1.3361, 0.9371, -0.6685, -0.522, -0.6556, 0.995, 0.4664, 1.8095, 1.4315, -0.7788, 0.226, 0.0956, 0.0636]\nstate[eef_state]: left_x=0.2969 left_y=-0.1402 left_z=0.1335 left_yaw=0.1008 left_pitch=-0.2917 left_roll=0.0527 left_gripper=0.995 right_x=0.4 right_y=0.161 right_z=0.1122 right_yaw=0.1685 right_pitch=-0.5624 right_roll=-0.203 right_gripper=0.0636\nstate[joint_eff]: [-0.4034, -5.9009, 9.0598, 1.1062, -0.4518, 0.0806, -0.0952, -0.212, -9.2376, 6.4479, 1.0037, 0.0611, -0.0366, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5007, 1.9625, 1.0275, -0.0452, -0.4198, -0.4915, 0.0095, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0952, 0.0655]\nstate[eef_state]: left_x=0.4253 left_y=-0.1465 left_z=0.0024 left_yaw=0.1414 left_pitch=-0.2897 left_roll=0.0353 left_gripper=0.0095 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1708 right_pitch=-0.5653 right_roll=-0.2013 right_gripper=0.0655\nstate[joint_eff]: [-0.212, -11.6171, 4.465, 0.9158, -0.2662, 0.0855, 0.7497, -0.335, -9.1692, 6.3248, 0.9548, 0.0757, -0.0366, 0.5983]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 2.1227, 0.5308, 1.1744, -0.8024, -0.2501, 0.9977, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0925, 0.0681]\nstate[eef_state]: left_x=0.3837 left_y=-0.1473 left_z=0.0126 left_yaw=0.1215 left_pitch=0.2851 left_roll=0.0583 left_gripper=0.9977 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1725 right_pitch=-0.5656 right_roll=-0.2026 right_gripper=0.0681\nstate[joint_eff]: [-0.4855, -7.4325, 2.1949, 1.956, -0.3883, 0.1832, 0.0513, -0.1709, -9.2513, 6.7487, 1.0134, 0.0513, -0.0366, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959bd61a5c8f4fba66996a09bd10af12920bb9c2975b16110d5c73d4176fcba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8fdfac205a7852d2e04e577f8c02d7dd790c542b266f31035d8526a61e7426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11929853248d06d6dfcaae296e85855455b395db6d8b81e93ad43843b769b9e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0L02DcmEcmSdHMefzAxAs0oFkXRN4EE-FMmAhY4lpsOt8gmIiquMH2-l2vqAJfpD6KP5icC3PWv1zFxznJNYOX9fWynuz6_JMVoYmrsN71cLS-OB1qikjHcHQY1PyAgx0eM8Qw34B7e5ApDsQDJNCTyqrX7CHAKmzPqXqDgrL9TJKg5P9urx7WRllzKYZKs2GZXJl_2OySunvupXzRIHOV1rVAwDzxrCAlTEcvqhiNlv6c4dZ57u1w5VZhglZi8ym2wMUG_HBhS8t4tkrRSVJPug56fCMs2QDiIgY3cZfAcg9t5yJWnYTRb8Py7F1RVSEtvX-BDJA8DHpgJNnZ0XzxVAD8ueV-4qiOtObtatSKap6XpFFiPdyOFWcvTpY1HAe20LQ9s6L97wAMyucKtmXq4iVjooF_iHEtuZFEJZGmcQEu297ZyQ8ifO8VeiQ8LARwaGnhdrvA0yPa6dMW5f4f9yzXEshpB3q1Wrd3wxwW9b8iY1LP9Slztn9hUNwktv6dDRN80mDmhir2Mci30SjS9bofFhbO6g5oGnAq8ZqG2s18R47T6AeQVK4J-zrgdMv5r-yCV-rkj7UYk9TpKSC4ntkeRNczTNZZSS3roTsxRq7LpBnDcNTEznk5kkhVanACsKGXTzJ9z4i9A_fxtEFhPmuecx6IFKZTROoIKDYA2aI6nMnacoAm3OaeHDhtUtuAPOOXVwZ8hkLQBSk-k5LiE9EoKQk58Tt5ZdZZnBzc-IRyQUjGqBM4_m3XUrgRaRYFnti_O-bJS9To7zmhXWuidvaBy6FCmmUaWnWISF5Rg_a8fuYa42YfaKo1udwTp6Udg7XtofnGEr6oWltSENWPYNrmdtoSHaanAvKGTGeXWpXaYvoJCOJ2YqQJIbv3Vw7cfbZs0oe1-WmGmLnI8POdlBhJrf3YNJuteDMQc2de8zGwwOylyhecLIqYDjA4nKYXV_f3trlUZ8DiNj0CqHbPHDBNc5Uu_Q5kSzUWMKmtfxfCb2APDEqgFYCx4MKa7fZKZzUI1TCesHe71KcyYi0taTjlrdfGxwCER2zoQ87e10yBq0XDZaoK_bbjboyBGmHM5rEn_lABfDg6kj2ckCi1x_BUbklVVC4ESlql-g-5WkQqUHgMyYY9En-aqb-d_Ezl25oH6svKJETTnIu7Fvn_n4Q5hD3JrjXBwH3w9diva41II7z0PWeFtJzqMMbmFWhHPrnKriH2YxZJsK3KbigQ_WmOJQfHSVmSrheCg5rYtdxyi6JWw7XdelP7FjXxqGfgTCL-P3aJmTO6jCWUjjqZdxSKplA4Qx3haLTPukn4zNiIcXKjHUJv0VQtG8XGKAywAzbBHN07O2nMAwe8CP9A5zstEHxd_MkOY4RIohV_xC-ykVHpGdO406FTnwtlEQ0Xog3FOC61QABve32NFivdXlepqdQydgMBKVrjxahThmnS-7p7dJABra7D2Ed7igWggCFwSF1ydwfIjEUbIq3JNuJQkmu2MD0hioXYVdQDGQ6sZm9RN_bSQtqzrUBnVSu_STcmdQIFHDuCKHswLQBdwMSwtgPK1ZofK1br5h1Yhkifa2ZcjHx8RRPQiJsCjJvDo4rlBhKXVbdL9zptaSLwgjPb7WvYLu-HcXy1vVvIiZMWEE2t6rgKLl6gB0DGNi2m8hHqrg5-AjOC2cMpEaY_ZTS4xmd5Dj4PdeJoj1Du16sDJU7mSd3Pfww4KZTYRBJC2jzUoaaJ2tLBE9M3THT3o-mlLceDoY8qfRzU9TCj2xBl8MdWrcWGtPvwLZi6NW2hC3m2TUWDB1Ydi8I51qhE8J-oaPuq_FKvt8EVOoIJ5RHa3saNA7SipA29ZpFnp8F5lb6FPPxeHKgDvoNJooifub7BbqIvDg3haQwoPuSwH0Tq5l1fPDz8HT4WqjYkX8z3nCT9R2xGH2anAInrKkIb-Kp5bl8qhW_gzL5ZF-ZU5bctXgJnO-X7wzY-tu1v2UHiWkM0mpVaZf9Bs80cA7ypTZT6jXDqbGot8ByyHuoSbrzT4TesDwHjQNM56X1-idTdsMk-PzwacGVXd5gvv11vAqUfvJcub7exv0NV6ISiAeAnesxcJl7cQaRMY1djh7Aw",
  "id": "rs_0f2f0697e2a1f0d4016ab43d091c7087d0b1717e6f2c9a2128",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":-0.015},\"note\":\"With the fingertips tilted forward, a small dark section of the cap is visible low on the left side of the left wrist image. I’ll shift the hand toward that section and lower the tilted jaws gently to the tabletop.\"}",
  "call_id": "call_Ty20uvh8ksQuoPL77Da3Yo1B",
  "id": "fc_0f2f0697e2a1f0d4016ab43d0b2bac87d0bc7d74da214b8f96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ty20uvh8ksQuoPL77Da3Yo1B",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6262, 2.2276, 0.5045, 1.3903, -0.7593, -0.2352, 0.998, 0.4664, 1.8114, 1.4311, -0.7795, 0.2237, 0.0925, 0.0692]\nstate[eef_state]: left_x=0.3901 left_y=-0.1276 left_z=0.0053 left_yaw=0.1595 left_pitch=0.3327 left_roll=-0.0019 left_gripper=0.998 right_x=0.3996 right_y=0.1613 right_z=0.1111 right_yaw=0.172 right_pitch=-0.5662 right_roll=-0.2033 right_gripper=0.0692\nstate[joint_eff]: [0.3487, -5.4496, 0.6906, 0.7057, -0.1636, 0.2222, 0.0171, -0.1436, -9.2786, 6.5299, 0.9646, 0.0513, -0.0366, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded696df02ce850bc6f2a61be78a3b87ef9e371055ef7ef45a99f9f913e75bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0144f35c825c85ab3f4f879b3e38b1d7b33515607cbaf47534b6562a4c20dd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae47a8556342bcf24b19fa96c2525b456b692a1c2f48fccc9fddba6bcc80420c",
      "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 · 2.714 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.503, 1.9385, 1.0157, -0.078, -0.4282, -0.4839, 0.9959, 0.4664, 1.8111, 1.4311, -0.7807, 0.2237, 0.0956, 0.0635]\nstate[eef_state]: left_x=0.4183 left_y=-0.1423 left_z=0.0051 left_yaw=0.1449 left_pitch=-0.3022 left_roll=0.0592 left_gripper=0.9959 right_x=0.3993 right_y=0.1612 right_z=0.1112 right_yaw=0.1699 right_pitch=-0.5666 right_roll=-0.202 right_gripper=0.0635\nstate[joint_eff]: [0.5128, -7.6376, 6.1333, 0.8669, 0.0366, 0.3297, 0.0855, -0.2803, -9.306, 6.5709, 1.0818, 0.0659, -0.0269, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 2.1227, 0.5308, 1.1744, -0.8024, -0.2501, 0.9977, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0925, 0.0681]\nstate[eef_state]: left_x=0.3837 left_y=-0.1473 left_z=0.0126 left_yaw=0.1215 left_pitch=0.2851 left_roll=0.0583 left_gripper=0.9977 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1725 right_pitch=-0.5656 right_roll=-0.2026 right_gripper=0.0681\nstate[joint_eff]: [-0.4855, -7.4325, 2.1949, 1.956, -0.3883, 0.1832, 0.0513, -0.1709, -9.2513, 6.7487, 1.0134, 0.0513, -0.0366, 0.7106]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6262, 2.2276, 0.5045, 1.3903, -0.7593, -0.2352, 0.998, 0.4664, 1.8114, 1.4311, -0.7795, 0.2237, 0.0925, 0.0692]\nstate[eef_state]: left_x=0.3901 left_y=-0.1276 left_z=0.0053 left_yaw=0.1595 left_pitch=0.3327 left_roll=-0.0019 left_gripper=0.998 right_x=0.3996 right_y=0.1613 right_z=0.1111 right_yaw=0.172 right_pitch=-0.5662 right_roll=-0.2033 right_gripper=0.0692\nstate[joint_eff]: [0.3487, -5.4496, 0.6906, 0.7057, -0.1636, 0.2222, 0.0171, -0.1436, -9.2786, 6.5299, 0.9646, 0.0513, -0.0366, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded696df02ce850bc6f2a61be78a3b87ef9e371055ef7ef45a99f9f913e75bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0144f35c825c85ab3f4f879b3e38b1d7b33515607cbaf47534b6562a4c20dd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae47a8556342bcf24b19fa96c2525b456b692a1c2f48fccc9fddba6bcc80420c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0PjtVK8D-3NGKEv44ivD4eoeRVMQGbfok1XBGLIktoUr6Dohr583TW0IZrC-Deuxav2_T8IhPCfBLWp2klHxmRLgoegjGM6RtufzfOZqFibGzEUeUcbPKyqLDONBxVFUh9rHq6UuGrXQBuQ-XYPZ2gErxlfqY-7NWAT9amwtms0xhKqVWNIz6NiJ5HTwciHFMZhOmEl0b17bHL0Z_xcd4DI4vuWkqKxv7fOIlzK6B55uX1vqhEZOnM0002Adop7qPtzX6pjtB2c324qi_XX8VL-vNt21PD6LhFY9JczMPmZejtO5SzmUvsgPai1M1kLhYcMwvYWZ1X_n_88c3EMFJ8Ng-L34ZDiWFOuHQAgKJIZI3haUnRlUwWLLzNqbvi7jhpzWRKsk22ub-yOpwtJxAlN9YDsBdSGr4I3wcfZCEY9kjKHLG_q-Q8cYyhuA4wDl7cKdEhXaKmeDhZV82TIEbIaH3fU9NMYOaXTYYgywzxXZbr2vgI6ZEZuCY1kxNIFdCSGDfCcRBIX5vrFu5cHJzOhHrToji7abhjNdC2K5mUrzKahLDNwV4ghI23Q_wtQiOVAh6OoHDRat4WxSDnvWkgbAqt81XSRtkRZrK8I4RD13Y5rwROisk5M6XOc_Hzc-0it2RZQWvVmxk4-s8Iz1Voblok1PC3TydTrxcjKMrHNOGfHoGp9GiNtw4eJ5u7tzOzrN3PygZreMH229d6VrIMtYhntmWVMke1NY-c9LnGg4yHu5C1zphMbWf1ADrteN2ImoyYLnBUqRD9YhesWqbxbT9ELgR5K5NwGABqLKGouq-TEL84bAuJCsXVwmki4MTrnqGWsnqSND9nhB7pdLzIe8PKlSw4x4oLbeuahjY3zXQAOyAT7I3cLjV9fYVA5QGFA_2molsGzzHERm_qNJG21uAh3onKS9XkCp9kWI-M3pbD_gsdPd14ysKOb1cDN95J8QCzahQw6BZig2YBbgpB1aAXWHG9qO7u9EgwUsBsvu3nOpUhhys8kXnbIkZ27gk2-kYsjQhY5Rfch8YWj-jsgBVzFaO4u9RSn3TSZI0Mh6kbzXA3KqM0JY8kMGwWwUSLe-e5PfypqCK-Trz1V8XYT8yHVRxTt6-IH3NSS8dQui_b_6Dk8bfoSyL84-1HkQVjCeA5NOc4jr2MnFdlmhgJcPJezsAYwD6eplxlzyXrJgIgxW1aFbvBUSzPtZdnAnGXWFsvmNV1Ujb4TfwW_Hp8wM0LHawJiyoypgqauVyHTpoJXZ71TU34VYSCWD_a-BpQD5zW6sfL5DUUUg8HwQLL1vTR37qBnv_xPaLx7hDhp-N6c2MPE62ndzY9TwQnq1C2xv73dr9SOhjzrqhgCfrT1IO2TTnzosTEKx_-su7wdGZ8xRKOFUL80z-FTTzvCV7wg9plKJAZC1ZcKqOV5kklP9MuSND59VBbfBwgrUNr1WTLtD8gjQb_du8oGyAGbcdCQBhaLrYyShmreMoz4GE7Rg==",
  "id": "rs_0f2f0697e2a1f0d4016ab43d0ddcf087d08a74edeb9547e1d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.105,\"left_x\":0.385,\"left_z\":-0.015},\"note\":\"The cap’s dark edge is now low in the image but remains left of the jaw centerline. I’ll make one more small sideways adjustment so the tilted fingertips straddle it before closing.\"}",
  "call_id": "call_ISRcmaivGTKuJB3HpcgaG6dl",
