adhoc - adhoc_93ee8416.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: 279.6 s
total steps: 344

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 pen is the longer diagonal piece near the middle. I’m bringing one open gripper above each, keeping the arms separated so I can refine their positions from the wrist views.

move_to

left_x0.3900left_y-0.1800left_z0.1600right_x0.4000right_y0.2300right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7925, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7902, 0.6083, -0.3809, -0.0238, -0.0151, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2949 right_y=0.0023 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3897, -1.4564, 10.4957, 1.7705, -0.0611, 0.0855, -0.0366, -0.759, -1.1009, 9.8667, 1.9267, -0.0122, 0.0171, -0.105] 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":-0.18,"left_z":0.16,"right_x":0.40,"right_y":0.23,"right_z":0.16},"note":"The cap is the short dark piece left of center, and the pen is the longer diagonal piece near the middle. I’m bringing one open gripper above each, keeping the arms separated so I can refine their positions from the wrist views."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteBoth pieces are visible in their respective wrist cameras: the cap is just short of the left fingertips, while the pen sits slightly left of the right jaws. I’m advancing the left gripper toward the cap, shifting the right gripper left toward the pen, and lowering both partway before gripping.

move_to

left_x0.4050left_z0.0850right_x0.4050right_y0.2500right_z0.0850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6476, 1.5089, 0.9245, -0.1661, -0.5217, -0.4034, 0.9998, 0.7231, 1.6505, 1.0695, -0.1837, 0.548, 0.3969, 0.9991] state[eef_state]: left_x=0.3778 left_y=-0.1709 left_z=0.1383 left_yaw=-0.0103 left_pitch=-0.0641 left_roll=0.0337 left_gripper=0.9998 right_x=0.3871 right_y=0.2236 right_z=0.1381 right_yaw=0.0469 right_pitch=-0.0699 right_roll=-0.0545 right_gripper=0.9991 state[joint_eff]: [-0.294, -6.7487, 9.6479, 1.8388, -0.4078, -0.0513, -0.0171, 0.0889, -8.2256, 9.5658, 1.7363, 0.6129, 0.2759, -0.022] 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":0.405,"left_z":0.085,"right_x":0.405,"right_y":0.25,"right_z":0.085},"note":"Both pieces are visible in their respective wrist cameras: the cap is just short of the left fingertips, while the pen sits slightly left of the right jaws. I’m advancing the left gripper toward the cap, shifting the right gripper left toward the pen, and lowering both partway before gripping."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe cap now reaches the left jaw area, though its middle is still a little ahead and to the right; the pen remains left of the right jaw column. I’m making small alignment corrections and lowering close to table height, leaving the grippers open until I can check the final approach.

move_to

left_x0.4150left_y-0.1800left_z0.0250right_x0.4150right_y0.2750right_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]: [-0.5991, 1.6794, 0.8745, -0.0017, -0.4961, -0.3847, 0.9998, 0.7361, 1.8339, 1.074, -0.0727, 0.5484, 0.4084, 0.9991] state[eef_state]: left_x=0.3944 left_y=-0.1632 left_z=0.0768 left_yaw=0.0116 left_pitch=-0.1207 left_roll=0.0668 left_gripper=0.9998 right_x=0.3976 right_y=0.2407 right_z=0.0784 right_yaw=0.0493 right_pitch=-0.1222 right_roll=-0.0886 right_gripper=0.9991 state[joint_eff]: [0.0479, -8.6222, 6.2154, 1.8974, -0.1978, 0.0855, -0.0171, 0.7316, -9.8667, 6.5709, 1.707, 0.3394, 0.0611, -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_x":0.415,"left_y":-0.18,"left_z":0.025,"right_x":0.415,"right_y":0.275,"right_z":0.035},"note":"The cap now reaches the left jaw area, though its middle is still a little ahead and to the right; the pen remains left of the right jaw column. I’m making small alignment corrections and lowering close to table height, leaving the grippers open until I can check the final approach."})

tool

executing move_to over 4 steps (0.4s)

step 27

assistant

agent noteThe left fingertips are at table height with the thick portion of the cap between them. The right arm has not yet reached its requested pen position, so I’m closing only the left gripper now and will check whether it actually captures 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]: [-0.6029, 1.8874, 0.8711, 0.1299, -0.4938, -0.3878, 0.9997, 0.7403, 1.8835, 1.074, -0.0498, 0.5457, 0.4084, 0.9991] state[eef_state]: left_x=0.3995 left_y=-0.169 left_z=0.0115 left_yaw=0.0148 left_pitch=-0.1867 left_roll=0.1096 left_gripper=0.9997 right_x=0.3976 right_y=0.2439 right_z=0.0599 right_yaw=0.0532 right_pitch=-0.1441 right_roll=-0.1041 right_gripper=0.9991 state[joint_eff]: [-0.5538, -9.6342, 8.0615, 1.7265, -0.2613, -0.0513, -0.0171, 0.0479, -8.8547, 7.7744, 1.409, 0.2515, 0.0366, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips are at table height with the thick portion of the cap between them. The right arm has not yet reached its requested pen position, so I’m closing only the left gripper now and will check whether it actually captures the cap."})

tool

executing move_to over 10 steps (1.0s)

step 37

assistant

agent noteThe left gripper closed almost completely, which means it missed the cap; the pen is still on the table as well. I’m opening and raising the left hand to see where the cap ended up, while lifting and pitching the right hand to get it out of its stalled low pose.

move_to

left_z0.0900left_gripper1.0000right_z0.1300right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6025, 1.9053, 0.8768, 0.173, -0.4984, -0.3996, 0.0087, 0.7403, 1.8835, 1.074, -0.0521, 0.5415, 0.408, 0.9991] state[eef_state]: left_x=0.406 left_y=-0.1725 left_z=0.0126 left_yaw=0.0219 left_pitch=-0.1588 left_roll=0.0853 left_gripper=0.0087 right_x=0.3971 right_y=0.2443 right_z=0.0593 right_yaw=0.0563 right_pitch=-0.1479 right_roll=-0.1034 right_gripper=0.9991 state[joint_eff]: [-0.4171, -9.2376, 7.5692, 1.6093, -0.1636, 0.0611, 0.6471, -0.3214, -9.4017, 5.9692, 1.37, 0.1929, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.09,"left_gripper":1,"right_z":0.13,"right_pitch":0.2},"note":"The left gripper closed almost completely, which means it missed the cap; the pen is still on the table as well. I’m opening and raising the left hand to see where the cap ended up, while lifting and pitching the right hand to get it out of its stalled low pose."})

tool

executing move_to over 12 steps (1.2s)

step 49

assistant

agent noteWith the hands raised, the cap appears mostly below the left fingertip line, so that hand had reached past its graspable middle. I’m backing the left hand a few centimetres toward its base; I’m also backing the right hand away from the pen to make its stalled sideways correction easier.

move_to

left_x0.3750left_y-0.1800left_z0.0900right_x0.3700right_y0.2750right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6025, 1.75, 0.9741, -0.1268, -0.498, -0.4107, 0.9959, 0.7921, 1.7962, 0.9043, 0.2955, 0.6964, 0.255, 0.9991] state[eef_state]: left_x=0.3988 left_y=-0.1676 left_z=0.0663 left_yaw=0.0327 left_pitch=-0.1966 left_roll=0.1052 left_gripper=0.9959 right_x=0.394 right_y=0.2431 right_z=0.101 right_yaw=0.0751 right_pitch=0.1127 right_roll=-0.1402 right_gripper=0.9991 state[joint_eff]: [-0.335, -10.1538, 9.1966, 1.3651, -0.2857, 0.0562, -0.1197, 0.5812, -11.8769, 5.6821, 1.8828, 0.3297, -0.1001, -0.0122] 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":0.375,"left_y":-0.18,"left_z":0.09,"right_x":0.37,"right_y":0.275,"right_z":0.12},"note":"With the hands raised, the cap appears mostly below the left fingertip line, so that hand had reached past its graspable middle. I’m backing the left hand a few centimetres toward its base; I’m also backing the right hand away from the pen to make its stalled sideways correction easier."})

tool

executing move_to over 3 steps (0.3s)

step 52

assistant

agent noteBacking up brought the cap’s middle onto the left jaw column and the pen’s middle onto the right jaw column. I’m descending nearly straight down at those alignments, with a slight forward correction for the cap, before closing either hand.

move_to

left_x0.3870left_z0.0150right_z0.0180

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.664, 1.7153, 0.9798, -0.2195, -0.5304, -0.4522, 0.9965, 0.881, 1.7962, 0.9543, 0.194, 0.757, 0.2974, 0.9989] state[eef_state]: left_x=0.379 left_y=-0.1785 left_z=0.0719 left_yaw=0.0245 left_pitch=-0.2191 left_roll=0.1286 left_gripper=0.9965 right_x=0.3742 right_y=0.2686 right_z=0.1069 right_yaw=0.0988 right_pitch=0.1022 right_roll=-0.1633 right_gripper=0.9989 state[joint_eff]: [-0.253, -11.0701, 6.8855, 1.6581, 0.2759, -0.0464, 0.0122, 0.3487, -9.935, 8.5128, 1.8486, -0.2369, -0.0269, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.387,"left_z":0.015,"right_z":0.018},"note":"Backing up brought the cap’s middle onto the left jaw column and the pen’s middle onto the right jaw column. I’m descending nearly straight down at those alignments, with a slight forward correction for the cap, before closing either hand."})

tool

executing move_to over 6 steps (0.6s)

step 58

assistant

agent noteThe right hand descended over the pen, but the left hand unexpectedly stayed about 7 cm high instead of approaching the cap. I’m moving the left arm clear so it cannot interfere, and bringing the right fingertips down to the pen’s table level.

move_to

left_x0.2900left_y0.0000left_z0.1800right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6689, 1.6936, 0.9787, -0.3046, -0.5522, -0.4706, 0.9965, 0.8822, 2.0144, 0.8635, 0.5148, 0.7589, 0.3107, 0.999] state[eef_state]: left_x=0.3673 left_y=-0.1677 left_z=0.071 left_yaw=0.055 left_pitch=-0.2548 left_roll=0.1728 left_gripper=0.9965 right_x=0.3755 right_y=0.2706 right_z=0.0336 right_yaw=0.0905 right_pitch=0.1123 right_roll=-0.1436 right_gripper=0.999 state[joint_eff]: [-0.7179, -9.9624, 6.9265, 1.6142, -0.2076, -0.1148, -0.0171, -0.1162, -6.9538, 3.8906, 1.0623, 0.1685, -0.1343, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"right_z":0.005},"note":"The right hand descended over the pen, but the left hand unexpectedly stayed about 7 cm high instead of approaching the cap. I’m moving the left arm clear so it cannot interfere, and bringing the right fingertips down to the pen’s table level."})

tool

executing move_to over 15 steps (1.5s)

step 73

assistant

agent noteThe right fingertips reached table height, but the pen crosses their opening noticeably to the right of center; closing there risks squeezing it aside. I’m lifting a few centimetres and shifting the right hand toward the pen’s center before trying the grasp.

move_to

right_z0.0550right_y0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1829, 1.0115, 0.8234, -0.6743, -0.2867, -0.0917, 0.9965, 0.8833, 2.101, 0.8539, 0.6102, 0.7513, 0.3092, 0.999] state[eef_state]: left_x=0.2927 left_y=0.0003 left_z=0.1672 left_yaw=0.1048 left_pitch=-0.2584 left_roll=0.166 left_gripper=0.9965 right_x=0.3751 right_y=0.2724 right_z=0.0083 right_yaw=0.0983 right_pitch=0.1084 right_roll=-0.1423 right_gripper=0.999 state[joint_eff]: [0.1573, -3.0564, 10.2222, 1.3748, -0.149, 0.1734, -0.0122, -0.1026, -8.335, 4.3692, 1.58, 0.3199, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.055,"right_y":0.25},"note":"The right fingertips reached table height, but the pen crosses their opening noticeably to the right of center; closing there risks squeezing it aside. I’m lifting a few centimetres and shifting the right hand toward the pen’s center before trying the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 77

assistant

agent noteThe pen now crosses the center of the right gripper in the wrist view, with the hand clear above it. I’m lowering vertically to table level at this corrected lateral position.

move_to

right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0164, 0.8234, -0.6968, -0.2653, -0.0853, 0.9965, 0.8455, 1.9442, 0.8059, 0.5144, 0.7212, 0.2855, 0.999] state[eef_state]: left_x=0.2888 left_y=-0.0029 left_z=0.1616 left_yaw=0.0845 left_pitch=-0.29 left_roll=0.1619 left_gripper=0.9965 right_x=0.3752 right_y=0.2529 right_z=0.0422 right_yaw=0.0951 right_pitch=0.1038 right_roll=-0.1417 right_gripper=0.999 state[joint_eff]: [0.0479, -2.7282, 6.735, 1.619, -0.3883, -0.0122, -0.0122, -0.2256, -10.4, 4.7795, 1.4872, 0.1392, -0.0757, -0.0171] 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":{"right_z":0.005},"note":"The pen now crosses the center of the right gripper in the wrist view, with the hand clear above it. I’m lowering vertically to table level at this corrected lateral position."})

tool

executing move_to over 3 steps (0.3s)

step 80

assistant

agent noteAt table height, the pen runs through the right jaw opening close to its center. I’m closing the right gripper and will judge the grasp by the settled finger spacing, not motor effort.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2756, -0.0879, 0.9965, 0.8444, 2.0544, 0.7937, 0.6151, 0.7136, 0.2882, 0.999] state[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1615 left_yaw=0.0949 left_pitch=-0.2894 left_roll=0.1687 left_gripper=0.9965 right_x=0.3743 right_y=0.2526 right_z=0.0083 right_yaw=0.0998 right_pitch=0.085 right_roll=-0.1508 right_gripper=0.999 state[joint_eff]: [-0.1162, -2.5231, 6.7761, 1.3651, -0.0464, -0.0171, -0.0122, -0.1709, -9.6752, 5.012, 0.8669, 0.0317, -0.7497, -0.0171] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At table height, the pen runs through the right jaw opening close to its center. I’m closing the right gripper and will judge the grasp by the settled finger spacing, not motor effort."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteThe right gripper closed empty. At the low pose the pen shifted to the right side of the wrist image again, so I’m reopening, lifting clear, and moving the hand a further few centimetres right before the second attempt.

move_to

right_z0.0750right_y0.2250right_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]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2764, -0.0879, 0.9965, 0.844, 2.0636, 0.7898, 0.6155, 0.7055, 0.2802, 0.0096] state[eef_state]: left_x=0.2889 left_y=-0.001 left_z=0.1615 left_yaw=0.0955 left_pitch=-0.2892 left_roll=0.1692 left_gripper=0.9965 right_x=0.3726 right_y=0.252 right_z=0.0029 right_yaw=0.1104 right_pitch=0.0718 right_roll=-0.1629 right_gripper=0.0096 state[joint_eff]: [-0.1573, -2.5778, 6.7077, 1.4286, -0.1294, -0.0269, -0.0122, -0.294, -10.0308, 4.7385, 1.6239, 0.3297, 0.0513, 0.8034] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.075,"right_y":0.225,"right_gripper":1},"note":"The right gripper closed empty. At the low pose the pen shifted to the right side of the wrist image again, so I’m reopening, lifting clear, and moving the hand a further few centimetres right before the second attempt."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteAfter the sideways correction, the pen is slightly left of the open jaw center while the hand is raised; lowering has previously shifted its image rightward. I’m descending at this new position to see whether the pen lands between the fingertips.

move_to

right_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0203, 0.8215, -0.7006, -0.2768, -0.0879, 0.9965, 0.794, 1.7947, 0.7628, 0.3904, 0.6559, 0.2352, 0.9953] state[eef_state]: left_x=0.288 left_y=-0.0008 left_z=0.1597 left_yaw=0.0965 left_pitch=-0.2965 left_roll=0.1717 left_gripper=0.9965 right_x=0.3717 right_y=0.2296 right_z=0.0644 right_yaw=0.1214 right_pitch=0.0616 right_roll=-0.1687 right_gripper=0.9953 state[joint_eff]: [-0.1573, -2.7419, 6.8855, 1.4481, -0.188, -0.0317, -0.0122, -0.6632, -9.935, 5.3538, 1.5507, 0.2418, 0.0806, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.005},"note":"After the sideways correction, the pen is slightly left of the open jaw center while the hand is raised; lowering has previously shifted its image rightward. I’m descending at this new position to see whether the pen lands between the fingertips."})

tool

executing move_to over 5 steps (0.5s)

step 105

assistant

agent noteThe pen now passes through the middle of the right jaw opening at table height. I’m closing on this corrected alignment and checking whether the fingers stop on the pen rather than meet each other.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0225, 0.8211, -0.7055, -0.2771, -0.0879, 0.9965, 0.7933, 2.0109, 0.7139, 0.6601, 0.6605, 0.242, 0.996] state[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1582 left_yaw=0.0975 left_pitch=-0.3037 left_roll=0.1743 left_gripper=0.9965 right_x=0.3729 right_y=0.2294 right_z=0.0067 right_yaw=0.1133 right_pitch=0.0674 right_roll=-0.1619 right_gripper=0.996 state[joint_eff]: [-0.0479, -2.7829, 6.8308, 1.3993, -0.1685, -0.0366, -0.0122, -0.0889, -6.5846, 3.9453, 0.8571, 0.1441, -0.0904, 0.0513] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen now passes through the middle of the right jaw opening at table height. I’m closing on this corrected alignment and checking whether the fingers stop on the pen rather than meet each other."})

tool

executing move_to over 10 steps (1.0s)

step 115

assistant

agent noteThe fingers met again, and the pen is visible straight ahead of the closed fingertip wedge: I was aligned sideways but grasping just behind its end. I’m reopening, lifting, and advancing about 3 cm along the pen so the jaws can reach its body.

move_to

right_gripper1.0000right_z0.0750right_x0.4100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0229, 0.8196, -0.7158, -0.2771, -0.0879, 0.9965, 0.794, 2.0197, 0.7185, 0.6964, 0.6613, 0.234, 0.0091] state[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.156 left_yaw=0.0986 left_pitch=-0.3154 left_roll=0.1778 left_gripper=0.9965 right_x=0.3763 right_y=0.2332 right_z=0.0107 right_yaw=0.1161 right_pitch=0.0921 right_roll=-0.1492 right_gripper=0.0091 state[joint_eff]: [-0.1573, -2.6051, 6.7761, 1.4188, -0.1978, -0.0708, -0.0122, -0.2667, -9.4017, 4.1778, 1.4139, 0.3248, 0.0464, 0.7204] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.075,"right_x":0.41},"note":"The fingers met again, and the pen is visible straight ahead of the closed fingertip wedge: I was aligned sideways but grasping just behind its end. I’m reopening, lifting, and advancing about 3 cm along the pen so the jaws can reach its body."})

tool

executing move_to over 10 steps (1.0s)

step 125

assistant

agent noteAfter advancing, the pen’s shaft extends under the open right jaws rather than ending in front of them. It is slightly left of center, so I’m making a small leftward correction while lowering to a firm table-level grasp height.

move_to

right_y0.2400right_z-0.0070

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0233, 0.8196, -0.7193, -0.2768, -0.0883, 0.9965, 0.7334, 1.9022, 0.8406, 0.4377, 0.598, 0.1825, 0.995] state[eef_state]: left_x=0.2843 left_y=-0.0001 left_z=0.1554 left_yaw=0.0988 left_pitch=-0.3192 left_roll=0.1784 left_gripper=0.9965 right_x=0.4009 right_y=0.2322 right_z=0.0509 right_yaw=0.1332 right_pitch=0.0509 right_roll=-0.1767 right_gripper=0.995 state[joint_eff]: [-0.0889, -2.4684, 6.8171, 1.3944, -0.1734, -0.0513, -0.0122, -0.7453, -11.3846, 7.665, 1.6581, 0.2369, 0.0513, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.24,"right_z":-0.007},"note":"After advancing, the pen’s shaft extends under the open right jaws rather than ending in front of them. It is slightly left of center, so I’m making a small leftward correction while lowering to a firm table-level grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 129

assistant

agent noteThe pen shaft is now centered between the right fingertips and continues past their contact line. I’m closing on the middle of the pen and will immediately check the resulting finger gap.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0248, 0.8196, -0.7219, -0.2768, -0.0879, 0.9965, 0.7464, 2.0739, 0.8345, 0.6292, 0.6102, 0.1978, 0.9954] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1546 left_yaw=0.099 left_pitch=-0.3232 left_roll=0.1799 left_gripper=0.9965 right_x=0.404 right_y=0.2406 right_z=0.0082 right_yaw=0.128 right_pitch=0.0675 right_roll=-0.1613 right_gripper=0.9954 state[joint_eff]: [-0.3077, -2.7009, 6.6803, 1.3455, -0.1587, -0.0611, -0.0122, 0.253, -6.7897, 4.6017, 1.033, 0.1636, -0.0415, 0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen shaft is now centered between the right fingertips and continues past their contact line. I’m closing on the middle of the pen and will immediately check the resulting finger gap."})

tool

executing move_to over 10 steps (1.0s)

step 139

assistant

agent noteThe right fingers settled with a small but nonzero gap, consistent with a pen-sized object. I’m lifting it to check whether the pen leaves the tabletop with the gripper.

move_to

right_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]: [-0.1837, 1.0279, 0.8196, -0.7216, -0.2768, -0.0883, 0.9965, 0.7467, 2.088, 0.8345, 0.6453, 0.6064, 0.194, 0.0448] state[eef_state]: left_x=0.284 left_y=-0.0 left_z=0.1538 left_yaw=0.0994 left_pitch=-0.3258 left_roll=0.1804 left_gripper=0.9965 right_x=0.4041 right_y=0.2417 right_z=0.0046 right_yaw=0.1334 right_pitch=0.0675 right_roll=-0.1618 right_gripper=0.0448 state[joint_eff]: [-0.1983, -2.5641, 6.7214, 1.3309, -0.1343, -0.0708, -0.0122, -0.3624, -10.8376, 4.9162, 1.5409, 0.2906, 0.0952, 1.2821] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095},"note":"The right fingers settled with a small but nonzero gap, consistent with a pen-sized object. I’m lifting it to check whether the pen leaves the tabletop with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 145

assistant

agent noteThe pen is still visible on the tabletop in the right wrist camera after lifting, so that apparent finger gap was not a secure pickup. I’m reopening and making a small sideways correction for the pen while bringing the left hand back above the cap.

move_to

right_gripper1.0000right_y0.2550right_z0.0650left_x0.3800left_y-0.1800left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.0294, 0.8196, -0.7227, -0.2768, -0.0883, 0.9965, 0.7467, 1.8511, 0.8951, 0.334, 0.5968, 0.189, 0.0439] state[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1533 left_yaw=0.0997 left_pitch=-0.3283 left_roll=0.1812 left_gripper=0.9965 right_x=0.402 right_y=0.2417 right_z=0.0744 right_yaw=0.144 right_pitch=0.0527 right_roll=-0.1694 right_gripper=0.0439 state[joint_eff]: [-0.0615, -2.6872, 6.7214, 1.4188, -0.1538, -0.0611, -0.0122, -0.253, -10.8923, 7.8427, 1.5263, 0.2955, -0.0171, -0.1099] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.255,"right_z":0.065,"left_x":0.38,"left_y":-0.18,"left_z":0.12},"note":"The pen is still visible on the tabletop in the right wrist camera after lifting, so that apparent finger gap was not a secure pickup. I’m reopening and making a small sideways correction for the pen while bringing the left hand back above the cap."})

tool

executing move_to over 17 steps (1.7s)

step 162

assistant

agent noteThe cap is now clearly ahead of the left fingertips, and the pen is ahead and slightly left of the right fingertips. I’m advancing and centering the left hand on the cap while nudging the right hand left and lowering it partway over the pen.

move_to

left_x0.4150left_y-0.1950left_z0.0650right_y0.2650right_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]: [-0.6579, 1.7313, 1.2419, -0.6689, -0.5079, -0.524, 0.9965, 0.7666, 1.8938, 0.9031, 0.3244, 0.6014, 0.1978, 0.9969] state[eef_state]: left_x=0.3685 left_y=-0.1716 left_z=0.1049 left_yaw=0.0964 left_pitch=-0.3782 left_roll=0.2049 left_gripper=0.9965 right_x=0.3967 right_y=0.2483 right_z=0.0571 right_yaw=0.1565 right_pitch=0.0187 right_roll=-0.1893 right_gripper=0.9969 state[joint_eff]: [-0.5402, -8.5538, 9.2786, 1.0574, -0.4518, -0.0952, -0.0122, 0.6085, -8.2256, 7.5419, 1.6972, 0.3053, 0.1099, -0.1294] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.195,"left_z":0.065,"right_y":0.265,"right_z":0.025},"note":"The cap is now clearly ahead of the left fingertips, and the pen is ahead and slightly left of the right fingertips. I’m advancing and centering the left hand on the cap while nudging the right hand left and lowering it partway over the pen."})

tool

executing move_to over 4 steps (0.4s)

step 166

assistant

agent noteThe cap now reaches the left jaw opening, and the pen runs just left of the right opening. I’m lowering the left hand onto the cap and making one small lateral correction as I lower the right hand onto the pen.

move_to

left_z0.0030right_y0.2600right_z0.0030

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6308, 1.9522, 1.3186, -0.6174, -0.5041, -0.5213, 0.9965, 0.7841, 2.0121, 0.9031, 0.3637, 0.6205, 0.2131, 0.998] state[eef_state]: left_x=0.3931 left_y=-0.177 left_z=0.0471 left_yaw=0.1477 left_pitch=-0.4479 left_roll=0.2739 left_gripper=0.9965 right_x=0.3906 right_y=0.2496 right_z=0.0133 right_yaw=0.151 right_pitch=-0.0368 right_roll=-0.2325 right_gripper=0.998 state[joint_eff]: [-0.3761, -11.5897, 9.7983, 1.2283, -0.2125, 0.2271, -0.0073, 1.1282, -9.5932, 7.0906, 1.5897, 0.1099, -0.2515, 0.1001] 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_z":0.003,"right_y":0.26,"right_z":0.003},"note":"The cap now reaches the left jaw opening, and the pen runs just left of the right opening. I’m lowering the left hand onto the cap and making one small lateral correction as I lower the right hand onto the pen."})

tool

executing move_to over 3 steps (0.3s)

step 169

assistant

agent noteThe right jaws are aligned around the pen at table height, so I’m closing them now. The left hand stopped about 4 cm above the cap; I’m slightly retracting and pitching it to find a reachable low pose instead of closing in midair.

move_to

right_gripper0.0000left_x0.3800left_pitch0.3000left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6285, 1.9793, 1.3373, -0.5861, -0.4973, -0.5148, 0.9965, 0.7925, 2.0224, 0.9066, 0.3763, 0.6239, 0.2127, 0.9977] state[eef_state]: left_x=0.4016 left_y=-0.1833 left_z=0.0435 left_yaw=0.1343 left_pitch=-0.4369 left_roll=0.255 left_gripper=0.9965 right_x=0.3901 right_y=0.2538 right_z=0.0121 right_yaw=0.1571 right_pitch=-0.0308 right_roll=-0.2313 right_gripper=0.9977 state[joint_eff]: [-0.3487, -11.8769, 8.8137, 1.1258, -0.3297, 0.188, -0.0122, -0.2393, -9.1282, 5.4085, 1.3846, 0.2076, 0.022, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0,"left_x":0.38,"left_pitch":0.3,"left_z":0.005},"note":"The right jaws are aligned around the pen at table height, so I’m closing them now. The left hand stopped about 4 cm above the cap; I’m slightly retracting and pitching it to find a reachable low pose instead of closing in midair."})

tool

executing move_to over 25 steps (2.5s)

step 194

assistant

agent noteThe right fingers stopped at a pen-sized gap, but I need to verify the pen actually lifts. The left arm changed pose sharply when pitched and still did not reach the cap, so I’m raising and resetting it while lifting the right hand for confirmation.

move_to

right_z0.1050left_x0.3700left_z0.1150left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7204, 2.1433, 0.7506, 0.9833, -1.0176, -0.2687, 0.9965, 0.799, 2.0247, 0.8684, 0.374, 0.672, 0.2188, 0.062] state[eef_state]: left_x=0.4135 left_y=-0.1582 left_z=0.0387 left_yaw=0.2737 left_pitch=0.3553 left_roll=0.102 left_gripper=0.9965 right_x=0.3812 right_y=0.2391 right_z=0.0025 right_yaw=0.1237 right_pitch=-0.0437 right_roll=-0.2786 right_gripper=0.062 state[joint_eff]: [-8.8547, -4.9983, 1.2239, 0.4078, -0.3639, 0.0024, -0.0122, -0.841, -9.5932, 7.8291, 1.4237, -0.359, -0.1099, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105,"left_x":0.37,"left_z":0.115,"left_pitch":0},"note":"The right fingers stopped at a pen-sized gap, but I need to verify the pen actually lifts. The left arm changed pose sharply when pitched and still did not reach the cap, so I’m raising and resetting it while lifting the right hand for confirmation."})

tool

executing move_to over 12 steps (1.2s)

step 206

assistant

agent noteThe pen still appears in the right wrist image after lifting, which leaves the grasp uncertain despite the finger gap. I’m moving the closed right hand sideways and upward; if the pen stays on the table, that will clearly distinguish an empty grip from a pickup.

move_to

right_x0.3000right_y0.2900right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.6707, 0.9283, -0.1349, -0.8726, -0.6697, 0.9965, 0.7933, 1.795, 0.9672, -0.0319, 0.6682, 0.2123, 0.063] state[eef_state]: left_x=0.3789 left_y=-0.1544 left_z=0.1122 left_yaw=0.293 left_pitch=0.05 left_roll=0.0746 left_gripper=0.9965 right_x=0.3735 right_y=0.2286 right_z=0.0715 right_yaw=0.1204 right_pitch=-0.107 right_roll=-0.3302 right_gripper=0.063 state[joint_eff]: [-1.4564, -8.0342, 8.294, 1.0916, -0.2515, 0.0122, -0.0122, 0.0752, -11.3846, 9.6342, 1.6142, 0.2564, 0.0366, 0.8083] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.29,"right_z":0.16},"note":"The pen still appears in the right wrist image after lifting, which leaves the grasp uncertain despite the finger gap. I’m moving the closed right hand sideways and upward; if the pen stays on the table, that will clearly distinguish an empty grip from a pickup."})

tool

executing move_to over 6 steps (0.6s)

step 212

assistant

agent noteThe pen stays fixed on the right jaw column even as that arm moves sideways, so it is being carried; its long shaft is simply visible beyond the wrist camera’s usual blind area. I’m parking the pen safely to the right and lowering the left hand toward the remaining cap.

move_to

right_x0.2950right_y0.1300right_z0.1800left_x0.3750left_y-0.1700left_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]: [-0.6861, 1.6386, 0.9253, -0.1474, -0.8211, -0.6872, 0.9965, 0.9497, 1.7779, 1.1709, -0.6724, 0.7792, 0.4534, 0.0652] state[eef_state]: left_x=0.3833 left_y=-0.1421 left_z=0.1162 left_yaw=0.3178 left_pitch=0.0258 left_roll=0.0248 left_gripper=0.9965 right_x=0.311 right_y=0.2274 right_z=0.0926 right_yaw=0.0259 right_pitch=-0.2803 right_roll=-0.5252 right_gripper=0.0652 state[joint_eff]: [-4.0, -4.7932, 6.5162, 1.4139, -0.9109, 0.1392, -0.0122, 9.8803, -12.4376, 14.0923, 2.6593, 0.6032, 0.1392, 0.779] 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":{"right_x":0.295,"right_y":0.13,"right_z":0.18,"left_x":0.375,"left_y":-0.17,"left_z":0.012},"note":"The pen stays fixed on the right jaw column even as that arm moves sideways, so it is being carried; its long shaft is simply visible beyond the wrist camera’s usual blind area. I’m parking the pen safely to the right and lowering the left hand toward the remaining cap."})

tool

executing move_to over 9 steps (0.9s)

step 221

assistant

agent noteThe left hand has reached about 3 cm above the cap and stopped descending; the cap’s thicker section is visually between its fingertips. I’m closing here to test whether the hand has met an upright cap rather than forcing a lower target.