  "id": "fc_0f2f0697e2a1f0d4016ab43d0e9d6887d0bfd91bf63c491c0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ISRcmaivGTKuJB3HpcgaG6dl",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2471, 0.498, 1.4437, -0.7475, -0.2214, 0.998, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0701]\nstate[eef_state]: left_x=0.3918 left_y=-0.1225 left_z=0.0063 left_yaw=0.1653 left_pitch=0.3496 left_roll=-0.011 left_gripper=0.998 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0701\nstate[joint_eff]: [-0.0479, -6.1333, 0.8684, 1.2918, 0.0415, 0.1197, -0.0171, -0.253, -9.0325, 6.3385, 0.989, 0.0415, -0.0562, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717d6c695a8c72f274ba73e7124cace1478a407d6439557b7c9c9b2e85f4df29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6d0215286d0d987545f663442320c06dc427c57f35890240f63e1d97bc1e3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0c99a02bf68cd9c2f181aec2baf3ac9f8b04c2a06f5c234b191d41b38ceac9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.121 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5007, 1.9625, 1.0275, -0.0452, -0.4198, -0.4915, 0.0095, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0952, 0.0655]\nstate[eef_state]: left_x=0.4253 left_y=-0.1465 left_z=0.0024 left_yaw=0.1414 left_pitch=-0.2897 left_roll=0.0353 left_gripper=0.0095 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1708 right_pitch=-0.5653 right_roll=-0.2013 right_gripper=0.0655\nstate[joint_eff]: [-0.212, -11.6171, 4.465, 0.9158, -0.2662, 0.0855, 0.7497, -0.335, -9.1692, 6.3248, 0.9548, 0.0757, -0.0366, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6262, 2.2276, 0.5045, 1.3903, -0.7593, -0.2352, 0.998, 0.4664, 1.8114, 1.4311, -0.7795, 0.2237, 0.0925, 0.0692]\nstate[eef_state]: left_x=0.3901 left_y=-0.1276 left_z=0.0053 left_yaw=0.1595 left_pitch=0.3327 left_roll=-0.0019 left_gripper=0.998 right_x=0.3996 right_y=0.1613 right_z=0.1111 right_yaw=0.172 right_pitch=-0.5662 right_roll=-0.2033 right_gripper=0.0692\nstate[joint_eff]: [0.3487, -5.4496, 0.6906, 0.7057, -0.1636, 0.2222, 0.0171, -0.1436, -9.2786, 6.5299, 0.9646, 0.0513, -0.0366, 0.6813]\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 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2471, 0.498, 1.4437, -0.7475, -0.2214, 0.998, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0701]\nstate[eef_state]: left_x=0.3918 left_y=-0.1225 left_z=0.0063 left_yaw=0.1653 left_pitch=0.3496 left_roll=-0.011 left_gripper=0.998 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0701\nstate[joint_eff]: [-0.0479, -6.1333, 0.8684, 1.2918, 0.0415, 0.1197, -0.0171, -0.253, -9.0325, 6.3385, 0.989, 0.0415, -0.0562, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717d6c695a8c72f274ba73e7124cace1478a407d6439557b7c9c9b2e85f4df29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6d0215286d0d987545f663442320c06dc427c57f35890240f63e1d97bc1e3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0c99a02bf68cd9c2f181aec2baf3ac9f8b04c2a06f5c234b191d41b38ceac9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0SphjdGPTEjAU1jfBEp2TW4JnDg8-gEKUnr4IrQNgYSHbgTbYlhFLufUQOhyf5hT-SUmdVxwKAxazI_MrOap-YlPZ8ssBmcDp7R_tI-OFEioGGLoS2wq0pWg8zVcWMk_-LU6oca8GC1Df1foVIUgZiL6dKsBfj4G083b7rpHx4OWVVsQMVKlXRwY49botlcdKRMYWD8Epl_lSxjKTuKJHBpIaQSEXIzS1WdW8ewz9K5Kuo1vUIDa5z1TB6PzLfPmoDzmyR4IBCjnv4NSdm-AlklepWcqu1tmMxOtbmntN8hekN0EG6_aaqD1oPiyNEwMDHL2v3E9tmM-JnMnCQ90FRz_LRnhXDISLqCdifiMBCyHZwqBTjGIrrdFZ5pzUcuFXd1jTeqCZUmtjH8CLv0LpAp0lBmMvXFgUb2wLkzUNdK3e70yHza0ljJI2OEZ74ecmZabrrLOVrjIxRihvuf2t2C4V1hHpltm0rZlUzW4B9HBmP2SuzJFiX2r825lXqnuhEtb1DsPOaifoJlGkcQNnUoGl6wwwGGnRhl_1-iX3VER1oVUASZUHXLsK9XCeyRoGZE1xaivSDj-55-EgXbAQbX38y0bfY6_oXa0_z_CaNnR3mRN3k9w-TqCy9hkHFa-KFH2ULdgKkYnc62n9PVANeknhjcA1OPNF-wyvuaIoOysd35Y6TEj0YRtO-cu7t1AQptrhFwoNpBdLQEk-vjT0PKrZq7jcf4KgZBkKUDKcwJ8GClgYE3AqbrylrbcbbkP0SDKBjl9b6R0w1PbfT7l6IkeDx2q33tdca-70xvlsHybaRUzHvyKJCvwcwGwWpjVtsNSlIOcwYsUnIKGY0Mw6H62SREp3SFEpcumslvfNoAm2lQlCpYZElG_pluhhbCaM_nZbj3-VLrblGnQL1-uRr8HET9EQT0qZllWCN1hGcCtZmKzMudXYKT82LL0T-B5RseFrK86Bv8QRxIlRldlt3yS03Nww-i9jcNHtn8dWxHtaWrz_dxPasvpJbiED1FiMsv0ZTrRUcNM4OgvbNaCgVin2wD66qe9-uvpb4nM0SoHVhEJCsneO7N6bdd3QmW2rZdYvzFNqtxEsQZdoLcvwg47j-LJZPrbMW6T53a3INwQz2gT0SKiCpaiOhVJCearbGcKxA0I1Q4lsNsIVZjKmB0nF0S_I0CU6hhTS-jqeBR5__wB5cSOKwMZDablTeCk_k9MM8uxKTOZ7W7gXCZz2v2-8G2IN5tGawPJO4zo8eyJNvCsidZY_WIeq8ZPb10QoREd4ehiXjhPk7mZIb0CSV5xYH99_YJLUxGQL_K90WbRY-NOCgEpxcJAMdi74sNqwhIDK6updaQQ4XcPRERZzVAWqwl0kCGeFG3PkOG6sb2dXwjk5jSCXYXr4_bw7P0kmsdyvpXZsbz4htiwDslAM1QmGF3CAX1WlsNcSWIBwu4bA=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d10ea8087d090242e201636e047",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"A small dark piece sits just below the left fingertips at the table surface, and the forward-tilted jaws are aligned over it. I’ll close once in this new orientation to see whether the cap can be caught.\"}",
  "call_id": "call_Zivuy7B4LSfPjRNtjnXBk1zH",
  "id": "fc_0f2f0697e2a1f0d4016ab43d11871087d08d34565008341367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zivuy7B4LSfPjRNtjnXBk1zH",
  "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]: [-0.609, 2.2467, 0.4973, 1.4555, -0.7525, -0.2245, 0.0534, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0727]\nstate[eef_state]: left_x=0.3921 left_y=-0.1219 left_z=0.0088 left_yaw=0.1744 left_pitch=0.3587 left_roll=-0.0216 left_gripper=0.0534 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0727\nstate[joint_eff]: [-0.212, -8.3487, 2.1538, 1.6044, -0.0464, 0.0171, 1.0134, -0.1983, -9.265, 6.3658, 0.9841, 0.0366, -0.0464, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0d79065a3bce15f5349010cf601d12353b20a09f9de799a65413d8468052e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c177e9e2387ac4e06f99c2204870cb14b545ab9dc420544de3296d2f9f26ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a717e4e84ba7066849facfee1c4b316cc4edff74a58af2e35c04f6d79a0dcbf3",
      "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 · 8.718 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 2.1227, 0.5308, 1.1744, -0.8024, -0.2501, 0.9977, 0.4664, 1.8111, 1.4311, -0.7792, 0.2234, 0.0925, 0.0681]\nstate[eef_state]: left_x=0.3837 left_y=-0.1473 left_z=0.0126 left_yaw=0.1215 left_pitch=0.2851 left_roll=0.0583 left_gripper=0.9977 right_x=0.3996 right_y=0.1614 right_z=0.1113 right_yaw=0.1725 right_pitch=-0.5656 right_roll=-0.2026 right_gripper=0.0681\nstate[joint_eff]: [-0.4855, -7.4325, 2.1949, 1.956, -0.3883, 0.1832, 0.0513, -0.1709, -9.2513, 6.7487, 1.0134, 0.0513, -0.0366, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2471, 0.498, 1.4437, -0.7475, -0.2214, 0.998, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0701]\nstate[eef_state]: left_x=0.3918 left_y=-0.1225 left_z=0.0063 left_yaw=0.1653 left_pitch=0.3496 left_roll=-0.011 left_gripper=0.998 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0701\nstate[joint_eff]: [-0.0479, -6.1333, 0.8684, 1.2918, 0.0415, 0.1197, -0.0171, -0.253, -9.0325, 6.3385, 0.989, 0.0415, -0.0562, 0.7057]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2467, 0.4973, 1.4555, -0.7525, -0.2245, 0.0534, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0727]\nstate[eef_state]: left_x=0.3921 left_y=-0.1219 left_z=0.0088 left_yaw=0.1744 left_pitch=0.3587 left_roll=-0.0216 left_gripper=0.0534 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0727\nstate[joint_eff]: [-0.212, -8.3487, 2.1538, 1.6044, -0.0464, 0.0171, 1.0134, -0.1983, -9.265, 6.3658, 0.9841, 0.0366, -0.0464, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0d79065a3bce15f5349010cf601d12353b20a09f9de799a65413d8468052e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c177e9e2387ac4e06f99c2204870cb14b545ab9dc420544de3296d2f9f26ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a717e4e84ba7066849facfee1c4b316cc4edff74a58af2e35c04f6d79a0dcbf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0VQeZUD1KLPc_OnmWgIGN_Jnz1ezIaLXyCsO_PxpFvk9t8_Eu1NP7KdW8Deq-aafcaIMeZO-cGDoNuG3irZR57TlcHZHhLgUukA_Z4ocEpjk0xdC4wIjJq83goxmfXMJBRHkvZmZlJ3NRypi8Mx8MNdRSewwXAbSxoLrTINvHnjiEYuYGOpZ6egYJcBQrSq5-OuIF4vvMfXlUUFwo_M6-i00m011m5mCPqyNwFnniaU5JYm4g1oJTj3a-DX4A5NqoGiwV2_8N2VFFJLvnUrRzTsFg1i3zU3DLVhO6o8OcgSIuGxaRg6WS1i2YtOG3M01QkeJ2VRu2n-3cgE4BCrcJwzkzCeT3zbOu-yuyBzKWfXaXpUs87XSVG34c_oQA7b9OlM0mXGJjJPuS67IgvUIHsQoOtjb-sZ_gnwcDhH8a2x9RGAUzqHNYlwgR-zyJzhKsxiyuLaGLqlXYpnVBn5_-VVfEU92GdBNRxKPK54mj0lu0us-uM9AF3AgqHu5f4-99_PmEz6IRdr_5ZkuWTcoPQGVJsheDwVfcyQzvTFgFisHu5RCPhePIS5vaObyITt_PdyxXmYWo0l5nvBsBiXhkLX7lFQiFWFfb2B6Mon9hBkqHRhStgrQvo41djzpv_nMmRpJV93oc8S-656-xJzkCZJx9vrWKpRFprt7hoLg13OwdBm-YtfYEj6-HP72W_Wbcxp82HL6Z3S0_faMSUipn5EiikctuXyYv3Ov7fm5NE6uTtf6CFBshnh4eznnVvWoGfVefKMvvKD4kVKN0ONZSKhvHe74Zgs153Xori5-mDhJDBXFP03swwQM12qa4xovATU6cyYiOmGE-B0N4OF4-UmPHAXToA0uAvI3dqqay2ZMiwJQLvIgK9F-EYgpLPK-Qt7KJMR5wH_pk1taDNRy402hN_rMNe0KkgKTv3pdme0b4-nXs0rVaA9sBhO9W8ZSFq482B0XWe3e2aWuiSUnCVonwmel5jbSN79Gp5G3mywsaKHY8IF9d_j37t6fyGx6cRwrKrSjVKoqooi3U79-1fo4rCaW9ZVoKtXevUKeOSviScHFf7HEJ1iCLtIGgq97fnUVGwRoe-SIPUXjOI-LNiK3m97N6vyLfLD22CPoPWwGkNWO28DfpT5UUgh4sMesx0CQFgHKM_tUhh0YoH_9fDBNnn7yGE60ZmjAJWZHr1SxUdgtO0DZm3EJJUXTBA4jnsNO-N47Hl0O7iut-1fPXfWPH-4_J16fAWHJtC8xgeFZbY8-6H_ZkSyisX0H7TDmQG",
  "id": "rs_0f2f0697e2a1f0d4016ab43d14870087d0bb52e137f565d55b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left gripper stopped about 5 mm open instead of closing empty, which is promising for the cap. I’ll lift it a few centimeters and check whether the cap rises with the jaws.\"}",
  "call_id": "call_abtMQs3MZuRE4RZQVgTIJZ8m",
  "id": "fc_0f2f0697e2a1f0d4016ab43d14b38487d0b6fc9e4c8aeaee98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_abtMQs3MZuRE4RZQVgTIJZ8m",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.8198, 0.4721, 1.0878, -0.7547, -0.2264, 0.0566, 0.4664, 1.8114, 1.4311, -0.7784, 0.2234, 0.0925, 0.0737]\nstate[eef_state]: left_x=0.3912 left_y=-0.121 left_z=0.0913 left_yaw=0.1869 left_pitch=0.383 left_roll=-0.049 left_gripper=0.0566 right_x=0.3998 right_y=0.1615 right_z=0.1112 right_yaw=0.1725 right_pitch=-0.5652 right_roll=-0.2025 right_gripper=0.0737\nstate[joint_eff]: [-0.2256, -7.6923, 5.7504, 1.619, -0.1099, 0.0024, 1.0281, -0.1436, -9.2513, 6.3658, 1.0867, 0.0708, -0.022, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeccde042cc7c5faa92c8295f068e345eea6a70aa3d5623e839a220f39432582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33d70b08077c7b5f161401371455c2a8d13166ae38c977e3f29c55008c18f941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b628f5be2de1b4f44d757b71b4bdf8d2e05fd1892c43051efe1bf881bc862ee7",