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]: [-0.7536, 1.9152, 0.8452, 0.2016, -0.8577, -0.7719, 0.9965, 0.9291, 1.729, 1.1828, -0.8448, 0.7681, 0.4397, 0.0679] state[eef_state]: left_x=0.3851 left_y=-0.1732 left_z=0.0328 left_yaw=0.3189 left_pitch=0.0463 left_roll=-0.0275 left_gripper=0.9965 right_x=0.2973 right_y=0.1988 right_z=0.1029 right_yaw=-0.0133 right_pitch=-0.3594 right_roll=-0.6226 right_gripper=0.0679 state[joint_eff]: [-1.2513, -5.8598, 3.6171, 0.6618, -0.5299, -0.1294, -0.0073, 1.2513, -9.4974, 7.788, 1.5458, 0.4811, 0.1587, 0.5299] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left hand has reached about 3 cm above the cap and stopped descending; the cap’s thicker section is visually between its fingertips. I’m closing here to test whether the hand has met an upright cap rather than forcing a lower target."})

tool

executing move_to over 10 steps (1.0s)

step 231

assistant

agent noteThe left fingers closed empty, and the cap’s thick end still sits immediately in front of the fingertip wedge. I’m reopening and advancing the left hand a few centimetres along the cap; I’m also commanding extra height and a leveler wrist pose on the pen-carrying right arm, which is sagging under load.

move_to

left_gripper1.0000left_x0.4150left_z0.0850right_z0.2200right_pitch0.3500right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7532, 1.9251, 0.8394, 0.2173, -0.8562, -0.7773, 0.0088, 0.926, 1.7294, 1.1759, -0.8589, 0.7628, 0.4374, 0.0674] state[eef_state]: left_x=0.3848 left_y=-0.173 left_z=0.0291 left_yaw=0.3212 left_pitch=0.0452 left_roll=-0.0327 left_gripper=0.0088 right_x=0.2946 right_y=0.1947 right_z=0.0998 right_yaw=-0.0198 right_pitch=-0.3769 right_roll=-0.6394 right_gripper=0.0674 state[joint_eff]: [-0.335, -9.5795, 5.4906, 1.1306, -0.3785, 0.0366, 0.6667, 0.0205, -7.7744, 6.2838, 0.6618, 0.3932, 0.0024, 0.6813] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_gripper":1,"left_x":0.415,"left_z":0.085,"right_z":0.22,"right_pitch":0.35,"right_roll":0},"note":"The left fingers closed empty, and the cap’s thick end still sits immediately in front of the fingertip wedge. I’m reopening and advancing the left hand a few centimetres along the cap; I’m also commanding extra height and a leveler wrist pose on the pen-carrying right arm, which is sagging under load."})

tool

executing move_to over 25 steps (2.5s)

step 256

assistant

agent noteWith the left hand advanced, the cap’s thick section now lines up with the middle of its jaw column. The right arm is carrying the pen high and clear; I’m lowering the left hand onto the cap without changing its lateral alignment.

move_to

left_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6983, 1.8782, 0.9672, 0.0261, -0.8288, -0.7349, 0.998, 0.9909, 1.232, 0.6701, 0.0467, 0.9581, 0.3519, 0.0673] state[eef_state]: left_x=0.4058 left_y=-0.1659 left_z=0.0604 left_yaw=0.3356 left_pitch=0.0188 left_roll=0.0076 left_gripper=0.998 right_x=0.2938 right_y=0.1914 right_z=0.1968 right_yaw=0.0044 right_pitch=0.2744 right_roll=-0.0788 right_gripper=0.0673 state[joint_eff]: [0.4581, -11.8906, 8.8137, 1.1844, -0.2662, 0.188, -0.0171, 0.3897, -5.6684, 7.0085, 1.8974, 0.3932, -0.1783, 0.696] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":-0.01},"note":"With the left hand advanced, the cap’s thick section now lines up with the middle of its jaw column. The right arm is carrying the pen high and clear; I’m lowering the left hand onto the cap without changing its lateral alignment."})

tool

executing move_to over 5 steps (0.5s)

step 261

assistant

agent noteThe left fingertips have now reached the tabletop, and the cap’s thick part runs between them instead of stopping ahead of them. I’m closing on the cap and checking the finger gap.

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]: [-0.696, 2.0537, 0.9092, 0.2569, -0.8417, -0.7456, 0.9983, 0.9897, 1.2316, 0.6628, 0.0528, 0.9489, 0.3351, 0.0688] state[eef_state]: left_x=0.4069 left_y=-0.1636 left_z=0.0021 left_yaw=0.3517 left_pitch=0.0263 left_roll=0.0058 left_gripper=0.9983 right_x=0.2935 right_y=0.1919 right_z=0.1944 right_yaw=0.0199 right_pitch=0.2696 right_roll=-0.0935 right_gripper=0.0688 state[joint_eff]: [-0.3624, -7.5419, 3.7812, 0.9402, -0.1001, 0.1685, 0.0269, 0.0068, -4.2462, 7.3094, 1.453, 0.3297, 0.1294, 0.3785] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips have now reached the tabletop, and the cap’s thick part runs between them instead of stopping ahead of them. I’m closing on the cap and checking the finger gap."})

tool

executing move_to over 10 steps (1.0s)

step 271

assistant

agent noteThe left fingers settled on a cap-sized gap; both pieces may now be held. I’m lifting the cap and moving the pen toward the table center while keeping their grippers far apart, so I can confirm the cap moves with the left hand before attempting assembly.

move_to

left_z0.1500right_y0.3100right_z0.1650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.696, 2.0617, 0.9058, 0.279, -0.8631, -0.7506, 0.0557, 0.9897, 1.2316, 0.6628, 0.0525, 0.9421, 0.3313, 0.0693] state[eef_state]: left_x=0.4079 left_y=-0.1612 left_z=0.0028 left_yaw=0.368 left_pitch=0.0459 left_roll=0.0004 left_gripper=0.0557 right_x=0.2934 right_y=0.193 right_z=0.1938 right_yaw=0.0276 right_pitch=0.2664 right_roll=-0.0956 right_gripper=0.0693 state[joint_eff]: [-0.1846, -10.2769, 4.8342, 1.0965, -0.1392, 0.0024, 1.37, -0.2393, -4.2325, 6.8581, 1.536, 0.2613, -0.0024, 0.3199] 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":{"left_z":0.15,"right_y":0.31,"right_z":0.165},"note":"The left fingers settled on a cap-sized gap; both pieces may now be held. I’m lifting the cap and moving the pen toward the table center while keeping their grippers far apart, so I can confirm the cap moves with the left hand before attempting assembly."})

tool

executing move_to over 10 steps (1.0s)

step 281

assistant

agent noteBoth objects remain aligned with their own wrist cameras as the arms move, confirming that the cap and pen are held. I’m bringing them toward a shared centerline, leveling the pen, and turning the cap parallel to it, but leaving a deliberate gap before insertion.

move_to

left_x0.4550left_y-0.2900left_z0.1800left_yaw0.0000right_pitch0.0000right_y0.3200right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6758, 1.7718, 1.076, -0.2569, -0.8574, -0.7616, 0.0693, 1.1442, 1.6619, 0.9817, 0.0395, 1.1267, 0.556, 0.0724] state[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.1085 left_yaw=0.3891 left_pitch=0.0053 left_roll=0.0551 left_gripper=0.0693 right_x=0.3031 right_y=0.29 right_z=0.1804 right_yaw=-0.0519 right_pitch=0.3029 right_roll=-0.034 right_gripper=0.0724 state[joint_eff]: [-1.6752, -12.0274, 11.9043, 1.4188, -0.4615, 0.1001, 1.033, 3.0017, -4.6154, 7.159, 0.9646, -0.4274, -0.6227, 0.315] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.455,"left_y":-0.29,"left_z":0.18,"left_yaw":0,"right_pitch":0,"right_y":0.32,"right_z":0.18},"note":"Both objects remain aligned with their own wrist cameras as the arms move, confirming that the cap and pen are held. I’m bringing them toward a shared centerline, leveling the pen, and turning the cap parallel to it, but leaving a deliberate gap before insertion."})

tool

executing move_to over 13 steps (1.3s)

step 294

assistant

agent noteThe hands are still laterally offset and the pen is several centimetres higher than the cap; the controller also fell short of the centerline targets. I’m increasing their axial separation while correcting yaw and height, which should let the arms line up without their wrists interfering.

move_to

left_x0.4900left_y-0.3100left_z0.1800left_yaw-0.1500right_x0.2750right_y0.3300right_z0.1450right_yaw0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6693, 1.9545, 1.5066, -0.3946, -0.6903, -0.5159, 0.0749, 1.0691, 1.6882, 1.3636, -0.6727, 1.0466, 0.9619, 0.0746] state[eef_state]: left_x=0.4665 left_y=-0.2211 left_z=0.151 left_yaw=0.1553 left_pitch=-0.0474 left_roll=0.0935 left_gripper=0.0749 right_x=0.3177 right_y=0.2686 right_z=0.2199 right_yaw=-0.2248 right_pitch=0.1282 right_roll=0.0306 right_gripper=0.0746 state[joint_eff]: [-8.4308, -9.0051, 13.1487, 1.5458, -0.188, 0.2418, 1.0281, 4.4923, 0.6222, 9.8393, 1.8584, -0.9597, -0.989, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.31,"left_z":0.18,"left_yaw":-0.15,"right_x":0.275,"right_y":0.33,"right_z":0.145,"right_yaw":0.15},"note":"The hands are still laterally offset and the pen is several centimetres higher than the cap; the controller also fell short of the centerline targets. I’m increasing their axial separation while correcting yaw and height, which should let the arms line up without their wrists interfering."})

tool

executing move_to over 8 steps (0.8s)

step 302

assistant

agent noteThe pen and cap are now nearly parallel and at similar heights, but their centerlines are still about 5 cm apart sideways. I’m shifting the pen into the cap’s lane and moving its tip toward the cap, stopping short to inspect alignment before contact.

move_to

right_x0.3300right_y0.3550right_z0.1600right_pitch-0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6998, 2.0823, 1.7458, -0.4381, -0.5449, -0.355, 0.0749, 1.1751, 1.6444, 0.9897, -0.1089, 0.9463, 0.7185, 0.0774] state[eef_state]: left_x=0.4885 left_y=-0.2869 left_z=0.1634 left_yaw=-0.0699 left_pitch=-0.0759 left_roll=0.1 left_gripper=0.0749 right_x=0.2814 right_y=0.3112 right_z=0.154 right_yaw=0.0432 right_pitch=0.1451 right_roll=0.0553 right_gripper=0.0774 state[joint_eff]: [-0.759, -10.7692, 9.9214, 1.6777, -0.1538, 0.232, 1.0281, 0.2803, -6.8718, 6.612, 1.6923, 0.3785, -0.1538, 0.2808] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_y":0.355,"right_z":0.16,"right_pitch":-0.1},"note":"The pen and cap are now nearly parallel and at similar heights, but their centerlines are still about 5 cm apart sideways. I’m shifting the pen into the cap’s lane and moving its tip toward the cap, stopping short to inspect alignment before contact."})

tool

executing move_to over 9 steps (0.9s)

step 311

assistant

agent noteThe centerlines are within a couple of centimetres laterally, and both shafts have matching pitch. I’m refining yaw and height, shifting the cap slightly onto the pen’s lane, and advancing the pen only a small amount so the tips remain separated.

move_to

left_y-0.3000left_yaw-0.1000right_x0.3450right_z0.1700right_yaw0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6708, 2.083, 1.7443, -0.432, -0.5278, -0.3573, 0.0749, 1.1061, 1.8633, 1.4258, -0.5156, 0.7387, 0.7685, 0.0783] state[eef_state]: left_x=0.4964 left_y=-0.2758 left_z=0.1623 left_yaw=-0.0529 left_pitch=-0.0797 left_roll=0.0861 left_gripper=0.0749 right_x=0.3091 right_y=0.3593 right_z=0.1519 right_yaw=0.0867 right_pitch=-0.0843 right_roll=0.0071 right_gripper=0.0783 state[joint_eff]: [-2.5368, -12.1094, 6.9538, 1.4383, -0.2711, -0.0366, 1.0281, -4.2735, -9.2923, 10.4, 1.6435, 0.442, 0.1978, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.3,"left_yaw":-0.1,"right_x":0.345,"right_z":0.17,"right_yaw":0.05},"note":"The centerlines are within a couple of centimetres laterally, and both shafts have matching pitch. I’m refining yaw and height, shifting the cap slightly onto the pen’s lane, and advancing the pen only a small amount so the tips remain separated."})

tool

executing move_to over 3 steps (0.3s)

step 314

assistant

agent noteThe lateral centers now match, but the right grasp point dipped below the cap during the last approach. I’m raising and leveling the pen as I advance a few centimetres; I’ll check the readback before trying to seat the tip.

move_to

right_x0.3550right_z0.1950right_pitch0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6987, 2.1006, 1.7767, -0.4438, -0.5339, -0.3573, 0.0749, 1.0641, 1.9312, 1.5135, -0.6121, 0.6876, 0.7429, 0.0795] state[eef_state]: left_x=0.4925 left_y=-0.2916 left_z=0.1646 left_yaw=-0.0762 left_pitch=-0.0748 left_roll=0.0878 left_gripper=0.0749 right_x=0.3219 right_y=0.3563 right_z=0.1375 right_yaw=0.0813 right_pitch=-0.1618 right_roll=-0.0546 right_gripper=0.0795 state[joint_eff]: [-0.2256, -10.0718, 9.0598, 1.4042, -0.0562, 0.1099, 1.0281, -2.6872, -11.2889, 10.8376, 1.6435, 0.6081, -0.0024, 0.1197] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.355,"right_z":0.195,"right_pitch":0,"right_yaw":0},"note":"The lateral centers now match, but the right grasp point dipped below the cap during the last approach. I’m raising and leveling the pen as I advance a few centimetres; I’ll check the readback before trying to seat the tip."})

tool

executing move_to over 6 steps (0.6s)

step 320

assistant

agent noteThe pen arm stopped short of its commanded advance and height, suggesting the tips or nearby arm structures are at a close-contact limit. I’m keeping the pen steady and easing the cap backward onto its tip instead, with a small yaw correction to make their axes more parallel.

move_to

left_x0.4650left_yaw0.0500left_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.701, 2.1162, 1.7828, -0.4576, -0.5236, -0.3573, 0.0749, 1.0531, 1.9461, 1.5295, -0.6285, 0.6876, 0.7254, 0.0812] state[eef_state]: left_x=0.4911 left_y=-0.2942 left_z=0.1557 left_yaw=-0.0852 left_pitch=-0.0979 left_roll=0.0955 left_gripper=0.0749 right_x=0.3263 right_y=0.3536 right_z=0.1348 right_yaw=0.0776 right_pitch=-0.1708 right_roll=-0.0807 right_gripper=0.0812 state[joint_eff]: [-0.1846, -13.559, 6.3385, 1.58, -0.3443, -0.0269, 1.0281, -1.7026, -11.9453, 10.5915, 1.5751, 0.5641, 0.0024, 0.1538] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_yaw":0.05,"left_z":0.16},"note":"The pen arm stopped short of its commanded advance and height, suggesting the tips or nearby arm structures are at a close-contact limit. I’m keeping the pen steady and easing the cap backward onto its tip instead, with a small yaw correction to make their axes more parallel."})

tool

executing move_to over 3 steps (0.3s)

step 323

assistant

agent noteThe pen’s gold tip is still exposed in the right camera, so the cap has not seated yet. The grippers are now aligned laterally; I’m sliding the cap another 2–3 cm back along the pen’s axis while holding the pen stationary.

move_to

left_x0.4450left_z0.1480

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.749, 2.1162, 1.7832, -0.5369, -0.6018, -0.469, 0.0749, 1.0519, 1.9461, 1.5387, -0.6281, 0.6868, 0.7242, 0.0825] state[eef_state]: left_x=0.4713 left_y=-0.2968 left_z=0.1496 left_yaw=-0.01 left_pitch=-0.1167 left_roll=0.1028 left_gripper=0.0749 right_x=0.3277 right_y=0.3551 right_z=0.138 right_yaw=0.0789 right_pitch=-0.166 right_roll=-0.0732 right_gripper=0.0825 state[joint_eff]: [-0.6085, -12.7658, 8.7863, 1.4139, -0.4713, -0.022, 1.0281, -1.6752, -11.8085, 9.8803, 1.6288, 0.5446, 0.022, 0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_z":0.148},"note":"The pen’s gold tip is still exposed in the right camera, so the cap has not seated yet. The grippers are now aligned laterally; I’m sliding the cap another 2–3 cm back along the pen’s axis while holding the pen stationary."})

tool

executing move_to over 3 steps (0.3s)

step 326

assistant

agent noteThe gold pen tip remains visible, and the cap hand dipped roughly 2 cm below the pen during the last push. I’m raising the cap back to the pen-tip height and easing it forward only about a centimetre, rather than pressing harder while vertically misaligned.

move_to

left_x0.4400left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7738, 2.0876, 1.6951, -0.5426, -0.6281, -0.522, 0.0784, 1.0561, 1.953, 1.5368, -0.6258, 0.6849, 0.7216, 0.0831] state[eef_state]: left_x=0.4514 left_y=-0.291 left_z=0.132 left_yaw=0.0181 left_pitch=-0.146 left_roll=0.1225 left_gripper=0.0784 right_x=0.3261 right_y=0.3569 right_z=0.1343 right_yaw=0.0847 right_pitch=-0.1711 right_roll=-0.0797 right_gripper=0.0831 state[joint_eff]: [-1.5111, -15.241, 6.3932, 1.4725, -0.2857, 0.0952, 1.033, -0.253, -10.7009, 7.2274, 1.1062, 0.3394, -0.0024, 0.0562] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_z":0.18},"note":"The gold pen tip remains visible, and the cap hand dipped roughly 2 cm below the pen during the last push. I’m raising the cap back to the pen-tip height and easing it forward only about a centimetre, rather than pressing harder while vertically misaligned."})

tool

executing move_to over 4 steps (0.4s)

step 330

assistant

agent noteThe cap still has not covered the visible gold tip, and the arms are not tracking further upward commands at this close pose. The cap hand appears to the right of the pen in the pen’s wrist view, so I’m shifting it a few centimetres left and easing it backward in one final careful alignment attempt.

move_to

left_x0.4300left_y-0.2600left_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]: [-0.775, 2.0876, 1.6745, -0.535, -0.6212, -0.522, 0.0784, 1.0573, 1.9541, 1.5291, -0.6365, 0.6758, 0.7216, 0.0833] state[eef_state]: left_x=0.4485 left_y=-0.2903 left_z=0.1246 left_yaw=0.0138 left_pitch=-0.159 left_roll=0.1279 left_gripper=0.0784 right_x=0.323 right_y=0.3551 right_z=0.1291 right_yaw=0.0883 right_pitch=-0.1887 right_roll=-0.0915 right_gripper=0.0833 state[joint_eff]: [-1.4564, -15.2547, 6.5983, 1.3846, -0.4078, 0.0855, 1.033, -0.1709, -10.6325, 7.1043, 1.1648, 0.3541, -0.0513, 0.0024] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.26,"left_z":0.17},"note":"The cap still has not covered the visible gold tip, and the arms are not tracking further upward commands at this close pose. The cap hand appears to the right of the pen in the pen’s wrist view, so I’m shifting it a few centimetres left and easing it backward in one final careful alignment attempt."})

tool

executing move_to over 3 steps (0.3s)

step 333

assistant

agent noteThe last correction produced no left-arm motion, and the gold pen tip is still exposed, so the cap is not seated. I’m withdrawing both closed grippers from their close-contact pose rather than forcing the arms against the controller’s limit.

move_to

left_x0.3600left_y-0.1800left_z0.1900right_x0.2800right_y0.2400right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.775, 2.0876, 1.6745, -0.535, -0.6212, -0.522, 0.0784, 1.0573, 1.9541, 1.5291, -0.6369, 0.6746, 0.7216, 0.0833] state[eef_state]: left_x=0.4485 left_y=-0.2903 left_z=0.1246 left_yaw=0.0138 left_pitch=-0.159 left_roll=0.1279 left_gripper=0.0784 right_x=0.3229 right_y=0.3552 right_z=0.129 right_yaw=0.0889 right_pitch=-0.1897 right_roll=-0.0912 right_gripper=0.0833 state[joint_eff]: [-1.5658, -15.3641, 6.3658, 1.4286, -0.398, 0.0904, 1.033, -0.2667, -10.5778, 6.7214, 1.0916, 0.2613, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.18,"left_z":0.19,"right_x":0.28,"right_y":0.24,"right_z":0.19},"note":"The last correction produced no left-arm motion, and the gold pen tip is still exposed, so the cap is not seated. I’m withdrawing both closed grippers from their close-contact pose rather than forcing the arms against the controller’s limit."})

tool

executing move_to over 10 steps (1.0s)