      "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 · 12.15 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6262, 2.2276, 0.5045, 1.3903, -0.7593, -0.2352, 0.998, 0.4664, 1.8114, 1.4311, -0.7795, 0.2237, 0.0925, 0.0692]\nstate[eef_state]: left_x=0.3901 left_y=-0.1276 left_z=0.0053 left_yaw=0.1595 left_pitch=0.3327 left_roll=-0.0019 left_gripper=0.998 right_x=0.3996 right_y=0.1613 right_z=0.1111 right_yaw=0.172 right_pitch=-0.5662 right_roll=-0.2033 right_gripper=0.0692\nstate[joint_eff]: [0.3487, -5.4496, 0.6906, 0.7057, -0.1636, 0.2222, 0.0171, -0.1436, -9.2786, 6.5299, 0.9646, 0.0513, -0.0366, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2467, 0.4973, 1.4555, -0.7525, -0.2245, 0.0534, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0727]\nstate[eef_state]: left_x=0.3921 left_y=-0.1219 left_z=0.0088 left_yaw=0.1744 left_pitch=0.3587 left_roll=-0.0216 left_gripper=0.0534 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0727\nstate[joint_eff]: [-0.212, -8.3487, 2.1538, 1.6044, -0.0464, 0.0171, 1.0134, -0.1983, -9.265, 6.3658, 0.9841, 0.0366, -0.0464, 0.5788]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.8198, 0.4721, 1.0878, -0.7547, -0.2264, 0.0566, 0.4664, 1.8114, 1.4311, -0.7784, 0.2234, 0.0925, 0.0737]\nstate[eef_state]: left_x=0.3912 left_y=-0.121 left_z=0.0913 left_yaw=0.1869 left_pitch=0.383 left_roll=-0.049 left_gripper=0.0566 right_x=0.3998 right_y=0.1615 right_z=0.1112 right_yaw=0.1725 right_pitch=-0.5652 right_roll=-0.2025 right_gripper=0.0737\nstate[joint_eff]: [-0.2256, -7.6923, 5.7504, 1.619, -0.1099, 0.0024, 1.0281, -0.1436, -9.2513, 6.3658, 1.0867, 0.0708, -0.022, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeccde042cc7c5faa92c8295f068e345eea6a70aa3d5623e839a220f39432582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33d70b08077c7b5f161401371455c2a8d13166ae38c977e3f29c55008c18f941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b628f5be2de1b4f44d757b71b4bdf8d2e05fd1892c43051efe1bf881bc862ee7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0eZvA1X4n3YbJvcbkNSzPuc7tyvnalP-amWUxHdtjQnpQKdFOC8izBAmrM3UAY6dJfKM1sSX1T4TWKUtRCxV_csdDrC_P1Q7RA8MwPqpzU71MUDhn5eZKDWwieQdtJmW2VGzx4QJQ7TRAN_lxd7QbcOLduqX38AV2GqOKUESaRA21C1G35wKMLfGmblmVRl8sNs6FamMXjLnX6tbM8sYL4bggmGQFOyz7_edAFhcZlbW-G1__cjPy0F-ThPCB-wW7VvXdyDKgWu7_1N097jwKKTTimPoh6Eq5A-NFsUhnvAA3rM4rW56tI8bfn6eEDnEfEzXWm10NuT3MdG_zvRWTH5OUsGAjVeqBbCnLpgVYTwxsNrFeDG8JwyOo7BQx4uJhPeWdToDOmR_bk_6KmsZ5saXukYNBaqYiCnP-h-Q6yYSYWIDT0IjOs9ZvMp1isK_y9JdkgFAoB1d7Ya8TnnsADDZDr1NJ9QsyS30MJ7b0J8DgZMuVPEDqvFWIikoXYzu5JKHLbjU0Ht9TyptWGmNLbwlfM3T9_k5Yi5gqVLyLNNwAQPQXmPHaJjq2E0SebQ89q9veaWTRcKecA6efi-QH2Pynuju_WHzuYgF-luCUMvJTO6KbDbtORF4zRjpD6i2SCFzbdcLpE2e3838nZ2I8Obv619beHQHtIQKQUpY0V-B0OF74BO_-7sTDyCn--K42tY2xnsk_TVKx0sACXUTJ0MVML_5EkC7LC8NQEsvMGPK37C882bOniR_WURELKgVaucbBoqCIVOqc10mkNAG1NsoS-ab569ipUAGRx9kxGBkpCfJ1bVkgshcHf_rRVdy_W53OwUC2BPoJFD4Pg3y2BN-WvRr78wWBKVWF8ik9hkvx-wJfSMaAoqgn7MPujwUsXKnMV5L5En7XrVt6fn9jByEBbKjvqadkhBtzwDYHFvuVi7GuZdhiG3Bqw55GjJIKdzBcrxp-kyZJv7EcLqz7oqbFT4PhN2Q_l4SxzhjOssZZ5IXc3hAl2OuIU8KFfJEU_MNj3wm1jOXSkcYnPUSNXYFXrfc5jL-y5MsxlfJaAIyYwq35zOgHblKsG1wUsj1D3BrryLeX-WZjuqXlt5Z02SM8giqf19KbLyKBi4j0fK6Oefl-pZ6K7gji3h3jwMi97MX2raZ5K_cHKj1ffy7UAjsCxmFU481T3SEmA5dVq75vEj83ttkmryrjba7ToFpaldFoa-T19MN_XHIiWidLBWijLXomyL98q3ak6YaGvmsUKMGw7-Gg0Zx1h9dVrK-ZdgwQX8BOR1LCAUsVDJrVygm7UklWQ8MA1Xeomcze-hzy5-9tVQu1NUcsDOKmx3Fa0KMsqLh7KCA1jV-k7F5o2mvhMVw_chS9Xny5d34RNXxQ1rI5iIb-I7qcgnXviW-y-x0fPpKcUTmT3JJRxhAhtGT7IF_99YLWcUtwn4-a4EOmM92VteGg0uY64Vyn8Ax3WPFb7ihVnGWCSSR145GbHIOYGaaIOdD997asfRSeJTaqh9Qd1eSpn8cHgNoAXhIo75J1WSGKc1OOQjlY0v4VWLhAS-io-CgOUBr943faQw04hAOwyI0lwYCnNcjMwz23rJxUBuytp_hKkX8y-v_V1vppAlP9YwXJGfKxXwYPTdAhgUBUsuzKwr6f0wtTeHhePbKLBWQPkoz789AOLtAtcmqO45CXNmYf-5yPV7JtxYHxUJtzbBrnDnQn33w2tX196np6XydQcpqJe0jascGlqdQYc_xZA7P9m-LqkmarvrdYn8HG5q5a68mcICXnO3Ei6Q_2LrvxPx5FtygzUE4r0OW0UFacd3UZk-w273069ekY8KhI-wNKhTIOKx2NVMLjbwoGIQ3tISIskmgE7-kDCSlVCsoe1kRAJLgUPmkHR2GSqUd6HxF7HsgZb8ztUWB7BecZ4WHEmtNMAOJ40h2liXfYePJx1rYhc7Q_JHz14wOiuHvjSW5G62_t6shEp9NCJM_hW-nnCOiKHxgFEdMz7Ffm1nIAI5OWvyD0TaCftQ95pHi2jZsyCOQUt2zCcDVTps2d0zqNUHtJTEjVBUOXednrHTFz3ANIT5NqCTM6b6ZLgLu5KBgru-WQ239jzf5tRrRRZ5ZyYV7647-VDgdCAzvyXYbq_BxIlsBkluOFScC1h6kgWb_Ybeiy9h327w0-eo4BuCn26t70ed0j_UPFxxRXyfpgfhzgzSB3pniewacq2Rw0ykP0S4ChBR80mEGzJZbzYoa9J8KWsFBlid3gAlobLLiNToqKRe26GO7Q1NLSHBRAC3SgYcMuoyj7M2vHemhd_V7JSx4CAPDN3htzmkGGh5vubHnU7-ZBWLKkPjUrNmV2i9uG4ZXNsycTRG9uqtYX6rUwXVX7TviAZ1pbUZeEbsoy-4Os5zlbzrELTGq08WrICkh-rVHV9CwQz_sDlKGhDRTQnwuAJnCQ1XYtk2mDPbNYGiPooMDxMzCYhfv6WxKbLknYANq-NuPENmUe_PX6S9rxunwpHkfEXA8a2pyyrRqlrzEF4snkVZ--UN1KEM-ZrIyD8zI2J4NBXcF0KsPNE47sKHZ4BGcXwKsk531Z3ffni9tq68E8Vj7_qPOZ4lnBMoo9b344-aDYY4-LU877pboh-O-cZ0FROwOuQI2SRknbKz6u1wx-F9ss5h_kwDcjWLhECNs56baILQP4YL_tuld48bqQVMqxzaxa0Y_lBod_Fg2THtTXBbAm7WJ4MRhgDqC_YIr68vIjZmkAXmFLJ9kj7syXdbRBwJ2PiJB28j0cQVXJC2Y2ZwvDoSZt0BBswPzVxsbJPyfxz7xe1s4mYjyuTC5J7tBNT4EXQrGJQRQVlZx2hmDmquOgbO5mPAD2IQBAQJuQ2oIgoV9HxQ2O5svdGp_EYW_WxDIGf77l9vDFICnPaNVL_X9wwPSUQBRxbodcSSrbLwiHALC9rH67Evx3FfDTegNL6l8Xw0SeL2_FEBRMfoUYpxWFTN2mWWzdzkxtrsWuX2y49JRvryqXb25UhIzu_K7i80yy1CVJtAldBVWbeEWAoyFT-EodxIppMzBoFkCLUd_WKwMLS8uleoAE_cpAtnhD_19Pg68H4DspUNXq5Ti21AcDVWXjko4BmImFReJ4kVc4SYCfu89yZ3up0jcKFLuRH0vcnqFebGj4wci5Cy0Pofi5Hz-uu_kJ3NMEuk2Fz7HoFmafa06snS5Utdb58EY9M3Lq3EfaJqAQq-FvWsZYOLRjmLJp9fw-oVVW8o8aE6hfl66FjNBcE3uOfsxTqIqPmmuZVDguqfFnb3qstle_hU6weO2Bjkfel9cMAUVs1O396l8BbD60xfqNgimKwSm5ubYtySVz1c3IMJtFo0_IWRuVlnQJCVSEjLQYqEvHuKzmNnMc4VxPNg-Hvr5gf2qvqbxS7g9QrpT7NRzCNmw__TAtLjtm-HlvMKT1HFL-GiOeoaTR7gK8tywWe7OsiU7goYZ9LIVFd7KNDbJBSDFWae2sOwUL8VmuMH4uteYmQ6oLtb8yewjqHj8bXKls9UkQovxypLnK1Brx-VY_WSPUs66UNcNbQrSP8PZOORj2NBmSwG3dh4HxBZxyRxE5l4Qsn9fJ8yQ==",
  "id": "rs_0f2f0697e2a1f0d4016ab43d173fb087d081533a910b7dbc33",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0eVbR6_z4DvcklY8M-f9Obit_66XZ7qbGuz-trIQC3n2XoTelGdHcbZqPx1VI7kKXF8M9F0FIEFPwEpuBp3ztyq9YfzzA-8_8ljXIStowsuzBos7Fd7Yajz8cJrlr8rQvGH3nOtoxHCSuscGE9rFgd3_ovBfmKsLfCYpmZ30ET0mXC-MXCjjyFaxJbVvJw2yCsWMh_wky2AWD6RADFP5Pzoht8-VL2ZsIa8jJIzPXTrv0Kz4cBWnn2fGM1aYUHmHmFAdeB954xPJWADbLnXt2_jJbjdwcAirxIwaIOkDtBvOlDx_zdIbrKrkF7U-Z6NRYQxkVP-xE5fk19bf01IWQVPV_PU1rnFEFr1JF-Q9W9733JaiPE94d3NCMm8OzJBSAV06zSpxt5fKwV2cuyqiCPXXv7rnWA3WJGzjcNUj4CBDJpUE8O9Hs5dPsHxAPKH0hnVHtMWcqLWhBIkZS7qeoGkNMT-4SvTMvXHjMzvqkuZ6_WiR6-vFqtwQ0Eh7ATpaOoTuAoH8HszV28oPOzgbJ3pVBZ-x8eNmaydJMgiYvR4II4EEY_BVPeCQDrIybF6CnnYXAWIhWyI5mAw8eIbgxqat8iRqq5vsxyEUyVGqG3edz5OyUJtsE5u8xtw3-7lMT1gya7AfLy3gcCm40WAadCklcRbqtzRa4_B5sBOrCkPBIV2S9_Sd91jFaVpbtmUbXgMG13RRT25WCUUbpMsHRrF_C3GutsTyNx1OMrMU7C9R-mBbXIdOrrs7kyg8f582C9qAUMUgKuFuVX0OYFioPeRcXjI_KIlkWGq2QbpK_djD5obHPffFMtKfkWXY8V3F4nxJr7xJm6I2uRBHBOvMN1sTFDQQtfhF-U1lkLFqW9wP1189mB0PlChs1OL9xtpG1-_it2a2uRx0O9Q1pI5OLQoXUo_Kq5dAYdkIxG8zKXm41OtQyXamu9EzO1hZjl8yFWPFhLjlwYE1m1BERXSKhhzTNDR_4oe-jYXRtkz4-qePWYY3UWPICIh8aFuGivjPI5ymfrTPsnaMqmnmwo8gs-sBCNfNx1QsRgI85jImUnZm9GWJ877sjx5ICBcA4mb8i-m1SAQCeeaauK-ja__kZZmIEw4Y2rn9E0nuDfjVBFdW_BqRpj7kgFb7SploL65MVkeagkFfs4oCwf3EtUpkSpYSB23ESK3eCMVqWxnqFRa0HGsQgdHF5AzgVkG9TJu2E-MIvSzGGPwP5-ac1nowGuyED0vytNUrp9FIcJ7Jy8vng4Pp12w7ZVJEMYXE3upvDVdugmeoPcvOuC57F7KiNovmwsLjvuvXVv4WMfZj1R4PAUVcVHS-s9-jB86hxRvbZMzxkRp8rlO8Hd5CTHwD_68TxRDQUNyGxTwEEuF3N8_jgS625OU0jMBFWYU-bOnRamr1tc8nK7_VeqlJtwIiV1_egN1I7Yr0BXas7cOzDgXD0ilhPVB-iICr79hdtePUPnUXsvpOWaMo3dRNAJfn8kR6WDx4_c6PvXAxjCVcZ0vbfjNn4GzXt1zt6pA2mYGNplyRTThbaRnRUvs3LaDmrpfj2bi9S_7XOTpBgNegdemntL7aex_LSGj5akQLwW1qS5hajfh4rYkXaSZBoM7DgNzISSrEGgxVhYfKr5O38TnnI8T-g3rCvmlFrH5U4550H20eBBKfOq_s4NYF9GXJ0oJEh0wEZrDhG5l7znTEUuavdSq4HShH90am9Px6bCmHMFn6lqNhajBYrIBq-AcV6JzjcEjZt4eTGOfaMJViUdJ69NHilqhLSyP3yFKcuUMInQNx6Ww6vsaWXKuJn3wli4Y1EinvaeV7I9XFkVckPcoqiNCIGLVMnOyFxinsh7ZiJIz7bPIfXH8XwbvT7gtHQUGm2gX9IpkH3QxniW6NwNIXicMgb8fpeRZlwqHp2Um8a9gz3LbE2K7KGQnQus3eXPInNVQGI4EisXEGrLXA48fw61_dfOdGJCrFHfZb4M958uHNOOSaUigdO1BoOPj6ez2gPhoDsxErdA7iNi6HgV-AHYjt0l-iuSV3HmU8oTldMhV-AEuSQ1y1-o-nBUDMo1MV3HtdPvyZuFDhMQjcwRaEE1tnsnlZ_OjD61GX-zN1F4gjOU_qXGcoLxt8YtbP8tBtv5Fm60_JjifEae2ont6xb62M3KnjHBwilVPfOlZLoG3jLQ-0uX7Bl4PdmxB1ndLNv9Yek1ulstRpmoBDmFtCtlWiXtGhqFQKrdeSNU_hw9ZwG_aqG2Wo8IWpFRwDaV3BS7Sf1bP7uyutX6LMhueX9Oc3OgdWUub-_DVgnRwTvbKuMucq9EGMiCGpD6tc6QxYS5YL8mr8Iuqzub9kUqvZB5c6cPyfsNHeAnf28k1JqucwU1MtlrHfl2ny3wRXwz3okCjhbqb2Y1UXtbwT2OzQH6Q4k-JfSvYXh_MtzPUekZnDmfpzNs02FZrZ7Pq8Knze7zTaGIkN_jz92722leYjs=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d1b086887d0bd570dcaf084b8de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.32,\"right_z\":0.16,\"right_pitch\":-0.2,\"left_z\":0.14},\"note\":\"The cap appears to have risen with the left hand and its gripper remains about 5 mm open; the pen is likewise held in the right hand. I’ll carry the pen toward the table center and raise both pieces, creating a reachable, clear area in which to align the pen tip with the cap opening.\"}",
  "call_id": "call_IClJl5laMjaR7f2jNiV60si1",
  "id": "fc_0f2f0697e2a1f0d4016ab43d1da1e087d0b0e3cbd952a10773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IClJl5laMjaR7f2jNiV60si1",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.6238, 0.5003, 0.8246, -0.7551, -0.2337, 0.0592, 0.8955, 1.8862, 1.5238, -0.6621, 0.5419, 0.371, 0.075]\nstate[eef_state]: left_x=0.3864 left_y=-0.1175 left_z=0.1224 left_yaw=0.1807 left_pitch=0.3557 left_roll=-0.0268 left_gripper=0.0592 right_x=0.3604 right_y=0.31 right_z=0.1432 right_yaw=0.2083 right_pitch=-0.2819 right_roll=-0.2361 right_gripper=0.075\nstate[joint_eff]: [-0.0889, -7.7607, 7.9932, 1.6532, -0.149, 0.0464, 1.033, 0.4444, -9.3197, 9.347, 1.5556, 0.4713, 0.2222, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76436455399590cf0e7df53cb5a3e24c61b5223c1c390940ac8993f54efef211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb5e3bf5057eb7250f20e9d66e397293235df1d0a2cf36ed4d5c0c2a718439c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2054ffbf5d77fcc17631b960351f91e49a0d75edca52ed2947fa2bb41eec374f",
      "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 · 8.25 s