step 343

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7143, 1.5543, 1.2346, -0.5549, -0.5877, -0.4911, 0.0784, 1.0004, 1.5078, 1.2049, -0.7494, 0.6037, 0.6186, 0.0846] state[eef_state]: left_x=0.3735 left_y=-0.1895 left_z=0.1895 left_yaw=0.027 left_pitch=-0.1262 left_roll=0.0807 left_gripper=0.0784 right_x=0.2768 right_y=0.2524 right_z=0.1726 right_yaw=0.1328 right_pitch=-0.238 right_roll=-0.1203 right_gripper=0.0846 state[joint_eff]: [-0.1846, -8.7453, 7.788, 1.7216, -0.2711, 0.188, 1.0183, 0.6906, -6.7077, 6.2154, 1.1258, 0.315, 0.188, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [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 · 10.04 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, 0.7925, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7902, 0.6083, -0.3809, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2949 right_y=0.0023 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4564, 10.4957, 1.7705, -0.0611, 0.0855, -0.0366, -0.759, -1.1009, 9.8667, 1.9267, -0.0122, 0.0171, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67a7e857f69d23848e909d1a95778ff35f7fbe1a5c31538f478f3cb42220571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c58979bd5fdd424b6ed087e2dec872b91f6c1ab29985c275e663a88cb32d319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d851914cec81c7b5b58ceb2554d479538f9ed462a7df11ae23fb1d687696d3f1",
      "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 · 12.11 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5FRG0xtNCRJbMFZfjyuw-iFv2uCVcEpIYEXxvYetMOrzrDbv9AGxKpV368cgiAU1t39WIDb-jWq2zJALmQ0lQZnMiUvUQU5WAq4-uPyUz8cnn6usV4H-X684hfhrntqumhnYb6VFBPenIIVIUYgkuvGzaXaIe7_ND8Y-Jogk6v0U61DE6FyasXypr3sLOJX91SDdg1Xyn7ftWOZDueVqWkiVFyz5umTVpn7JUz9f2mr_6QuCz2GI7jFYjTdp_q6sSubKHM7hCMAJ6UVqODWrbykVCxpmxI5obuOZFcgcwFNmqS7u2rS9Uw4ORcgRBGT_mG4zPOQ-B5Gnj8aCTZ1den6uIsIe_sl2uz59JxK-pPLV76cBJXRgF7HqdKt0gXtbYZjKYmLxqxcn3Xf4Js2nsIEe_SEY6SpyHNcwZMF3F1KRYw-Fpn6OcwaqYo2YMWckx8DoAmMZ41kL1-axuYFxIQFgD6WE0mtcPeV4z4AddbRcHSUSrAZMY-3otj7-skk52W88Tw7XyOk5pR6MZj1FcqSkYTjJJ9A9QKMQ2YWISELCYBkWm9LxcoJ5QnPMLwkEEAwx3K1Hm8G-aYPXnH7kzPoP8a_3gimwXu2Sc9pn22a8XHhcL_Z9LWWbie-Xr3kcYpJ1bal9LhVF6C751JCWPUoUujOjrFcNoH7nTBwAAK4cpt2GYTxLKELNcbZxXSnA4z6medZ2QjzLW5Prk3XMp6r088jvpHw6oCIi1GrbyxjLHnfhY5mH39OlveB5CDBxzvVC7ilEHwD76KeepRkYCyXXmJJxxH_QF78Dpo_cGicKheyAD2xjAahBX7MsTmkOSHqKQ-ouFfnQPChrcil8sewhuAZdb3MeAkzIFBOqG8Qroul8GK3gXcPrJWtmmcq4RoKmu8UJgPqLv9BTncLkGE4MItG0-BwiYHD0hxYJNbo5lYrc_jbasIM1gjRG_tXthQEi3wIY-urwYyp0HGXP3Z2ztb62uGMyJyGOcQO4FvsXvtbg9aH8HY_1-NhQh50_nLdPXeFemHo2SzHEXop78Viy5PAK2oWvcAFh5wgUKCO12oLwUMUAUw6p65E7nLrVcS58QFdFG7sXsIQ-RbypTMroafoXtmEv1CWHzNto4BEY7qfMmeuSKjO35KRIg141CsWlKRZeRxL7S84rBn4QZU7ZhBCjikRYkX1Q0MoIO5lKuDiRB7yyAiuCWdPemOU-wGAL7xm7NVjZ-FwLLOKsMtytZYX5GNAexrrAqR9nQBYklKhzCZOyc2IjA3KFArEITcgE7gIXTw_PZlTzzlovxSwq8pSZRuYbpQvq6QHruBF5RdWf6N-AyrFIlZD-4o7s1abW2_vx8D5VxZP_d3O7QHJ0sHwI-nNdncD_2g6tLiwANeJihI0Y-mzk2r_ibfj4RNfclrd-p_5KN1F8aEAA1jwgNyQgUtZBW1LTCOxmvX4JX54iOerycM4tCYxCYFqWcvFoyMASKazCq021CUdo-gjHcwAt9I8JtN6OQWrrjsaCqvLwoZnwgoIBgYkAT2qI_4lu86qh1H4EAy7QQ7evgkVxzC3EG1EiCXCLcIZ2wyqxXFk2A9hxyEp1MqZ75OTWr29erEnqXATgX8WVXOrCr8e05sobqPmDup03eie0UdIRx1Bw1WQERPOHCA-COSUmtvZKETi60q-cA_f4xX4GO6B0oI_-iHwxZpvuBMJvMz_fZU2yib8ehhUC1HUs1J137qJmFiC25vu8pDl_2R_Xp87Kc9E7ZGL8XiLqcxT_YO4d4PTEcA4dR_RUIiZYSOt-128daHevmdahCZQQuehTxOvKhXIKrAdjk3OoN6-unbsQ-SHvJqTTubOJAlSl3YHVbPJu12p7lRWQT_Q5Zzecw5sCIgilNtAkvAqgaF0m_3ctJyPH-OPcYhw2HV98260pUf9TE0AvZynOOXaUXBe0Pno2zLHWViRfAApT2C2y7hsPWMPAa6R_l9QYmu5CnlEUp4nqKyrhcUZ9c9KT8RJtUdQgKv9NM_PBZhNtqqaMoSWkCmsGxXr_viu7JY_qlxlB5-AMnkbujI9Xs1uz7ZW16s1M-bLVCFHZIROAIpcYcgX3SSpwhUaKAn-shYXoZWWjeZQtWZds964MCLIf6xKxZU0qaK4kqUkO14qsQsCukN0cINdLwJURFeeh7dY_hyW5HM0juLlyXmRmKUp-fIiMjJE-a94GNesZYbda0xB_lB3Womso0OwjDcRq1u7oH8_TqqQug91zidguVqv4r8NGdr_PJdREtFa7drAExQH-3Lip_qgyH1vfLxDnNfBW0C_ifdFKH4NXKIDQfKP39KqW4OC_pyu98JXSUDcaBbxr5JtYOH9q1OB2QS3Y-FQd0tXe5AfSQmMAKVDjubU5M8OaoPI83JECaEL4Vt7cLqzvH8hFp0YPK0_XxXFWoC48N7rdKe5_tU6iSexhyBJaVML2yetFQgmy9V1eFoNJBXsMQ7yr4p6V952IrboSYORH9Kg74rXRPceoH79EgvKbIYIDJoMbaNdER169sqQ0EOp6bHPlcm5exu4qYK9cBvILXraoBBi46Puj2Q0PQfTyBfKdez9ZdXQBd7CFCD-_rfkUv0ZwhHmkuAOdNdj_bJl0K4arYvnWoxf_ZLk6G3zVSRbDrfFk8b7EkJ-5DJMLwLhs88Ey9uCuL9E-chzjItcBEzrOLIGICWPyW2rNNHmEzPbTcmlB248cwUVCdiGVftxHXJz_ky8aR1bjjYp9wViGbYT7L_oid-MCTYZoFu9Cdr54kDRPaTtkvypoVp8pRLXf1XCY_9jcIKUoxMwe0Rm5GdqTk6yqOl_seNdwHZRFJLy1zRsCD0o1WVgz-4Ffeoc7FXkVjtdmwixR38o_8lbQu2mK3DvWJKICmxxPqjSaPtGMtRY9uOxTr-vEVUZouNj8cBQH1WW17X-HYL5YeqrMhZnBdfZo866i8KKrlxwNQKfL9BKdbO9FbrzUXHDPc1rZbLMghVmVG0IFWaJb9xhhM1wZIAuFvHs2lZdbIr8YXiUFarKHwvFcggNa1NZ-xxx5NTmdxiahxe5jWquyBEwsfLmIL1pf1TehTntPJUjC3MPER5nIaQn-I1sotrifegcwkQgLhQ5PTuBtUXTxj-iTKthVFsOJmLWtE2IiQqfVAPlvoThU3UmobKibm2uYtuY97gcd8oHtk0Ccq9HurwV_6xYRrbK2Vzsj0yXNFos9RmjIRLXGPG3lcTayx9r7BpbxQtBM5U_jQHZdchAiJA8Gwk1CfNDaYV3_DB3ilti7s3lDuPu9Qa7FffCmRYQid6cpX-EamFYywIUSwDHpeVKkuf9MaDgp_HDKDVJ0W36ZvxKHNmbXJypME0vKzfxACyB3lJy60ZA2nJYUuNbBs_QcY0f4vS204gLsrgXuE1xxe0AqLr628hnFB7NMqfDaNu7WNGa79vhjng8GoajQ7GuZ6IA21TlbBxuq6ZvIZYW670pURcxsN50a3xNCQ-wD7r3YoC_Cqq_p8XDv_7m0bBOgZeN3vXRtFf-XqFcFTkG_qjjqeFLrbEMncSwew7LrCzV3eJhs1sVk-zCsR-EuiNbQPmDzH90PD5ZHyDk6MuC-4b_19HUA==",
  "id": "rs_09ce3b369e78e0c4016ab41e3cfd3087d086ce9e369f03e92c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5FTnoSahCsGWrgEhWt4MY5Ebt4ZyEgjD-YP0lmR7dDSZg0ZgjNltxJUD7A6N7Jmr2a8qlqnzo-5zOnMf0DBeVxTiRXen02ShZ3guztbcMA69wPK8XkrCkqQnOcNKoxvAxnjZ3ziva-L-ARCwpnrIdFEbiGynfYwl8_Bskzyg32i9DHE3qkGA01XS77RuibITXIAEuOQkXdQoBGq8XaBfbAFcFKSaluaKuCyW4pJFaQuCtryTpTX_g2t8pNsHou-7NXIpn73vXCOKGLdz52y_dUVu19kFVpBaiGU0WMX1snEXw57Wq2DxakUYm3FC_M9QJWIM8PXI_aaK7DbrWWJkibg8bXWI8pIKvIEjHjw2tZJdtM1HEJI-gHE1rR3EMUNQ8PHYdKr7QPzEqyGT8acnWMdoguDJ2xaTB5UD7otJOnRpth92nELefL7IOYixoXlzRffEwNd4MDHfifhcNjx30MWohJK4D4GBZzkBYdCMsErgZyb5KrnyJGlCtgpYnX7Q0e7AB76hJ8dPyWnJwMF_pDWmQKi9dmgZuVnshhv-_VYEZJjbddTwJVGqSVDGTrZ22qetVwOTaApxKh2qeCu5W40aQbtqxsbCk2AiLqJjb72Bk7NIzNv9ctohzhYJburBqqAQdOgORgzV0hKDAqbQPVcOVDZ9vbre95t8xoHOUtIa0KsL777R0_E0xA8uD2HYJSa8LyytFXvu8bF5kjDtVgSU86_V3-3JP7foFLXoWkKW3xM3bloAxTUvplRVrOZg_KuwKctvykfET60eAcGVyLvD7FM3Qda_IPmIfVAUJaQOpeZkVoekCmyRgYe9cdBcomJ6uUj68xl-0EfF704RlHG-4GfBW1g85pw2YXsYBt4sfSbR0PP1JC1RfNO8FSKauaZNbasG3rHIbDI6qlRmG40jjWqnYoMTMnc2Cglooo9wpJCgkn0Kba_QcR2_2aGJr4d9oIH7kRbwdECP4Qx8CghkXmBd51_NmHXwdUJV1iXxE1oa8FePOEoBSyglC4pk1ruVcFS9T-JrZOh-qJsDI5AsLo77Rx2GvidOKGtB6hPRzt2P6EYLPc2V7WkoLCd3RxJSfx3T9FjG1QkaTyN8tB3P5fn7YJkY0lRCAs9lAS3RT-AUZk1ijeAysRrbp8EdzX_JwNEfp8Os1ELMEg-vF2iXG0TRyzknnvx_ctRCGBsOGmACLj-5hC3joXZcnNccQgWDMwjEWulKyBEDis0bKcV6d4ePHmpdM_sYpHv_TZVQOojhkatANr9xodcGKoZHoYLPEWO-pyZPTPPpuxZmicKzfEIlvStvP1hLfziFyG6gaXf6BTsYHk47kLkvrEv3rAOjCtPhi38DAxYUJ0vLuW7S9jK6tsfsohoktlRSD73IpDv3nPJKLr3IxcNsZsi8G89HT31G86PGGXjCVQo4OHcAyb5EmozIewYhbyz6vte66-lYkLQGGoulZaHg9ZAR3puILssq1TK_DlOLuqVlkfiQ-uRWYMt5FF_hq65A8zTIcu_9aWohEK0sNqimhgVfK9X2dpthUL3W3KMW51pXBphf7fhaO9mW91mevCVif1iEYCDOnXCX-5S1FiwDyzcqG7-A4c4G3CYkYexlvyvJmvp-4zvhLJNrjdiTDt18p7MDqjvrGhy04f6R5UY32Ou6EZbpNpUZ_PFMUqky1XafAp-ovfwz4_RhqEvrStAKOe5OdJF7re1Ngm9pe_ErN-d7fYAGQ3ClnlTJeMKd3ihqGSy6Ujr9rzs_Uj20II_PoNSK7hXSHkDGCdMvVJWGhEcqJz3P5spZXKiX4dzty7QN3wH2hp20oyztBXV2ZZtzGimhRAR4xzM2RTouoCbGQ1BUm_koChlwGTM87YP_rwK26oHQ4A8F0xGMSgR_z-n-lM8AbY7SpB_XkpLmf9IXvLza8jz2E4bcrX9BnhDzi5mIL4ur8vG7VahOZPXaTQL2V3Ib2_71UNp4c0TD5Gz9gvH5qpVzqWB6DBek-WwFAd48nhe_V1FT3KcK-a-df-W4tmHASS8d6P6zm7Hb1j_hISqudKscPIc8Fm03r2arJu1jCKUgrXfnNLok6ECxR2Nylzky7tNBK8hSUZjZoCI8YreV-Eh1QK2oveulHBOZXvoo7gkhl9vdZGYatvyffd7_v0iDvWJog_defs_8RcSTBoEx3JjGhHujNK57CoDTa4jGhhSOgyB0nzssMWcRgK3rO8W6ul5mL-N0zY_wefikxu8egjG7JB3mMFtiFCxqpAITksMFWvKnhPhsaUD5V8S-7IYNCzjMF4B8rnsC_wVcbkWuRJwaLTUt9xDfVMvxQExgBDPE0fu0yHjRLa6Y-OM9K0XbL_KXO9VT-wW9GFmk37l1tcCP_WTTKdP71ENbPVlM2eGQ==",
  "id": "rs_09ce3b369e78e0c4016ab41e41e8c087d0ab64ae691d008e3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.16,\"right_x\":0.40,\"right_y\":0.23,\"right_z\":0.16},\"note\":\"The cap is the short dark piece left of center, and the pen is the longer diagonal piece near the middle. I’m bringing one open gripper above each, keeping the arms separated so I can refine their positions from the wrist views.\"}",
  "call_id": "call_9iRrAPr0MTFIkKGJiHnwDwxY",
  "id": "fc_09ce3b369e78e0c4016ab41e44453087d0b78d29c652abf1ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9iRrAPr0MTFIkKGJiHnwDwxY",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6476, 1.5089, 0.9245, -0.1661, -0.5217, -0.4034, 0.9998, 0.7231, 1.6505, 1.0695, -0.1837, 0.548, 0.3969, 0.9991]\nstate[eef_state]: left_x=0.3778 left_y=-0.1709 left_z=0.1383 left_yaw=-0.0103 left_pitch=-0.0641 left_roll=0.0337 left_gripper=0.9998 right_x=0.3871 right_y=0.2236 right_z=0.1381 right_yaw=0.0469 right_pitch=-0.0699 right_roll=-0.0545 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.7487, 9.6479, 1.8388, -0.4078, -0.0513, -0.0171, 0.0889, -8.2256, 9.5658, 1.7363, 0.6129, 0.2759, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f0121f4311a4ee9465bf78155fffd530810155ac9734c2aac2c5bebd9e0f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134e38383aadf5c77c6c079ae00a5b2fa4e9dc40d1bfdc010d8899719b6462db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a8fec761a724b75232c181ba7ca5b9b3d4468f659acbfcca311b04aa48f877",
      "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 · 6.555 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7902, 0.6083, -0.3809, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2949 right_y=0.0023 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4564, 10.4957, 1.7705, -0.0611, 0.0855, -0.0366, -0.759, -1.1009, 9.8667, 1.9267, -0.0122, 0.0171, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6476, 1.5089, 0.9245, -0.1661, -0.5217, -0.4034, 0.9998, 0.7231, 1.6505, 1.0695, -0.1837, 0.548, 0.3969, 0.9991]\nstate[eef_state]: left_x=0.3778 left_y=-0.1709 left_z=0.1383 left_yaw=-0.0103 left_pitch=-0.0641 left_roll=0.0337 left_gripper=0.9998 right_x=0.3871 right_y=0.2236 right_z=0.1381 right_yaw=0.0469 right_pitch=-0.0699 right_roll=-0.0545 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.7487, 9.6479, 1.8388, -0.4078, -0.0513, -0.0171, 0.0889, -8.2256, 9.5658, 1.7363, 0.6129, 0.2759, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f0121f4311a4ee9465bf78155fffd530810155ac9734c2aac2c5bebd9e0f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134e38383aadf5c77c6c079ae00a5b2fa4e9dc40d1bfdc010d8899719b6462db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a8fec761a724b75232c181ba7ca5b9b3d4468f659acbfcca311b04aa48f877",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09ce3b369e78e0c4016ab41e4aa96487d0a58b4ac7a031ea42",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5T9KYaKNcxZRyYTwp-Pcbg4m1CqdE19coTKxj17uJJ2pBDNILCDW1Y1i-oJCoz8LVQ5XOVlGtz2oErcG6oIQeQSTM5oyVy_eEuGJ4HAgm697pT6uTgOXs0lvOo1l0Fzklt78Hmx-S_SLQqepUGuLYWaFg_8An9WjOmPUzT_Lo4YlSBaMIQHDzd_a2JQhPNHdIH_nJ4DN03GcbgHlNNCrk0tkzihugyRY_Bn5QibFFKdVohL_p-acje0SCYPM665yDTl13_MHTPHjH6vhI97Urk0uKJd4mOIoClSZdMntJGh4ksY2j--fWZaulS1rxehvRBpH0mspCH_RHUutFM_XP0dzU4qrxSwqIkr82uv2FKJFYQnTuyNrgrR1AtWluwqcnSrvPf9FEOv9jWXjFYgJmME-y7qDzs5ruUYEA_DrHUFQ4Ip6fPphXyi-AFoNC0Dg4NwWlTxmTa6pUjHkYfmQUS9s6_vN6JQ_kwJ5NI2gafs0gZacMqnjiuFsN4fpjIgKY49mrVt8ym-cJAV33CV1qpofXGkuEe8wPd9_5t9uw5SUhj2snA1VTVlMylXJzRPlzWGtwIzdK4aCKNx0ntrSGw172__j07nOdulSS4E1038YH7HLxiPe_YNLE4nYAbL4ogV0H855MydoPszZKtL6pfvbSzi7yBUnHPYUKkdoWjuXF-FAyrUKflpeaBn7nUX5vswXMux4a6IirGw5EX2BB7YbCgADv1Lha--eSvJNAE5JKvJfn9WIWf88XjH7vBLqpqswMYO9m_o4zo0vkjHey4A_cyHQ9b2D6HrnWQZR5ty5DZaE8mtxXM58IgmppkiALXymZGdZWMK1JCWOZ4KZXGoVcN_XGd_lXm7ca9LyAjhO1g8zTAuTkOV4o4S9HFHyzclbPJlo1qctu8vgSp4paldQgdr7fmE6dWRL4Ds9g8hc4dDm3VB-M4vRSZf-PqijGJapmMAHhmabhkRuE6eBIlYD_fGnT8dbpjkY1te25CM5-mXZBMvNR0R_fIrGBcg0pobHJazLqrcutcBgNGqctp9rPsjmRY0Fd_y0wh15vxZoMvHuTkbt3zdpY5AqLAvOIov9ZS6q6vkgtL4wfiv4SnI55mnImHUGiEhe13rJeFa-b_LlB16z17T6aEzh3ySCmpNFnVGYljnOscVg15LMHz45Dxs00Ajnz7GqC38INrUJNjl9DR5LvAczhwah8yYsPpa_Fqy6n-s7WcaNGe36C4n_2stY9gGLhf97SxiO2GLi5EEyW1y-JBxk0fB6QI0YEo5mHVXXU1ha3jozuq57p-27NNj6kSg-3vHqNfPqTbUMLjGwwRPJXIDFECIOGxmdFJIfkANjPsdMFkZuI5xtP7Kz_7k__NOMImS0rAs-dCzHZmwaHw6j0cBPE-PF0zYIdXFMJO43YVHbgcG07-DId8fg==",
  "id": "rs_09ce3b369e78e0c4016ab41e51cdec87d090010fbbdf11e0f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":0.085,\"right_x\":0.405,\"right_y\":0.25,\"right_z\":0.085},\"note\":\"Both pieces are visible in their respective wrist cameras: the cap is just short of the left fingertips, while the pen sits slightly left of the right jaws. I’m advancing the left gripper toward the cap, shifting the right gripper left toward the pen, and lowering both partway before gripping.\"}",
  "call_id": "call_lYJ9X3xQkD70pRQDixHsxROt",
  "id": "fc_09ce3b369e78e0c4016ab41e52554087d086313abb1e1525ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lYJ9X3xQkD70pRQDixHsxROt",
  "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]: [-0.5991, 1.6794, 0.8745, -0.0017, -0.4961, -0.3847, 0.9998, 0.7361, 1.8339, 1.074, -0.0727, 0.5484, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3944 left_y=-0.1632 left_z=0.0768 left_yaw=0.0116 left_pitch=-0.1207 left_roll=0.0668 left_gripper=0.9998 right_x=0.3976 right_y=0.2407 right_z=0.0784 right_yaw=0.0493 right_pitch=-0.1222 right_roll=-0.0886 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -8.6222, 6.2154, 1.8974, -0.1978, 0.0855, -0.0171, 0.7316, -9.8667, 6.5709, 1.707, 0.3394, 0.0611, -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,$blob:3faf8c1b3289e10b10e2cd3dc4e4298e403bc495dd1c6319c27b303ff1c0191c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc07c3348fea6aecaf42cea6b1cd7ff5e5232412767859870d61a2bc2cda02af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6a89280fd660515effa6b31bf728055c3275296412553eb364fad26e6e9216",
      "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 · 5.778 s

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

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6476, 1.5089, 0.9245, -0.1661, -0.5217, -0.4034, 0.9998, 0.7231, 1.6505, 1.0695, -0.1837, 0.548, 0.3969, 0.9991]\nstate[eef_state]: left_x=0.3778 left_y=-0.1709 left_z=0.1383 left_yaw=-0.0103 left_pitch=-0.0641 left_roll=0.0337 left_gripper=0.9998 right_x=0.3871 right_y=0.2236 right_z=0.1381 right_yaw=0.0469 right_pitch=-0.0699 right_roll=-0.0545 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.7487, 9.6479, 1.8388, -0.4078, -0.0513, -0.0171, 0.0889, -8.2256, 9.5658, 1.7363, 0.6129, 0.2759, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5991, 1.6794, 0.8745, -0.0017, -0.4961, -0.3847, 0.9998, 0.7361, 1.8339, 1.074, -0.0727, 0.5484, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3944 left_y=-0.1632 left_z=0.0768 left_yaw=0.0116 left_pitch=-0.1207 left_roll=0.0668 left_gripper=0.9998 right_x=0.3976 right_y=0.2407 right_z=0.0784 right_yaw=0.0493 right_pitch=-0.1222 right_roll=-0.0886 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -8.6222, 6.2154, 1.8974, -0.1978, 0.0855, -0.0171, 0.7316, -9.8667, 6.5709, 1.707, 0.3394, 0.0611, -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,$blob:3faf8c1b3289e10b10e2cd3dc4e4298e403bc495dd1c6319c27b303ff1c0191c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc07c3348fea6aecaf42cea6b1cd7ff5e5232412767859870d61a2bc2cda02af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6a89280fd660515effa6b31bf728055c3275296412553eb364fad26e6e9216",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41e54871c87d0943d24df28072a10",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5aHdmbYYAva_hqSwoV9JEPt5TzDgcltx6qZnlZUiCciOWp4ddvmm1Yf5YSBXxHP5X8SPCmPCGd2QlsgIw2HW7EnMnV-cPvZy2BCa1sQ1iqWRP6kb7ec8a37UNNPAhnY_8AJJz3nWgMZUAX8NVjGWz4S8-w7r--PKuO-qYaJWsp4ca_6TmM47dHNVRoqtsA8f_SzY76kA42IlYkXjTnZVOgloPL26-gM7P8jEwHcC1khq_J3ijyIls4L7OY4JLzbRZf5t1p1nfAPENyh44IOjSiv4VfHwoF9IAYMfaW9XcIOCeFfot2mxIpe240tZn2BuqXkTk1pzLgr90re29o6Rd9nvzbwA1Kxim2T30Nm4Lz_7kzyYhqczMjxm69eLDkertx2b8njgqZ_UXdWP5RQL5fSLsNtiVY1lKmRD8YQzSEfffxjVk_qeBMGyC_Fjjsej_9a5E8Dsn0I0vG9bOvKYQMcfGsoftDGzh8K3D4qo2Zul9_2rgX8CU9p4tx0-kH6R36AbNkI62MWdcNL7YemMdnj0RmjwqzQ_KpP05XagkwZMTtj3LQ1jPEZN9Q4j2c1vLIBjKlXaBcSi22krDA47jP6LI9v79rHeE6Hx_hjiW5ZSNQ16sMBVCcgPk_oeev7NvAAd9TtIYnFdTpoiWXqcpmTh1_AROX2upSf2T8l4cVEWDTkpw61tUOAbXxIlXPKl8QNPqp__gokPkekJU9KwqtKEW7sxo3v-bJOzuSJeSik3I2yWco2UT86qat4oEhNR8-5djb3nlNkXz3q4xwn6SXhabRmBoIjfH313Gr13kTY2UiZejKN3lJFE89Pjzkd_fPulNjIpp4j0Y4xfbVf5-RX0dFYLdIBScGeozM5yh5E-hQCJTS4s12EVR4-Xc7YSc0SNlBfJ-aQRvtARUTwvKgCP5rd4aQbCRMd-XxM329JTxTHj2aPPZzrPSJJe0UgcLLWgVz_-7dwC4_TOhPfvfDFS3kw63VAHMn2Mz_N3pypDEXBWXLBQQQVaPEr708mM_RwqnaRlLi_cJBFU2-24k-pZDhbSHBywGZCNH2HEcmBeeEUdrYC0-7Moua3udlWIjBqlK7pa5waMpWMx26VeXLvsd7yAYR0HI94vVOJrQjyaQ7Ka8ezVSh3qtLDXHcEN8XeK5RDvSXsPzU2HGqm0u0hzDYCf3EyCbOMEx1LGQVQGax40XbWVUaE5l_pTqCEfZjYwZxQ2KTRXwHM1ex8F6YZ9ACYCkbcaHC1V3xV2H9aCnW4fRo5EkEuP9pPEgv7GIwn1kBPFYOCRSW-B-0ejlOkhNG4Gp-WZPESIaAR0rEG-A=",
  "id": "rs_09ce3b369e78e0c4016ab41e59016087d08c088d72d183eaeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.18,\"left_z\":0.025,\"right_x\":0.415,\"right_y\":0.275,\"right_z\":0.035},\"note\":\"The cap now reaches the left jaw area, though its middle is still a little ahead and to the right; the pen remains left of the right jaw column. I’m making small alignment corrections and lowering close to table height, leaving the grippers open until I can check the final approach.\"}",
  "call_id": "call_5jw5eXLYYj5nimsv0o5hKWp1",
  "id": "fc_09ce3b369e78e0c4016ab41e59384c87d0bee13e1332d11139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5jw5eXLYYj5nimsv0o5hKWp1",
  "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]: [-0.6029, 1.8874, 0.8711, 0.1299, -0.4938, -0.3878, 0.9997, 0.7403, 1.8835, 1.074, -0.0498, 0.5457, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.169 left_z=0.0115 left_yaw=0.0148 left_pitch=-0.1867 left_roll=0.1096 left_gripper=0.9997 right_x=0.3976 right_y=0.2439 right_z=0.0599 right_yaw=0.0532 right_pitch=-0.1441 right_roll=-0.1041 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -9.6342, 8.0615, 1.7265, -0.2613, -0.0513, -0.0171, 0.0479, -8.8547, 7.7744, 1.409, 0.2515, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0bdb1e61cfd005e68441a453d4998b65bba66755c1467b85c29bf9ffae3c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082a75ec494625ac1d5286ba7d20df3ca72b21aae14ec86b81974451fcd0fb66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd1fdd3335a93a8547359365b8bf134bd2bab7fdb90b5b6ef4e55c7dcc3c697",
      "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 · 4.617 s

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

message 2 changed as sent

message 12 changed as sent

message 17 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, 0.7925, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7902, 0.6083, -0.3809, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2949 right_y=0.0023 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4564, 10.4957, 1.7705, -0.0611, 0.0855, -0.0366, -0.759, -1.1009, 9.8667, 1.9267, -0.0122, 0.0171, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5991, 1.6794, 0.8745, -0.0017, -0.4961, -0.3847, 0.9998, 0.7361, 1.8339, 1.074, -0.0727, 0.5484, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3944 left_y=-0.1632 left_z=0.0768 left_yaw=0.0116 left_pitch=-0.1207 left_roll=0.0668 left_gripper=0.9998 right_x=0.3976 right_y=0.2407 right_z=0.0784 right_yaw=0.0493 right_pitch=-0.1222 right_roll=-0.0886 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -8.6222, 6.2154, 1.8974, -0.1978, 0.0855, -0.0171, 0.7316, -9.8667, 6.5709, 1.707, 0.3394, 0.0611, -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 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6029, 1.8874, 0.8711, 0.1299, -0.4938, -0.3878, 0.9997, 0.7403, 1.8835, 1.074, -0.0498, 0.5457, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.169 left_z=0.0115 left_yaw=0.0148 left_pitch=-0.1867 left_roll=0.1096 left_gripper=0.9997 right_x=0.3976 right_y=0.2439 right_z=0.0599 right_yaw=0.0532 right_pitch=-0.1441 right_roll=-0.1041 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -9.6342, 8.0615, 1.7265, -0.2613, -0.0513, -0.0171, 0.0479, -8.8547, 7.7744, 1.409, 0.2515, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0bdb1e61cfd005e68441a453d4998b65bba66755c1467b85c29bf9ffae3c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082a75ec494625ac1d5286ba7d20df3ca72b21aae14ec86b81974451fcd0fb66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd1fdd3335a93a8547359365b8bf134bd2bab7fdb90b5b6ef4e55c7dcc3c697",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5g7LiYCC3MjFrW9-xb5BEkBq--pGhkE-sfWrKPKSK_DhQOstqiYnKMOvxEc4bz8hiJ-KBapTK2AOb-B2gqa0PPLgGKSBE8SDs0BfkFvROb5b-bKhgLbY8ecSxl4ipo-IvSSZKYZJ9CegOm9vo_-SVP2pp4Uy2K5aLHPXCegUYrCeZNmJfgnu7VDe-P0-yc_OIfI6kt87BBrG9Evfa-_cyPRR6MBSKGlMcppdibp5g5LF5J0k6SitKaqssC9mWafryziz4nr2hF2kx3xI-MIZRadJKK24KksT0D52liW6uPJry5CtvwYHyCZOD3s5w9NSZAnxIoMdqugAhc3nOJPtZ5YHrbKX_WkGGDqEbmnXO9b34tBq6apVq5P5VF96RLOvQobB5VoQBi-SMHnAoZ3RKAu9x-bAzNM0UDFZq7oluFgEF-_V7Kb6YCt97EsIs5A4bBtS8FteU7N-gTS1o4ke-B5fZ5uFojUTRW7buJBxOS1b4cVwmWGpVWr8YvhHVSpkITwzZygoV5TnkOt7A8L_bTk_jUukTYs92inWucO_e6uHQLiJVpJDNLx-G3BWdU-SsyS2GKVIht_Owxq5sAtYmO8gWxIjQxm5AxBfYTotlHQwswi-F8f5AYos2-XIpCJBYEZY659ia4KIrPNhCG6rpXElkKiJkTntrru5p0c5eKr6kCI0yJYjf5DQDYJ_pi0dC8UChIvQokfXdd9460J456tz8VRzrSX_iNEi1ejXs8meNA55Q_8MM-PtlWd89Ypt_WDZwA8v--XSOOvQax15Pfo58cfpUCx3sPbZLfim82ApYHjt0YZ6WHWw-tyUyi940w_BgAq0P1SvguVGOruLOHKmmZg2dfxETaIxuszcT-J5Rv0BIWRZXf2kJmWEKqK-3klh79W32X8iE-TCxkmhRp4Xy-8KA8dSEqGFQh7kmKbbedY_hOUT2seHYL9fCb0SLLh8KfCMmkjZF3YkSQhUT6oaK60z9okO4Wo969uQ_2TY2Y-8MVuYTIwxKRWw3qLmcIPSjuG4IWJVuuC96RE4Q-ViopLJ4MB-YDhC3XtIG9ivfDqLHXe_QccT37T56uIlwsjoLC8VhJiFlXH9TvbATQfTpR4q40zT2ddW40kq0dursPZ2zlp8oponMtJp5JWp5vg1xz5RJTaZ8zpjAd2XHZZxuMlu5C9cl6HxW7k-7mgR6hDXQTY5tUZ0JT7A-42By_1A9_veEFz5UI9T-Nw_IWtCSAv1UTWApQ8_CRc2yLvbEYKh2FRNgxwRsv5havbszjUWohvH9kNaectkS5WfpmP19wTbR6S9sy0tAPcN9rBBvGJMERX1zqGjFR-xoMfU918X5KDAnG8T5V3q8_ZyhOKdBVLT1qbwzlyiD5VPZdZYKYQ7J0m0qbckdRw1YKGrOXC_qgpggQMQPI0uR4yOUq7MEHumljiMxDKU5T_xAWMKNrygab8UIMD_3d0X01x5Jmi_A5-qntvQic_IMSGgf7j8GVQtKwSIM7tHr5aq-yWuNbwYPDhb-TEYmIRF9avu9uTQLMb0i0r7E4zlUX_9OexvZtYK-n6NSGcbNZzGqqNqyr6ykFOaItIkJZ7oM2344aDK1wzaZ8rJSliKp7nLNNOcpIEHx_dNFxxoa7ByOuh_MRKB7dIsXhfWGQGa9iXAc9qR4B7MhaL9ZcEQHGCrKJmXYolZQabHwxzImHiFr2BcjJUVdkAJCvQ4GO9wporDJPKVaO23pyj7Gw9Rfy0zKC-ujV8uOBtZ9V7WJm6s2IgEHwF8KYldgzSwN2jGpuvQHLyF6BUF8mZj3sgNUGUwR2y_ytNCGgkJq06yvJ07SMLO-58BFVxFMaPbpSHm6cjZ9Q0Gapu81EV2CcVWw_EW1LJ_4mtiAGFF3Icc1Q1heYl9wkyMIDlFPk6IAqcQ2XDMu5TRYQE9-3TjPBZbTbVFYCnLR_RhUtPXYqcz4c6w4nDPWxby-Uw-RQin4RhPRYPyAZ6fYC2WNTQtpxitHpYYTrrE8mGExtDX_v3yKlQ7L4q5sKaub8ezMQT_HI0AMYkR-FBwIw2gZv8Oku-Kx6IhyQEpZXXk_IQxs8ukYxgue39wLC4RQnErtzocWEUJG7JI-odBq64Ndv1iIWsEuDUk4vNBOnke6K23vhnDnoUiWfNBVGybSc9TUAygeAaWKZFnDhY4zZSNDg7Y_tpqzrHCwFk5hQOg9x5xlU-UE-NDw37H3VcAE0WjJCUgO-1D9qQuhQItkxpeYguo6K7G6kZOelgZJyTXIQVTZ0dVW8wmoeLKi-S75tOiM7FwdA_fPoiy85lEgPzLV9m7yln3S_a2WPUfAnEJOWggV2rOdEaYMuX2lm-JHOQt3j636NPGJCJEzfJrGBJkxEX_e6svyGxDww8ix1rLBlURMwL-dhm0r9ZEQjZFRfpfIZYGWKwyRncp6-M0WCEAEkUOw2cQs71IoCobfaRjS6k9WJ8vsRs87l5zQeqgdABkreZ4_PSkb75ejz5MqMyJhw0TGo-vH6Vjd4cMDHvmFCKTBr_ukdM2PMQjPohy2C3kiH3MnzovNWiahYpOGN7DFnfpad_ntsIIRbFqKn87Hs8sgVlCEJFyOnxB6J8zzHNe4yK57BOWA6f2mvOu54tcJaEc6yyqePPTfWmcq5xLYcJOU3FoldxkOkZB-SQbiYJCfFpL5_LGRIwpD5kFX53MFIROrrIbjGcoP3KhLA4H00ZxjX_y_gfOULM0igJxyNTMM2GhYNSvO3EXHkaJFmMuKO3yRSc51rJ3sXYQBYpRrkSbCM8gdUkBUtH5qDCWmY-xLQeL-HV6oXjgeKJo5N2fhX0DK9VkDXUE6wL7XxOF7j0nvwbF6aSsMBCWQodsR8UKqAsUikGMMzykSACWv3FEe64kwR_2NDPfaaYTMol9o-AjtpIHCZBk9oE2qT1RkYhQJFrOVBby62kfRLkNO5UkbyHauGGBi6pjjnQa5mpIwpEpqe7sPZAFHiiVkc1EJ0el2XvtlAmMCiKoiRpH_dRIZEVmKVq9bfMaDcgkkUKJ1VffdaXMY7zQLa7bpGfwyoldIZ1HEy8BvI82cjU6UVcb_x9LJVqbap3J-mHZldQZu3lbNLMB5KnmolFmfuH8rnSaYCkyzr6Mn_cXuV-lbNPzlXzaqyJfwVfLL_npj1hc3Ygpu8PWcO2_O8uP_Y0D6q0cVpZENQhY6Bh-qn-Aq0Bv7jooF6Vn7WmfuazGOEU_zR6xWm_EPaRH1Pj-fc9sAOX13aqCXs7F5_0ilvFIkwJJ3IuDh-McE2i4h85EJ4SX-hFRRdnRi4nEEwYQg9KhyDYLEDJaDFnWKpkyjdqbBcVetniKG_AvduxavrQfNj7bywupKj8CA5zmq8CkPx3mMp_uhRrHnEc4TlgLVm",
  "id": "rs_09ce3b369e78e0c4016ab41e5b7ec887d0afda1a546a6e8250",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are at table height with the thick portion of the cap between them. The right arm has not yet reached its requested pen position, so I’m closing only the left gripper now and will check whether it actually captures the cap.\"}",
  "call_id": "call_H72ir0C9jRyTLvMF2zi094Pp",
  "id": "fc_09ce3b369e78e0c4016ab41e5f6ed487d0ba45a004850d498f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H72ir0C9jRyTLvMF2zi094Pp",
  "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]: [-0.6025, 1.9053, 0.8768, 0.173, -0.4984, -0.3996, 0.0087, 0.7403, 1.8835, 1.074, -0.0521, 0.5415, 0.408, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.1725 left_z=0.0126 left_yaw=0.0219 left_pitch=-0.1588 left_roll=0.0853 left_gripper=0.0087 right_x=0.3971 right_y=0.2443 right_z=0.0593 right_yaw=0.0563 right_pitch=-0.1479 right_roll=-0.1034 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.2376, 7.5692, 1.6093, -0.1636, 0.0611, 0.6471, -0.3214, -9.4017, 5.9692, 1.37, 0.1929, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711c0ce4cebdffeebbca944599dcbe4f97647cea8b9928f26d39ab1928ac5cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca791f58aa3953a045886a2c11a76738df646b274e4d6488e533ba61059d147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471412cc75e92c232b4593ff38e6b1e8a52a7390c85b13556f391ed4c126b989",
      "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 · 7.962 s

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

message 7 changed as sent

message 17 changed as sent

message 21 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6476, 1.5089, 0.9245, -0.1661, -0.5217, -0.4034, 0.9998, 0.7231, 1.6505, 1.0695, -0.1837, 0.548, 0.3969, 0.9991]\nstate[eef_state]: left_x=0.3778 left_y=-0.1709 left_z=0.1383 left_yaw=-0.0103 left_pitch=-0.0641 left_roll=0.0337 left_gripper=0.9998 right_x=0.3871 right_y=0.2236 right_z=0.1381 right_yaw=0.0469 right_pitch=-0.0699 right_roll=-0.0545 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.7487, 9.6479, 1.8388, -0.4078, -0.0513, -0.0171, 0.0889, -8.2256, 9.5658, 1.7363, 0.6129, 0.2759, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6029, 1.8874, 0.8711, 0.1299, -0.4938, -0.3878, 0.9997, 0.7403, 1.8835, 1.074, -0.0498, 0.5457, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.169 left_z=0.0115 left_yaw=0.0148 left_pitch=-0.1867 left_roll=0.1096 left_gripper=0.9997 right_x=0.3976 right_y=0.2439 right_z=0.0599 right_yaw=0.0532 right_pitch=-0.1441 right_roll=-0.1041 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -9.6342, 8.0615, 1.7265, -0.2613, -0.0513, -0.0171, 0.0479, -8.8547, 7.7744, 1.409, 0.2515, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.9053, 0.8768, 0.173, -0.4984, -0.3996, 0.0087, 0.7403, 1.8835, 1.074, -0.0521, 0.5415, 0.408, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.1725 left_z=0.0126 left_yaw=0.0219 left_pitch=-0.1588 left_roll=0.0853 left_gripper=0.0087 right_x=0.3971 right_y=0.2443 right_z=0.0593 right_yaw=0.0563 right_pitch=-0.1479 right_roll=-0.1034 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.2376, 7.5692, 1.6093, -0.1636, 0.0611, 0.6471, -0.3214, -9.4017, 5.9692, 1.37, 0.1929, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711c0ce4cebdffeebbca944599dcbe4f97647cea8b9928f26d39ab1928ac5cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca791f58aa3953a045886a2c11a76738df646b274e4d6488e533ba61059d147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471412cc75e92c232b4593ff38e6b1e8a52a7390c85b13556f391ed4c126b989",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5lX0I7gZEXn5-LW_kNDriecw3qrSXfghJOIN8YXvL_B21UZDEJ1n5H9zI-vDxupsiWoKAPyABlrir0oPvIpm7jLeY-7QXNlEiafIM63tL9tttWBzvJZ0UETznVFng_Pq6EU_C1YdWJRoBZxDqV3A0jxzXjrnAqiJPlA3tl7WGBtlsnDGl_YMzp5sU-A1VoGLqcvASehj6YQTHto-pd-DpHdhMEHuxpcBTZpbi75HEPwhJRXz0c-ieFRFV1wX5vpLB8CW0IyFBzkAHbWAgxABwaueVW523yRUyROTjYy6SpzsEV-yhvqwHsbS77ljPixo2FQWMW7jmAUrY54RSYRkFxlkSox4RqGmAuPE8kf0EUbCfgEikZdsHMkS2Yw2Ma3e_DVEFUI2ZcULjoTqYKeZu3Q2tPqvB4UOM_0W_4GPCAJGqlVdVoS2NeN_L3PErefNjE2XC8Q2HqcaFPqLPKQa3j_OTlLPurmiIkDjRBTzs2xwFPfGBGRVn-6guBhuLquHNyBSCD0W1N7vIwBAJc_dpqY4z93G-wptiFtL8XilCKlzaQfSez916fQtWr14nYvElcvZVol7d3lFzHXxN13Q4j9HaThxWf5rT6DpqJCq_WX-OcPXnBUmtEjdtSU-KUa_jnHy8MRe0tNjdUtDi7H0tMzHeqZP0oKEn7IqdpUfYj6JfR-YeZBOwpbldADWSxpiZO-JYaqSGHHrDcYmdfB5n_2lf3mmZS-q7Pwg3DW4BQx_7tL6skaDhbx281zCkGA6dO5TZi0EQdqu1V3nmMLTeqCVpddEvxtOzG9Mc09t5sGbs32_NxXdOD3aX3gzhkWxyoYfoI0thpEsb_M_SrU-Bf2vpt4aC_pXfeE0eBcpNO37sKViVfzBAKeQYrlJeKCb5Ib54KG2tkg5yJID0QTVyUMrR9GjfD5vF3Uabcg4H-AngqnTDI6rjkSKvh9eiOFvf1j_u5h8CJINbKyWyJG_w9zAV0CtUxEJXXoRvU4yD1JIKe_F95XvZc83HvTnvLA4q_LYSFc0dbLmTXn0i5syV44HU6-yYmTLhQTHEy9Xu1F0Nr2emDa9po4yHwjFJEEsoL5wWS6VTO0XsVGoLhvus85EPht-vHMLF1T9h4F6x7NmN3ABuA39F6ipS_pkUEp1dB0GTRMpu4Fs1BCOAlSsnV5CHn2SVxXZS8byOsP5ki-6mesyd0GVpNkBgEU0hJewK2fZqUn5e8eC37f8jmIhvjouIUtxRGcPWCVm7WPLlXMimjeoqAFVxc5JYZ9r5g1n5Z1gekUeFWmJDMJvhaE_Xdez7ZCPV8ZU5WsZhQIlNGg62cUFjzFIic_5_SKjdhnY2MiambJFJpw2RnRZ9HcZTl8a5jfZ-WGzqlzVbOUi9UyEdxct5P15Rg7Yy1dXK0TLirkcOyzfPgnqgpQZeLAvzI9dY5R0KXp1sMNvOUFj8Yz9qevw8ZcJuf8y-nrqgPKOG-VpzHCkvURc2yWeZkBUmEaEUPAxvyR8PWkDWmDGu8tnDHzQy3ACl9EY8O9ZSRBveEMPaXGqlYdgPwGni4eyAQMaSiqCOCthnoE8c4jdlYAcJDtlBdzC042bkdj9yNoerbXDODtBT3Tuz-syRF75R455xwcovOuksKvMVPnXtjLd3paSD2oalxyeIG4oXkyIlLqFBGhKxgxQA1Tzi6zFzbj-AB6yv-Tl1-dc7po-sLIzZCNdRoCNxG1MK1BRAPsEl8JQzcKkI0MP26dx7tjdsF9wkitxLRMqc-_uvyXZfWU8CPSQarnT1aNp6HYCKK2BiirW128MZaWWL8OBWcmbGMy9qubp6k74yKE-c5GOCLRrINimwdvgmWI3uO9Weybf0by0Wh7KIYpZYM8QW_FD7S4Mh1IePDsA6xNNmyquS4jGZrHp8q1kuyc_td37UzStT9HHy5KVrym-DE41py3X07I2Cr25RQfgcnBdkfB33vnJi3wU2pX68OlOvZD9-Ps2ZF_xDKIKeZ0Ul_WRUOxkZfgLK7hwTZ2MqJM1-7-Q934EMzKWc-NL7eBikvJr4V7TGsl73k_2TOGFNqM0HvxVagb4yEcXLIlzUcAme8kq8tLcjYwajwpJzfPkC947mIeh2SbUW6CsAhTgBusas_-zIEqqBASn4VSGETRFQWbKIKhWbykQrUkBDuLsdnwIE3fSkewpuigzA4GqCJDRTU34PeyF8Dbtox1mCJohsUUAGZddZ-JTKrG3QBvk1ByS47htAGt4q_-0o2KjXAZYOfwqUaQaZrJJpctdWd0dLDfVeKfrEOhj93o959apt_8KSgDi2kM1ZoePLwOvsjpTYUjUpePIFWIlxBSxduaokEilsyvFc=",
  "id": "rs_09ce3b369e78e0c4016ab41e62804c87d0aac1d63cf5eaebd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_gripper\":1,\"right_z\":0.13,\"right_pitch\":0.2},\"note\":\"The left gripper closed almost completely, which means it missed the cap; the pen is still on the table as well. I’m opening and raising the left hand to see where the cap ended up, while lifting and pitching the right hand to get it out of its stalled low pose.\"}",
  "call_id": "call_abylgBa7xmeiXk5qJoSSWZWF",
  "id": "fc_09ce3b369e78e0c4016ab41e648eb487d0b034e2ebb6a88236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_abylgBa7xmeiXk5qJoSSWZWF",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.75, 0.9741, -0.1268, -0.498, -0.4107, 0.9959, 0.7921, 1.7962, 0.9043, 0.2955, 0.6964, 0.255, 0.9991]\nstate[eef_state]: left_x=0.3988 left_y=-0.1676 left_z=0.0663 left_yaw=0.0327 left_pitch=-0.1966 left_roll=0.1052 left_gripper=0.9959 right_x=0.394 right_y=0.2431 right_z=0.101 right_yaw=0.0751 right_pitch=0.1127 right_roll=-0.1402 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -10.1538, 9.1966, 1.3651, -0.2857, 0.0562, -0.1197, 0.5812, -11.8769, 5.6821, 1.8828, 0.3297, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629bd3d44a17d3b7127d300a4e0fa966d18edc3f4ad5376b01cf4b5dd84c9597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63def2c141f7136322853c2c50dd8c9d98a5e4764f78bf122febdc87e80ef029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4733e87a344f92f576102b695d2f4d78e4a6be176242a5415ae0d8c93d02e274",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.797 s

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

message 12 changed as sent

message 21 changed as sent

message 25 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5991, 1.6794, 0.8745, -0.0017, -0.4961, -0.3847, 0.9998, 0.7361, 1.8339, 1.074, -0.0727, 0.5484, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3944 left_y=-0.1632 left_z=0.0768 left_yaw=0.0116 left_pitch=-0.1207 left_roll=0.0668 left_gripper=0.9998 right_x=0.3976 right_y=0.2407 right_z=0.0784 right_yaw=0.0493 right_pitch=-0.1222 right_roll=-0.0886 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -8.6222, 6.2154, 1.8974, -0.1978, 0.0855, -0.0171, 0.7316, -9.8667, 6.5709, 1.707, 0.3394, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.9053, 0.8768, 0.173, -0.4984, -0.3996, 0.0087, 0.7403, 1.8835, 1.074, -0.0521, 0.5415, 0.408, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.1725 left_z=0.0126 left_yaw=0.0219 left_pitch=-0.1588 left_roll=0.0853 left_gripper=0.0087 right_x=0.3971 right_y=0.2443 right_z=0.0593 right_yaw=0.0563 right_pitch=-0.1479 right_roll=-0.1034 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.2376, 7.5692, 1.6093, -0.1636, 0.0611, 0.6471, -0.3214, -9.4017, 5.9692, 1.37, 0.1929, -0.0562, -0.0171]\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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.75, 0.9741, -0.1268, -0.498, -0.4107, 0.9959, 0.7921, 1.7962, 0.9043, 0.2955, 0.6964, 0.255, 0.9991]\nstate[eef_state]: left_x=0.3988 left_y=-0.1676 left_z=0.0663 left_yaw=0.0327 left_pitch=-0.1966 left_roll=0.1052 left_gripper=0.9959 right_x=0.394 right_y=0.2431 right_z=0.101 right_yaw=0.0751 right_pitch=0.1127 right_roll=-0.1402 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -10.1538, 9.1966, 1.3651, -0.2857, 0.0562, -0.1197, 0.5812, -11.8769, 5.6821, 1.8828, 0.3297, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629bd3d44a17d3b7127d300a4e0fa966d18edc3f4ad5376b01cf4b5dd84c9597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63def2c141f7136322853c2c50dd8c9d98a5e4764f78bf122febdc87e80ef029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4733e87a344f92f576102b695d2f4d78e4a6be176242a5415ae0d8c93d02e274",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5ubWWbJsmsL4lOb2ZNR771GvxqPpEF4-QOaWzDIXVvMI7A_i55b-1ize0FxfcG3o39yxHbDIbQ0iXhgcqwpxQoifRSr51fiRysVK4dzHgMAhT57OvFiN3kdUirxClVg1r0cTPceAvIqFymh7NN43nVeqEiUMVvKC2DGDYsb1ddMapqI_T921NGaEZpu7UZSUJWu4w9atXgqs0akXqTTah53TpPswayLWB4IJTQ4XZwAsrPJzMlfe2o1H8NO4poSqGuzBiW5A-9GJ4kQZaEMlTUcVQGbN1DuqNnXEOPtdgrqv1uKGYKlKPy95DXep7sdP3kLP7ahVemixuzjbkJ6MaS3nvwSoS07Z4b3YnACQB_TAZggIxxSt_kZuJ8XOm941WSXUdcQCj4f0RdP7ikcYLpToVm-flhJMvHYVWddGQynEihsGQq2vM7UpyojlA8_Fo6lNVnYEg_lmiPiy0Mz9bnjGT6FgtDhtalWYT73p_omzg5xFnI5R9BKDqrd3p_1Han-kknS-ta6jLrTbbuunYiyOqmjN5ZY-uNPfIabGSxgaTxqUHInBVWzGRYwfKlrkwr8qApm5bs4_29usv0q1aPtGk6t0AHhQpKI4YeXDkO9HrCyySj9sh8F_lwr2Sm4hNWpuW2jLPHwwOCqwqIhXA5wnMepw5m6e3t8eHMPnsDNUwMlysS7MCytKyTO7iyP85onsSNond8k1Jf8oh7qAltuQmi1Y1wgOcsxktyzDPvXuq6Z8-IJNd3jy1wyVD5lXsffV-VH0_SmHT-eyA1707OGn62Z12XuHhEMZ5Ok4Z_njpzyk9cPblLtZGpmMBHJXCCed9A-4GYj5rSXKOnUg41t4-V_yjMBSPTN-9dX6XOT-M7sWkuYb5461g6bMzSFqV409qrj532C9s-8eZMp1Rt2MGupw8ppdoGLbKAg_zUJP-GlJL1VE5zKvKscJagoYRQWf9KMabkLmhqNHuHVMD-QEC8AEiOYsze1P6E-nzLGtEdmzhpxjyoqKAmTUDL38vHQY2N6_8udi32bnwF-MuqkGzmmww3jBIAMLtghMfrnEq4qjlqy4tNsJwft2mEjjp8VMWBwlJtKH3cBpHxOowDlarcUmrbGcadHeXHA-1dhKKXawZjlnI3KTVdwtX8NrXHReW58fPLzNnYLy0DDq3mqBR7Dj0bY8An-2p1M5_QXzKLNlmmHyK96PpI-OQ-BywF7h7TMAgcfEYVOSBa5VM5_ZK1Obv-J5ZdWL9ojt8q4pFTIHIQdJOiI5JdAGwAWswmPSJaTy5zzLMJnE7mX98L4128spXkvukj1LxKtzyrLGykByQvipeSyup6OmCwoTLMEqb8omyEhqPnUmonp_4u_7CasecS51KYzj3DXM8wFh6sEHHSt4MrM5VIyl7ABf1Ro4n9ooIgnBsNhw5PVjftYJFWgxrngEJWB4cl3L5g3uFt-iY9eIsOo3ujSuWsKzef2XXwheQbEIIG0sBzcZhZrHZew0hJ-oOkrC6F2nO_rmUzr8axEoD1xSukTFz0ejK3JcO4WMOF_yrpyCmHrYx_QNjzpeKuz2l0sDuuvdX9Apv_bSVR9PMLzrht9jcAmbi6lytL0ZqHZDjVUtNOsFowZlN9F9O_AThPYfyPDMS4Kaz8EzjidK-1boRwFEHEPJdeoQMl0_H_6fTI_RcvsuY9c8f5T94ygwn4fDyEEwaj4JBjg2tNqcFBRTimkCeNyGAZ9NOhkR-hc_xTRHrY8xI0TkzcLSOs34NpHMP4UbJbGhFnvYwB0DatG-Z1HxtK4AN-Z1UM-3or4ZPovzCvaDYNlUo0PPCRIBe5KW8GcuyBxARZOZpSpWGD88HDjtRuV11dsq6_yNnG_7iFJfpjAQIG3ymGSKS5rMWPAz0P2SpZmxGGHTpSv9bxKhkuL8Isf-2Ubhq5d-o1C_iw76oYdowOj6SCivRt_z7GwJ_SMzhV1v-1iul7LSTzw6cbANtPeq5F_quYfDWCJd6z784MHo-OjZtm6VeYgmVCH6Fbjtd9ZUuCsuh06X_ZEk5TTAZ5dWjj81V9p1v15KEdPqPUsOm3UKpN2hM9lkP1YqJD_8jHlH5NK7RWrG_2LqmqeOn_0Fkda4_Y-SXGn0eFSVcAvhD9_9JdrB58j-Qms2YbGwX99UbsNoiGqTNzzfBta7zBHOW_e1Lq48XjjSbMLyn2KCrfxBT2caDTA1zyqwVKdrZVp013EVe3OZF34q5L63qhwCFXTvF1mrXGpRtaTbtFCE9D0z8-3UO1zyfGal4wTfDzFCwAdmLqV6TiXBOAnIPKj9ua2Wm3XaE32eBuRMkXE6cZFp6rjoTIACCOKYs0mHZQGPTQYsVF34TLjvPjMKUFIYmXHVLKLEH3TpdnG35BA9dF_lRRUJyE_HlFF8HvJcftxJGSqH4B8tzcCOF1nIeB53H6_yqG3_MYx8Ihe-xIVT2-N_YBjvlXHwpcdtpqDskkTAdrgpuLEz7p8nQxnsg0k50X6Qn3Afk5sgivJhNOHND1SphQOum-QwOjUV6lrnlF8qkk_8NpcQ0b-ouGq-7rn_GBIN8tNexma6bOuyG62nc4pOpOpZRwglF0c32lCYSYt1Y79tDItMBDv9WxnhlL4p80v9kPe1Qh29QTvhU04TXUg0YhBG-1Osc9ZPbiTAVL-Yh1ZPYqFf_NSUNv7xAW5X2qpFk2HwLS3mWUYzGIJoqHgKZJYWV22Mhr4lV6T8QFEmlxGvor7aN3T5dCEoz4oB9DBF9b9AlP____09zNNj971Egas3EPjbcIbbm7I4PMb-rBOjyVRvBSUlvFZFz2l11WL-CitwhSZKHTwkta76FKIoCCKCWOQDEgLJREUq4-UgsC1CYJZgjYGXX3AKcu9Njwb_Dernn-dRim6H0qzeLWdKQa4rJkP1Tm8lL_e-JmttYKOp42uVFWPIIjskcLvLK9qbly5MNFEgPf-PL0FFGe_h6_3skAaMDO_ORtowedDqBHKW6aAbgBHXfEqcH23nhBafAe-Q1CPkUlmzb3Y_ZCPkonGUcGxKBlTcycGjYUbpKlGx0d-bDaRE1SeAHhe9Ak8XEeDzPkTk1YZ1XtL-_ntiqUHujvRl3hD0pzF6Gq2LA_wIjQsvg-nJN7xnpAUUnn0XO6RkANQjzDB6A98saEweb-4UPRkRTVqsYbCnePj8dbabUM96GTXtQoBU0vWGd9j4w5bGNVnEPJAdyUW4_M4Q_xHbzbpMFxD5TTq5XLiiGKPVTPHFQC67duI5DVL15ztdG78TgSbTvpoSOQmtROoK0LNBnYilJtlekEBwlzgipr05IhC6oV0bvVKALL9iH7NJEGvH0eaDOugo3mC0D2nwkgaoBz6OtLA4FvjrMiAQDwP_S_hKPfm38Tzfe55ntZ-sZUcb0AU0sIfngURiVetwF_R1jREaPtzGGmLduXTR2YQGjt0wLcwYs3fMW8xtjpu9hp7L26isSG31HF9pzcufjtuC1gV7CXLte5yZ_Yz8arNrRsMT_hg8UvmE3Ufa2rUR2btZcvUOpdPjbs5M-STtsBFyrQFOZoomaJ0W5bSZhvbrLfJBhtgoKTP07NAVYZZN7aD7qZt0IlfNPaikXA3PiegsS0NTFujPnd1kRmYBQS9FVa5yqsLB5GUlY7A4K2YkInrQhxYUhJrDFBoFyabnbIfPEuZxiPhGnAo08wnOp3gLoRTh3483sFVB1vQ4FDdvh8tV3iLg7kkdV8qDAsfbs6hH_i_ZmyqVrqEwp0eGf96cduxfPikKanVVXfmBncTGYoG3Zp8rs6TXOKw3yQP60EIFRRG5bjLdmD9NgXKdKaePVCW1lF9gcIsCJqjzA8",
  "id": "rs_09ce3b369e78e0c4016ab41e6850f887d0951effd280c8d811",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5uq2hMgxkAU1knyK56JEDgiHt46zmoT7eNTpvClJYKfm4n6jMReyd7nv7I25SF52WibraklgNe9tgCW5a3fSdDRTSJNXizEr7-4KwyP6ZMVP0-9I-3ktfEPnbdEun8TV739MDi7AIdXf8eWFTZDGhvesImUJ-lcxrpeGoIiSXN3Nt3hCekGKzN9rZtUbC6zVQii10CQxebYOXXp5ssbDz_ZVNm4aXzFGy0L5LCXJQpPDr3vx0nhwBt1k1Qqbd1-__RdvSXgst_D7bbSV-P0wk6vu2XTy3A04JTsqBZ7muh9iBJ7tNqBNKv7pk691U_obS3i6WpmFb-9wklxNmDF8tgcloT99GdG9G6DYabJi6pZDfn2zWGv21WDmNoda4e21t4o0tz9BarOxyxeDUogyvPJ2kGQ3TFKkxHKBgSA35EbQmt_RaPgGS9KA4F0UPdMJRTGE7pm7vyumksxRaIuni9H23ci6VqDkdnbbJ1D7DpUf6YPUxk7162ATPn5VTSz2u4ng3FAOnpYtVCOm4jv0Zl_VhQcnV89xGGcGLemGwur0aF9PSs8kT4PmdsMMi6Hh1oM-hEUkaQmlDem0wf1lo5yeNG68ffwJEw7eoBOov1I5mTuq-WqN9s-i2o0zpH54DHEpErm1nSxqEM5vuPAxU9sLqiU0Cb-IKaEGG7wh6k3lSll6pqvLXncHIByDt3aU5jAeZNgxca_2bQ5_KMDqH2wudHkFLonfSERwHoln3E4xlrn64nLnPlS88QQ9Cej3OO_z_33PhoXcbjDWI7kLyBmJHXV5UZFfp3lfkxf8ef2qseNStiLkyLIFNQx-vQIf8o2vS0OkHZjLouO9gB2sGia14XhgsgxuBNWOkJasos-_qvelFf7L4MrLwV4gDDqOEffRrf6AeVDEIcv2vAKXPE7FMDknoShY0P0ehZa0oIhRYwHyNYOGQ1FrE4gLPx5Cvfqv3O4mi-HcMtuYl2Xd4bdykV3JRhnD0SogsdjcWWCP8G-T4Sn0P4m5deOjfme5QHgI9vK6c_reyAH812U2DMSjwHQHV9r4UNsgwR-ajy13YAzPUT1z1SbK9J4HFZK529FRI_rbu6OxFEtrUDE9FmGKWcQIr5VpmD9dMm4S1i5eLtcD-4ma7LvdUO8lFRNjwVQxVilMwHbhcxqyoohx-7gXdV4yYD7xn8YoirnM2wTOBvGJ9K5KXdJC7yt2P4NNdQnRBf81hw84dywERQg8f22s2o9qvLKJlSNcOEIJI1MEVXvxdiUFLjLOdaDCnxPzbK",
  "id": "rs_09ce3b369e78e0c4016ab41e6d4f2487d0815bb52bddb0b45c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.18,\"left_z\":0.09,\"right_x\":0.37,\"right_y\":0.275,\"right_z\":0.12},\"note\":\"With the hands raised, the cap appears mostly below the left fingertip line, so that hand had reached past its graspable middle. I’m backing the left hand a few centimetres toward its base; I’m also backing the right hand away from the pen to make its stalled sideways correction easier.\"}",
  "call_id": "call_SALsoGRyozPJ9SGkc6GXl8bN",
  "id": "fc_09ce3b369e78e0c4016ab41e6d8a3c87d0bc883b9540a28694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SALsoGRyozPJ9SGkc6GXl8bN",
  "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]: [-0.664, 1.7153, 0.9798, -0.2195, -0.5304, -0.4522, 0.9965, 0.881, 1.7962, 0.9543, 0.194, 0.757, 0.2974, 0.9989]\nstate[eef_state]: left_x=0.379 left_y=-0.1785 left_z=0.0719 left_yaw=0.0245 left_pitch=-0.2191 left_roll=0.1286 left_gripper=0.9965 right_x=0.3742 right_y=0.2686 right_z=0.1069 right_yaw=0.0988 right_pitch=0.1022 right_roll=-0.1633 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -11.0701, 6.8855, 1.6581, 0.2759, -0.0464, 0.0122, 0.3487, -9.935, 8.5128, 1.8486, -0.2369, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348424b2e90393f85046d548fd2736abf95c1c89f29d1910923b481b2ba3ba41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66296bb76b98bb464bbe22f8fe540141074fd97daf332269e68f13d133051fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b715c8e57a945aa2db096b3bb6b61852125a62634e6645784a9ae66503a9a0",
      "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 · 4.642 s