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

message 117 changed as sent

message 125 changed as sent

message 130 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2471, 0.498, 1.4437, -0.7475, -0.2214, 0.998, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0701]\nstate[eef_state]: left_x=0.3918 left_y=-0.1225 left_z=0.0063 left_yaw=0.1653 left_pitch=0.3496 left_roll=-0.011 left_gripper=0.998 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0701\nstate[joint_eff]: [-0.0479, -6.1333, 0.8684, 1.2918, 0.0415, 0.1197, -0.0171, -0.253, -9.0325, 6.3385, 0.989, 0.0415, -0.0562, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.8198, 0.4721, 1.0878, -0.7547, -0.2264, 0.0566, 0.4664, 1.8114, 1.4311, -0.7784, 0.2234, 0.0925, 0.0737]\nstate[eef_state]: left_x=0.3912 left_y=-0.121 left_z=0.0913 left_yaw=0.1869 left_pitch=0.383 left_roll=-0.049 left_gripper=0.0566 right_x=0.3998 right_y=0.1615 right_z=0.1112 right_yaw=0.1725 right_pitch=-0.5652 right_roll=-0.2025 right_gripper=0.0737\nstate[joint_eff]: [-0.2256, -7.6923, 5.7504, 1.619, -0.1099, 0.0024, 1.0281, -0.1436, -9.2513, 6.3658, 1.0867, 0.0708, -0.022, 0.6227]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.6238, 0.5003, 0.8246, -0.7551, -0.2337, 0.0592, 0.8955, 1.8862, 1.5238, -0.6621, 0.5419, 0.371, 0.075]\nstate[eef_state]: left_x=0.3864 left_y=-0.1175 left_z=0.1224 left_yaw=0.1807 left_pitch=0.3557 left_roll=-0.0268 left_gripper=0.0592 right_x=0.3604 right_y=0.31 right_z=0.1432 right_yaw=0.2083 right_pitch=-0.2819 right_roll=-0.2361 right_gripper=0.075\nstate[joint_eff]: [-0.0889, -7.7607, 7.9932, 1.6532, -0.149, 0.0464, 1.033, 0.4444, -9.3197, 9.347, 1.5556, 0.4713, 0.2222, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76436455399590cf0e7df53cb5a3e24c61b5223c1c390940ac8993f54efef211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb5e3bf5057eb7250f20e9d66e397293235df1d0a2cf36ed4d5c0c2a718439c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2054ffbf5d77fcc17631b960351f91e49a0d75edca52ed2947fa2bb41eec374f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0swgVGtIoj4CPlUe7o28K76Xz6zkTxzw8XPZDJRQwgWk3PkuLiwIYuP68PPp7pf6wTU_qMplUY3pGiqG-K45YaOeYa_see50CzOD9gOMTRDX38WHUjE9Lo9b-DeegnB07szmbBVVSm2PbPPPONJ3HCXJ0C9hQGe_8ZmqrWuTQ3vuP0YPrh5toGhhkBTzlG1bEOunGBy7kqhDlkxh2R_8mnbPUb4BQ5Tt-HQXBTUuONI__Ec10tgdf_8b9ejTadEkfvU7GGqWw6LMzE3J4ci-A6pnjh__9kWpurKJ4pAP_Ryot2edA2LtTU0GINMKPR2gY-avXGZW0OqFCl1C-l6-OvRyesBPbUPdBAvrfDpni9RQzz1LLrip2cDvxgZggr5R6Sn2DJey2zXQlLPUNSrS9mviCIl44dOdz2Lr0XxlDVdCSi61JCDsnZJFeRJ7Bb3Ic-ZSIzsHjDANwajp3QBY5S-fabqiUYsDIdH3lZ_2Xsn8Mv7hwuBkcCcdMJNDA3h8hXgB0mHYeqUVAv4PNoOUvgBxnWug2orLW08LC2N6GXnG7YSiyn2krzKEKxkGn39J3HhMJMaf8vK_XeRHyTjUb_Y0jh39jTSryXwto-2ssYMe0DEFEKF3jcHA-GzYJ6pGjubnQOPCaLd9uCdTjWhXUZ5x0iIW5whR-c0fNFQdPuYD4sjdGCWXKFfvM-N-_yFLELy2toSyInvHBr1o-F_h1tRVFLjvQwJwdGunr_KgjGSCA_OEFtb4f-6zYWt9CnKHXjtXRwbg-YbocPQ9TTiumCvMljhv-yya0zSmxB_bOVAWk7MgsbESH22I9P7TA81bNS_me7tSLnEEHGAx9D8pbQsAvQ_fya18KwrFlXYQeGVYzi_XaYM1StsAj6AigG-HJ2Frl38JHgW6f_tlPC_FfvAQ7EUXK6LDTo8kOH6QGo4I6Q8QOvwWdArxtRf3cRhTkcYym5moG-9hbmZ8DrLoKGumgTVc2kKLk6Hr1DCur_o4eoF8UB7OykNPDlmRy9KtGPr0X0cnRiu24Ndn3LmSo4Y6eEFlBP63bdEeebKfVxO2JgsddBggHRzfe8hdCGdVa7FE8_EntNM7i6P_FvmMvrtUM8rZF-cnLyNcDKRwzU5r6CbZwZrtZIaSbD74ga_pArkW3D9SbPG7DrL9HtQKt30JP5lGaXDdDUX69RQFoMOAZRQD_sPRn-FvlyB9phCvzUyqSWP46xlnUAwQdJHTFId0j6-726X81Ag_4HClQWxtTMEvXnaTaWtT6Fk6bRuj9b07Makp60DMNIAh8FdO3UpL62Ett1khI0IJKjAwURCkquW8l4K_ceQbe5GtZexROYvuLqdAP4nJGl1at4YNGKdY2HmLzSo0_nOdztNmBbpn-GhFnMFMaPnOhSMpQiQEtK7v-3fJ7oxiamL1crmBDAEZ9_ArRfT9Ua8WuCIbI4tsH9F3SOoOUnnkAdOZfnteyIPmGe3-_MHGVPRNSJcay2MEq9WMWjD9JqBUWjjfkvGGhaQhVr-jbiO_NwMpi056EE3qdZrA50_dMb7ZvT567XGXRaEPDcwDHryffaoicOxfZ6sOvbnTEfksxwL2B4SrQ8o1dmpwx2VV5uSzakwitjwqnUMoeFBXEdK5SqygA9SzZnReXtm1jhljrktGtArCf0r9lZiKGaJiIUNxAbDdwkgOE9gL3rSN3LYxH-il2S0rlRDdqO4ifY8V5Oi5gw30D-q0vhHbadkMyx1PYMDI_BG0sdk6J7nNFJUNa15Ik1a7Wg0X-T4pIUWZf6VP_0aHkCRrfz7T10vsrHluWGNr3c6Gu3PV8B6xavZxst9B4nU_f_G0KmA2x77jEogSOF_faj40U436N53zcmSWfbcRPPg2tqh7-V1Zr6GCaoG6ZfMkvr3nItrYiuHTyNSqWtc3oLE7kC73y6kB329CULfqwdbqPLlSeGEqQ4aY4rBNeciZaa5M-S-C6EqIGDmjALmI05ew1fY_KOsqE6fC-Cn9reZcaeZJ4q3CKvipSK0wgvV-ae99qrVqQk8IbmDv1WN4eFiBAuyEwedbIZz07YQCfSUK8xZz9S4HH7W2vfeZazRTfFIiu4-1KC-emORWBumMjviyGs4yahm1tuqY5qPfz-PGnTmIXwPPCpu1CnJE05UumL4NMzVjjQ5MDhjx4ZgRABOH47btmLmQ76t2DaK8cHkL-QxtRyCHSo3h6l0TMF5vrhrKvKuyjz11O7zgjWxFk11EA81wM1DAOlwcIILcYJgGwwchdC8l4S5rSkcJaMoWP8dOk_MS_JhlCVvwBPjqcZh7duYrX9I_wCLDukYtKYT07rY_ccE51bJSLHY5pN3Ql2aTmLtSCcZS39TgLDW6QXmVT_xUMbuJi-2oZ1t07Ju1nX-0K36pTMPkDjCbT64k4QPqbGyhIO5md-fegrfHLfP9-IQ4SO84ESUt6WIbKqTa5QOU6qQ7CCLo8P_sFbDTrWikfGzhJJeC2znUHlb8sj0-9B755YSdkh570uNoguGB-PXzDdtXoF2eZb4ljPN_T8lrUf0CcEoocwUvfLTc4G2YoNtUkTzgtAne7RyCE309ouhZceDKtV2f_Z92pZvKhGea5dgSewvM4NbumbSSQc6J_PXGRJif-TkQFXWZUt6yvrG4RFAgEEQNtPkqF0YcA4msv7BXj52Bq5NkAo8SaUsMRn9GoeqO7MrqIvwGg7l_W8QXJL-xYuy6ODZ0qWSP00mHP4P3M5HREuwGtdfGj0A5vJjsJ02eBd5UzUwpR3vH4ASd6zhK1UymeuA4FFtK5_6R_spcBJY4Ze0K3dNoiENvO2-1L3lQ952Ul6ZZjmHxVLQvR5ohO5caWvofq_ypKf0hWTtlZ2uZOCTDnZgR4mKjfs4HDDeqFn13iqOXSamqksW49OVdD-U0FNO5iorF9lHWXknkz4T-ptMJHh5SLunrQUWMI2MBTnNRpXJoxurfvFuyoqjx7m_0r1o3s5Khg00zdVxyEUfzS6cEO8GQVmf9EH9t1OPuB-W9X5CseSHsQ_GVZ_PLV_L2eTez-ZYghD8odrOmg2wIMosQcZZrSwdoNnGEqg-1yVyVgQbGDh0vpy7d7bJ35i_ZL5ZqUSq9MpnhUjCulNIr3VM-ySvWvUy2mxpl6LPOOcxgCBiSS6GGpBd_sBHSE1fp9ky8d0oNDrT0YWJtf_Q3-9hON0zO0jHIsjKHVATpGMa6hoVLTATPX9L5R2mT1y2JTDWiNRekYMdVOc5V9lRjKU-t-xf4AUmAJXlMFR4yynEfNBN4W6BjwtwOnzYxuK0_2QqBo7a4fzbtHMgP2fsDBj2pZApyCH6Vk1zTIj06wnkO-JDgD7pp-oUgKfduz8pODfg-fk46zL_59tzu4SIIW2tlInS97tKflU1d627Yvb-LKFmeFTqfTarwC7vK-kBHMPdx0XD1rTKibOgm4AKmFi-zoSsEPuV5xFsFjdbp9vFTDQfoNjk0QpVj61gOmoGvdFWSMCgS_3ZVwdGk1byWG8ROeadhvLvVrFPxIY7tR9xIYB1fGYg0E8yzQI4v495c3NvYJY13I=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d2235f087d08fcf07422849b510",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0sv6gonidSqxrVBCnGJSFkXbwwNLqwhnwpveb7u4ErcCBcdMCyw6R1qGscC9SgTQopQb_UCSuuRNRF49eivsEgZC-bkRQjhA66EnV7kS0IPabhSJyY8Lj1FPKSMedg16kkey2Y8UJ1-OuJxgyhAlfDesF_tm5Nl5gJqGl1d962NHQW_DNMDFBmEOPvJEual2C3Qa69E5setSGaJOq254hmAL3XtaRcMgZNpG2WnJ3sI4IC96IBrodDfeFSTnERtqQMnS2T1ux8EXRSK5HU6m5XbtMd2bKsLMHOIzpaM0IScDZldXe9jNKT2TG7wys2VVvAeq6JjfCTy06MiW61c85HYohqd-Mjgj7dHqi-n7h8Ar-JeGPTjG71VwWZKQzUV8__LXoCbkvoPT8VKp_70rN_mawmuqTwt34N-wU56IJdbrduOAbRubRB7xVxYSpkqSvn1PqRh_MqODjIqQ762ATnAqSbtLilv7brAog2Zio3xYumKTEq1ZbFLgoRWoZAgo9ppNPyVwLPfbgpeTfsiKv7hDQ_znTPViJUysqLFiPQec474XtNDDnXpJGABp0pR4NP84Zh5fe_I-BipdjhlWpj04XI9JadqUwHJVuVB-LxI2LJ1Ejq3oUPmlYGe-_Ak60Acs5rOiCUALTYpB6lg_qqiE2dOb-P_JWniT6ltGFhW-IZCf_WY1I6JaGQK5vbykqgkvsZDjzJCizN7lTXw0XUE9ZdW7TMJk2Bgwq2hDeARxvARfsddCOAiia_LEVxY3YsxIVaBy_HkXfjFm_apt56c3SeTMuOCuJDYdo5Ph_nMrcZGTIJQ_gfh4WRFuj14XHeoSbknJzVJJR6AJTmZdrEirWoRtnnKSOqF8RCjYWY2nTboNS8b0c9QwMCWLe0ZJnpZwmNs4tbhzIF7etG2sdibbg0Gwprl6-Y3MTSWsY_NJ-esO3MdLYItnQbqcRpNug2AvT74KQUy0QyEu6gyLASrnJWgR-meQ04nd2Km_pQx1-WfpZPBDC-xQ35sr_Ps04zisEFWpy7l2ObOLtRCpvspZxjltJrAnVJ8E5hik-IxJ45chviRIplH8b0_s_BgnJitveTJPl2S3HbPNrpgrcbqVF-ILxZhsAnLOwWzxznF3aD3Ddjy3LRsXgyVs_80jp64grDh8TODTN4D2IErYt_ENDecJsiDgIyM2qduCYEtvt4WGH3gcKdZYklUC_jXnHIkJ0OcGADkV8ApH9dKLrLcYXVngbaQIoImzgb_JwD4bofyvcaazY3d_9d5uYyPgszNAxZ9-eYhzIfPpMAzFU0CaBcjXyn5VdvVJO5VeYu6KLzNL7cdjFMyxXm-uJ71Hsl1wJGnvDsKsW-XI5cW7y-CkUlJr9x01asr1e57p9KU55J7mGq-MelTsh8lm8KnLmtjb--KIRdQE2YevcUG-hMfFnbKDXD3OJz39S-i791kQdR0NB5noCDfcJrbcz6YD8TC50vE6GtDE--CXaYlLXSFZ18ecsLYICu_tW6uobZnyOH06pEyenZ7_f007avLGGcxRDDYmBlqivhbZU7c3AfDHbKqxLorJY7_gD6uiYpgSgA7pHtXoqEW9dm5QNPHeCCoirscyp8LonqqpDcK1_j6goRieZTz3WxxAM2DYlUYMlePmRP4jzFdTwLmqOXxF4Y1Fcpeqp5X_yWEpjNblX_mLs6T4-_jwYi8AvsTpI3nZ3HhsejTs0dzwEDU5xntWgItoW-JIb-9_FrGWOkS6kEIPox2LSvHBgL5b-fInhTdtZdqUa26Luqqq9Qi3l-FLB0CbBnOef7m0Nrt62tQfrZdaNzEnfrZKCaWjNY-mnyxl4sal3blByq6Fwcq_oGwz2KUErlZgZZPLznVqMBOlRVD-zxbT_IGjDa7a_Urjn2LH_jE5CpWcwdtElHFjbg1LNtAfBF7sBjUvNsQt0wEhgpZmqGmPZOgw7actkdLfhRjvLWbN3x2NkbRv9YojB6GYgMPJrIe5u9mkDJ-NQUzjbfgGnCS4QuO-ZkMneS9RkS_mqo1TDRJlGTDUSSnudVRVY3uoDga1tcrApgYU7Nhjl0Rj20ThEAMS_ZzNK4KZTGBsWfL64D1PAOmSHJABFoGKe3Tgn7AD6-apjjeuhQr6hbojfBsAXc-AzygH5l-gK0XC1MKk6JwPA44w1JY6RZxCH5Fj9eJM26FLmGlXr7ze8NBzbPyeMiSBceRicuwbxHCJ0gQF80cLIeeqfeclF51GreNqPp2J1Y8bfB-OHr072mZ4TowC215Yo4WCwKHaUQs5rOTixvX3Xvo2jWQk_TIggGzwMfvBYXJOH19Y6GS-oz-qYnnbPWnfqDMRO2nU2ZnVtlAqePXRunGzgC755VJvGs6U8KWHSn254HPuapK6PXl0o08JBNB-PqxUJkYiY6zqN17zudnOX1T5x7yQUhhpb5fGZrOU_3py3a8x0_SvKFLEytfe1ecCWqjKSx-2I8Ywm_sf0M5h6VLrF3KDagpkUVXJXnKRsioxt2wFUZsepeKIsuhdMyD610VsTq1IludJKnF_m3Chj8TtdMUir-9Ie-pSqZxe6h8BV1moy7KlK01iioDIEFLoKUcHpfkmUcQgAztWy5WxellR4U7dfehlrHqwDcx3DOvGhbOt7WTGr7lP2RrkQ3jOn-W2-aCwfexKmri-PpWnEqTBJwLVWCHKYMfagcgVt0SFymGO8k8Ev6dNHq8iUgoajNXZaeZULn_8UjT2ykxAySFIHdmxUw3WkYhMBRtUaNYba06pr2IlZ96aDYEuvSjWhBIsfRk5aAkQlAfs4-l7Fy6m7xfJfsLAXq1UETpSdbsAA1WwVTG2JCi5tu6JMwvqd7UB1zcR0_d1FWMr_XuGRtslk_rNnWQWyqrD_9O15kzefUbzv8Ttlb_grTJDN1VYgXHWlujWpxVCpIuiWM4oJpNTWxvhpObqf854OgLDcQ5_33JMEQ15pgxzBdWn-iUpTYcNzRKSl0dpmwVvMJupFBmBz2CgWG3f4AdectdN9J6HIAw8-GiJkMRn6e1UKiLnDn2ZjhJlTN1VC56N_ciMAN9QaWOkkXqH3YoNrWDVJxz1FGegxP4REDnfIMIfd7RZ_FGV_bF1LeBH1kUWYb78SlZ7R9Hun6tWXx4R2gHsX9wTutlltkZ1wkExlAcxeOT5mjdwcoGhyqLTVe1w8iWezm4wTYj_PvshY1MJMb6reD6jLh3kGW2F1iO_QQ7v11tu0WZ_00wh2CpTIRw46dneHOirj1iwWXvfbN45xaVRkRRtMYI_elJBxPNuJ6faIfRCgHMnEukS0uw4c4neLvmmKfgxX_aGJDPMVYUGgXkq7FjfA4ZGaOOv4gzNWJ6hB623d64ZAGBalpnMZnRt53ZIal4qxFUcK5GGV-F8W_-OMk3dSgNsZY-Miyuruc6Fn3S-ddlOvwW5GHAEP3rm7t6dNBS8DiW9feg9DZUqYirRNbVuU6aj8wSUlf1id9wXa3Tstqh8p7m270lB6yrBhqRGyOWbep2lBjBb2NGYHoVPaF0Xg7ViQUV6PqXVBnKKCihGxWTi9u3Uqb83AhhEog8nrWyCyG479BUZN2yCEeMYOPvDvF7rysn_xN3rgRg4gcst093mWuhXZ5Z7g=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d26c6fc87d08baceca34d3f9950",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.355,\"right_z\":0.13},\"note\":\"In the overhead view the carried pen tip points left toward the cap, but it is still a few centimeters to the right and slightly ahead of the cap. I’ll make a small leftward and backward adjustment of the pen, keeping the gripper bodies apart, then inspect the two tips before bringing them together.\"}",
  "call_id": "call_qQ0WIUqVGSzOW6jYmqAnJ5rc",
  "id": "fc_0f2f0697e2a1f0d4016ab43d2b39d487d0b593f08f9555c312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qQ0WIUqVGSzOW6jYmqAnJ5rc",
  "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]: [-0.6086, 1.6207, 0.4984, 0.804, -0.754, -0.234, 0.0591, 0.9829, 1.9865, 1.6096, -0.6968, 0.5724, 0.4431, 0.0781]\nstate[eef_state]: left_x=0.385 left_y=-0.1166 left_z=0.1189 left_yaw=0.1753 left_pitch=0.3417 left_roll=-0.0128 left_gripper=0.0591 right_x=0.3433 right_y=0.3489 right_z=0.1272 right_yaw=0.2262 right_pitch=-0.2929 right_roll=-0.2406 right_gripper=0.0781\nstate[joint_eff]: [-0.0889, -6.0513, 6.1744, 1.7558, -0.3101, -0.0366, 1.0232, 0.9231, -9.9624, 8.3897, 1.0281, 0.7106, 0.0708, 0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c80e233c510a0ef76b89a6e224f8554a4f9f8112e53b4a3609d2517c46934f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4b6d0e3d0af60a4a9208b03975cc11fc2b0aab85a3c73f9ad4cec79ce2062a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec6ea79402290e49d6010ae0221a5cd835128192bbe5f88525bbae5d766406e",
      "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 · 9.742 s

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

message 121 changed as sent

message 130 changed as sent

message 135 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.2467, 0.4973, 1.4555, -0.7525, -0.2245, 0.0534, 0.4664, 1.8114, 1.4311, -0.7792, 0.2234, 0.0925, 0.0727]\nstate[eef_state]: left_x=0.3921 left_y=-0.1219 left_z=0.0088 left_yaw=0.1744 left_pitch=0.3587 left_roll=-0.0216 left_gripper=0.0534 right_x=0.3996 right_y=0.1614 right_z=0.1112 right_yaw=0.1724 right_pitch=-0.5659 right_roll=-0.2028 right_gripper=0.0727\nstate[joint_eff]: [-0.212, -8.3487, 2.1538, 1.6044, -0.0464, 0.0171, 1.0134, -0.1983, -9.265, 6.3658, 0.9841, 0.0366, -0.0464, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.6238, 0.5003, 0.8246, -0.7551, -0.2337, 0.0592, 0.8955, 1.8862, 1.5238, -0.6621, 0.5419, 0.371, 0.075]\nstate[eef_state]: left_x=0.3864 left_y=-0.1175 left_z=0.1224 left_yaw=0.1807 left_pitch=0.3557 left_roll=-0.0268 left_gripper=0.0592 right_x=0.3604 right_y=0.31 right_z=0.1432 right_yaw=0.2083 right_pitch=-0.2819 right_roll=-0.2361 right_gripper=0.075\nstate[joint_eff]: [-0.0889, -7.7607, 7.9932, 1.6532, -0.149, 0.0464, 1.033, 0.4444, -9.3197, 9.347, 1.5556, 0.4713, 0.2222, 0.5983]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.6207, 0.4984, 0.804, -0.754, -0.234, 0.0591, 0.9829, 1.9865, 1.6096, -0.6968, 0.5724, 0.4431, 0.0781]\nstate[eef_state]: left_x=0.385 left_y=-0.1166 left_z=0.1189 left_yaw=0.1753 left_pitch=0.3417 left_roll=-0.0128 left_gripper=0.0591 right_x=0.3433 right_y=0.3489 right_z=0.1272 right_yaw=0.2262 right_pitch=-0.2929 right_roll=-0.2406 right_gripper=0.0781\nstate[joint_eff]: [-0.0889, -6.0513, 6.1744, 1.7558, -0.3101, -0.0366, 1.0232, 0.9231, -9.9624, 8.3897, 1.0281, 0.7106, 0.0708, 0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c80e233c510a0ef76b89a6e224f8554a4f9f8112e53b4a3609d2517c46934f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4b6d0e3d0af60a4a9208b03975cc11fc2b0aab85a3c73f9ad4cec79ce2062a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec6ea79402290e49d6010ae0221a5cd835128192bbe5f88525bbae5d766406e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD009SvTFGrQZ0u5yjUuR_DgB7g2DaWP_xYNz2CO4mrSquiRHVRluru_v2GZcNtjJ6NSxtU4fusTPFc8hlvjNaDBIfzamjxYCFt6gUcMLq7qqPnwwxribDNnaWXrBUzbraTbI3Yqu_bT0FbfedvqdtK3DNhfDJKCp2pOgOqNo6Hma55xyrWVLqvlecDerNZOIz6yDgs7JDLnd85M5_C5Elzimq12j-p-zA76W4oeAuXEhAatAtZ7hSM8V_1VAeDMxBYiv6LH5yzesTkilnIFNUm048luK8-2R4zqq9XZ9i_bWqPQibzL2610Y_86_KRDUBPdQNAbvYiCyrTvrCYywFHS1npM4t57mEdWLXJka_uunkrCy4oRjfu2j8cR6aN665q_ytq_XCGTB297iGh_CX4t3argBeUqRMwLw-zJMoRtBXSnAIPIth17_gS3S1RLr-dF8-PeaGUqgeSPc9Dyj42UkX31EAdP8GOMdiiFLwdzz2_fUyUfO0lBLcpk4Vd1az950VsoMT1Mdg1OFPE3PsiG4cNbGbMZ_Fmu1jXiuTJK8mSrCb40Un5S8NoyBTiR3E3jSsD7rRl47oSBZHBKPNtfiMzZ-Rwiwr25vMKiZC_kwuXGAg5O7uceMSMTvWOC-ndZ5aycn45driQLsyuksPMorV71mfq3JjdLS-azigmnVD9EiGbLCC--mA3OlRzTwNlGLfTgT8OF0JAAbsF9WBjHixzxws2MEQfqK0GBI9tI_sATU92Ffm64xn8IV66N-HOtm484jVayr8svzPrQATXxtjGzvee1ujXIsfXwFMDE18hKdSu3dye2TM5QyWms3SltZjKNhIrMWrEPtoOSpI05sw-SlUMMAjldePSHUAxV4240hJG9l4NwBqlDcl0W3-SMtLMSi7E8ZIGChPtmkFWD3AeY6_J5mTJlE6KmhKqOcyXor-XiIP1Qu-DIyqX7ajTzlqOsxSGcYYS0PhVeZG36YUN3Yfxjmmp5n-vQow_Dc9UlVsaIzWqG1aI9ai_rXAeEO3V6WrnFkMDvLZpNIRR5ABxvLgi-PdGJIsanKWLtFencyyaulOil5_X7IeoaA0SsYUGH7euyAMdm4i9NKBHmL5iSygt5SfioodzdzeU3Jh9C5dA85PSDigfxU6xbq560Dcn86cr6QDIx_FkdCaNb7dR-llMaek4FLc66GV6x28YiW9UBCMp0KODdbn9ffQEYVGu-15shd9vMGijWamGRdS22kOWZmYA5wWWXK7197JKGfROk8JpFmOfOa4If8mUm9MH2P9iwshbsyTvI4k_PvndtrOeuTGFiGcOzQhSyOEgw9HUr9GaheHAzTVxVFXlmiyEt96kCeyzm80trIWEDMWeNUBT-KbN7JY3AT-khfwlLiHTe3J9QuBCfIiUMCljKJLaJ6cq5wB7usqbaE9OTWUx3kH3VszboG0Uw6ddNNhNWzEQ1iSN_ReNcs6zOcNLznK3yxN4i9DNFn0sLhhmHArlHGNK5SG5djOPhRakKnyVQ_pnJ5Ayf703uu5jLKUKUN6wEPB1pGEkU13iMHbk4JKyaRokjehNKj-yPzbDTNwhqijGMA13YQY3fFtnfzycWX0Ct7KaqnkhJamD24xQl-TyHN7K-qNVRsJfr6-A-z3FOEanEM4bdmaam0xJcR56BZIA8k4s0U_n1TQiJP-BF6H0sUl2la9tkPENZneF04_AdD9pWMUhmaeOqr-_VGmoHiES6x22sxoSIvQetiigYW9ky57xsmZIbLSd42A2Q_d0rDnb1DOvLLklwqFri8Nm4Qni7SR8BIg5dWPNsW1sVbv2lkU4mr0ZVpq7XRNEZHNSvEA-E1f04JKBRlZetmfKO8cAcfaTtmijnINAZ5w6s8eyihrz3ymtMnbOti53KXVuGsztjKPSMbImh0TrwIsHpV_j1g9Q8q4dnjUZHG081EiVeYxoszegbMQzU2cZtvKZNDilbayzzDxHBpAmN6LK5tWwNnwH0GBJVMT0cj6Atcg5ozIoUJoNixb2sosisyg99ILSxcvLoTGSiyqgBBtHWdemVZSZ71poSE3dP0c-c38_2996kSRxuNs7GWaULQYqHuRzLX_gGfe6z_QNrwiZ7nXykXE7hDndYGhPNQVzWWQnt44Gwul7LXeRIhXfJdX_LMHuiLvXBz7_SEISrN_BoeWxaZ4HHf20dIfroX7GVDCnUVQg2SJQWzBEyH8U3BQeFEPccf70XHVwBECDhHyTK5pGvYcjJyaWwHaRBmCIzm4RDK2FCrB96WSExZNQDO8SNH1Zv00p84aRvF-DIa3uOhuSjnAV29YIAj_hFX5ZLvkqWIQ0zkDEs3U8UaweZWPi9AYEiMuxnSLYYciKgmAnu1a8YIT1Q3uz-3XWb2ZzZNvl3O4IurBGHa13j2a9orpEIwaDaH8WnIMclNWSP_vdR3Xlf5v4VLFaou9cd5ZEQvWh1CmVb95dpEvmx15rAZFZy3330yrT-QipoC7eZT1dyymn3U0cR8y1V5UkDR-ccJ74b7qdCLzkPW3RHnnp3CfWt9TvUQrzFUBoaJqdJSBDpsWtXBkjcsx8JrSyu1QC1oOCkwIhygze4BRV4tMkqra33BYdYkdA5qibjCFCjQdBZ4RkF2PQRgVO-Vi9bY9CqIzSQZYv7m1uk_lcqlsTWl7BCcIx6nQ-72uozqPNYRYgg6BGxvdfhpoZvcTviAXO-d1jPKHusxNpEnUUNaBLstZHnvve0puSCsnulpTC90fvy4NdViVt9QVE9hufOEMQEbPis_bWUKURmmmjx8LXkmAlsWmBiuiK_3VsEO-zb8f-fEOC23s3IrvBT1-afeWCl0nWI4zz76upbJo_pmK31wN4-HtaCbVzlvvB3y6aagh9Ww7z2Ra5tBfFgOLQJtomAsainPB6jTmzMmjK_mF4vErRgRpRODrkCuZH3pWf86ZdH5zTArbErsWPXARtQ4bxtCiu8aW0Lgs9pQYq81a9FZ40XH2_CL8v--ekkf97HfJPG6jIvTuxwLLAtZzqZSxzXFGNhKzdeHFBSYv1C7dbsNnMJJmnzs1O8va4fXh5LNzr11Y5TnxiEFBVPThvvkHms9XW7Nj9_KCceEIxXqsvu-AzjqMC9l4Lr207jzbFXL8o8UM5Mj3zSXZ2hS2lpsSJ0xGGITPe1UVNk3blLjZYvQYNimvr1YWNBAnTYOLdU8MgjxustnXJFqHOLiYMRpb9I43-bOhTmKq5hVoUMmXYl_x_TanMwMFc6RJ8ThSUOeCQPWGMI7cRe97ZUTArkbo5DYNUVjRenEVnNFNzQWAnsSAqnHbfbqlAAPL57S50phDP6C5yIKJ6iLqmfTOQ8PVbenZRHEtH0vHJYabLGwpaKcGBvZOtkYNP5Lsd9X6JYlqyZnrZgTNupX4StTmgZ_U_PDIwn7BsezXp-_iUk-3_veV1gxeFloQU_3rQhgxYBt4G27kG1Mi_d8FbeZNbx1v-BBK1VkRayFczsKCH-xkq_tvU=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d2da81487d092b2136096d9de32",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD00QVl3Ke-PfkOuzDixDWl9rDExX-QDC8Yp4pIT5CoFXtoeYR214NQKT4lHEaomvLMY31lR9dUoAAPFj0WDgDU3dAkxN32_uwoSJEXN7v6PvEo6_Arz1djxq1EYr4CPP7ZoyT5ryuCkDhhKCLKdza0ba2VWeYf0RAOYPY-XdV1W-iDUKQWNzibPnxF0qHqHjrDDGFhMc2pYAKw1GPedIDQKdGQvngqcBsq6SjqNQhxfVG6Mnv4DSbKsfg_W14-y9KB8uvFOErki6B1HMHK0ao8_i1_R2ouhwfmXCAPQW4BADJByKK-LT7d8Sl8jgOyfXkF_p93mtXidibWt3JM67RYeILjG_dVfTqkYGhJvV_exWm3JiUg4OWuhuhqkF0FQhYjIWG3eDbCxJWA9PwRn5ZVOCxQxI0ochblGLQIyy02tKu0reay0_smIGoathyc4GhaKRW4JorkTzRCCh8y7yhv4BI_3ETpLFWM47E7R71NLnWkK3KvBxyh_0b60MxCZECT-Ky2de2oenon4Kg-uQD2fWg0kRv53oo_cB4WazC3r_9DvDLvuzKYLxinecsuK6Ti551CYjo5uh1_6Ny0qi-ZmOR7mTYnDiSbcwhaIn0DoKK6pPqwQ3mCctsMUMmNEE_vyyPvFL6ctSOf9YLMn_b1TDwYNNmEgebuLfELc56xrYSI0Kup_uWxdcw0mz9Mg3dHCN5WWmPlbgKifNRJNKp_DZ4bmWIlzVYmn4mMrM8y-QJqTYJUpG--O6DRNAk-ZS3Nh8YNBU3HVBTfEFiv3vjjJl6QPSj-IiHFkt0l_QqmfwQwmr3YJKs6x6gMOiJAXfL8KGK76XSglwoacjW53EyxLvOdZxCH9NVGuTGkrQL_oovrqCUpvutyWRfHqVUigGelp1c4Mv5_WizpnCMi7Rl2KQBnIh3kYp-rY5HAjJmMSeblhI1Wc564NZ3vnQFgvbVt_zg4CMF3LyXHx7LusaHxGwmX2wraqrf3cvHuEHvx8q9BDK59JDv9J9jo9BMWgqYE2rdQ91XfqmNKaJBh69x1EBoF-Hr5tI1ZGYeanK7PEZMKCDMsos9BY2guxiwWK-QltvddwZ5uGERx8eYFUnh0baB_NnHUpq5B9qn_T_SCRPMpQru2cpgbJxM6wriuEP72OyXZIUu32rfU8wzFuw7pc8ee_7ghELxLSykClns1YA4Qathjvb5yjWqXpJw2bJavPwRWu6rwpmnnVJRG54Z2P4VVRLALmG-bY39qxLy3-auhiMeEGDOdgoyA3FuwZXH0icD1RNHd81t-o8IVtMVwVgiC5wld-qdWuwO2lOUdjp0bjaMshr3-owMDGMq4w2TdJLhoSwSxqPZW7HswumCs3mIqU_8bySu4gPz9lOtGxuL9W6ihntPdN-h4UHeO1_0fc_ckwz73bUiI1wXcbSsVdZeL_rr4xIP1OwixQC1tJtSLSxIu4wFOQYDZEFdpw-FSgoy4myYl96MfsfdwYqdvRSbi8uxv-PIOiPfU1-fq6Z9jdoGuMNyx2wsYLyEij3jSrATzPoGVm1BR1MPDKeDceDk0W4hy7E1WVUhHx1vkRx00MAFWOGorYvPAXIheyG2W3KoP8C7bmjTrtQOmejRheFgoX52oOMXkyuBgj5RuhvHPSyx_hDyS-L3xkFXlTN9EP9qM8NOot7j8yEAmlJnZ3Lo5H0xhXRfRdjkjDlXlPHNaAJVazG8XKzf6_USi-SutRTryJiv5bwlVUaEMfOOszoabVnfyFQm53vhCriK671kD52TBBtFhoZmPRhD33D8T4oHkJo7cCWMVmowt69V1ZJv34ZeMFQ6kHoh2HbsKDvTHItrEhrj0DcXz8iP-i9F1BoUUp4VxmTpZLjXY0k9O1kgIb8boXuOGDDxjNK3H_Mt48dfrR7kIbyD3w-IuEjj1DEIS24I0ykd9xwZKzpD_ywbTXVude-lhNExyVICybyKu4vd-4ntzG6-23mlaem9RLnhnIX06BdLbwKLVUAjSGz2ctFF1YGYyS82ySbW2zaSLqtSjrth4ND_wK__wotXlaOWu3SUx1RoPpcK-dEDhsty2Sk7WkoTm5yxrhTAaSXQBshTSo3Zix8MoK-oDy9FKvfaWlzJikRXIn2gdaGZ46fQ==",
  "id": "rs_0f2f0697e2a1f0d4016ab43d31f2ac87d0bf6ee257d3c8078a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.17,\"left_z\":0.14},\"note\":\"The two gripper bodies are now close, but the pen tip remains up and right of the cap’s likely opening. I’ll shift the cap-hand forward and toward the pen while preserving a clear gap between the grasp points; this should bring the cap mouth toward the tip without driving the arms into each other.\"}",
  "call_id": "call_3rL3l0D2iVBZsrCPUPy1NAiS",
  "id": "fc_0f2f0697e2a1f0d4016ab43d339e0087d0b355383a5dba143b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3rL3l0D2iVBZsrCPUPy1NAiS",
  "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]: [-0.6369, 1.7542, 0.6846, 0.6659, -0.8127, -0.2756, 0.0591, 0.9459, 1.9827, 1.6299, -0.749, 0.6022, 0.4744, 0.0802]\nstate[eef_state]: left_x=0.4119 left_y=-0.1407 left_z=0.1105 left_yaw=0.2006 left_pitch=0.2981 left_roll=0.025 left_gripper=0.0591 right_x=0.3554 right_y=0.3278 right_z=0.1333 right_yaw=0.1469 right_pitch=-0.2906 right_roll=-0.2591 right_gripper=0.0802\nstate[joint_eff]: [-3.0291, -7.5145, 12.6701, 1.4676, -0.2515, 0.0757, 1.033, 4.9846, -9.0325, 7.706, 1.5116, 0.1783, -0.0073, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bab9d74a975612b4675b2824273282ba57b9111391a7872d687773b4a012be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a194be4cd4b29cd5c24b6ad5666daeda8cb5be74e78296520110090cd218c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de159feac6b2d8fa0b302acd399c1cde27b35d501a153d73afb8eb79aa425e23",
      "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 · 3.57 s