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

message 17 changed as sent

message 25 changed as sent

message 30 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6029, 1.8874, 0.8711, 0.1299, -0.4938, -0.3878, 0.9997, 0.7403, 1.8835, 1.074, -0.0498, 0.5457, 0.4084, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.169 left_z=0.0115 left_yaw=0.0148 left_pitch=-0.1867 left_roll=0.1096 left_gripper=0.9997 right_x=0.3976 right_y=0.2439 right_z=0.0599 right_yaw=0.0532 right_pitch=-0.1441 right_roll=-0.1041 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -9.6342, 8.0615, 1.7265, -0.2613, -0.0513, -0.0171, 0.0479, -8.8547, 7.7744, 1.409, 0.2515, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.75, 0.9741, -0.1268, -0.498, -0.4107, 0.9959, 0.7921, 1.7962, 0.9043, 0.2955, 0.6964, 0.255, 0.9991]\nstate[eef_state]: left_x=0.3988 left_y=-0.1676 left_z=0.0663 left_yaw=0.0327 left_pitch=-0.1966 left_roll=0.1052 left_gripper=0.9959 right_x=0.394 right_y=0.2431 right_z=0.101 right_yaw=0.0751 right_pitch=0.1127 right_roll=-0.1402 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -10.1538, 9.1966, 1.3651, -0.2857, 0.0562, -0.1197, 0.5812, -11.8769, 5.6821, 1.8828, 0.3297, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 1.7153, 0.9798, -0.2195, -0.5304, -0.4522, 0.9965, 0.881, 1.7962, 0.9543, 0.194, 0.757, 0.2974, 0.9989]\nstate[eef_state]: left_x=0.379 left_y=-0.1785 left_z=0.0719 left_yaw=0.0245 left_pitch=-0.2191 left_roll=0.1286 left_gripper=0.9965 right_x=0.3742 right_y=0.2686 right_z=0.1069 right_yaw=0.0988 right_pitch=0.1022 right_roll=-0.1633 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -11.0701, 6.8855, 1.6581, 0.2759, -0.0464, 0.0122, 0.3487, -9.935, 8.5128, 1.8486, -0.2369, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348424b2e90393f85046d548fd2736abf95c1c89f29d1910923b481b2ba3ba41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66296bb76b98bb464bbe22f8fe540141074fd97daf332269e68f13d133051fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b715c8e57a945aa2db096b3bb6b61852125a62634e6645784a9ae66503a9a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5zMB69CqiCx3BEIKIdYqZ1qg5mOthYlyqlZYLWt46ws0N2QE5XzpXp3XuqcmYGTJeg8-faAkBVTZuLcYIp8SxODCRHKN86X8ZVcTDOoS0HMA9iNfygv43i6gKHdtW2_Px9n_c5WrUMWJGhQIHpoTSMFhFizVAoGNI30hXrCNWyzc_dDd3GSwjF-mOA86JnLstXMjzP4xiIq2x4O7ESfyRlWoV0fNEhwU-VXCsZeHzA5byAMZQsvnxYS-6xlw3Hb28IA29ef4uclYZJH6cZrzracFsHykgEBMSiaL5eT01FkNJx8xVI6qg1Bcvm_7IU-zFFphINkD2_Rn0nFulT0rrdLRehTVqQZaIIK2omC_ffV7hQziPb4WZdmoqqP0h7FdatlS2AjtXzBgZw7UeemcDUdHXWUAmxK-ukyB3M83cbmRHpaUdz3vpzv-C4EZ3zPima4eUVbhBEQFiJdeZ0DiHHWWXyKuBxX_R_p6AwNgHz4Lc1d31qVVhDr7CUaMEXdrlcpgwCZtRcgWi1VaGhB0s24cMkrRfsgVxCll_LZrOL30PCt4Sho0jb93DwMpcVRr3v8cWa4bjdC2f2lPxws5I_6K4CUOyooSU6RArP63NDGArnYBLdVBdOvV-Fg8BYymr-RvSTopsYNE_sKJ1MH3doD5wui3CyhCHUcrZaN970HlP4fIUBX8kj1DZWpTDGuTFUctaCoiXBufRIKfxHB65PpML1Q5fuYrcMKlTUGp1Sqxx64SaJyLOJoSRqAYU01C8KVp2dGgdWVDt-axNKxqF0WvzFY9zeEKNqGGCpkpT-0eFatUlDUJjD7KQADfTmdXzKhFqg5TRO0HjrEnKEC8oXgz0Qbi47Fkqd67Fesf_htR-WYGdk5UPcrl7NVCbmIwERqv5Fuf2UTyG1IyKvPVaQs0tgu6_htMDtiWHeQBoCBhgzz3q8iXxkni63BAGo-QXQ5D1Z1JZxVBdl1LIuVPZsXsJTpceqzQ3dW3yQdYaV8Buqkq0KPA9_fWz-nrQUxSrovBhs7vk5k4cPm49gfEvdbPy2Kg2joEadLdgbhomsB8ueIwG0ceTHpuiuSI290w_9QGsigdTjrbIcNkMM4KPotKZ7t6PdS9KrojcIT9wrHTGPaFYvh7bWtBbEuIhac9at61beL34XEGaAZOvmnEA3Q7d3uoM4h9kgsKP8mZPKnNXBFQi-H4Q8WcAMV9N5iDq_V1a2oxgl2swEQ4jQyg1x1SK-QPkmlWeuCU4X4LfcEeHTFzrS8UXtNAxjAKJs6_hBHZFegmkIT8kxPqwoww_ARtX-UipYwWCDQCy26m0zmJy0EMiJaZkGmxCAlO5Je-PQcI_aNRLCXClKJDrUblX8b6f2ZVskYf0TilCMqSWjqvXTA-upLSCATuHrlw8ZJuxrmP7jpMVgSLHC9Wbt3BbyGFHoQmNVcoILl6i_QANPUbbQB3bTtP7_DkBJZgTHlwm6-83sPQgzmlgkdHdms1NKqcAd-HITibK9UklsAiF4BVHy2JN05y5rru3mXipkQh-_H-heyqJVIPuV1iFnY5T_VT4wW69UTEcMkqG1dJRwSnXPv5cWTzYmMfw5wSha3rlNY13Zhdo-lU5Jgb2bJ1h2wQGGhdFMYn4eojvq8xNGbKd1-ddXQGv9w_pTJ5-9oQSkroySgIv9Sd2i-9XvNBQvoyemNdhXkoP3fv5fG-5NCm-ZNv74OF3auT6BZ0B3TVdIk1C39EIKu6wwUtZyU1MdeBevvIEdGLl3C-hlTjJN6LbClxGgt6dtIAu5x_K13UEvFevUCBoc6IWQuI9OFHji9pxxAmzpH13NCLscagIp7cnwcJjvn0F5F7JAzeE7Mnlk-lfjKq31KU1AGcpLfSX0DUa_xoMDQOnQbZ_xBXPmXX8_YSYbsq-Lv7Gwm4p1YszDNKklHGoH9lF1_Pu2Uze74VR6LbetDT7pOj5DsmzCZSNbZ8R0C0CEuZSotGkDdgpewdIRBj_GRji7R_TD9eU7VKxjROA4KcajGWE5mOhOGGJY3PsiMYTL44mywajjRFHKEqZ0umd6AjJNVIy1Znw9wZyz2M6UGyVbygop4nYbDrr7VJ96-KTyFtXdh_PPN7LvvX3n1T6QR6KuoEjbLeSY-idEGprnDJrgR6gwKuUpWIdQiBsFCdJ6yQZfejrZfCt-R6XVCO-Ol2ynop3bp4v_-jx8NjJkNBlwmoOz0js-wydPLnmNaXegv6FlJ9sKr7hUvN4bQ2X2GUaa8shEz3yF7clXlZL0UlTDtk86tZP5mlpzIGPXT_CBurg2rpTW7GFLRNAvPo8q-PetF-zl5uBaz5WRYc5qHi6lYl-T6IxcllzYgZ_nBHZuueAnN_gj8_Rn_OuOFKz-RbAqXQpg74r_eHqaFsGLEMlrGMQlFCBBm9MBchrbNQ_rL0mvAXzkNy2nuluNIPDKl5Iql7NnMDtP_6jLYR4SftzrdhyfQNlNc3BNd9NSY7CxrH99kq6Q542aNWQ3GDRXfNRq5YfkyQsSFrcZNuESlYo4YqWs1j4wF4RFAHa2HV2pT4s5FWAtacksIjsVnRVI8KEOXaMub-qB7A==",
  "id": "rs_09ce3b369e78e0c4016ab41e70172c87d0927643c69ed1f806",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.387,\"left_z\":0.015,\"right_z\":0.018},\"note\":\"Backing up brought the cap’s middle onto the left jaw column and the pen’s middle onto the right jaw column. I’m descending nearly straight down at those alignments, with a slight forward correction for the cap, before closing either hand.\"}",
  "call_id": "call_N6JbSvbllw3GUxPLnuSzkfEO",
  "id": "fc_09ce3b369e78e0c4016ab41e72fa2087d0bd993b1c341ea3f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N6JbSvbllw3GUxPLnuSzkfEO",
  "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]: [-0.6689, 1.6936, 0.9787, -0.3046, -0.5522, -0.4706, 0.9965, 0.8822, 2.0144, 0.8635, 0.5148, 0.7589, 0.3107, 0.999]\nstate[eef_state]: left_x=0.3673 left_y=-0.1677 left_z=0.071 left_yaw=0.055 left_pitch=-0.2548 left_roll=0.1728 left_gripper=0.9965 right_x=0.3755 right_y=0.2706 right_z=0.0336 right_yaw=0.0905 right_pitch=0.1123 right_roll=-0.1436 right_gripper=0.999\nstate[joint_eff]: [-0.7179, -9.9624, 6.9265, 1.6142, -0.2076, -0.1148, -0.0171, -0.1162, -6.9538, 3.8906, 1.0623, 0.1685, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e437038c97d3433cca0f40f9a51f897deff13f937c91b2987da34d8eb6f31fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fc24eb0b1aced10ea9ecc47e33fec2c13f46f05dc2edf0bf79d2dadcee0edc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c6472183480598971fa838600866ffe85c7ab95276c004dc227d6e0d6f0432",
      "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 · 5.181 s

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

message 21 changed as sent

message 30 changed as sent

message 34 changed as sent

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.9053, 0.8768, 0.173, -0.4984, -0.3996, 0.0087, 0.7403, 1.8835, 1.074, -0.0521, 0.5415, 0.408, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.1725 left_z=0.0126 left_yaw=0.0219 left_pitch=-0.1588 left_roll=0.0853 left_gripper=0.0087 right_x=0.3971 right_y=0.2443 right_z=0.0593 right_yaw=0.0563 right_pitch=-0.1479 right_roll=-0.1034 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.2376, 7.5692, 1.6093, -0.1636, 0.0611, 0.6471, -0.3214, -9.4017, 5.9692, 1.37, 0.1929, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 1.7153, 0.9798, -0.2195, -0.5304, -0.4522, 0.9965, 0.881, 1.7962, 0.9543, 0.194, 0.757, 0.2974, 0.9989]\nstate[eef_state]: left_x=0.379 left_y=-0.1785 left_z=0.0719 left_yaw=0.0245 left_pitch=-0.2191 left_roll=0.1286 left_gripper=0.9965 right_x=0.3742 right_y=0.2686 right_z=0.1069 right_yaw=0.0988 right_pitch=0.1022 right_roll=-0.1633 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -11.0701, 6.8855, 1.6581, 0.2759, -0.0464, 0.0122, 0.3487, -9.935, 8.5128, 1.8486, -0.2369, -0.0269, -0.0269]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6689, 1.6936, 0.9787, -0.3046, -0.5522, -0.4706, 0.9965, 0.8822, 2.0144, 0.8635, 0.5148, 0.7589, 0.3107, 0.999]\nstate[eef_state]: left_x=0.3673 left_y=-0.1677 left_z=0.071 left_yaw=0.055 left_pitch=-0.2548 left_roll=0.1728 left_gripper=0.9965 right_x=0.3755 right_y=0.2706 right_z=0.0336 right_yaw=0.0905 right_pitch=0.1123 right_roll=-0.1436 right_gripper=0.999\nstate[joint_eff]: [-0.7179, -9.9624, 6.9265, 1.6142, -0.2076, -0.1148, -0.0171, -0.1162, -6.9538, 3.8906, 1.0623, 0.1685, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e437038c97d3433cca0f40f9a51f897deff13f937c91b2987da34d8eb6f31fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fc24eb0b1aced10ea9ecc47e33fec2c13f46f05dc2edf0bf79d2dadcee0edc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c6472183480598971fa838600866ffe85c7ab95276c004dc227d6e0d6f0432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB559N8cZAsgMwt7l1L0Cn7vASjhQuV9yF4fAI3ux7ParHVvSCR4Ba0Ny4A4mJaynvIxh3891hWI_AHKT5ShrFsS590r2YMfkoPLV8HVOP8R9jPULcPVVVYeESonoqH8S3J79XqXVQNzB4487p2qjUo1gwzF7s82x6SS1FK_e3_pDXmExZYZpdgaccNIanFX2d5ULszElXX-j4uASTAHqUrM9Ylnig8jQJRpnrSdMdE3pOXumkpcPQxpQBnkhpT9DHw_lE1bKuGjJrtPNlO0cigEIIwETtlr6MJdkK8IGjyU-rWrwxTI_yf6WaxAdfJoGZ2doPENRD9q_PEd951dsIFc9QEXlgCE50Vxr-IrlaEMKVINDzqlJwi0YMomgwS3f7GZ9y7ecFG_MF2Hze67Cu8jhjK79Po76DVAjC4qrPDR87wO2eOmefiIwWIeo4hl8NhgXI4nRSduDkt5aWw3F0ytFIzVlQJ_Jo-8tbXtlEwaXJmSeiSxBe7ajnEd4uaVwtU4KhLXQCjXN7HCAwGmMg-p3-Jb9kfpDHp-BuRjopzkj8nzi5yLUwoFNPLMXZzszVyRlG__A21mcrRK4x_ab_22ti3AKlOmx9jFBwxkjUk8uATMUuXLH-PoKDkHjtPSXARXm_TFt-AHrvWetoa-rsFFulGMG-PPywVokqjkSmdVGCIergus6df_P_E2fnjOgtWr44O_XQJm5MQRmpW8wxlmnD0OF25GHLdTPXBkGCPui59-NXd8BzMknw04Pabe0epLTlX5G7qvdKBAl8vqWA3-nF21cQvAkUVqa3XX20LdwLiC35UUsWTezHqKNHwGn9eiLen-R95mXDU-8-jkr9eQ19kM7Q71HdaTONE2ydlmTLK6UW2SMUVSQvOIpZxC_PY2PEiLeUDHZ_JjLZ5OP-mKnnILYZz7nedCA6VyusZhOYVmH-7K8ov9KQSLUF--x2YJcN2b7VMSI87rvzD7BgQ0Uu5y_FWnoSyrt1O-Z7BRlElKnCj8oy8F2s7oNCyfEBUj_zkh8dOLDeeHDr8aeOq8MOy_Dx76wf0-KwLt0wyQv3phQvanmH3wkCABiPOZtwD-UoNnJKlTsxX3kZoWeNwA1QjnQcEiV1NQ1j-2wppLN1vhzZCLbl4lPT5vGcdRxKGGZfm-Xwelj6D6QYYXuhnSxZ1DzAnwXXrGY6Q7wg45RExr8A_r0rv0Jpr7HGl5GzJs658CO71BBcx0PjgXB_urtvBqWhW3rWSkzGdu7MsekpW0AWPoWk4Ws78VNjx-lRZLmm8d-Oy1goXlsp1zbjekDR8UgwDmH8xzbAl0LYX4D2yRdVxS3MA2nU5WW7x8w1vadyi3AVMq0eDHhoSZpHj4SDfDH99U5Vw6r1f46FMUIjPGeNnCQ4NvcvNlkhTLkY1NS82CQLz9AthaAfxPpGf8IVosrXGDHycYDH0jhsIPBKiaGK82aSAAnyEv9TRwMaDFI0HzWeQyq8KxFQGcyc2uXecsnDuvnhZURZtsku1SjJ7CRREN1KWJi4JPi1jb16tCSTXWxaAeC5F68Cl9J4LuFc2urC97hjZgEx_kq3oWUWMnZE60uc4Xv4Xw-V84OM-xViTva4Kcwuto363uqi-_BYVq2Zv4_yEAJ8eTv8IlIxnzhTzjsGTHLdAE5B2Q6vfmhuBdyxKXcxUEKkA3Ub3kpNGlfXWQdmlWSCtb4s2oIP6wKNZd_AY1zKzwHfMrbdE8RQyGhbHj7p6f56Lc4cS3cxrapfHVD7AAqQ4T0GCz_M_OmgUMkeA0UhZOSnNhJ4s4vfjDknKiyLrkUcPrjqc4tGkC5tj0QE_DlroBJoCK9wOQPbwlMDGrW7FshZ69OH4bDH8KtdjvnHY0Wm3mqRzlF3No5vAT3Io8wykbA0YN1D6NdnqlFSuHKK9dGcfm0oidzqPPw0GLNRtQu4eh9IOAiERzDrbh2_bJu5P0Lbt5mohmTUSUh4kcyIkrqjwEaKyyPXIV930X8HAiO_kqVYjUaWODaGFrz0Z9IL-kDXjNPLi2hJ13RuHwQDWZoqPx8N1rTYaCYQ1hQHcGZDZNPbzztLKCiB3SYYxRV4yBbH5N2YkDQsfQu494T_hb9Pritf9KtRCwy8aqPA0m1tTc7XXXRFfTtW0vCiO63PZ_LxDXWwxR4dtYwOtEm8uepM4JxXKiMWB2owB8kMPCB8XGDz_BwbH12lB5CB3IvqT7nRgHvNcFoYKz5YmtN9k9uEW8h8DCH94FhGLz8QGDRma3k-JhvyHdDlXgAfuyhlWgK8Z8k58uGxUS4CNkRMRGZxCdqj-AlmNshFArNlri2I9Stsu1onceY-DGTu4Gbjv43gmOvtr-Q3TbOnWyTJBnp8J2ioSIkLFMCv4Y4Vbp9qZ6p_ZHJcDL0JRYHx-cuZ84zvoowEk4wqtzxv30ZkddPo8zmGPtwX2GrbenpEbFkp2Rwb9WzgWHPhJhNKpS4aOH4blNeDNIktGB5z2fBSl0gcJ2JdHcXePfQFbptu2WLmY4SNAJWw==",
  "id": "rs_09ce3b369e78e0c4016ab41e75d52887d08b2267a7ec0790f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_z\":0.005},\"note\":\"The right hand descended over the pen, but the left hand unexpectedly stayed about 7 cm high instead of approaching the cap. I’m moving the left arm clear so it cannot interfere, and bringing the right fingertips down to the pen’s table level.\"}",
  "call_id": "call_pIC1kpD3cBD0WMDCJfXsc8f4",
  "id": "fc_09ce3b369e78e0c4016ab41e78229c87d0acfd1197b78a47b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pIC1kpD3cBD0WMDCJfXsc8f4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.0115, 0.8234, -0.6743, -0.2867, -0.0917, 0.9965, 0.8833, 2.101, 0.8539, 0.6102, 0.7513, 0.3092, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0003 left_z=0.1672 left_yaw=0.1048 left_pitch=-0.2584 left_roll=0.166 left_gripper=0.9965 right_x=0.3751 right_y=0.2724 right_z=0.0083 right_yaw=0.0983 right_pitch=0.1084 right_roll=-0.1423 right_gripper=0.999\nstate[joint_eff]: [0.1573, -3.0564, 10.2222, 1.3748, -0.149, 0.1734, -0.0122, -0.1026, -8.335, 4.3692, 1.58, 0.3199, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d18e406ea733392030291903a64b42cb339cfb935664c158b9478339c33567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a347081d693dd4f44408da87655cb96529ab8e52572db30684bfb9b3439437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f04db2687c978c6065bac8922c2b10c906272b8643ffd88aca804ffa76e6d0",
      "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 · 2.101 s