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

message 125 changed as sent

message 135 changed as sent

message 140 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.8198, 0.4721, 1.0878, -0.7547, -0.2264, 0.0566, 0.4664, 1.8114, 1.4311, -0.7784, 0.2234, 0.0925, 0.0737]\nstate[eef_state]: left_x=0.3912 left_y=-0.121 left_z=0.0913 left_yaw=0.1869 left_pitch=0.383 left_roll=-0.049 left_gripper=0.0566 right_x=0.3998 right_y=0.1615 right_z=0.1112 right_yaw=0.1725 right_pitch=-0.5652 right_roll=-0.2025 right_gripper=0.0737\nstate[joint_eff]: [-0.2256, -7.6923, 5.7504, 1.619, -0.1099, 0.0024, 1.0281, -0.1436, -9.2513, 6.3658, 1.0867, 0.0708, -0.022, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.6207, 0.4984, 0.804, -0.754, -0.234, 0.0591, 0.9829, 1.9865, 1.6096, -0.6968, 0.5724, 0.4431, 0.0781]\nstate[eef_state]: left_x=0.385 left_y=-0.1166 left_z=0.1189 left_yaw=0.1753 left_pitch=0.3417 left_roll=-0.0128 left_gripper=0.0591 right_x=0.3433 right_y=0.3489 right_z=0.1272 right_yaw=0.2262 right_pitch=-0.2929 right_roll=-0.2406 right_gripper=0.0781\nstate[joint_eff]: [-0.0889, -6.0513, 6.1744, 1.7558, -0.3101, -0.0366, 1.0232, 0.9231, -9.9624, 8.3897, 1.0281, 0.7106, 0.0708, 0.3053]\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 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6369, 1.7542, 0.6846, 0.6659, -0.8127, -0.2756, 0.0591, 0.9459, 1.9827, 1.6299, -0.749, 0.6022, 0.4744, 0.0802]\nstate[eef_state]: left_x=0.4119 left_y=-0.1407 left_z=0.1105 left_yaw=0.2006 left_pitch=0.2981 left_roll=0.025 left_gripper=0.0591 right_x=0.3554 right_y=0.3278 right_z=0.1333 right_yaw=0.1469 right_pitch=-0.2906 right_roll=-0.2591 right_gripper=0.0802\nstate[joint_eff]: [-3.0291, -7.5145, 12.6701, 1.4676, -0.2515, 0.0757, 1.033, 4.9846, -9.0325, 7.706, 1.5116, 0.1783, -0.0073, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bab9d74a975612b4675b2824273282ba57b9111391a7872d687773b4a012be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a194be4cd4b29cd5c24b6ad5666daeda8cb5be74e78296520110090cd218c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de159feac6b2d8fa0b302acd399c1cde27b35d501a153d73afb8eb79aa425e23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0-BI_5QqLc9kq1iTYVnpyNnh4EEdrqubEcm7_ErSehbVogMG4pfLu5swKnbYGj2funs9wiG_CJd5zdHIG6kZTew8nKqEryxoOkCTf3-po7VJ1HTU9-9lfoTfQXWgqiyw3CnKjgUHAcerU8dpFeHx2vnesgOJdnJb_WMTtZFpsL6CH5aeTbyZsSJ6DiCL85PDUSQ6XhZJd4yf2G-h6d3sl5AzSvG_fT5HTqx4jOZRzVuQiVdcVRBBpD1Rd9X56gJ8LtfJKmw7-UpXYwl-aq94tVl19MW3JdacErJZ2b2mAwmvJnzCnoPNrX_wqdqM6TZL6dGBPWrnpfhOj1VUjR06yVTmUOnu7kQUPOzJdN_qruT4a_2DVlzsG3A5jYVzWXobT_O5hRrjkK3_f6T0bfsHRSLmL048KQnwXjNR-teDONYKk_YCyXne5MLdiBSqo3DgK_XrNcH5UPJr9f2JVvJ6HdtEag5GuYzFgXYymbY2R5v54kfDV2Ozyn-4WAKIWYaCWTiUV4HZHD3xLtQC6xo4A2gDZMK2SjIl1_XTLQfwwDSQCZeftQe671p65Z8kUCohuiHzNucerRfHlcqjGl2JQ6DqWg2-ixMlSwJXy69HVI9LvXpY473aT_sKFriC2QI2jhpQHzzvf6EjqNRpeaWjyddTeBOHP-Vfgh8zzHfnHiNcjxXzpvEaMA-YzpHTFrOIoEq0P4K7_YwEicnRMu4eYH12c9zM39SRrCrEJ46A432Ss2M0RGvABoA_FN-ktDyDtFABwHe4s1qGEfo7PP4gHdJr6GdoQa2MZifRklBPE6qbvbQsmUIgHn5SKT5jiH75Jo2A5bOUwClmcPR_5fVfcuJlAdn5314qkotozFkwx_joeLgZ9544W6rW1SussDYavr6Kw8HW1lJxtG8aQA_b-bw97iQ6PSql4ly6ErMdF21T2iOaNQcqTuOqSEVIVw6nIYbJGCdYXSHYuyAk8PWhqUM89PCLytbZF6PNwnQNDeXj-wivHlqQMjQZbBvDE16pa7tzFSBy_Xk_5uaXX9TONdqfvosNPnGLxeseNI-vO3ghX4w8r3jDxSRVqtIrTcRfflGYHnCWgfTQDoEg6wYt0LAGgbTb6SKr1XHjPdmSZA1xKdKBAyodpRNk8cW3pOpjoF639__lFVfy4xxSHSWJmmXKO23_vOTqLPf7c38y8xhqXcfD2_5B-t4YURi9wiUaERhPapQgU0AkQzKo_xKW02VESORQXkOs9atVarT79-R019pp6eXb8iObyK9xjP8W4otZPCnTE0aezZOhnlWh76-SQPsOQOO6TTfrM-wFnwAMQvWdHc_bW9dtHpjLfAHdhMcuruw_JxdR9gCYpDsxkLGCRMQVY5jiHcgJArVvamj_Kmv5GwmLraG4yWnCWghPoR1hsEjDGLAZ18pCWmxOZIXgWo3YwXCDbcsa8owWZKBPcL_KnxRtM-HpTlFuVzwizKsJAsTEv7FqrTVXTZp1RBa8G6KCsskYInHbjwNZPmHmV8tgQe4hbudmjY55NcIO86F76WyqD84d2cJIwZJHV74Y9POGeQg_5FF-rLLWpBmYtdCWlAKQuHp6RRhb1hCPcSbFR3MzaJVh8vVpSECEonepQyK0TsVfkD11F03RV1p6rVefidf8Qs7rnuMqDa6epeWJH46mhFqshF90ikwA_6sfBnRQ1GlFTnY6V6kuLrVKapWB_MzA7R_cOqlXjj6GbUWpYaTrSUGbIY4THD-iqyjiCJQ2fLoY3lYNSaiHcSzvwYWIw4p3BECRkTpit3wHg6Z3mBZNFCKHLf-e8LoMYctLCpq18aw5y2k59rmt84vohxgpygtjuowkrJQ6Ogz5uVJkxVNUAnaHLj6uNIlWg473Q0A_Nq9falUeeLYhMld6spyXIyHYd4eNQ9OgYt2LGxB0kcix5rs5trGTvLYGcdYeJxcpdG9cXUnbcMVt1M_yJegTDDCcmVT750yzDAisSTD7EWwtwREAv45G7Tvu_4OOUPDpDm6EqQF1JTGBRM6omsDS0OfI4y5blriQ83r96-jZwhFeKKPWcQOplB3gva3cADM_gR-IJzgrLxRWgCwYZS4pVgaVzZT6UGNu-U64lcXgBJLGtgvO4RAyLxv2U9GZkzG6k7NWuQyE4gPehUUFA6wG4hF31F-1IytpVLbH0ci3NrosXoYQasUGBvWEPHWG07z0M0PHFJR435s6KaL9KzbukcdDFihNLT5OojR_x2e_3c2orJgxevpemWxw8W83RbO2MHHDLGieonvc4UTbbLCaH3M2rHgVY0T0oEcGesChHU5d6VHKZDDKg_AZYIfFtN1MOhYix39Tu_3-YOMajTX9OzGL8gRisS3GsRUOcc-A5whj8qCH-KCJtsHQn5TTYPvxFtlYVCAoVoIva7Bkx32dXeudkCP_bsLPw_PiSOkRgC0iQNbuix4GRoS5wb_XLnYcm8y-jweyBSV7M0wUtRRRC3E9UywbIovWbJByp2aDwlzA1rXdKpxOHKNm4sIfm4w-oQNFec21ZwJomujiJilBXKCQqjN4FKSMx6wY-GsKeazePBK6bYjCX-Z3WMVlEQhFqFiaQjQ_K5E8lfDkt0G8HF8EKyomozgos_P21POGu0UWDWdAEPLh9meivK29shkX7EXVD2lfFHMfnRoSM0S5WYbSH-IKNtvkp05D0Uv_Zn97NDDPGqS67XFUctMM3lAXwH5hFvjiooCL052wsEDCQqtt2txmKcM0xv1bQZIjYDpRdcI2gOLEUXYCEdKmAlFngi1kYWtp4N5IewVBVQNd7d5YD7iooLw8a-fQ3B76xXY6n4x1SccfWDuw_hqgt0YwRnMBzl8HbwofYJFXjYmnnNCsK_UzFdfoEHSvwo4HXcVoZfQDd56RZd-1v6NBuJFF3agGMs6m-1MhdZPodeuPAdWS0aAPSB0uBDkULlq5WTDDTal7OHC5mkFjwwekrRH4e247g3NGSmRhC9fglXRt_5hDG45L2iW0J5cQpMYkJ04UOg2IOAo3nrPptQzUlt3h9Eubjt0VkyU-Mcs-SV_gNS87s_2v3bhCHfB_c-5T5775T_FdUqdtlmcpowMzVPmV8JYuKsI8kIpG-NlwgPMmqqIog3RgZ7umQIY5tlYKygXovkDEqVtWnshBljfGz0zlIwKH8lECEbyNGrMwglD_F2N0H3Eci82Mlgy5pBADrJV9ghHCRUGYaazCYduunSd9VBdq06-L7bx0DrB7JecnzF4cq8VpuWHU31w3jKSgscogw-M2OCT76QXbEQoe6j2J_q3Kzwkz-7ycpKhGPpl74cQIisYzO15BT24hKsCcB34uf0GrC2cARgYGxS64eVzESFED6kp7eYD9YWjDxwwlKPauj5GJy5zT7mVvMLm-wsiom0gpj7aBLwwRUPxhlpX5FwOK-R8UoRUcC_sZXs8A-m3OcmUPWsD0J8nkqwMACiKotRj-8daMTNRPimeK40mgrs6eyz9SEUcO0yHGPeuzPeZKU3BHjPEutKtJcaixDfB-WOfCirodqB-HvJ73mNsybW3XcTfaEYcQhtrXL8LkP5lplmbrUb6Ggn7EPqVaLPi-uhs5BdldS2ryOUtqoInFitGBNyUf4hCcBxb2Qpo8g3SSkpRwcPzcT1UQOkE1_c53RLJPtXone0PGkQJpGpLKZnxBa0yDhvOV7i25DL0QC6VtQ5i8r5DgWDMzn5L9WXZmcvRCRn55L-vmZ85lIXg2Quip0Ea8QxJqBGDCHI2YsLRVb9xboAWnGrK77UbEPJeZaqwcL3s9IPW1IpKBRcHmVxn1V3fF0tKMFO58wtG_Yrdy0peAdJ5wTgegX1",
  "id": "rs_0f2f0697e2a1f0d4016ab43d3667d087d095c26378d89ac6f7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD0-wqbOlTZwRltxoKIOXsLhf_cnJ87yLR8OKtCS0GsgdL7gYTao1JFEhAmwkfqzqcPbxgcOQo3Oq_oKn7GXmYQm9PCY82duNsBiHOqvcqPssj4RAlcAaDwnHfYsbC3N2-msOmGdJ7B27_tfoMZSjj3c_em3QTXyBADM2RxyCIuKlFBZ_7HcLCHagIZS3YHvIhrTuJ6MPe7ZTv6pqRRoT5G-_BzKjLReDpjQIVVAN6MAn2sATXh05JP9UdMEBSi9g7ZQd7qAEJwzz99pQ8ZvmYVoTGCYOaQrS7DHd6sicYH_Q5KRVUKicdAmG8089mUxfeQz12SolvfIcf5z8GnOrzqYePcsYXuJ6wQvOyUh33T_uqM7YD9c3XRV73GZfOyGvQuiB5tAupTyIbwLFYYoSI6OOqsivrGW_soTqDyIUrhvbLr3Rmd__XWlCbjk0kWohET7UHLxEuaF6CbNY861zm_6f4A8QoaJS1AZOezXiiG-K_gz5qpaNMcZRUfwKbi1ShRVPsixk1cffAjUKHYCZmDzx858MDwixXyvMH9qeMau_vxdZCpGPwDj-xNIVui_bRpG8TwBEbJ5LrR8d5BvVuMahRD1IGjyneEq2PUVmrnHjyG-iv5bdY-5B5Rn9q_OgZqkYxUzhkqaLNeWobwjZMEFYpU9MRVHivfEa55pboD8Yxun_0MkWBLI8hYjwzeEp92QczhEPRXAo9r7WOM_qKNFd0nctV1u7iJ7FuqCg9J-cjh4PQx-Lof7mswD2f1HxupF811Dh9Mnnh8vb7iThDhe2wHce1nRZTRmXG1zVUjmc3gwEHQwCx0Z_qloha47gQMM7N2An1I_n9eTnmtO_aUYOQdA8hseNpNaLJhtD1RkycBQezQ9xE8cjHKDPnwKE40LEGo0y7FCaOcb2PNl3MWxMk2jnsqtySmG8MRFh4nOYQZZk1IwD_j2F2cQxXf-rULdXcfafdUfeTuPrf6I_Y542UodPJo_3T4shPlaO7UwDLBbLsdKjZM5gzj-uvkENiKkJ298y49diILcCRHObaNjrg7ZQXHPcpnMJ8SB4fzGVZgd5s1WGVn3Gcpscps3ce09Qb54HI3LYtqcryHDWnd8--PRu__BylwXLK_a02X2nOHpzgVhLmqK1NE_CTkp6J6ZQoZLrBFI_sJZwl9ioK2jjNDhVezZqlkyuJeuVT76i9fJkuxtYpFX8QiB-ReIUbhqmcJB10U_bhvpW-OhIAaKQa_3kHqQoMPxdts549N-GZa-LK9TkDtNVlztgHMvFVRIf0LLLdllEaLI3n_NM97DBX4c-eXQx_vZLfK6RrFzaUbyRswv_TgAwz_frT-h5I36jPvq1rk6KzAi67wnXKvHqRK3WIv6lLH0UB98LKxGQ25ZpGZQbSqcr3AWn3Xs87fJpiprwAPBBDO8-i9D7g4Q1lP_PoqxOOO8q8iSeHDPaskX_ijR654IhR7XhFSBDiZHon0ueVULej5Nm_R1eUyOaH9TpYTlM30k8dNQFhAw0YltEkHRQMxeYyqz9DJ0b5QB70GpYuHRsvrpNwrscXdpX6k7gp7P7KwzdiBGekfOTblqS21NJASBXbdDZF31IJ6NjupSAaLg9gH_8xJcDFaDmMl5aihbEt3F0f00IP8J0BlkypLo4Hp2kDc2h-WZJYRfEHCqUVQbUTOnN_tSUBAJIHJ0EUk-14fdWCWqjCbgXa8YLotVP3Uk-pJDYC97-DtJMHzxs2MR5-a6CW86pmff5920a7K0VWLezY9OzHRR_AtSSsk_5vIJbSL185i5h97gVDkcstyKwzEQoDPn7TZKD87cjPAx6eBy9oPIeM8cI8x5CNe6YzijHU1K-BzXAJ8180g4UOyS7uJYY2Rt93swkmSarLWwbPrPhANkweXu6NfhvhgYNSfgOJt4srt7XQW-4hngbvFgMSfBoinUCeEZAInt2RToTFdMq0gSJJ1H8QRjiE750JPqHTkfSJ88_PVtNTaLxb4V_u4qbDIBMlL4DmDbI-dTr5ZvVgCf7b4AGQdZ3SxOojA3kObf_F8GaDzpCI117IS3Sj9ntG7e_3hfiIXHcRi8uTnSuNP7Vmww6D_vR_U0O0ujFKDPlI6GuPop1UQfYaIeyYxMIValLHxQXewYrn5tEPG_BwoOe7PYb5uwtYHdodV_X3W377YXOnRMNPJq5Y04C7QfBxmvxMFesg-LwRg2c7owcuHxtLKiKGkas0WQH8eorPKxXLicuPwUw2XWuKWkinOgpQ1sx2qQsSMPI_yMolQ2KsaDsNn6desCrvcfinW1nDVT1BZSCaO-YKnr3Cs4tfAFMLgXWF455HyKd92iYYWEAccKeOppkk_pNtGZW4s-F4jHvIx2kPpHkuDWAlZUOhSlQf4I7SHW0p5Yly-RvJvX4Jd6pWXfljiUMNxwWLeH0UnURRq_6Uu3tnPrkPSmko7Q9B-3Jyq8HahbfRe8vLb8GiU702lBYwK-5VKijuGCnjPK0-T8_26FhJpHD4giyMSn8t8OYOS_wtfeH9J_A9r9UVmA3IfMQtFFmNdQvQZO5iNZHcfe-32tpQw4OEUSsEaxIMzNnaeN6TG2X7oQA-dIG5H0eYNZ_nvsKZO0SJETp4k53ONYMLhHLqO4KEFQyXt_AIAHMbHjTS9-oz0lWfSO1lvC6DOmui9HsJ4_OWZco-XJ66BcjOuUW-sB_mOw5ZuqoJ4TkXNTDnBSrPIg_TcuNzCWQ3ukGPNz9VIQhuyWxpmNvBKd6K5J89FDvHlbafQW7ievy8JgDyU-DglDkxydMjR4iegC4gcxGn0HEDLXFXZp46uYXDbxWz-ilTE_Ji7bzs4G2KOUxGO3UBSh0G4hO0JUYuSnWKXEvLkaHdHkMmsKu7VB5Vn1",
  "id": "rs_0f2f0697e2a1f0d4016ab43d3ae62c87d0b0ed5c3aff84e2a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.1,\"left_z\":0.17},\"note\":\"The gripper bodies began to crowd each other and both arms deflected instead of reaching their targets, so I’m backing the cap-hand away. I’ll place the pen on the table with its tip accessible, withdraw the right hand, and only then bring the cap to it with one arm.\"}",
  "call_id": "call_DRrOawvuOsn3lYs0QS19tLTE",
  "id": "fc_0f2f0697e2a1f0d4016ab43d3dd31c87d0b36affd31693182a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DRrOawvuOsn3lYs0QS19tLTE",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.195, 0.4553, 0.1783, -0.9058, -0.3473, 0.0608, 1.0046, 1.9518, 1.636, -0.7319, 0.5571, 0.4557, 0.0824]\nstate[eef_state]: left_x=0.3151 left_y=-0.0938 left_z=0.1416 left_yaw=0.1819 left_pitch=0.2336 left_roll=0.1083 left_gripper=0.0608 right_x=0.3331 right_y=0.3566 right_z=0.1475 right_yaw=0.2567 right_pitch=-0.2817 right_roll=-0.2032 right_gripper=0.0824\nstate[joint_eff]: [-0.1162, -3.8496, 7.6103, 1.9414, -0.3883, -0.0269, 0.8669, -2.8239, -8.3214, 6.106, 1.0379, 0.6081, 0.1001, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c24514d0320e53fab25f073c9b0ff8c5f3a76c5c975e4a1fb38625e08413c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2606012af14a66c070bb9f059ee73204af3e7fda5c9d00bef935b70389a935de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ad95d254e52751acf14d6429101aade2671fedbbc5074327d20bb3d29e6fc0",
      "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 · 2.863 s

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

message 130 changed as sent

message 140 changed as sent

message 145 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.6238, 0.5003, 0.8246, -0.7551, -0.2337, 0.0592, 0.8955, 1.8862, 1.5238, -0.6621, 0.5419, 0.371, 0.075]\nstate[eef_state]: left_x=0.3864 left_y=-0.1175 left_z=0.1224 left_yaw=0.1807 left_pitch=0.3557 left_roll=-0.0268 left_gripper=0.0592 right_x=0.3604 right_y=0.31 right_z=0.1432 right_yaw=0.2083 right_pitch=-0.2819 right_roll=-0.2361 right_gripper=0.075\nstate[joint_eff]: [-0.0889, -7.7607, 7.9932, 1.6532, -0.149, 0.0464, 1.033, 0.4444, -9.3197, 9.347, 1.5556, 0.4713, 0.2222, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6369, 1.7542, 0.6846, 0.6659, -0.8127, -0.2756, 0.0591, 0.9459, 1.9827, 1.6299, -0.749, 0.6022, 0.4744, 0.0802]\nstate[eef_state]: left_x=0.4119 left_y=-0.1407 left_z=0.1105 left_yaw=0.2006 left_pitch=0.2981 left_roll=0.025 left_gripper=0.0591 right_x=0.3554 right_y=0.3278 right_z=0.1333 right_yaw=0.1469 right_pitch=-0.2906 right_roll=-0.2591 right_gripper=0.0802\nstate[joint_eff]: [-3.0291, -7.5145, 12.6701, 1.4676, -0.2515, 0.0757, 1.033, 4.9846, -9.0325, 7.706, 1.5116, 0.1783, -0.0073, 0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.195, 0.4553, 0.1783, -0.9058, -0.3473, 0.0608, 1.0046, 1.9518, 1.636, -0.7319, 0.5571, 0.4557, 0.0824]\nstate[eef_state]: left_x=0.3151 left_y=-0.0938 left_z=0.1416 left_yaw=0.1819 left_pitch=0.2336 left_roll=0.1083 left_gripper=0.0608 right_x=0.3331 right_y=0.3566 right_z=0.1475 right_yaw=0.2567 right_pitch=-0.2817 right_roll=-0.2032 right_gripper=0.0824\nstate[joint_eff]: [-0.1162, -3.8496, 7.6103, 1.9414, -0.3883, -0.0269, 0.8669, -2.8239, -8.3214, 6.106, 1.0379, 0.6081, 0.1001, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c24514d0320e53fab25f073c9b0ff8c5f3a76c5c975e4a1fb38625e08413c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2606012af14a66c070bb9f059ee73204af3e7fda5c9d00bef935b70389a935de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ad95d254e52751acf14d6429101aade2671fedbbc5074327d20bb3d29e6fc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD1D4J-dheufMyMC6c8SKY8662rl7yIXruCsPubzlRfLWMhZSaval6oaCaH6_LWlULXwvRhKmmPagAuhutnuLCI9XoS_gdXyaLmDQ3NvMPKZOO4EHWyBZmgwIZ8qUFuvilNJvdghxSp9c9nwv1eIsL-1WzYUkvCQHAZXEUBrjkVKiArAoPs6PL3yfQWzoaJ35ypVEwNZsveult3eF1K1Q68sGnfZ-aNh54zHhqPILu_rd52NlqD7VRFvBSQcR3TD0FjUBRG5OOtHi8UAdIVDpFNF-P39fGVGn1bG3CkoDCv0o2erij1L9bZjD0RJcOiJGTc6g5Zlf9bYu5cWBQUPoi9kYPJ1y50IxJCYEy3IiWUwtfavRbzB5bXcvgRtajAtvdZDdLINHAPJA4ueWlcgdlJz4erqjvIQFHTwc9Jtjg9jeOqfD2lefxj9pSo-AI7T1ap9nEo-pjjf_pARH-kuYqL12H7zPoJ6S78-qKaYCU-2fqYlhtSlIwCPq0JN6mWkS26Grfqv6_RHxNGX7Yv6cAqd-qVyRFH7v3stVCLYRlybpVTQx4aqZ3dlsGvFRmp6G-Oe8LELoqqjPbV9CxnlD7SjzjG7ouZMjZC0kw_EwsrCOuhJEdOkZVnQ-EVpFnzdlqXMC6elR2LNxUrT19zywHX27bnvypsVQrE3M-m_QUbAZOOEUTWaFztwnevjG0yBK75TbzDbuWzIV9ijVDPP9Yn5z2rV68Mx42HeEJPBUl6BBp7Pe78ifEOyvmwEEqbe3edQny7HE03mIyc2P2wlp8vz7gDlITrzgWIYZxNi0t3tAIkw5pc3hITVaVG6A4M_SwD8Qs-_H6eOl8wZ2MgzjTrjPmagTnNUhM-Nvch6sE_gwzy6pFN3bmg_oOdKaks9dB7rwY0S3Wm2GNzlnuC8P9Ff4SxadbH2CfN1pQcwHEx5AaKepviK9XlYx9dLSUwh907K4o2AWOVRIdV2L-KlQRSZpNUYBH0xSDSGSVc-BsYO9SIZKrM14KbISXBnUZ9ZqpHbPyEYiorRjYlN_GlIUOIKt62yviX2nwEUT0ly5TMoEXjcaf7rDrRLPc4Y2OvtT2LDTrHMwyf0aumThD59SPiPCS_QZwVkDftNC2GHGQzvTPGJy-ku8rul09gbKywzm9WBKp6iYogtUj6aTvSXf5L_bLw3tAwE0VPwGc-BWnKsHHskiebIYzXMaJv8_ugLTWCx8AS_h0wya27Xz6VZNXKmvMBzp15mBYP08wUsb6K3TciloWWWXpwDvcEdEVShi2x5B1HIx5p1J-wRk2UoIPmYhI_DU-LfCiK6P3QNRB7SPgKmu3uzSCtEm-T5ql-0j9qY4Ewx9ghPUx3zjtBsFCYltxfHUoCVwbSFKnYb_Ff_e2wpXZhFLtQFYH48Bz1izebBEIl8paPdEbozCfgcS1ZKy4bmM3dzALGXdDtdOHJEfjKXg1eM2lWT-duQHFJFfkG6a7Ee2M_qI7i6RDGyMc5y1F7E9yEks2uSgxdJl8f10-RTVWVD149YrXdNnpRx1VXoKb1CnTIylRmwm-1B22qeepQ8_tcLGB4KpKpPHe0_vBDoGh1hSzx8BiHat0GsDBH0WwhkIDmAFOebxT2bCh4c3I-mDKNJxkjuKLQGcyul9YKZGZWVDdrykvabnzQw3B3YuoW-RgpsM-ch7cLWtgS5gDV9M21JjdMk6EHfmPIFe7EwvUYn2NuMAQiZL8xw3F3bcZqGPQCKQekturpTCEDqWbbBtGPKIB4MkGGma44wMzc=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d40e84c87d0955dcf243bb98dc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"The cap-hand is clear of the right arm again, and the pen is still held with its tip pointing into the open center of the table. I’ll lower the pen onto the tabletop without opening the gripper yet, so I can verify contact before leaving it in place.\"}",
  "call_id": "call_mS6e38GgDT5y2CuOwc6GO5fo",
  "id": "fc_0f2f0697e2a1f0d4016ab43d4235f887d0a585e31fabbe6865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mS6e38GgDT5y2CuOwc6GO5fo",
  "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]: [-0.738, 1.2037, 0.4404, 0.141, -0.9092, -0.3538, 0.0626, 0.9943, 2.0796, 1.3262, -0.2939, 0.5453, 0.4587, 0.0843]\nstate[eef_state]: left_x=0.31 left_y=-0.0887 left_z=0.1284 left_yaw=0.1774 left_pitch=0.1985 left_roll=0.1529 left_gripper=0.0626 right_x=0.3348 right_y=0.3535 right_z=0.0273 right_yaw=0.2529 right_pitch=-0.288 right_roll=-0.1929 right_gripper=0.0843\nstate[joint_eff]: [-0.0889, -4.1094, 7.6239, 1.8535, -0.3101, 0.0122, 0.8669, 0.6906, -8.335, 5.1897, 0.9939, 0.3834, -0.0464, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b4cb1904e440336f021e3729a8a3d94c1f6a1071d9cf784915e58c93f9b97d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d491fe50a4a39c95202a71e0331d57128d2fb42c31ee888b7d3db8379aa492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2c2f8908c59272dcd8b34f19931c8a8c901189520eaf4258d12da8942eb790",
      "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 · 2.477 s

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

message 135 changed as sent

message 145 changed as sent

message 149 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.6207, 0.4984, 0.804, -0.754, -0.234, 0.0591, 0.9829, 1.9865, 1.6096, -0.6968, 0.5724, 0.4431, 0.0781]\nstate[eef_state]: left_x=0.385 left_y=-0.1166 left_z=0.1189 left_yaw=0.1753 left_pitch=0.3417 left_roll=-0.0128 left_gripper=0.0591 right_x=0.3433 right_y=0.3489 right_z=0.1272 right_yaw=0.2262 right_pitch=-0.2929 right_roll=-0.2406 right_gripper=0.0781\nstate[joint_eff]: [-0.0889, -6.0513, 6.1744, 1.7558, -0.3101, -0.0366, 1.0232, 0.9231, -9.9624, 8.3897, 1.0281, 0.7106, 0.0708, 0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.195, 0.4553, 0.1783, -0.9058, -0.3473, 0.0608, 1.0046, 1.9518, 1.636, -0.7319, 0.5571, 0.4557, 0.0824]\nstate[eef_state]: left_x=0.3151 left_y=-0.0938 left_z=0.1416 left_yaw=0.1819 left_pitch=0.2336 left_roll=0.1083 left_gripper=0.0608 right_x=0.3331 right_y=0.3566 right_z=0.1475 right_yaw=0.2567 right_pitch=-0.2817 right_roll=-0.2032 right_gripper=0.0824\nstate[joint_eff]: [-0.1162, -3.8496, 7.6103, 1.9414, -0.3883, -0.0269, 0.8669, -2.8239, -8.3214, 6.106, 1.0379, 0.6081, 0.1001, 0.2173]\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 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2037, 0.4404, 0.141, -0.9092, -0.3538, 0.0626, 0.9943, 2.0796, 1.3262, -0.2939, 0.5453, 0.4587, 0.0843]\nstate[eef_state]: left_x=0.31 left_y=-0.0887 left_z=0.1284 left_yaw=0.1774 left_pitch=0.1985 left_roll=0.1529 left_gripper=0.0626 right_x=0.3348 right_y=0.3535 right_z=0.0273 right_yaw=0.2529 right_pitch=-0.288 right_roll=-0.1929 right_gripper=0.0843\nstate[joint_eff]: [-0.0889, -4.1094, 7.6239, 1.8535, -0.3101, 0.0122, 0.8669, 0.6906, -8.335, 5.1897, 0.9939, 0.3834, -0.0464, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b4cb1904e440336f021e3729a8a3d94c1f6a1071d9cf784915e58c93f9b97d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d491fe50a4a39c95202a71e0331d57128d2fb42c31ee888b7d3db8379aa492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2c2f8908c59272dcd8b34f19931c8a8c901189520eaf4258d12da8942eb790",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD1G-PeEW0fZzdAtxu3JwLii3agifKd1JS5FvSHU92tlcYZ_cB8nYN9HVtm_sXxlO9CAUSFCX_JtnSEGlhY9903tVwgJZ6DEuP6enpibWpo6LLrChJ8UY0vNvtmlC75ZdnId_9P7Ssn-GcLMxrsHlwIaBO149C5ZksE1JGqh7A_QT1E297dgeuOfKIqqbAKVDErqwzket4Hpmh7yDH5aFxaG2KU4g4JFqeZt2ESPlhB9XX64MCZQgrIxiSRoObyBNoMwiGF1iQ58ZFvDvvoDwycIY2q7Pz_WFYr8FjW8acPzFlF2_uagSoL6kqbMenvPfxnHwe4pwwvjq6JdO_aIuT9spwzNJ5pHA4kc-VDmi-JxyhY-zd_WeZgomvZwrKUz6Gyo_ULJ_TdFlRQWkW71cSxlvn5jYBEafxf83sqjeN5JTEu1D1TpSQ_g-fK1rFWGRGXo98hllHhCMt9Ye7w-bZmwFlejTrvt6PunMzoCd4c9mj8vonnkq75qE1VFKMqYPjTL-HY9E7wd3wd3WJro61czCYWN6aUAlLAbKQYnKcz9JIXQ3eWTfLl2azqyVfJwp0V5dfH0AxgoNWMuVLRc1777rHcgsjXKhwiU43iRVzIKlCKM5WNaHDnLjetzmxETW_5IHgnQhuGTJKAughaINut1YhWG95wuHxpeImYoTjwu8Uv79G9KRh_VLZ3m2zIA_HB7X86H4wduPP4oIvAjh6eRykZTAP-T9BIzIsAZ444NBP8lweCIYdTRKSalynuxqJcqQF-TGjLM-JlLq23jB_IV4sjrdH32bZ5ffMf__U4IvIu0LfujHPWL8OKslwdLmOUtWU5m25mlsib0tZ8EyQxSd4ByXS-Wsdcd8xmiWbulTDad5-Xu0uyYIHsb9D6qHsaJPga5Khtej5YqPtbqWoMLgfB49qM5CgUEq6Sdfm7PeL57I72RI6QIDfO8t5rVULKmhMm_YU76ta7Cc4mdDuQIlYj4BHI2lfmmkMijnvAFluMbNb9j82wCKxZN0mh3Nwu4ve10HrChp_beL12N0bW98PUnGH-9ubHtRlo6esNfkB_GMZDziHsi2op1HphrAYFSiA2oLihO0ML1kzEp6NHLmkA7He2TVCiXADRWb-Z1aT8YJ-rC7Z1SOn0KUk47Uo1xf5Aep4zzG11mRtq8CFpqCPEZ8EVyHe7KIw3Hl_hYsn0WTsadTJ3w-rgyNLShoCtzY_EuCZmwRmS6-FW8LdOL0YBgIbhYQX2EOZflnb2xoFGWszsRqYQKRek63LUG1AnEwqBmiZZsopRPnvnshX7zFoeTGnwy3NLoBQ4iRmglIruQLqmY1zsY_HpeVWSsbMwtmEcB-ylS9GB2VzLqcBXVU5pyDyjto_erqWK2jk02JZWVYcXEID5QezNGYt2tMBLPYMSpH-A5JktlfGTXQmBzn1xruwzUtyb6LKvvPH13oDY=",
  "id": "rs_0f2f0697e2a1f0d4016ab43d4578ac87d0873fc6bc837126d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.015},\"note\":\"The right grasp point is still roughly 2.7 cm above the table and the pen tip remains fixed relative to its camera, so the pen has not been set down yet. I’ll lower a little further until the readback or contact stops the descent.\"}",
  "call_id": "call_YcrvRtz1Llut17gv8SSoYYqO",
  "id": "fc_0f2f0697e2a1f0d4016ab43d45eb8087d091a2e3a19396b5ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YcrvRtz1Llut17gv8SSoYYqO",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2057, 0.4328, 0.1066, -0.91, -0.3573, 0.0636, 0.9874, 2.1273, 1.2926, -0.1741, 0.5415, 0.4568, 0.0854]\nstate[eef_state]: left_x=0.306 left_y=-0.0849 left_z=0.1203 left_yaw=0.1733 left_pitch=0.1724 left_roll=0.1853 left_gripper=0.0636 right_x=0.3409 right_y=0.3578 right_z=0.0076 right_yaw=0.257 right_pitch=-0.2618 right_roll=-0.1649 right_gripper=0.0854\nstate[joint_eff]: [-0.2667, -3.1248, 7.1316, 1.9267, -0.3346, -0.0073, 0.7057, 0.294, -9.0598, 4.6017, 0.9206, 0.2222, -0.0366, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8359fd412d41f4b2f81a69872544a81da5e60fff4a266158f95f92ef39e0653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be831c1041c6201fe987eacfb0cda55204a753fdb7ca2e5783f00190f29be31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaa2ba6990c57b503799f08646d95fc1c0a87cd8601056be03db1253aba9cf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.418 s