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

message 25 changed as sent

message 34 changed as sent

message 38 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.75, 0.9741, -0.1268, -0.498, -0.4107, 0.9959, 0.7921, 1.7962, 0.9043, 0.2955, 0.6964, 0.255, 0.9991]\nstate[eef_state]: left_x=0.3988 left_y=-0.1676 left_z=0.0663 left_yaw=0.0327 left_pitch=-0.1966 left_roll=0.1052 left_gripper=0.9959 right_x=0.394 right_y=0.2431 right_z=0.101 right_yaw=0.0751 right_pitch=0.1127 right_roll=-0.1402 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -10.1538, 9.1966, 1.3651, -0.2857, 0.0562, -0.1197, 0.5812, -11.8769, 5.6821, 1.8828, 0.3297, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6689, 1.6936, 0.9787, -0.3046, -0.5522, -0.4706, 0.9965, 0.8822, 2.0144, 0.8635, 0.5148, 0.7589, 0.3107, 0.999]\nstate[eef_state]: left_x=0.3673 left_y=-0.1677 left_z=0.071 left_yaw=0.055 left_pitch=-0.2548 left_roll=0.1728 left_gripper=0.9965 right_x=0.3755 right_y=0.2706 right_z=0.0336 right_yaw=0.0905 right_pitch=0.1123 right_roll=-0.1436 right_gripper=0.999\nstate[joint_eff]: [-0.7179, -9.9624, 6.9265, 1.6142, -0.2076, -0.1148, -0.0171, -0.1162, -6.9538, 3.8906, 1.0623, 0.1685, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.0115, 0.8234, -0.6743, -0.2867, -0.0917, 0.9965, 0.8833, 2.101, 0.8539, 0.6102, 0.7513, 0.3092, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0003 left_z=0.1672 left_yaw=0.1048 left_pitch=-0.2584 left_roll=0.166 left_gripper=0.9965 right_x=0.3751 right_y=0.2724 right_z=0.0083 right_yaw=0.0983 right_pitch=0.1084 right_roll=-0.1423 right_gripper=0.999\nstate[joint_eff]: [0.1573, -3.0564, 10.2222, 1.3748, -0.149, 0.1734, -0.0122, -0.1026, -8.335, 4.3692, 1.58, 0.3199, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d18e406ea733392030291903a64b42cb339cfb935664c158b9478339c33567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a347081d693dd4f44408da87655cb96529ab8e52572db30684bfb9b3439437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f04db2687c978c6065bac8922c2b10c906272b8643ffd88aca804ffa76e6d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5_A4f4d9hPsLvhyn1YFZNGMoZKpc-yDhLEWsMtI4YThkoc0nuDhfaJekPdYVRRrshI6KWsbvPbP3tm9xVHeKLExmqGBG8TwB8cQVFTtfeW_pxuuqt0csQHaLqlIaWGbt04dGSVsQUpPcaCvdqtttYCZJ6I7-7YrNkhLcofadHDtKLJqnC4VxF8_6geDmOMG72Qvc1taE9u_KkORmvetR0yoiMYNlPheu7hHjv3uQAuwTpxaTw2H10G-YIgDb4f5J4q8QFmpLHpXbVHJk-NagFFwFvzYUwi56ygRk3wri4sX4IAPuTA0INMITbTsxokQxFGNqg8JQrHe5FwShvTVSm11V_S3aXRyMpyxr-n1B3DoQ_bGUD-e5OrBIWif9RN4_tnUHMgCPDctB5El4sjQVvA2x-hThr2jJAIkgmMAuuAk8E83Rg2Yv0rEQXPVSPLuxv9jrSfCWCYKoBR01NWrNxLs9_nDYbIbvN_H8InY-CzMXmKHk1U4Vibu3Ze5-IsiGVv-qFASr0aq63Imw-cHteHMSU1Ei5n-h-i1SG77jjGOkh6bQWI2F6mIT1GpgJMVBnk7hAq7PDweRawCaYYBDjqm-Lt5Pl3q5bVpnEAYXwfI-zy2dBlXYlY5p5SHHVUc9NHceSKEqMt4tbc28xAUSmX18auVn-OniEGk-G_wSqGDeieFU0AkabsVql3lfXmf0bRMMdKYHiUWIa_EqxCCCnPCTwxjmf46VMIVfSIXWYIGwbIrBn5Wm1DrwbVvH-OzmBMGHUJRAk_GVPo96Hg3tYyQWVz3J9SLY7TvKw14b4BHCSM676xYWjvDKDF0IY9b0w92fWbPkwQ0QL63fGzl919mQEeH-bGfU1J2c_yJ_yiGReiL_fT8CLuLxbYN2xPmeyPxIEmEdThBcUJobP4EuEki96K5yBhkG8NgYjl7vRBobUvGBkDp4SEP5uVkgliSuMmvSMKG6xPszLSzfE10V-x62gpbde8gTRfQoiHsQf0TcwP0YHFsyosZjMH75ifEGJ_5Vv7ar8TjsWaZ8t3Ib-ToAdacM0Eb2DoFp8aW6VNdwUXtnf0XmIuQGXy_fSz91mcs_T02kBQ925rYeOmoJXQzgSaAuAE7rM_L1Yiho-ABgbwfIt5RTv_r3TkEo6qcrc0HTvV20PVms29dNw8YDL893Ifju8XqHtDlzMF9HSjdubPx4-0vQzXQPUmqM00g4pur0bHibA1iya-1DJJbwvtGLQdUWtC3RENknjdltsyI2lMtbspcAdRuzCgk0E-Orp6nYccBSRSSZvfynDxM0o6F0TWI_HnjNIwdbTacoPh7GMA9rlQRjd1Ek0tyqN3fka8ovtb-T_ARIMao1jvkRQ_hB8mn92hvWehYinrsdAhFNmBS_scbUvvejKLygX7iUcNYwXRb5r1y46rJHgY1u5jn4AiJ_6b6Ke_-45h5g0w1YTjWfAzFD_8L2ph1E_JJ8p-wS6GvrOtsRdSYk_lWJEFeL1Hlu2NyOYSXUjhhbEiCX5GzjPJxK9P6MfV5DNONVqGBtC15KuW3mpt_iWXY75LMWE7DYYAHWC-0-cbph76ABNTk0QynS_B-Esh7TSOFyRfqu0r_6PgnQOYRDoa3LQTJnsdxvB3ryHCti1qlD96BH33kdJXVYguM4TQOqlyOaHAJQKuvZA-tO2DAGxKXaCDmWh9KhnJYeoLD94xJEyOOgSoLJFH2SelpUMioAmm877Otuz_h6hPWpARiE8oZ735YGuNWJs6iuXZgeL2yn8RQVhZdn_If_qouDFE0hAQ1MASNEzpv_8iR7OWAmmYDzAOxNfxxjpM7EbuwH8gweAHyp1HNJu3IgoM4E7MfZ8izzE79zQRmfz91veGzhkfHGWCGtBDg8HErQpBpbxpDpUdCasQUBijK6Qg6raTukL4CCEVrfsuhk6MFngvO9lZu_D-r_zKQF4HkKkju90O_cNcovGUzYvWF3NlPg7eSfa2zw8GF_zMNFfatdVZuKWZLQyZv662wKSbYFw29JsSFycYmzQmDxpfGCl2OYgafGSrKKKq1cn2A2C-R8pCVU60M0TLjFl5fu8aURft8eaozAYEwYVNNv5EI34Ixg0TsVJgTGT-fqCaHZKyCblvTnnbACkfr3gmhcp9sCcRFnfgD3Z425mDBUqzavXEezBZbb-gGEQspHWXWFUbiHC0HV9ZiZOtg2mqjAVJQNqZikH914mYFu2UoBsXln1iJ55RsCE_7C6r8vJM_vPgakAPg5RV5jjMDxrozG3V0NHlyZIg62XglcGAVzP3092XhEn11_kx4YHKphch0OEe3eDurS-hlEy-I79MZBbx81cJ9TULiFnQ62Aur8sonCkocZm4Bh8gmQZ5jBMzHHDpGbpeo1uYa2S80p84514rnABGOhNDXqa3nF1dyTrI5d4iomkw1SY99Sl4wSbrS51cwnvFMY9uCqgTDiTjRWcJCEtdCz8cjUjlcs9qWLT-uQvpL6QAns4Gr3nFJ34ddUN6wGTlV1i8HWXoCju3DQWkqdcgsKa9X7F5ECTotBITWPgEkPActAZd9cCOH49cVUA2dk9GL3r7jIy09Qh8NnADgtifCuKC15dnSGPddBa9Vv-XMpqirf-pD2wlH-cKXuIGKN-UEMFqrlDYfHFjvr6pcaiur6OpD9coF3ZvqqlcCBI4QUDb6dpc5lMofMIpvfnYapM8JhjJOUwxaufLBbsLrjru74wg72GTYw_PVxSSOwFIxjsYwmSvsgip-MdqYAG-8ItrTOEXlDf9Kg==",
  "id": "rs_09ce3b369e78e0c4016ab41e7b8b9487d0be13e6e93ec3cfd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_y\":0.25},\"note\":\"The right fingertips reached table height, but the pen crosses their opening noticeably to the right of center; closing there risks squeezing it aside. I’m lifting a few centimetres and shifting the right hand toward the pen’s center before trying the grasp.\"}",
  "call_id": "call_CD0O7Rsu7O6CLq16rM2rtBpD",
  "id": "fc_09ce3b369e78e0c4016ab41e7ea2a487d0b3a89ed619d0fdc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CD0O7Rsu7O6CLq16rM2rtBpD",
  "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]: [-0.1837, 1.0164, 0.8234, -0.6968, -0.2653, -0.0853, 0.9965, 0.8455, 1.9442, 0.8059, 0.5144, 0.7212, 0.2855, 0.999]\nstate[eef_state]: left_x=0.2888 left_y=-0.0029 left_z=0.1616 left_yaw=0.0845 left_pitch=-0.29 left_roll=0.1619 left_gripper=0.9965 right_x=0.3752 right_y=0.2529 right_z=0.0422 right_yaw=0.0951 right_pitch=0.1038 right_roll=-0.1417 right_gripper=0.999\nstate[joint_eff]: [0.0479, -2.7282, 6.735, 1.619, -0.3883, -0.0122, -0.0122, -0.2256, -10.4, 4.7795, 1.4872, 0.1392, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfa71f1c245fac222b0ca3bc756ce6548d55ab39932ab3330796b8f13c341b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cae9d5a535f5c533ed6b548e3d95e6d4fe42774f52521a97dc9eb1ef75913d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d5f595ba461ad0e7b9032a8e55f69de87d26a4b6e1a32a88817857dab2df54",
      "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 · 2.129 s

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

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 1.7153, 0.9798, -0.2195, -0.5304, -0.4522, 0.9965, 0.881, 1.7962, 0.9543, 0.194, 0.757, 0.2974, 0.9989]\nstate[eef_state]: left_x=0.379 left_y=-0.1785 left_z=0.0719 left_yaw=0.0245 left_pitch=-0.2191 left_roll=0.1286 left_gripper=0.9965 right_x=0.3742 right_y=0.2686 right_z=0.1069 right_yaw=0.0988 right_pitch=0.1022 right_roll=-0.1633 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -11.0701, 6.8855, 1.6581, 0.2759, -0.0464, 0.0122, 0.3487, -9.935, 8.5128, 1.8486, -0.2369, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.0115, 0.8234, -0.6743, -0.2867, -0.0917, 0.9965, 0.8833, 2.101, 0.8539, 0.6102, 0.7513, 0.3092, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0003 left_z=0.1672 left_yaw=0.1048 left_pitch=-0.2584 left_roll=0.166 left_gripper=0.9965 right_x=0.3751 right_y=0.2724 right_z=0.0083 right_yaw=0.0983 right_pitch=0.1084 right_roll=-0.1423 right_gripper=0.999\nstate[joint_eff]: [0.1573, -3.0564, 10.2222, 1.3748, -0.149, 0.1734, -0.0122, -0.1026, -8.335, 4.3692, 1.58, 0.3199, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0164, 0.8234, -0.6968, -0.2653, -0.0853, 0.9965, 0.8455, 1.9442, 0.8059, 0.5144, 0.7212, 0.2855, 0.999]\nstate[eef_state]: left_x=0.2888 left_y=-0.0029 left_z=0.1616 left_yaw=0.0845 left_pitch=-0.29 left_roll=0.1619 left_gripper=0.9965 right_x=0.3752 right_y=0.2529 right_z=0.0422 right_yaw=0.0951 right_pitch=0.1038 right_roll=-0.1417 right_gripper=0.999\nstate[joint_eff]: [0.0479, -2.7282, 6.735, 1.619, -0.3883, -0.0122, -0.0122, -0.2256, -10.4, 4.7795, 1.4872, 0.1392, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfa71f1c245fac222b0ca3bc756ce6548d55ab39932ab3330796b8f13c341b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cae9d5a535f5c533ed6b548e3d95e6d4fe42774f52521a97dc9eb1ef75913d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d5f595ba461ad0e7b9032a8e55f69de87d26a4b6e1a32a88817857dab2df54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6CdEu2xruqIZWwu9dO5xADowhAHz4V1mSolMXjtzWGBlW0kJmUTYtpn9pBrdXRlUaYQ7gcKwY959D5H2oT1g2z9krnwOU7Be8yON_VAmAlSIzgNsjTdnSKpdyHvkLRfVQL5fK2NKumD73fLLfkbMr6ObRsllToDIXFkUapwJw5aMgc7o1n44wAw9k_Ry4t81xTtba66_17QWaUdWj11kaKox60N4QSaFzeYaqwr4NaOOwRjYImQBGpgwKrM7FMYRh_ETvu21M_7yV8apdM4mwMJKB1hNQ__rjVOf2ld0x3Xvlb0uLu2WYhHUwUXNVCuTSu84AXbFTWPu0s-WakyfPImV4aXwF0txp4g1-4jIu8-F3psXana4Ll6lMrr5fTSYTrQyDORB96ECAYSu9619wcmoTwuit3S7QnNPrkyFUE7IZXZRoLjOI54xh03i2ccbE7MK4FgneOqvrG_IFQu7EA2iIl_GTI5l4Ssdgf8mirflvJ4iurewguW7qWh_wMtzmqG9JeBmpokVsLQDFBNhlWfour-Jzh9m5AwvtdEsEqtDzO_NZnNZQXF8YTr4prPb5pzEWqOy3BLVRWlEvtCszfn7NE93jX1jA8pjfIrVXIFIlUfiGsD5874AE_wYSoKHW_XojTJWhnKDYDtmlz3wAmKFsaXGeEKCAE5oEY1GdUQb-nHd8h0X4PfJ0WAoOsibAWoiJcrvLSfCEjfYQeTBcEXkbxoN8m-Aj6WLk0NtXRPJku3q0J8jWZTFqM0VmryDXQF3kwHPnluoQPCYyqtBptONGpCVB5xiso_EL9ZNwvFtnlbLGds3NhsAqxH-oNmJ0dmTRqkaIHm0FvUZlzhCTBjGE9BHPPelW_62djTwhTCGKjveb7VCZ1UuD_rw_iRILn-GC0ot4rZuj13lhqeLgLGjobKT0NhY-Cd5qV7f2zFyt7KA0XrUpKljcqCzzLOw7_evfZ_NBo5afujsOxYpmXaEC9Xn91mMGbhP22TSZM1ZXb_3gSUQ694hSrWBHsGhh4RH1B6JnG73oOoO7Fc2qaz8lB4G5gqCi8pT8Axi-VvwI46qaQdQP4xzmkeoQ_2332F7M79TvrKfEW29q7xCVW855rNBfN52x3JSq5O9exGdgLZqeR_hgUv7aVaAaSWC2G-6z69cWmxHhR0bRElVLBBH0Bh0ridMtyzzhI5Mw1QJKxEN7oYa0Gb-kpqWq0Gq8hlbiQ12KPskN7PzCeMG6hfmH15IAhkzWPuLGQrgDGUZpiyYPSui0IUSQ1cvndobsM-jpKv6Vv3eyVzrxUFnRdcbWeIU_LSDhDr_FyunbyC6DtQNmYD8nYT6BYcSi0rUkuC86TsxP3rg6rXZHK0YsSlKo4Mcrjppb_sljyl_kdkmc=",
  "id": "rs_09ce3b369e78e0c4016ab41e80e90887d08c017238980c962f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.005},\"note\":\"The pen now crosses the center of the right gripper in the wrist view, with the hand clear above it. I’m lowering vertically to table level at this corrected lateral position.\"}",
  "call_id": "call_r1pFsFKYXbY7ZKTw1YChR6ND",
  "id": "fc_09ce3b369e78e0c4016ab41e8159c487d0891e6a2b2b411ee0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r1pFsFKYXbY7ZKTw1YChR6ND",
  "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]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2756, -0.0879, 0.9965, 0.8444, 2.0544, 0.7937, 0.6151, 0.7136, 0.2882, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1615 left_yaw=0.0949 left_pitch=-0.2894 left_roll=0.1687 left_gripper=0.9965 right_x=0.3743 right_y=0.2526 right_z=0.0083 right_yaw=0.0998 right_pitch=0.085 right_roll=-0.1508 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.5231, 6.7761, 1.3651, -0.0464, -0.0171, -0.0122, -0.1709, -9.6752, 5.012, 0.8669, 0.0317, -0.7497, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cea3b51bb71214fec920550433358124e6dda15c61cdd90dfbbe109e432efd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31aee944578b37531d65d6f5be532d463ee1650d888ce36c1109a469bb349aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1aa5ba8c1ac70a832fc9dcf8e4f3eb2f80a792949f4099cd4a76ba61a786a5",
      "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 · 6.074 s

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

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6689, 1.6936, 0.9787, -0.3046, -0.5522, -0.4706, 0.9965, 0.8822, 2.0144, 0.8635, 0.5148, 0.7589, 0.3107, 0.999]\nstate[eef_state]: left_x=0.3673 left_y=-0.1677 left_z=0.071 left_yaw=0.055 left_pitch=-0.2548 left_roll=0.1728 left_gripper=0.9965 right_x=0.3755 right_y=0.2706 right_z=0.0336 right_yaw=0.0905 right_pitch=0.1123 right_roll=-0.1436 right_gripper=0.999\nstate[joint_eff]: [-0.7179, -9.9624, 6.9265, 1.6142, -0.2076, -0.1148, -0.0171, -0.1162, -6.9538, 3.8906, 1.0623, 0.1685, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0164, 0.8234, -0.6968, -0.2653, -0.0853, 0.9965, 0.8455, 1.9442, 0.8059, 0.5144, 0.7212, 0.2855, 0.999]\nstate[eef_state]: left_x=0.2888 left_y=-0.0029 left_z=0.1616 left_yaw=0.0845 left_pitch=-0.29 left_roll=0.1619 left_gripper=0.9965 right_x=0.3752 right_y=0.2529 right_z=0.0422 right_yaw=0.0951 right_pitch=0.1038 right_roll=-0.1417 right_gripper=0.999\nstate[joint_eff]: [0.0479, -2.7282, 6.735, 1.619, -0.3883, -0.0122, -0.0122, -0.2256, -10.4, 4.7795, 1.4872, 0.1392, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2756, -0.0879, 0.9965, 0.8444, 2.0544, 0.7937, 0.6151, 0.7136, 0.2882, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1615 left_yaw=0.0949 left_pitch=-0.2894 left_roll=0.1687 left_gripper=0.9965 right_x=0.3743 right_y=0.2526 right_z=0.0083 right_yaw=0.0998 right_pitch=0.085 right_roll=-0.1508 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.5231, 6.7761, 1.3651, -0.0464, -0.0171, -0.0122, -0.1709, -9.6752, 5.012, 0.8669, 0.0317, -0.7497, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cea3b51bb71214fec920550433358124e6dda15c61cdd90dfbbe109e432efd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31aee944578b37531d65d6f5be532d463ee1650d888ce36c1109a469bb349aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1aa5ba8c1ac70a832fc9dcf8e4f3eb2f80a792949f4099cd4a76ba61a786a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6EOYMqtQ-Ol3xYYEsyzWq4vLLi8Eg7fZcfRWsROBdWpHx1jlt7xkuh_GFRHC19TkUE0PJze3VKP_52CSs7GL2lQYJ4H0fd8W5aft9LVmQj-WXnB-Y_pfueYc_crvoOqURZDbKFGkhPvEg-DmeDTnGoOlDWL-Ji-Raq-4nltoGypnhkZ_ITPyx9wVtx-AeQxLWVqsbo37nFd1kj8wqwW-EQ1nGQDGNer6vLD5U6MSvYBVK0iB_Dt9KjeoyyQrL7LHyLtdVnAB_d74QsdPxvQm1Gu4HOfkLPwWh1bNRPZFBcFT1QOXoEJ1ZV4s7AbOXWuuH1lB8olRTRWqU18ivySrigusBXNWeAQmV89syzEfqfeIZW7_MJ90G4rIKIZDWouHphO1mcUNC7Ig3UXMdnApaPaXFZRllr3P4FbdPzNGCZKnuJJtto3dErTsOWn9oYqF0PMLxaEreGsJo3AcXasTsPs4qmEDhHPO4V3vOTvoAsZFcd52098nmSyPKbhVQHLtq5r8NYXpYCscpASBDO3qPneyhR8TZDiWuXTclKNgmLg3WJT4Eju2cnh7JZy4u3GtNhtv-rAq0M6CKKiiMGA1FChgDde-gPCRyCAmWf_cBfpB4oJmonNed3OwP3rYyIXj0IBYalRwOYNLPVhaQk33RVo2HbAuEXtEM_AeT8JysFGgH1IEvNAg1sDKqhR2prVRlOHaauewaAJ1fXTb694eXhz6wJ2qeF2t7hb1TzBg_vB6bAQtJeLzpmECvwIGjc-FOPrbD4Dp8Vxz6ML1LhbaSZvXOaN0CeUVT9YaKWjCC41cJXZnm9DfyF5IgvzWfC8lv2MVO_Qxp5cZtd_nrI7jQyJK8j1nLwOFAIvJkJLun1xHWAM12SqVtrkYduXCr0tpYo113BSqBnBqbguvDqZovCDso7UIspe99IJdBR922xQvWJJdGhCsncZMhD1F3U9EwGzk6s3QvvQvOxPm7ZdwUJMOky23bdb8o_32AVNzuZc4l_TZkOB3k32SkEUAOm3xNbRQQT-NVDV792hhHxjV6HV4BcL_yjcYEffZw-z0MD1ovnFVNyfjHoKU2YAMj-dV1X9i8sccW4k5aufMFDl5lsy4UzTBwTuRcklVsuFMB5XjDbNXPlFg64pZPQQhKmIWsQhdZSUjPmbeg_NpwhrChJc3uvGO6sCIEQZpoMK3jnaPc7OggubuXlFZDs9DFyqymaTXTaLS40Sn0Opjvi8gOpZTdxkf_apyUuqtlymcwx_rDwRY49HcE0UiN0Fgx3un05FUdfqDmQNnJUJtfeoza7R-62RQ3SxZKytb_eTiQCyxemHYQMY4J3_E4crosazQcX",
  "id": "rs_09ce3b369e78e0c4016ab41e8353fc87d089e6c1a94700306a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, the pen runs through the right jaw opening close to its center. I’m closing the right gripper and will judge the grasp by the settled finger spacing, not motor effort.\"}",
  "call_id": "call_JuupIPXX4jy4wOBBtFKUMZRS",
  "id": "fc_09ce3b369e78e0c4016ab41e83b2a087d09d25aaca9e6e92c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JuupIPXX4jy4wOBBtFKUMZRS",
  "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]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2764, -0.0879, 0.9965, 0.844, 2.0636, 0.7898, 0.6155, 0.7055, 0.2802, 0.0096]\nstate[eef_state]: left_x=0.2889 left_y=-0.001 left_z=0.1615 left_yaw=0.0955 left_pitch=-0.2892 left_roll=0.1692 left_gripper=0.9965 right_x=0.3726 right_y=0.252 right_z=0.0029 right_yaw=0.1104 right_pitch=0.0718 right_roll=-0.1629 right_gripper=0.0096\nstate[joint_eff]: [-0.1573, -2.5778, 6.7077, 1.4286, -0.1294, -0.0269, -0.0122, -0.294, -10.0308, 4.7385, 1.6239, 0.3297, 0.0513, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99cf9600f5a73a0e64c35cf027402277c0882be277f894e1da9b984b401fceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afdfbf019cb841d2db20098e0b2df6e6b615c39530763083fbacfdfc5ad12e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de872e208001a6e1fd3c1a19e8b34628da317307bcad69593fd031a8c7e11202",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.608 s

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

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1829, 1.0115, 0.8234, -0.6743, -0.2867, -0.0917, 0.9965, 0.8833, 2.101, 0.8539, 0.6102, 0.7513, 0.3092, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0003 left_z=0.1672 left_yaw=0.1048 left_pitch=-0.2584 left_roll=0.166 left_gripper=0.9965 right_x=0.3751 right_y=0.2724 right_z=0.0083 right_yaw=0.0983 right_pitch=0.1084 right_roll=-0.1423 right_gripper=0.999\nstate[joint_eff]: [0.1573, -3.0564, 10.2222, 1.3748, -0.149, 0.1734, -0.0122, -0.1026, -8.335, 4.3692, 1.58, 0.3199, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2756, -0.0879, 0.9965, 0.8444, 2.0544, 0.7937, 0.6151, 0.7136, 0.2882, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1615 left_yaw=0.0949 left_pitch=-0.2894 left_roll=0.1687 left_gripper=0.9965 right_x=0.3743 right_y=0.2526 right_z=0.0083 right_yaw=0.0998 right_pitch=0.085 right_roll=-0.1508 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.5231, 6.7761, 1.3651, -0.0464, -0.0171, -0.0122, -0.1709, -9.6752, 5.012, 0.8669, 0.0317, -0.7497, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2764, -0.0879, 0.9965, 0.844, 2.0636, 0.7898, 0.6155, 0.7055, 0.2802, 0.0096]\nstate[eef_state]: left_x=0.2889 left_y=-0.001 left_z=0.1615 left_yaw=0.0955 left_pitch=-0.2892 left_roll=0.1692 left_gripper=0.9965 right_x=0.3726 right_y=0.252 right_z=0.0029 right_yaw=0.1104 right_pitch=0.0718 right_roll=-0.1629 right_gripper=0.0096\nstate[joint_eff]: [-0.1573, -2.5778, 6.7077, 1.4286, -0.1294, -0.0269, -0.0122, -0.294, -10.0308, 4.7385, 1.6239, 0.3297, 0.0513, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99cf9600f5a73a0e64c35cf027402277c0882be277f894e1da9b984b401fceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afdfbf019cb841d2db20098e0b2df6e6b615c39530763083fbacfdfc5ad12e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de872e208001a6e1fd3c1a19e8b34628da317307bcad69593fd031a8c7e11202",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6L3OcVzuZU1cXAFiNvSzaTNRW6tL5KEN4O3IteTqKTyBzkCipKP28L3RrZT_k1UmrcccWt3bV8J705edPEtjPtH-w4Uj7c1TR5TKnSQ4Y4DwEHZliw-qAVlijX86kv3FZtn7lpj0LzJsoMSQ_qUxcW9zV-moUkqEaBVGEu34vtmLmvnPEK0s9jRlS54gMtSeUgixanGUQi-iXO18tj5vqoevAMn6xaTRm4TXXaQBktZ3oi1eF3kx6ArLihovG5pxUEQFQ2dFESddsXhraPjb4JtIRsecVYXjcLMyRQCaAe8Vt63nEMlKizl1Ahrd-ulfWVywDc-Udt0UhcTscnnWhig5tuLC0xakbtZUg2nr2yW4KLNUMxKGcqiorvIkps09ap64kc_f9AEAQyrD54kz0-Aj-a4Ycbeqx4-gmDOYcNbsnw2axrpORdszbHwRCwGi0_WTkt3OPugfkmPvHYWIus-lreyM4l6LuokgvSlaQf9VZF8KSin1aIUWz9HrNAi2BO78UIhxbDPzt1YLE8SWBo__2m-TUaaYNyzWeELMCTf0E41ica9N_gYtoIo6ukOE--nNxGS8ShB9MADRdnuwR-Ero4UgWWAucnorh9nYpQ5IX2wF7xlc8FCZlPNxBNTKG48qwVkHlOmilvMW6ki6Lc-vOIUooYd3Acgqy97KUbGNGaTzDtkpZyWBagdsDkaEFfpaevR9P7QWiEgvDm9zYXEV0mGcZEcdCRWORfWraMURxBvKtU0PG-yFOZmROZd9Aomh3NlPzyhjUPiSEdawsz6-dHTDCGCq1zfw1XfQLWh_SWHBHsp7oVfO61H6Pbfg5iWkbhF6_xoMDm3vLQtIIH7IAhVNMmah1_zJ70C0vhUVp9IABaWHCleYdeNjMvlKUbDSRuTgSKhqyAd9h_iRKLZ-lxE-mwyOjun3nmF7NYXZ9IKTfGRvLSe0R8qctH0dM3s3KxAiMa7chizqqQWLqRtBxxgC_m8jtW6KGOb3tkMizC0Gj1q_pDuKaop7wjtzffoGWQfhxoYU_Fi8cUuytxNj4Evd13HJDPFgskGP1_NySpz_oQasrvx_vfSghcHUd0Te3NosLhKpBaLK2OU_vg6WJ6vMcC-w9DHc9ImbjgRW9rdXrEaHWAx7Z2_z4Tvhzc-xrk96_Y8XnHwwHsFJd0ixmYT8kIZK7pZDG0Bu6OfCP7D4FRpksf216KrH7yyugAW0luwR0QR3rpO34N9_mwAZCxQaKgixZ2KYL42TGTGrsaekQmuCVv1U-HNWVvQr_WwZxQ_Nr-6rcBryDTGxpEYK-T4ARC7r-TDbLt2hAZNSBH2l3c1cVsCWA3bI3JX09fCvTV7mBIpYOVrqlQGuuNFXtMQg8k7DQQo4ieFuFkbKg2PQhJX4yJJwkfuHswOKEOY9f8HTj2Vt99XXUuPG2rrRaA21CXiiM2wI6mP-4PKKHO6UYmvPGIDegfJBWAd22Uyih3zHei-I0CaH6EKJ57Cf2-Prf7rixGTliD5U1_Suk8oznCqPWhi2EGeM7efTlrs-LvAkc7PvnCW59ypugK-lbeGbzP5Zrq06nrHCD_LONHwiOg7Dz_E5olvnd9d_O5iRfsb-AXjugMincMUgAJ75_4UadMrug3wZINQAm5uJuip4qZisO_1YnE9ezT3sGgdnvbK828P7PvH82r1cftgTdpv31V2tpjQeYB-CAUnYtdINuOPx9H7OqS9PAbUVFJuHPksnCaqqqjRiCYR_U4CXrFuZN-0X6CscnZF3uX_9sW4OWk1t7rT0r3LMlWqw4Aq0bWv_oH7NW0kA5GkyqOqBEsgCwudMCECECiHVpwhpEPPnAhXaaMzYdNJj3vhGc8_kHemLypE2_jYo1FCg0G6QNrCaomo2hW7XX3O6r87VF-wTBqjdRUlaRCHvYhelt5Qrh-_RuEu3HiSyEuPmmHY3WeSDexa8UeXCqjSccXKq_dkVmB1RzsYqrK4kWE9M-5Y_bIXJXLCwhH6D_CFCV21S64iUCjGikM6Jqu3pHiW16Z1F66B1yzqNVZ_aV5O7Djrh0V99BxfP3JX7oWDPlUbk74jFynarvjdCi_gkWVX5F2U_L0_2Lj_-gyVFJRC7D6WmYq5zPrqMKVIcF77hbWa_jBhSTh-pLoTmoy-9jd1Rtn17uIhS4kpO91rOX2DX0MCYpfABOgma_e39Z0-6tGluBh55BOTXQtVUhYri960Kltg-PYT0ADycj21OdPCCCwNhRz8rTDEPCFy5L0hOd6eysI7a8NSoPmwNOUkSp-hQR8I_UoWS0H_K8WEOwcxpX_dQoO7Pfn7RK_oYMi2BNq4481g-K-hBWoq_WVV7EtWUUUALBNySm91Fq1-Y3s0lTT9BaJ6hka_0-tNG3xBocKFhvYpDErA9_OXcKJDhBXuXMLqhvw_lBzO_yDvsyo7YR6shqcftEAGH8pmH1Q0LOGSPo155abyDQIzlxKlvANi1Q_GmYOT80rm2EYbx2FXJtHRZwirNKyeJFZbXeFpidATCBz8-iKjmLtPWzIwAPgRJ1RP410IEifMS7lqkLtFwsO0jDG4EEkwcr24-o3h12nowGbbTv_s0tVgH_9DS9Sn4xen4m3B1QJqoEWdGQuHZUwINoCNH7Wgsc5aU_F3BhoFNhmvqYOSL6Q5LRMq-eHfMjV5Ns53H-nDj-k2oVzJRK_YISdmBgrXNs9KLxEG6mZjtbwebDUDDSDgRLFsFj7th5vyCLBDYFHxNIpuFCdsqcYXbEvtqZkxz4MY_6erttn01j3SDTa_KdaY-ExofERDxLM6LmcJ0a0lA_8tRN07PCsZDQLQTHBz-D5EP9qnDQie7Jyo4yJ0B77PrU1_dSrQf8=",
  "id": "rs_09ce3b369e78e0c4016ab41e86846887d0b03d90fee3d5d787",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_y\":0.225,\"right_gripper\":1},\"note\":\"The right gripper closed empty. At the low pose the pen shifted to the right side of the wrist image again, so I’m reopening, lifting clear, and moving the hand a further few centimetres right before the second attempt.\"}",
  "call_id": "call_y6w4IwQZLbIB6Lae5Rp0dgi5",
  "id": "fc_09ce3b369e78e0c4016ab41e898efc87d0852139e2e80f4da0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y6w4IwQZLbIB6Lae5Rp0dgi5",
  "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]: [-0.1837, 1.0203, 0.8215, -0.7006, -0.2768, -0.0879, 0.9965, 0.794, 1.7947, 0.7628, 0.3904, 0.6559, 0.2352, 0.9953]\nstate[eef_state]: left_x=0.288 left_y=-0.0008 left_z=0.1597 left_yaw=0.0965 left_pitch=-0.2965 left_roll=0.1717 left_gripper=0.9965 right_x=0.3717 right_y=0.2296 right_z=0.0644 right_yaw=0.1214 right_pitch=0.0616 right_roll=-0.1687 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.7419, 6.8855, 1.4481, -0.188, -0.0317, -0.0122, -0.6632, -9.935, 5.3538, 1.5507, 0.2418, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3155feab12394586d2f92154c31c551e9b524ead475d58b93f5a136a233323d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af65e997d102b01b779bf6c6547ca87a72634649d01ce9a63c34b45b92f01c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0804e802d0b1e6beb277cc6792719df8de0339f71548c3e98e9f13a93eef41f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.242 s

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

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0164, 0.8234, -0.6968, -0.2653, -0.0853, 0.9965, 0.8455, 1.9442, 0.8059, 0.5144, 0.7212, 0.2855, 0.999]\nstate[eef_state]: left_x=0.2888 left_y=-0.0029 left_z=0.1616 left_yaw=0.0845 left_pitch=-0.29 left_roll=0.1619 left_gripper=0.9965 right_x=0.3752 right_y=0.2529 right_z=0.0422 right_yaw=0.0951 right_pitch=0.1038 right_roll=-0.1417 right_gripper=0.999\nstate[joint_eff]: [0.0479, -2.7282, 6.735, 1.619, -0.3883, -0.0122, -0.0122, -0.2256, -10.4, 4.7795, 1.4872, 0.1392, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2764, -0.0879, 0.9965, 0.844, 2.0636, 0.7898, 0.6155, 0.7055, 0.2802, 0.0096]\nstate[eef_state]: left_x=0.2889 left_y=-0.001 left_z=0.1615 left_yaw=0.0955 left_pitch=-0.2892 left_roll=0.1692 left_gripper=0.9965 right_x=0.3726 right_y=0.252 right_z=0.0029 right_yaw=0.1104 right_pitch=0.0718 right_roll=-0.1629 right_gripper=0.0096\nstate[joint_eff]: [-0.1573, -2.5778, 6.7077, 1.4286, -0.1294, -0.0269, -0.0122, -0.294, -10.0308, 4.7385, 1.6239, 0.3297, 0.0513, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0203, 0.8215, -0.7006, -0.2768, -0.0879, 0.9965, 0.794, 1.7947, 0.7628, 0.3904, 0.6559, 0.2352, 0.9953]\nstate[eef_state]: left_x=0.288 left_y=-0.0008 left_z=0.1597 left_yaw=0.0965 left_pitch=-0.2965 left_roll=0.1717 left_gripper=0.9965 right_x=0.3717 right_y=0.2296 right_z=0.0644 right_yaw=0.1214 right_pitch=0.0616 right_roll=-0.1687 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.7419, 6.8855, 1.4481, -0.188, -0.0317, -0.0122, -0.6632, -9.935, 5.3538, 1.5507, 0.2418, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3155feab12394586d2f92154c31c551e9b524ead475d58b93f5a136a233323d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af65e997d102b01b779bf6c6547ca87a72634649d01ce9a63c34b45b92f01c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0804e802d0b1e6beb277cc6792719df8de0339f71548c3e98e9f13a93eef41f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6PGkzqTGM-kBlJOARicgFGZDDRdRofyHJYDIeuo7K0cseL07QTYq8xH4g3bEekf0SJpxocrnakedawzLPSt2wI60AxdCbMcc-2kmc2YGAhRPEfMbYO7TBiMde5bgQVX4vI57n4pJryEaMdH7nUzWs5NcO_n_qaIGnbOsw2QDOtMiUUGJ3U-miI3WfXNadwsNS38oWbNd2LnMau2cszKTq1BqopKybO0QiW29AMCHQbK56owFAWgrPhgpID44tHFlIOuUXB8y3uAoD3Sd-Z4zy5ciBIzYwkutuPcrm4u-yKljVuGBXD-tY1b0sNJ9Lf2aMvVPMoyVQKBbgPoXaGex2NZKqKvbcnFWn1TZVHI035dXAiCmLjnRLUI27Ep0p6HlQo3NDoo48NX5O3joPYIZJ0B_3UZ2b4safjrGXXDB6aIl0KaUBYw_1yO4oh8GRcwjwZ1jyBeOY8qvnibZO9A_rgGNdj4JJs5exAruJH5shr7gJHvDtRp0t6lH4gOybO--7n6OmQcplw4VLNqwnnfWYkawK6SVN5Hg3Ol7V0RwNM-4aC1VB2mueDHfDbGi4NkbzsOwZZE_klQwv99aUiQSbCQCVcVpm5IBNfLs2ICmxk2Frl8KNb-tjsXnIwQPfdxKE7myQOllBqNngJkITsUGFxcWmr3c_-4aGQ39cp6fbRugWVc_mis8XzVpk7tHf5q4zkiO1e9KOX219vjXRrpt1LtS33hh4swNHGn5FZxmPEZ6RDLPhaUcOBubTSQ4N2aIVUUKaZlmN8LzAiAUbtMFmayLKk6ikFkEBKq8n-Fvwtn5NhHDi-pOmB8fl_U3gbmSgTP3lq4RFq3H3hRoYuMwiIeQOqBwPhJESwsrnrVhYMJedVt3HagHI6V2EvL9ZAincMENRFR2EyBDIqN4BMUtlaloLogII1hEC_sdlmQeLd22hI4DiUigvvwJETT_dj9jCwERgtYQWhdlp_mPwbtkJ114A_Q2oo_sW-zNDR20BF4r27ntw72JzYon5MztnQlUDUZiNEcXWGgUSdVlCZtNuAzuPWMl9FnabqoOacVZhrasC6Vu7_WLisBIvbZrIbtJp2IwSp4BipFI4uzVPnApnqr34Z1X5MO7cSXHhJrE_q0CqYd8iSqDUUNW1R6Snr9nHO_t1NegJncAYwF5DPZuq9cf5opAHn4lS2OCeD18VIXiQ09KGjpzP3Tb7GXgzLcvUyiju_rhDIt0mOXAkmb-81YPUNCzXuuM7Wi5iYgQeFdQVBpbY5bQXdJm_tNP3w-jzZ23nBMsUfX2TFCkFXAWahyR2L7ZUzrLocf64YWgnFjaxnC3u6uWSHLTGWleOseLL3bOjUJSPxav9_SpubmdgPDFz9NsLSSdeejv3RLBLtc3Ob17MCjsTHNaaH1BlLv_9CvaCjqAKQivOcgKplNcnIzfiazAxodxZF-Ch8fAZJD4uuJtkr1B48LwZAjv6GZflVtJ1FcVE168nQQb-tWK_ipn0bxrfJ67w9HbjnilEvtEdUUPxQ03SLRKnuKftowOnhnWJqt8fJujy0YnGdxFBJIDNS1FqyAadFmgHPZmTioN0=",
  "id": "rs_09ce3b369e78e0c4016ab41e8e3f5887d08b11c68dcba79820",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.005},\"note\":\"After the sideways correction, the pen is slightly left of the open jaw center while the hand is raised; lowering has previously shifted its image rightward. I’m descending at this new position to see whether the pen lands between the fingertips.\"}",
  "call_id": "call_UeEKl2YdlL9f5qJLmCWrhZ83",
  "id": "fc_09ce3b369e78e0c4016ab41e8f020c87d0b6d7ada2f1f1eb05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UeEKl2YdlL9f5qJLmCWrhZ83",
  "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]: [-0.1837, 1.0225, 0.8211, -0.7055, -0.2771, -0.0879, 0.9965, 0.7933, 2.0109, 0.7139, 0.6601, 0.6605, 0.242, 0.996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1582 left_yaw=0.0975 left_pitch=-0.3037 left_roll=0.1743 left_gripper=0.9965 right_x=0.3729 right_y=0.2294 right_z=0.0067 right_yaw=0.1133 right_pitch=0.0674 right_roll=-0.1619 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -2.7829, 6.8308, 1.3993, -0.1685, -0.0366, -0.0122, -0.0889, -6.5846, 3.9453, 0.8571, 0.1441, -0.0904, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74061e51aeffec09fd21d04ec7040e63a0ae09615fae60e596c7da1e10ffced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:426583d53749d7aecb404e4388f41216d2a721aa72a6b75e7a492a118049bcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2715bcf027d4436a5fe2a8dc5b674440a5337ae5a9db0d69d3cd26445911e29",
      "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 · 4.539 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2756, -0.0879, 0.9965, 0.8444, 2.0544, 0.7937, 0.6151, 0.7136, 0.2882, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1615 left_yaw=0.0949 left_pitch=-0.2894 left_roll=0.1687 left_gripper=0.9965 right_x=0.3743 right_y=0.2526 right_z=0.0083 right_yaw=0.0998 right_pitch=0.085 right_roll=-0.1508 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.5231, 6.7761, 1.3651, -0.0464, -0.0171, -0.0122, -0.1709, -9.6752, 5.012, 0.8669, 0.0317, -0.7497, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0203, 0.8215, -0.7006, -0.2768, -0.0879, 0.9965, 0.794, 1.7947, 0.7628, 0.3904, 0.6559, 0.2352, 0.9953]\nstate[eef_state]: left_x=0.288 left_y=-0.0008 left_z=0.1597 left_yaw=0.0965 left_pitch=-0.2965 left_roll=0.1717 left_gripper=0.9965 right_x=0.3717 right_y=0.2296 right_z=0.0644 right_yaw=0.1214 right_pitch=0.0616 right_roll=-0.1687 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.7419, 6.8855, 1.4481, -0.188, -0.0317, -0.0122, -0.6632, -9.935, 5.3538, 1.5507, 0.2418, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0225, 0.8211, -0.7055, -0.2771, -0.0879, 0.9965, 0.7933, 2.0109, 0.7139, 0.6601, 0.6605, 0.242, 0.996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1582 left_yaw=0.0975 left_pitch=-0.3037 left_roll=0.1743 left_gripper=0.9965 right_x=0.3729 right_y=0.2294 right_z=0.0067 right_yaw=0.1133 right_pitch=0.0674 right_roll=-0.1619 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -2.7829, 6.8308, 1.3993, -0.1685, -0.0366, -0.0122, -0.0889, -6.5846, 3.9453, 0.8571, 0.1441, -0.0904, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74061e51aeffec09fd21d04ec7040e63a0ae09615fae60e596c7da1e10ffced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:426583d53749d7aecb404e4388f41216d2a721aa72a6b75e7a492a118049bcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2715bcf027d4436a5fe2a8dc5b674440a5337ae5a9db0d69d3cd26445911e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6SVuIeSHTzOQP8oZ2-LqmOGiIAioVBkRWA1GH1HKPyaNEVAOYVbwN-6cL4GHwXpjALx5qbH2AR-Nv97ZEpMkdeQS0cuVEUPS3mkMGYcpbsEhhGYnmrqpagsPSkC4ZlQ1PyhfRrw4fvFkryLRmVUOafW84G0uw63M-uyD4XZtjY2Z1_idJCnLp03mnRjl3pBq-TeRTWp56IXyCoa24rA9ZrBOTcwxp5PPvJsH4GYCvAemygoWDXDgDyP2W051nCIrkpcqPfl29Jg2ONCImJu8SZLLcdAgGAvHuopUrKrGoWcpVT0S3lVKMsaV3Pm2B-f_S-7QkbrsbFrORHO1B4XBamQQN0wPtx6aImohPJa95XtgDxF8t5SCuA5AcbBe0tx6jUGTtOVECgvgu69X9yOoratFPXaYdMjoMBmD-wyBsdFwYaMe_-WPykx7FzU_QTFO4Qlps3FGNebEzoSKbo4Wcg1YxrKeuHYIVm1lThvRQAbvEnbAoipQ4xKHC5PS5WhdK8qfECATrujDr1PlJxCJDmMn9yB5r_1uE38hZSy7Q3rndaEangwIpUid79MH7dCPFlyxkl9zPIIHEBATm3Bf3AMJC47lXhMo9unpRP8MwEDVlcdRvEpLuMr3SSup0LZf87cMvm32FNZlNbvOQZw5dcog9-pAb2xGATSinVLxTmz1P6_sSOF55JuU48tp7dlVZSlyh7ZzIEhrM0BGJWzN6YvupT7u2xR3Amejwa0OH8yeHKGXj9gL94kVmydlaU3msZe-fkm0Nh7uTHgTs6Wo_dWdqe6Xut3Iovov5-kjawfPtiLFlXqVGmQdnqeEbbzsDJqrV8FUsMp0aSXFe8WyeW24v-0wkK5kpzYlJActnsd9KZBWLnWcpcvr_ruGfMWwJ7HBWOEfSXjtd3K8Oui0AGr6dIc8EhbHFvbSN9NZPxfAyQYXNudTGZRsKMzHtZn39J24X4Wisxb7OtNuev16pQLMTJOmfwmRJ6Z1AIT4NdMWe36VGUhjzVANrpXbjX7ykTK1eKChriyyJs_PCf3nqDhCJTIC_P7-xaE_Izqul0Dj5W9Bpc73fFKgr7wkFA6heBJUF3UaXHisR1c3fj6wG_1x3m24ARecPxqnMJHojeuplJXHYj9eLV70VqIasU1gba6eU0T03eBxCGnmChluIZnflK0QzeO7Rk4OPxHRIMpAyi4zvGl8MO27n7Jwzqe4-rZDbfMC5A2qhukIIvyNrMI5BQScpOeFxEW_c7bB0KO9FJQQG7MrcadEc6JOfeli59VB_DV9izxKYJlV5D38B0vE3pfxBlqCDIpFPRdvSrSTgE3af-hvYgmEVw0i0xNbdC80n5RYeCn80xjrZd-X0iGpA39zc5__F5zDdIriZE-q_FlcXOiOXa9lQ-HGQmoLxs",
  "id": "rs_09ce3b369e78e0c4016ab41e915ec887d0bb7a3056101f5da3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen now passes through the middle of the right jaw opening at table height. I’m closing on this corrected alignment and checking whether the fingers stop on the pen rather than meet each other.\"}",
  "call_id": "call_BRgtkxMWnprsQ2cHr12CwICz",
  "id": "fc_09ce3b369e78e0c4016ab41e91f5b087d0af808eff5998673e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BRgtkxMWnprsQ2cHr12CwICz",
  "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]: [-0.1837, 1.0229, 0.8196, -0.7158, -0.2771, -0.0879, 0.9965, 0.794, 2.0197, 0.7185, 0.6964, 0.6613, 0.234, 0.0091]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.156 left_yaw=0.0986 left_pitch=-0.3154 left_roll=0.1778 left_gripper=0.9965 right_x=0.3763 right_y=0.2332 right_z=0.0107 right_yaw=0.1161 right_pitch=0.0921 right_roll=-0.1492 right_gripper=0.0091\nstate[joint_eff]: [-0.1573, -2.6051, 6.7761, 1.4188, -0.1978, -0.0708, -0.0122, -0.2667, -9.4017, 4.1778, 1.4139, 0.3248, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cebc5ff90196865f22ce5ba75552a6f2bfc155357c09da873acbe122d3d99034",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d034873506041c3e72ce348298a828029cf129c536ecfdb687d00683152d5807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e239136779db85b3118051a635840c652854b5470460680e3c19b263bff4d746",
      "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 · 2.638 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0183, 0.8234, -0.6968, -0.2764, -0.0879, 0.9965, 0.844, 2.0636, 0.7898, 0.6155, 0.7055, 0.2802, 0.0096]\nstate[eef_state]: left_x=0.2889 left_y=-0.001 left_z=0.1615 left_yaw=0.0955 left_pitch=-0.2892 left_roll=0.1692 left_gripper=0.9965 right_x=0.3726 right_y=0.252 right_z=0.0029 right_yaw=0.1104 right_pitch=0.0718 right_roll=-0.1629 right_gripper=0.0096\nstate[joint_eff]: [-0.1573, -2.5778, 6.7077, 1.4286, -0.1294, -0.0269, -0.0122, -0.294, -10.0308, 4.7385, 1.6239, 0.3297, 0.0513, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0225, 0.8211, -0.7055, -0.2771, -0.0879, 0.9965, 0.7933, 2.0109, 0.7139, 0.6601, 0.6605, 0.242, 0.996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1582 left_yaw=0.0975 left_pitch=-0.3037 left_roll=0.1743 left_gripper=0.9965 right_x=0.3729 right_y=0.2294 right_z=0.0067 right_yaw=0.1133 right_pitch=0.0674 right_roll=-0.1619 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -2.7829, 6.8308, 1.3993, -0.1685, -0.0366, -0.0122, -0.0889, -6.5846, 3.9453, 0.8571, 0.1441, -0.0904, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0229, 0.8196, -0.7158, -0.2771, -0.0879, 0.9965, 0.794, 2.0197, 0.7185, 0.6964, 0.6613, 0.234, 0.0091]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.156 left_yaw=0.0986 left_pitch=-0.3154 left_roll=0.1778 left_gripper=0.9965 right_x=0.3763 right_y=0.2332 right_z=0.0107 right_yaw=0.1161 right_pitch=0.0921 right_roll=-0.1492 right_gripper=0.0091\nstate[joint_eff]: [-0.1573, -2.6051, 6.7761, 1.4188, -0.1978, -0.0708, -0.0122, -0.2667, -9.4017, 4.1778, 1.4139, 0.3248, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cebc5ff90196865f22ce5ba75552a6f2bfc155357c09da873acbe122d3d99034",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d034873506041c3e72ce348298a828029cf129c536ecfdb687d00683152d5807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e239136779db85b3118051a635840c652854b5470460680e3c19b263bff4d746",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6YCjekPcz-sFgCpWs9WrE41IAxr_vFyCaoqQEc8nnBoOG9Mtxim9udrQ4ucVpWO6viCNY-haw8_92kV1IJho-HignFfeSCjf93cfCV1ps1fjYIv72-KxTEVEdIXvdD49qJz0vzfbKlFXLgu3s7LiRfaGyifhyK207cWrFpGKXfeeCsg8YYshIaD_pS-nmiNrx5t_qafdEFK_8Ya1z4z3BUbkju-099fkeOUpiS2J3SaEuo4nc5XatdO0iSq051hiNo9NQgIBXn4u3lVISnxjYFUWkn4N_MIpXa7ANV6iJ5LivdFDwzVwiSJNpPhJMThsVgnHupxOCimRpaTAi1TbiuyE0ue6jR3v-VJqTmqH-HNQktzYtFsfiwA03vWMIVb95CY4HxRvMob5Hc5OYEJeMSraIqmbuOoBqO5dkh_3u1XDihkAYpiZaZk0SF9mHJJJJB7CTH50wEK3E6qRd_Wh5IRBY6_EoGbvQ4qKRNWOJw8MMr2mCg1vgvV3s11zStjTkXhUEIPC83Wxg4dds0pqnQCE-rbOfPB9ndh3nGtQ5pYdX4uER__SUnUB2TWWerML8SrBJALLufa7JrxEVFvYHx1GlsKy-Ogjo1xgubNXywQKYpEsC9UnnX3PS6b1PKp8BMCjUYXBl20S94civ2ciGWhLaC8wtGNkn0shGHriSEn7dAuqyWmNZ0tMT5ig0R06mSDbYRGUmtQBMVoFrlHP1qecOCrW8-3YnD7uLs-I42DNNT38P3FTxAR8JqWpMU5cH4d82vl4_O673dHr2dUSRN6GcGdxQH_LkpE0Wov0kvgajfSW2AmnZrY5ZQyn-D-O0Z6AFMhb1ge7Q-82ca-r4kL65hNUEOK2wYuw-9-JjT9_o9ckHQPNGjPI7eNgHxGbW_fV63vKfvhxBDqfJqVn8pp9bhKXrn2WwwAUYE5vtgPSi6PL9QoQ8OcsWhqX2qUMXoX0GBXOzpu-ugbAKyC3I8M_R_FgXxoYQinE_-s5IaGWjJdZ6mXNQWLBNrfIBsfmvw7kke7bRBMY4uYjw5zch5Bl2kT0crf6j3nmikRJJ6eEfogrzwAXwC8ikwzBAaWU810JcU1EB6u_SnAFhSbFk6ub9sHkPhvf3s1YUkFw8Ih80ae11OiYB-wcWThIRR6PZDEMYNeNKjbzcdFGbdJ3DJq2Hi9MvduVSDsgEaa6OAlhBDssCfJjPtY6-p0XtGsrvW5EjG12CktuxDELxnkZaSg4J_7AvdpQoukZhf50c_Q8LDHvdedF1pGN7jYpDQSSclxcxcgGgHEGduSkTmftxbMs2gBZl31-rPXmDXPftmkCoZeA5Yh3shCSvcZNmIJZ3qvv3JBtF-Ur3_DChEZAu0QNC7-DJVlFOkQgsd_MfWEwC4a5GfpOD96xRCR4q4EOcVhAHNyGjlVkmK4PXE1jUVHFntyN5b6LYjeffgkfeZnF0AuO3U-krC0lX90ctS6TfUZ0GyxGL1hP-TVkT9nSBE4LD4BQeYrilsXA-0deus6dFTyTGBj_LTIyP2Y3fbydF_BCVtWCtc2k6IyLYRLdC9HpDjCx3a0cK0dSvXhtT3WKlkEBzrjAO_MHjzn16R_Xo-3TMLPP2wRozJzBVdffAUTUzlAvRFAaWu_2SZeuQeTC-Z1R5B9OKRMtD-W6K7e8bZ7g7MkCQla5hrspslgBiSFcp98uaUHCK5stFYn1a9PUkRJ3wOp5s9I_XJbvlbIlzt8skEfX4BWomxVLTRPJzmsz06F9CTvM3J-d7QKGcinVJkBLdi81nJ9cG8npt37Ngq8CylWeRndJzABJmsbU46Kqapn8otuB6h1eH7Sap3cHnUOBEKEKZ8oPqQJm1xeq7ogKXvwt3sU8iy_CmES86EkPq72mXrrH0I6jVaW90qrE8ywcJ_gZ4qVDt0XqpBUoHpoDCyzjXsuH1HKp7g0bT57lQxsP13-rcPxPiuzQLJ94IPIH1KwDBx2QzRBlq7Rfg0Pptbnz3Z8GTd-Ui_YRg9rg34Uaw_-V_WWuPTmQYGKTIJ6X2fdykkS_3D0oU1CLh1vJ7c09BpDTnlyVjSE5kH7W1NI18LnL19QJFJVRq04x5YgBUjRGa9WFHA0IPj5l0_I_UDzxoDkZvwh-2hpMna3zY4O3o1dmB5N422yhQlKOgxxhIdsE-P5sQnIjy9Cbx2SashPzoEKw2xt_VYApmRROmSMVqTNPOhZYV3zhhi7SDdaImAnOdVIqREhB4N7Rnqfm-_R4YYhtSowMJfDnSmGFVI_zaBpwkXUkXsHOdW0E9ruQo9j7JDk-QqmvXEmNwbp387zYHLRKhAq6lfhDyYK2hUWdQnAgDlkNA7x1iTBGjSDnj1vShh1kuyQYBOk-X-OLtAy7mLfDfJqOSudLjHsl_rnnxsUllQsnlZGP7J_GwcFAFstCnl5niFIPYMdkDqedUcG2WBCdfr0I7OT-K9491T3UmmyzbYfVlPG7Bv9rtfoe6QK1dYH2U6G14wxSmDln49Mau4DiuIvdSFKFfizw==",
  "id": "rs_09ce3b369e78e0c4016ab41e95064087d08ccc0bf44d2bf1b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.075,\"right_x\":0.41},\"note\":\"The fingers met again, and the pen is visible straight ahead of the closed fingertip wedge: I was aligned sideways but grasping just behind its end. I’m reopening, lifting, and advancing about 3 cm along the pen so the jaws can reach its body.\"}",
  "call_id": "call_CRss7JZqNZangTHCO4gEYfpx",
  "id": "fc_09ce3b369e78e0c4016ab41e9738b087d0a5dc5276c31cea60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CRss7JZqNZangTHCO4gEYfpx",
  "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]: [-0.1837, 1.0233, 0.8196, -0.7193, -0.2768, -0.0883, 0.9965, 0.7334, 1.9022, 0.8406, 0.4377, 0.598, 0.1825, 0.995]\nstate[eef_state]: left_x=0.2843 left_y=-0.0001 left_z=0.1554 left_yaw=0.0988 left_pitch=-0.3192 left_roll=0.1784 left_gripper=0.9965 right_x=0.4009 right_y=0.2322 right_z=0.0509 right_yaw=0.1332 right_pitch=0.0509 right_roll=-0.1767 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.4684, 6.8171, 1.3944, -0.1734, -0.0513, -0.0122, -0.7453, -11.3846, 7.665, 1.6581, 0.2369, 0.0513, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9298936d9cb88d3a10a730ac8db03f4ecf58a2c47d04dfe45a0c0b33d0011230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6986472621cb112adf60632940e95fe57fa7f13505304c338333fad7034d39f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee081f67d1b1c5003f87e9afae8402fcd51ff9eb721acd0d21a36e8722236622",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.827 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0203, 0.8215, -0.7006, -0.2768, -0.0879, 0.9965, 0.794, 1.7947, 0.7628, 0.3904, 0.6559, 0.2352, 0.9953]\nstate[eef_state]: left_x=0.288 left_y=-0.0008 left_z=0.1597 left_yaw=0.0965 left_pitch=-0.2965 left_roll=0.1717 left_gripper=0.9965 right_x=0.3717 right_y=0.2296 right_z=0.0644 right_yaw=0.1214 right_pitch=0.0616 right_roll=-0.1687 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.7419, 6.8855, 1.4481, -0.188, -0.0317, -0.0122, -0.6632, -9.935, 5.3538, 1.5507, 0.2418, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0229, 0.8196, -0.7158, -0.2771, -0.0879, 0.9965, 0.794, 2.0197, 0.7185, 0.6964, 0.6613, 0.234, 0.0091]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.156 left_yaw=0.0986 left_pitch=-0.3154 left_roll=0.1778 left_gripper=0.9965 right_x=0.3763 right_y=0.2332 right_z=0.0107 right_yaw=0.1161 right_pitch=0.0921 right_roll=-0.1492 right_gripper=0.0091\nstate[joint_eff]: [-0.1573, -2.6051, 6.7761, 1.4188, -0.1978, -0.0708, -0.0122, -0.2667, -9.4017, 4.1778, 1.4139, 0.3248, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0233, 0.8196, -0.7193, -0.2768, -0.0883, 0.9965, 0.7334, 1.9022, 0.8406, 0.4377, 0.598, 0.1825, 0.995]\nstate[eef_state]: left_x=0.2843 left_y=-0.0001 left_z=0.1554 left_yaw=0.0988 left_pitch=-0.3192 left_roll=0.1784 left_gripper=0.9965 right_x=0.4009 right_y=0.2322 right_z=0.0509 right_yaw=0.1332 right_pitch=0.0509 right_roll=-0.1767 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.4684, 6.8171, 1.3944, -0.1734, -0.0513, -0.0122, -0.7453, -11.3846, 7.665, 1.6581, 0.2369, 0.0513, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9298936d9cb88d3a10a730ac8db03f4ecf58a2c47d04dfe45a0c0b33d0011230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6986472621cb112adf60632940e95fe57fa7f13505304c338333fad7034d39f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee081f67d1b1c5003f87e9afae8402fcd51ff9eb721acd0d21a36e8722236622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6bpyrFREkMf35_Tyf4g0faia6MEwcMN154ghZgRrjONQf0tCSo_QKGXJJrRLnZpPH4ZtJYcVOOF-Jmiwo6OcbcNZZJh9YCsmDGD4blpyuC3E_ozI4POjvWvxw8JjxOckfk2areafg1yL8KvbRdT-3bywXFc105-JaJ0-bx953MNfAQkVpUZrdkzKHOU4zAGIkkovIdPLK7BtjqrYvuYcJfvzAQtYdo1ji_VsP0J5ipzbon2wSV6N0vA4EOYbkF9QXOZanM7QmYoFHBIF4VNPrE3CQ0BEZ1prwfC3x6E8Me4j9XwQ5DjuoYqTjSUR9SuFWdKz36xeJELgNW1NLufVVLKKN_oLQuW6BSJkAWlVkAU0Yl4fYPAQsi-Eq_0CTQofT0Ewbb306huv5lTNaQg1qpwbKxeY0QEMCAAl7ZspL7EqShAMWPhGiZF-tcIreYIUMPdNGtfBJ-kRUeMRbjUyJSEiMMwlefM72Kq8X7tNITgzOhfY7VJ0AG0auo0ze-7iEz0vAqLl7l3vD4EKGPy5uSUteHS8qFSwW7LmwdM7T66DB6Z9_vVveYFdkz1_bD1qbKNHbT3ZzcVfY7nZxmsfXxOn3iU6qE_gaNv2U0lItosh8DjwiOPDXYn3V8aN6PF2ZCITk52H8H-dhWdtfQkkEkxrwVWbSWONInUG_po1jUd81NhQNO6uR7svbmiB-BsgZGZMcnSXd3JBI2rwEN_7quvCTlO5fXNO1XO9WjtB3g0-7QUFReNLQnJcSWltDTmYubUagKdBC_gWd1reqAYqk4JvX0fWD5CvCOBaklfQePAcR-b1_eHz-WRPvIBJI0lu5MpUNfdOMEdEZl0wnctPPzE8AmIwaeUvNjQf3jZoDJg6R2cP_DadroBYIafnw3HoaLOJKzPOq9fYMWUscCx3SYil2J5YN0tjKAOhEjMGQw-5S47ve5kjdUIsOj8DJzydh_GeFLtLDCPXNg0uLP4QphCs7o37yZ_rZ0A0Iadtycd5q4pmtW_qXVCDCY0Ac0fnj8WCcYVYbxisvkghiAEccbnvgY1rg9EIG3VmHnnY6tfog3LR7u_2PjNaJp6S-J2PQOf1AuPEhJ2ChVWC5yYAvSZrRZS24DdCkx0eU0CqBeDWI6xaD4b-KL_v_aYHa_ZNdeU8GjZjXAW9ATXedDIbryrq8gywSQc3KwQGxJiym95X2hrlk8ZO_2SPBAk8Jb6JRfMjexHY0qRZ2QeiD4kJICGRzjI5hHCn0uAndH1rhktSa_-cSYeMZcCtVVTk-vcFtb8CgL9wyJo1Id49MchAsGPj6lW8-2Kyj5IfuX4LKq07U4F9oBmGtw555yW9bHYtf8ZI1Y--ctyonUaGqtdM7e34WYEW5cnlvEw3XglL08YkBpw2RyeXrhNdA3ihRAnn2DytaaKg0KWhmrbWrnUZ-LsVVqnrJ4bSv20bEAiumwfN1OC0MmA-Wfb-1RCbJfIuVZ",
  "id": "rs_09ce3b369e78e0c4016ab41e9a111887d0bf9acb6df0c9c10f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":-0.007},\"note\":\"After advancing, the pen’s shaft extends under the open right jaws rather than ending in front of them. It is slightly left of center, so I’m making a small leftward correction while lowering to a firm table-level grasp height.\"}",
  "call_id": "call_YdofwajeTA4PL2SEeLX0yAxJ",
  "id": "fc_09ce3b369e78e0c4016ab41e9adc4487d0b7f336c0944a8fd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YdofwajeTA4PL2SEeLX0yAxJ",
  "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]: [-0.1837, 1.0248, 0.8196, -0.7219, -0.2768, -0.0879, 0.9965, 0.7464, 2.0739, 0.8345, 0.6292, 0.6102, 0.1978, 0.9954]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1546 left_yaw=0.099 left_pitch=-0.3232 left_roll=0.1799 left_gripper=0.9965 right_x=0.404 right_y=0.2406 right_z=0.0082 right_yaw=0.128 right_pitch=0.0675 right_roll=-0.1613 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -2.7009, 6.6803, 1.3455, -0.1587, -0.0611, -0.0122, 0.253, -6.7897, 4.6017, 1.033, 0.1636, -0.0415, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102f94fed16b606119cd07932416ea83a9aa60bde9dc537b3e3fc14caae41498",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cebbe5b57b3b38148d372d0a62fcd7dcd5f43925a4c59fa9fec09a27f533d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3289612d8768e36ae09ca5cfbcc6e74ba7b2f02fa065b75e0b6452cb5725a6eb",
      "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 · 4.074 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0225, 0.8211, -0.7055, -0.2771, -0.0879, 0.9965, 0.7933, 2.0109, 0.7139, 0.6601, 0.6605, 0.242, 0.996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1582 left_yaw=0.0975 left_pitch=-0.3037 left_roll=0.1743 left_gripper=0.9965 right_x=0.3729 right_y=0.2294 right_z=0.0067 right_yaw=0.1133 right_pitch=0.0674 right_roll=-0.1619 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -2.7829, 6.8308, 1.3993, -0.1685, -0.0366, -0.0122, -0.0889, -6.5846, 3.9453, 0.8571, 0.1441, -0.0904, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0233, 0.8196, -0.7193, -0.2768, -0.0883, 0.9965, 0.7334, 1.9022, 0.8406, 0.4377, 0.598, 0.1825, 0.995]\nstate[eef_state]: left_x=0.2843 left_y=-0.0001 left_z=0.1554 left_yaw=0.0988 left_pitch=-0.3192 left_roll=0.1784 left_gripper=0.9965 right_x=0.4009 right_y=0.2322 right_z=0.0509 right_yaw=0.1332 right_pitch=0.0509 right_roll=-0.1767 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.4684, 6.8171, 1.3944, -0.1734, -0.0513, -0.0122, -0.7453, -11.3846, 7.665, 1.6581, 0.2369, 0.0513, -0.188]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0248, 0.8196, -0.7219, -0.2768, -0.0879, 0.9965, 0.7464, 2.0739, 0.8345, 0.6292, 0.6102, 0.1978, 0.9954]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1546 left_yaw=0.099 left_pitch=-0.3232 left_roll=0.1799 left_gripper=0.9965 right_x=0.404 right_y=0.2406 right_z=0.0082 right_yaw=0.128 right_pitch=0.0675 right_roll=-0.1613 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -2.7009, 6.6803, 1.3455, -0.1587, -0.0611, -0.0122, 0.253, -6.7897, 4.6017, 1.033, 0.1636, -0.0415, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102f94fed16b606119cd07932416ea83a9aa60bde9dc537b3e3fc14caae41498",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cebbe5b57b3b38148d372d0a62fcd7dcd5f43925a4c59fa9fec09a27f533d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3289612d8768e36ae09ca5cfbcc6e74ba7b2f02fa065b75e0b6452cb5725a6eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6f0kmb96e2fgqgT3v4IMOdqAIu4qAAy2-kqROiEmRDfxBm35FhkMjWcTESgROcbw5FIygLt3bOxhJ_AjiOd4WXpgNpEA7kHmGUGiNOKV7S7TRI9Z4WvaFsTG8GO1GXjmlsfP7SSLEvbnf_npG_UDFR5JtU7j7dToPI3v66KIYXzKBmVzq7N6V9yJV0BrYYbfjL2PdB1G701VOMs0gW6sesy1vs7LdQQF7EztM4VXtXxrNkL-W0sL5wmP9HkBf7EWrw_EGcdL0DiNIfU0MlhXk91Wiz8srHXSciXYrL0GbSij9Nw-A5jAVtyRBr45UjPHiYKhXlNY-Qr9iwnrW8Lu18jhSRTryZC8aCNmYFL07ammSRTzTStdFWEYWpWGNdnDq1_NPx2lniDFgIj7G5Vj3_OzxIqbJE6KvQSD9IOHcI5uKb3nYsyvknurwxaH_LSIYeB3ThCiNmIp6D0JQ4YmU9K_vzcBsQa4bkJjQDMEtQZcfDPtxURZv8OVbrY7o7lIeskx9OA0T20fBMq2mbRFnOxRAXi0PdSFwaPk-82ysdMgjyJnX01Ib4wKLjjK7l7H1q8_7S01_JNz_mfZOZ7ytBkY3bsmI5efG3rACR1PoXlNTWexr-GAxoXj95ZsyYDej3BDydeToT-JmO6qIoSKkb05xzzs6zYLLmBYiFzVeroVdX-hpLh7CiUTKEhMazEV1sSPgiCssha6uq0z3jGxTLdoskScHcZZzCCqKwwtQXSUFsO1Esp6fvhpvG5w7YLLkOFN-sIyIsvjSgYgDW4eQlO8-M7A7dG90tAGM8v65bHum1HkSGgVCJYMCeYTRUYf13yt_YCZtgI_KqrVdGVI4rc3QUANA4_RKvCYs_CkfkJhazg1tL661Cavb39T0qJaAC2tZYWbIP5nybvA-0Y601IMCdhLfd_kUbWpHrHKyXFBA8yWjlzTcp8g0o_Pdietkdgn3SpYwP9jGkVGOKZCl_b9qE4SjluSwea6eTZtMHF4wbF1gAOg7hJi4E0cJgW-DUO043LQONxigxxVw-X1PgYxCtiFShkt_YzU6k796TWUn6P69bRIIXzEnmu2Ai3vNEYJm_KcyR13wj-MqG50Sxoy639YFLs9lImTLReN8FgaVTwYQT6YeyOhxbjbcrI9qQuhZeE5gOVcrYrERLItExr5ZDDRDvzbVcLuhUzWGltnD06nA-Vhj6CUICCMak_5eStu-CwtdmIGi36x91wO2V2X2XQTcHD2GQ99oNSxyhRa2R70c_IxsvafVyTjCo3hVM5_CaQZTyIypcohoS4tXOjg==",
  "id": "rs_09ce3b369e78e0c4016ab41e9d64cc87d0b7c43b5c32cbcddd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen shaft is now centered between the right fingertips and continues past their contact line. I’m closing on the middle of the pen and will immediately check the resulting finger gap.\"}",
  "call_id": "call_eeXwV2FIvJL3fZBbIa3kwxfy",
  "id": "fc_09ce3b369e78e0c4016ab41e9e24f487d0a5443d6ca6509d63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eeXwV2FIvJL3fZBbIa3kwxfy",
  "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]: [-0.1837, 1.0279, 0.8196, -0.7216, -0.2768, -0.0883, 0.9965, 0.7467, 2.088, 0.8345, 0.6453, 0.6064, 0.194, 0.0448]\nstate[eef_state]: left_x=0.284 left_y=-0.0 left_z=0.1538 left_yaw=0.0994 left_pitch=-0.3258 left_roll=0.1804 left_gripper=0.9965 right_x=0.4041 right_y=0.2417 right_z=0.0046 right_yaw=0.1334 right_pitch=0.0675 right_roll=-0.1618 right_gripper=0.0448\nstate[joint_eff]: [-0.1983, -2.5641, 6.7214, 1.3309, -0.1343, -0.0708, -0.0122, -0.3624, -10.8376, 4.9162, 1.5409, 0.2906, 0.0952, 1.2821]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164161d383b3ecae8d52ceda678c87487daf4af1a28fafc657c2253245140bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c7a776d014c08d7d55db29e76eec79ef75f73adf4df02bb60e33b9445e8a20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13e3d868a9c3ae418c339a59be270f06685c0ef36e22df481fff9542eb0ee35",
      "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 · 8.756 s