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

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6369, 1.7542, 0.6846, 0.6659, -0.8127, -0.2756, 0.0591, 0.9459, 1.9827, 1.6299, -0.749, 0.6022, 0.4744, 0.0802]\nstate[eef_state]: left_x=0.4119 left_y=-0.1407 left_z=0.1105 left_yaw=0.2006 left_pitch=0.2981 left_roll=0.025 left_gripper=0.0591 right_x=0.3554 right_y=0.3278 right_z=0.1333 right_yaw=0.1469 right_pitch=-0.2906 right_roll=-0.2591 right_gripper=0.0802\nstate[joint_eff]: [-3.0291, -7.5145, 12.6701, 1.4676, -0.2515, 0.0757, 1.033, 4.9846, -9.0325, 7.706, 1.5116, 0.1783, -0.0073, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2037, 0.4404, 0.141, -0.9092, -0.3538, 0.0626, 0.9943, 2.0796, 1.3262, -0.2939, 0.5453, 0.4587, 0.0843]\nstate[eef_state]: left_x=0.31 left_y=-0.0887 left_z=0.1284 left_yaw=0.1774 left_pitch=0.1985 left_roll=0.1529 left_gripper=0.0626 right_x=0.3348 right_y=0.3535 right_z=0.0273 right_yaw=0.2529 right_pitch=-0.288 right_roll=-0.1929 right_gripper=0.0843\nstate[joint_eff]: [-0.0889, -4.1094, 7.6239, 1.8535, -0.3101, 0.0122, 0.8669, 0.6906, -8.335, 5.1897, 0.9939, 0.3834, -0.0464, 0.188]\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 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2057, 0.4328, 0.1066, -0.91, -0.3573, 0.0636, 0.9874, 2.1273, 1.2926, -0.1741, 0.5415, 0.4568, 0.0854]\nstate[eef_state]: left_x=0.306 left_y=-0.0849 left_z=0.1203 left_yaw=0.1733 left_pitch=0.1724 left_roll=0.1853 left_gripper=0.0636 right_x=0.3409 right_y=0.3578 right_z=0.0076 right_yaw=0.257 right_pitch=-0.2618 right_roll=-0.1649 right_gripper=0.0854\nstate[joint_eff]: [-0.2667, -3.1248, 7.1316, 1.9267, -0.3346, -0.0073, 0.7057, 0.294, -9.0598, 4.6017, 0.9206, 0.2222, -0.0366, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8359fd412d41f4b2f81a69872544a81da5e60fff4a266158f95f92ef39e0653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be831c1041c6201fe987eacfb0cda55204a753fdb7ca2e5783f00190f29be31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaa2ba6990c57b503799f08646d95fc1c0a87cd8601056be03db1253aba9cf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD1JX0CQrVqkgfjoRcUkYow3F2EFKRmo8L3Q4ommDKaQonk_PHHP1itL85xypSRtnPN4k8nMQlAuHmhknY1hspxeCaMj6FH-ttuYizwL_VLlQcltl_4LCAQjPwH-emGWkMGZwgEl5w74oQbBezKMHQ1dxrvskONkWbCmE10Yvsu0YwQEp_QCzl4iOwOOHh1wYxBowMhqiGbyeuP8dqu7dmtSATHeLkf2Wg2Ag7UH76OGEg1iRkpcduTusZ6uWzDwRsTpxpJwVVki4IluPAKXt3FQuUJIOqcRuVEhqSOO82TE-S91lI9YEMIEdKZdbP16uEX6TVh87iVcaZshk38UWh3vazlFTraAF6qVt4kS-aazkCJs0sNZmKQBu2jHIjlvx-Suf8diDbtOrdk0MU-8_Gii1hL5MEORsoJADLyUgyAITjv8OpPg5_BhjKgLaxJLadgv27N6WP-VF-PnvSb53oXaNFonU72sdkHDXK3jbR1WTDHQ3w4VKkxWtArhgOEPV0e1Zp63R-btByN91ULuOB9NT6HN51oXttIIr7A22hKW6n4yQPHQhKeOQQDI32qf3ZoMpJz9z5ZjDkGEA5FL1Ya1sXobJKhLoza16LyWDnGNdhiavqN6Ohdf5ncdtkPMVfWGoJJ3zPvAkbeWMGgpCWd17KRCnlLfGbiOwwCbkvKDzc5IwGjqrL2MNYTIN7njfKmhOvcQ82ErHG6fS7FCuvrSZ34PijvzHxOWe1Its6HoJJAvl58BuxuyZPjfwy5jvWdjAqMw8vFaxCnr5IdyguXSBgI0CDSemTnCeo9jHizW_jmKjEl7Z2XTpD8QF_DwZ5e78MRRoftE84GlBxY5YlmuNJbndY_GVbyENJEzN6XhP0_LOPqfUffdXA_I1TsKkuaoS3wRNV5ZNYvKiIQtU9Le8RJpgFsDc57BfDAl_aJq-CUNlwVUb2qVgKKaLWaQhzekGsHo8xfgbZdcMNAUMnd9niiWyexjzAcsqnpBAHx0yuMVBlPz_L-l_-qEyItOdIVDtwiYB2ctFSRwH7lcrooVTlSWJvYoju_z55D8PoiZOp34B4s6aVSKtFaO2__kZ2kkeRMm_9apGIhSaLyYc2rFsPAJnBYpYH1aVF2o9QDAmq0wH8YX-aXnRlcvrHi2eK7Y2CWaE6NEcdSCqEtA30liBbHopPt_j84NqaJq5II0QjHQrvDkfXmDXexAJyc6ls7yzjyHuF3A9Qme4D0YPfQOuSoGU_-rCIhV6UwGDD8RLEH7hja2IlMB0kHHBFVCyt-U8uMVGhXvIr87Hicls4duFTZ_gzS2rRm8a2nibP_Mu91eBc6MCFwy0kif3NEGs0vJpQND7dumgmfi_Y0-kI62Pl3FeYs396x-PhGaMk-L9o5dfVo-esWLbcxIOPcO3pWUeWOqPy7vnbTP2CfExfMWp4iXtM3RcqAk6-GWVGxvkx37sRolrGL1RGgG_SCV7K7MyTdYk8kWlrhB-dYK_C4lWw==",
  "id": "rs_0f2f0697e2a1f0d4016ab43d4853dc87d0890a0f7fbd408b88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen-hand has reached near table height, so the pen should be supported by the tabletop. I’ll release the pen, then move the right gripper away to leave the tip unobstructed for the cap.\"}",
  "call_id": "call_hnypA1LCrJm6aeFuIAdoLGIa",
  "id": "fc_0f2f0697e2a1f0d4016ab43d48e7f887d09f4ef8de1d93839f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hnypA1LCrJm6aeFuIAdoLGIa",
  "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]: [-0.738, 1.2076, 0.429, 0.0963, -0.9089, -0.358, 0.0643, 0.989, 2.1387, 1.2854, -0.1108, 0.5644, 0.4618, 0.9948]\nstate[eef_state]: left_x=0.3044 left_y=-0.0837 left_z=0.1169 left_yaw=0.1707 left_pitch=0.1621 left_roll=0.197 left_gripper=0.0643 right_x=0.3471 right_y=0.3622 right_z=0.0093 right_yaw=0.2471 right_pitch=-0.2156 right_roll=-0.145 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -3.6581, 6.5299, 1.5653, -0.3394, 0.0024, 0.6716, 0.1026, -8.9231, 4.6017, 0.8474, 0.0562, -0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137a630f8406d2aa91486974f540b93de5ca00960a844549b190aa44ba130a91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f122e84e9d4dd3d0467f536b3967d9bec4cfb0d79362744149ca642d0de3beaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f077d08c839a0c47021fabd6ed76b5e6df7cce915ffb6a1d4515e4c3f3cff3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 7.981 s

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

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.195, 0.4553, 0.1783, -0.9058, -0.3473, 0.0608, 1.0046, 1.9518, 1.636, -0.7319, 0.5571, 0.4557, 0.0824]\nstate[eef_state]: left_x=0.3151 left_y=-0.0938 left_z=0.1416 left_yaw=0.1819 left_pitch=0.2336 left_roll=0.1083 left_gripper=0.0608 right_x=0.3331 right_y=0.3566 right_z=0.1475 right_yaw=0.2567 right_pitch=-0.2817 right_roll=-0.2032 right_gripper=0.0824\nstate[joint_eff]: [-0.1162, -3.8496, 7.6103, 1.9414, -0.3883, -0.0269, 0.8669, -2.8239, -8.3214, 6.106, 1.0379, 0.6081, 0.1001, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2057, 0.4328, 0.1066, -0.91, -0.3573, 0.0636, 0.9874, 2.1273, 1.2926, -0.1741, 0.5415, 0.4568, 0.0854]\nstate[eef_state]: left_x=0.306 left_y=-0.0849 left_z=0.1203 left_yaw=0.1733 left_pitch=0.1724 left_roll=0.1853 left_gripper=0.0636 right_x=0.3409 right_y=0.3578 right_z=0.0076 right_yaw=0.257 right_pitch=-0.2618 right_roll=-0.1649 right_gripper=0.0854\nstate[joint_eff]: [-0.2667, -3.1248, 7.1316, 1.9267, -0.3346, -0.0073, 0.7057, 0.294, -9.0598, 4.6017, 0.9206, 0.2222, -0.0366, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2076, 0.429, 0.0963, -0.9089, -0.358, 0.0643, 0.989, 2.1387, 1.2854, -0.1108, 0.5644, 0.4618, 0.9948]\nstate[eef_state]: left_x=0.3044 left_y=-0.0837 left_z=0.1169 left_yaw=0.1707 left_pitch=0.1621 left_roll=0.197 left_gripper=0.0643 right_x=0.3471 right_y=0.3622 right_z=0.0093 right_yaw=0.2471 right_pitch=-0.2156 right_roll=-0.145 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -3.6581, 6.5299, 1.5653, -0.3394, 0.0024, 0.6716, 0.1026, -8.9231, 4.6017, 0.8474, 0.0562, -0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137a630f8406d2aa91486974f540b93de5ca00960a844549b190aa44ba130a91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f122e84e9d4dd3d0467f536b3967d9bec4cfb0d79362744149ca642d0de3beaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f077d08c839a0c47021fabd6ed76b5e6df7cce915ffb6a1d4515e4c3f3cff3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD1Nam5dW5oGMwAW3jG5U2xdF56XIzjZBVzviVo3Z6jzzfbrQiZ6c3SilhOhpREt_jy8ljTNNSxeStd5NQ8A5l8SkdX5_vJ_Uwlw_kMsJUhQZrIb27Ts_tlVv_Uhi7sLwIJtfg3PBUzlYf2lthtxYAKwOzCw9FsfBqlsc_gcoZMoAQKkir5LUhR2O_J8Lu0-yTTqZxIZNPwtUF2Uvb3Ux6vZVk9EdojzIuo9jhd5KSpeGMlT60LFZJRSAvqc1K7um_IdZ1xGXlKqrrCzdyNRGlYy7t7sT4P4rQpXEziZ9GApBwlSu26cNQfw7MkDNXLpCvml6vNtAaMxoQezkH4XHRwakR_lWuNUMsdbC4E5vz6TPorNIxwsWXM5RA9IO5d0Ct2SWtJQO_zIzdC5FdPdCNLOvXr8QR5cp_nKpjWuVkeUn2cHOHeRa6z6tL-b1DrbwqJOAe0NxUzXgXTNCih4oWcb0DETqAtJCDgEdgiK8eKvwmLe1y_ifAwRcL9egN3xA8gPsUSvozUKLGGGuz26ZFQ89JHwSA2CsdWEfM0wRWgC7PO3aYJbEQcbk4bgPs660YjZLAerqBxXuG7Ulk0fuNf4iodMU029m16XqM6PgkPZQr07jvnakitn4WonO7OI9j7FeGXjx50Phxzi5luUrASEQ7Eaxpw3z89NN-LF2r1he48RNYtOAlSYZZlACUWguPd95a-wybYgS5m64TTAsesWDLRqI0yLfvMumi91aarlYbxp9NMcchWganaQG4-DY_AWi866ruvRjPKfuaHNa3oCWIr2IahjQkCq9gm9bFQBb8DrjxtIZqiaU7uugj9UaQKkO2-k-eBEMqkkB9Ae8ahukF3BndYv6YcoVGOmCsYD3DJgpUNmK_do4gRfFWM7fwnlf1QyrFyg53ckgT38tWsDgoS22VzyfhC1bnK4-64DacCcADqy1ZJHIiyLpQAPOfAtA81mEWd2hVyPrkRMbAV06-huwJoTNnfGIpUh0qnQYbCPy4vyjYXpUxLsUTn9VjEtWe5EMkqVXrSobCWbT4lCAJHA3gjPnd9FKjYYWqzILyh52m9TpDRDtxDA4-zJ_Hie7zt20Kv9pFfSFuKmBBYMQ0V7yBxrfTq0t2r7yMVTZ_eYK0L_yHrisCrBUPeNi7SrBZf1SaVutDw3ghtTOPG0yvtLFsY7r82-J6Egm4AdVQ97zQA22qQrL_7YaeEKIMqzmOEYqWxgtw6gIW80xA-1JAWacQ_XTmIrwhAgFWF72xhVngVWLE1d5PJ8dlaxpdG8bDW6IxTLoK3NXES91WNBa22VVB9goetrqWx9QkgAVchM5Tfdjll-h72qh_q_7xn9qB82qUTceSkbbySLXAzQ6Tfegd9wI32gYfTaafvjfJjAXQ_swWZNwjvuNOHW5Uz_jCVUK0eNgOfvyWKoFpnodQkWTknD-OKG0pDarpbMM8w_WHGKol0k_CDbPJyv_0nx9dm3WqoUwZmP-NWPrlzXVg==",
  "id": "rs_0f2f0697e2a1f0d4016ab43d4bbce887d0b764c769042da055",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_z\":0.17},\"note\":\"The right jaws are open and the pen remains visible on the table in front of them. I’ll lift and withdraw the empty right hand, leaving room for the left hand to bring the held cap to the exposed pen tip.\"}",
  "call_id": "call_G2TWTU6qrTTs5xlhxbfqY299",
  "id": "fc_0f2f0697e2a1f0d4016ab43d4cc77087d092df3f3803d1f52b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G2TWTU6qrTTs5xlhxbfqY299",
  "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]: [-0.7544, 1.1587, 0.4271, 0.2001, -0.9089, -0.3584, 0.064, 1.0805, 1.9152, 1.4361, -0.7792, 0.6506, 0.6563, 0.9958]\nstate[eef_state]: left_x=0.3098 left_y=-0.095 left_z=0.1445 left_yaw=0.1799 left_pitch=0.2533 left_roll=0.074 left_gripper=0.064 right_x=0.2885 right_y=0.3208 right_z=0.1005 right_yaw=0.117 right_pitch=-0.3309 right_roll=-0.2915 right_gripper=0.9958\nstate[joint_eff]: [1.1692, 1.2513, 6.6256, 0.1538, -0.2613, -0.0415, 0.8132, 10.7009, -18.2496, 11.6171, 1.3455, 0.5055, 0.1685, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a5383efaa0ce13a20cdf491ddcfdd53376d99d881fc7aaf4e7a53879efba51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dc183fb3f845774c9e61f2045cc72d551a52c395c8c4ea44467d623c731bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5165c13ac6289905b6d2dba223a2a9d164ef5a3b4b4783c3c6f81d4291b9f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 7.564 s

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

message 149 changed as sent

message 157 changed as sent

message 161 changed as sent

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2037, 0.4404, 0.141, -0.9092, -0.3538, 0.0626, 0.9943, 2.0796, 1.3262, -0.2939, 0.5453, 0.4587, 0.0843]\nstate[eef_state]: left_x=0.31 left_y=-0.0887 left_z=0.1284 left_yaw=0.1774 left_pitch=0.1985 left_roll=0.1529 left_gripper=0.0626 right_x=0.3348 right_y=0.3535 right_z=0.0273 right_yaw=0.2529 right_pitch=-0.288 right_roll=-0.1929 right_gripper=0.0843\nstate[joint_eff]: [-0.0889, -4.1094, 7.6239, 1.8535, -0.3101, 0.0122, 0.8669, 0.6906, -8.335, 5.1897, 0.9939, 0.3834, -0.0464, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.738, 1.2076, 0.429, 0.0963, -0.9089, -0.358, 0.0643, 0.989, 2.1387, 1.2854, -0.1108, 0.5644, 0.4618, 0.9948]\nstate[eef_state]: left_x=0.3044 left_y=-0.0837 left_z=0.1169 left_yaw=0.1707 left_pitch=0.1621 left_roll=0.197 left_gripper=0.0643 right_x=0.3471 right_y=0.3622 right_z=0.0093 right_yaw=0.2471 right_pitch=-0.2156 right_roll=-0.145 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -3.6581, 6.5299, 1.5653, -0.3394, 0.0024, 0.6716, 0.1026, -8.9231, 4.6017, 0.8474, 0.0562, -0.0366, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 161 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7544, 1.1587, 0.4271, 0.2001, -0.9089, -0.3584, 0.064, 1.0805, 1.9152, 1.4361, -0.7792, 0.6506, 0.6563, 0.9958]\nstate[eef_state]: left_x=0.3098 left_y=-0.095 left_z=0.1445 left_yaw=0.1799 left_pitch=0.2533 left_roll=0.074 left_gripper=0.064 right_x=0.2885 right_y=0.3208 right_z=0.1005 right_yaw=0.117 right_pitch=-0.3309 right_roll=-0.2915 right_gripper=0.9958\nstate[joint_eff]: [1.1692, 1.2513, 6.6256, 0.1538, -0.2613, -0.0415, 0.8132, 10.7009, -18.2496, 11.6171, 1.3455, 0.5055, 0.1685, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a5383efaa0ce13a20cdf491ddcfdd53376d99d881fc7aaf4e7a53879efba51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dc183fb3f845774c9e61f2045cc72d551a52c395c8c4ea44467d623c731bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5165c13ac6289905b6d2dba223a2a9d164ef5a3b4b4783c3c6f81d4291b9f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f2f0697e2a1f0d4016ab43d518f4887d0842259d1fbb16130",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_x\":0.29,\"right_z\":0.17},\"note\":\"The pen has stayed on the tabletop, but the right arm’s withdrawal stalled with unusually high joint effort while the arms were close. I’ll move the empty right hand sideways out of the center first, rather than risk bringing the cap into a crowded workspace.\"}",
  "call_id": "call_5m6nCeTd4KyZWc3XiTiZ6kxB",
  "id": "fc_0f2f0697e2a1f0d4016ab43d562d1c87d0a9c2eab301908ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5m6nCeTd4KyZWc3XiTiZ6kxB",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7597, 1.1603, 0.4267, 0.2016, -0.9085, -0.3614, 0.0664, 0.7776, 1.3739, 1.087, -0.7933, 0.5335, 0.3435, 0.996]\nstate[eef_state]: left_x=0.3094 left_y=-0.0968 left_z=0.1441 left_yaw=0.1759 left_pitch=0.2531 left_roll=0.0712 left_gripper=0.0664 right_x=0.2921 right_y=0.1665 right_z=0.1633 right_yaw=0.1 right_pitch=-0.3333 right_roll=-0.2858 right_gripper=0.996\nstate[joint_eff]: [0.2803, -3.412, 6.3111, 1.5214, -0.2515, -0.0024, 0.5055, -0.4308, -6.7624, 6.5026, 1.2283, 0.2222, -0.0708, 0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720cd5accf8c08166710969d3904d3dc636acfec6e0901f44b1e15f393dace30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122caea3ff3c4959b94d6d1c38f233b0aaa99d8bc06d51f9c6306cf859397f78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7c62ffb5ad4541bc0e669591e67d5e7e7e8d2fb6d011fb7eef6cba74cd7036",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]