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

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0229, 0.8196, -0.7158, -0.2771, -0.0879, 0.9965, 0.794, 2.0197, 0.7185, 0.6964, 0.6613, 0.234, 0.0091]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.156 left_yaw=0.0986 left_pitch=-0.3154 left_roll=0.1778 left_gripper=0.9965 right_x=0.3763 right_y=0.2332 right_z=0.0107 right_yaw=0.1161 right_pitch=0.0921 right_roll=-0.1492 right_gripper=0.0091\nstate[joint_eff]: [-0.1573, -2.6051, 6.7761, 1.4188, -0.1978, -0.0708, -0.0122, -0.2667, -9.4017, 4.1778, 1.4139, 0.3248, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0248, 0.8196, -0.7219, -0.2768, -0.0879, 0.9965, 0.7464, 2.0739, 0.8345, 0.6292, 0.6102, 0.1978, 0.9954]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1546 left_yaw=0.099 left_pitch=-0.3232 left_roll=0.1799 left_gripper=0.9965 right_x=0.404 right_y=0.2406 right_z=0.0082 right_yaw=0.128 right_pitch=0.0675 right_roll=-0.1613 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -2.7009, 6.6803, 1.3455, -0.1587, -0.0611, -0.0122, 0.253, -6.7897, 4.6017, 1.033, 0.1636, -0.0415, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0279, 0.8196, -0.7216, -0.2768, -0.0883, 0.9965, 0.7467, 2.088, 0.8345, 0.6453, 0.6064, 0.194, 0.0448]\nstate[eef_state]: left_x=0.284 left_y=-0.0 left_z=0.1538 left_yaw=0.0994 left_pitch=-0.3258 left_roll=0.1804 left_gripper=0.9965 right_x=0.4041 right_y=0.2417 right_z=0.0046 right_yaw=0.1334 right_pitch=0.0675 right_roll=-0.1618 right_gripper=0.0448\nstate[joint_eff]: [-0.1983, -2.5641, 6.7214, 1.3309, -0.1343, -0.0708, -0.0122, -0.3624, -10.8376, 4.9162, 1.5409, 0.2906, 0.0952, 1.2821]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164161d383b3ecae8d52ceda678c87487daf4af1a28fafc657c2253245140bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c7a776d014c08d7d55db29e76eec79ef75f73adf4df02bb60e33b9445e8a20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13e3d868a9c3ae418c339a59be270f06685c0ef36e22df481fff9542eb0ee35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6kbZSSPLwuODwCLc-R8c_GQaxHRkcUQWSMJLcN-6fITD7Q2SY_FmLrSDMHWC0LSoqygQdhe9T3bckvf170Gsmz-9t8bCFY0EnuApvbbHLfC4rbgl9ZTYhsnMOTPtAtgQgfwyI0heYJcmLvEBsO048cLKO5UqYvHuHUM49ETm2bILaHolhUcTvXES1Ln61tLuMZKiyIOL0kt4Y_FZtyfLPsfBZnbn-ZerjL0L1mKPeV9OZlxMtIMC6c-Gb5QzC6KiKMwmE45c-1FxzpzdkUcqUUgS19G8rkWO3JuIZb7Y1OeerOLJ_92IgqdyPKA1kNiUxMIPD3WiRkdZO3in-P9iHEKVORpwOg_MdCG_B7RXY8f28LFdgKllWzBI2kLLEdiSbGiRdLM-tljChzQtqVSkYP1UtAXZV3H8KKfh_8UTYPQWAE6IVP-Bz3zPGDwArR779UfifrhfFGd3nolKd7Xs2VqQvOl-_mSe9haC2k8KFzoJLIyczRZ0WtXpUfWXPizSVND1eTE6Z6mqv5TK0UTJyc7ExRpEGm3hrC2JPbZXDxPGlMLPZ0m8z630JS6_sssX3ezaghel7Xfruu1N598jImBXqw-nvfkav0dsIgfqG1elepXorYrGOgLPH0BdBGkvv3SZmdvyZq3rNuo165f9T0w-O6BK5hJqzuNSgVLjmo3FX7OWhDNGN8d9KveaSM-piDdYBPxO6yh0HUQ0amqolODzJmX6A6BBMoP_qnr33VrsKIfdQLt4yb8zgPL_8FQNmers98JRKKKnlcvW5mZQwdSvvPsXGG6LGyjEbg9GTRVt4rcnw8uuLAGnHjtpSX6iLaRrtjaqTW73e8VeQ9s7NGi1GshIHntDGRbT6hCcwQ1LHRy39yAhTY1fKchlnae8m3k0LSFzoqLtP3xPqJ2pfCMSPiEufssyk1mRVNrIpnsXpT6H6nAdELBgbH-p2rtx0vruOrg4FvdOBqh8pqnpLD72QxuQokL_Z6GCxLUVSbQOWGPLfDn-keKUsk_kyutx60QAMkuIju4xqEIv8rH09mwBx1_IPDuy7Cr8lpKmpQpYXJCU6PwVBNX3TC4LkJ-PK56hdofA7g-LNUpTNF5AXEz4gTl3P3yNr-NLhvaEDfUDCfgRolQDsTBqmYCizLqrL2wIPV5syQtDgHU8LgMZdAFwGxvXSdxm25iOaVNdfwQUzoKpWAlnIKYMswyP_YTzhygK_y5Ma8OKi2VIy1DRGJEQg0n-__nwB3pyjGj9Z0K5IcTgN1-b4ZMDB63FibK5CNZijiEKa6Znps7Yn0jv2K-_76EpSOhzO8AVXnAuegbgQ6aQv4KA7UXiD5M5i4sgz3Lj7Dx9iVV8ozB0k9ouLGyUYCct-qG1SlN-HA153Ann37RddX0b2OoJRpzzLGRuMmzq5nj6Pc-qqQt1eyBFpz6TY3E7eRB0V_5ZtG8rHkvg82zlhPRSDUyK7uNcUMi2yyUxrLMXxvUwuqhrpBQFyGRKJjoPghubVUF1g7xzr9I_bl39XYhLmMWcnveXc8-O-w12c3Epopr6lFaKE5sltThI68hMr1g9hc5AQ7h0CIJHYvHSin7HigZwyFkkY40v0oKCmzt68P7jbdKXiRNhYOn9cHoWcyNXwWUGKorxYQ4MhDmd37_HQi59H3dIMaDxCouIpbVIRE0UDMlu44POG3p3nudt6NWiJozp0AMptBr4fetL1M1MMabhE90Aq8CjowwOeFSy17oFZZVlWsjPeunnwDRFGc8zhg1fDwWkRAbCOhKbwD8uTkvhyadkBfNsQz7Os48nYWR4t5JKPvHuI_VLVsWIFwozxe6EWRhdvdabFIkL08lmTkUN_Ul7xelc1T1eIJU-f81-8QHVCZ_DcfnjcPgdLmdJ34oQGNbhjkSdiylWfISlsSkvnKhKIG4vB37TFxvy1QP5kAZrWqL0W0in5NGOPTwvOmMUach6Gpl4iwQOJyDlYynqSHeSr_KdH1BzH11aKaER4yf4fdO116827uUVR6-E_H8FJM3WTetDVnhqq_L0l-gEEBibHg7I2OfQG4QRJuoU0vViwSr3MO2jYEPWezfoJVE8U2-xx0B_a7q-mVeCQ0_ScuKjuCHvxcdVcWCyA7kd3II0BAS27AjwJE_Qvs2OIPWGb8-TBn-DI=",
  "id": "rs_09ce3b369e78e0c4016ab41ea2f61087d09bd3b0721cd9b24a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The right fingers settled with a small but nonzero gap, consistent with a pen-sized object. I’m lifting it to check whether the pen leaves the tabletop with the gripper.\"}",
  "call_id": "call_Iof1q8CqSd8HJ0HDQVI2vvK1",
  "id": "fc_09ce3b369e78e0c4016ab41ea43c3c87d09ed7f7210276602f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Iof1q8CqSd8HJ0HDQVI2vvK1",
  "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]: [-0.1837, 1.0294, 0.8196, -0.7227, -0.2768, -0.0883, 0.9965, 0.7467, 1.8511, 0.8951, 0.334, 0.5968, 0.189, 0.0439]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1533 left_yaw=0.0997 left_pitch=-0.3283 left_roll=0.1812 left_gripper=0.9965 right_x=0.402 right_y=0.2417 right_z=0.0744 right_yaw=0.144 right_pitch=0.0527 right_roll=-0.1694 right_gripper=0.0439\nstate[joint_eff]: [-0.0615, -2.6872, 6.7214, 1.4188, -0.1538, -0.0611, -0.0122, -0.253, -10.8923, 7.8427, 1.5263, 0.2955, -0.0171, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7bb33aa4f2d9f6831763d0636b4cb714a16fec330ea7b637395d9fa2193861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d96a0cc31db9181493525015a446246a1a4a7250de7eddcb3285af68529e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abdbf94c3a566bea0c04e9e1581cb57698ab9d63fd81724905b1699f5d02e53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 5.588 s

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

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0233, 0.8196, -0.7193, -0.2768, -0.0883, 0.9965, 0.7334, 1.9022, 0.8406, 0.4377, 0.598, 0.1825, 0.995]\nstate[eef_state]: left_x=0.2843 left_y=-0.0001 left_z=0.1554 left_yaw=0.0988 left_pitch=-0.3192 left_roll=0.1784 left_gripper=0.9965 right_x=0.4009 right_y=0.2322 right_z=0.0509 right_yaw=0.1332 right_pitch=0.0509 right_roll=-0.1767 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.4684, 6.8171, 1.3944, -0.1734, -0.0513, -0.0122, -0.7453, -11.3846, 7.665, 1.6581, 0.2369, 0.0513, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0279, 0.8196, -0.7216, -0.2768, -0.0883, 0.9965, 0.7467, 2.088, 0.8345, 0.6453, 0.6064, 0.194, 0.0448]\nstate[eef_state]: left_x=0.284 left_y=-0.0 left_z=0.1538 left_yaw=0.0994 left_pitch=-0.3258 left_roll=0.1804 left_gripper=0.9965 right_x=0.4041 right_y=0.2417 right_z=0.0046 right_yaw=0.1334 right_pitch=0.0675 right_roll=-0.1618 right_gripper=0.0448\nstate[joint_eff]: [-0.1983, -2.5641, 6.7214, 1.3309, -0.1343, -0.0708, -0.0122, -0.3624, -10.8376, 4.9162, 1.5409, 0.2906, 0.0952, 1.2821]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0294, 0.8196, -0.7227, -0.2768, -0.0883, 0.9965, 0.7467, 1.8511, 0.8951, 0.334, 0.5968, 0.189, 0.0439]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1533 left_yaw=0.0997 left_pitch=-0.3283 left_roll=0.1812 left_gripper=0.9965 right_x=0.402 right_y=0.2417 right_z=0.0744 right_yaw=0.144 right_pitch=0.0527 right_roll=-0.1694 right_gripper=0.0439\nstate[joint_eff]: [-0.0615, -2.6872, 6.7214, 1.4188, -0.1538, -0.0611, -0.0122, -0.253, -10.8923, 7.8427, 1.5263, 0.2955, -0.0171, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7bb33aa4f2d9f6831763d0636b4cb714a16fec330ea7b637395d9fa2193861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d96a0cc31db9181493525015a446246a1a4a7250de7eddcb3285af68529e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abdbf94c3a566bea0c04e9e1581cb57698ab9d63fd81724905b1699f5d02e53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "encrypted_content": "gAAAAABqtB6u_ymSKL6ysZ1cRl4GrY3hXjq04P7Rw6smanc0kEyALBfYubME0LZAFLIO7eiVhLj7s1h5WD_D2-p-GAiT9TgptC-z1dSDq0l6pkqVYME24EcZZw9At_9thrN1EW9tXrNK9L42x4ObXKFRw2FSXGKWOuY-icL43VFPjfETsEMyvd1xn_iB-F7ZUk0vPxY54pYPnAkXymWJtQ4WlwkMLKgCddAmDOP8CX39B1OQX0BqoJuHkJwYpfKh6C7wW-C4wnthHppv55OSVfAYSfxyc0kQVUEoBxEVIPGKjPcKfEWCR_HltfPb9swOKaubojdtQgrgso9eRCErWyrxGFO1xpLq2zYL6IuLxQFtEFqEWtSeitTOS-2f_RLpOvsWcTdet0zAmRZ-Kd8DGRfNlADPdc1CdCbFg9wSLPExACpFOtWirZgfghPl0RFyedH5lPiBxihQry6FxQqTh7Km06-_ubk5uqZlOfxfA9VQYCNRxlcDwcZWXMxhRgnuLMyj3BELg5xL2-A6P2bSLDNt4jACr9rrjIDSpQ6vos5tXVsrT3xiJViMjoy50qjOnA_WY4TYVEFU_avTEnQ1FuvnJFR_J1l-bfc347qegTDutHFZ_HfcOzT7Q4wP-QXo1dX6zjZfEVc1EkigpUYZpHJsHzY06yq-rWBRP-ealfoQon33ZSxsnhKGXF26LZtQeSzHzZyO8qsyBexbMSji6H4HZAQxusKVg1zPSi-X_8rlrOdy44wjTmeXzZu4D12AJ6jMDXm_l9FljwP4WA8UzUgvR03B8OEprYqlxmp7qAqMwqyXAWJ79j_PRq_2PEWTOPbbp6yM5QdCinVWHJE9aHKupj2qxD4OKyvRtfcmeo88bv3s1spcw5kSUw8eb5F3iy0DKqBA4ID1PDNcoF2d3fDgW_NolOeIoR35h-cqgF24dpMaD-c7JXoXv6QT2DyNbyJK5WFinwTcVhyYbsaN11fb4BXDdXDpWecdhfu94Yxr2G0VFN9Cqrh57Ukuma9DbWdNm_wpJN8XPlEneWjAv4eqj9tP6Jx0oFqMq9ycf81RQ8IcodV2-yWrKZfAzAFrMZjUlIahQlM8zajlnvrdlUe56ajrCBrc6ZTr2y8Yknzx4iqkOIK2HAmL8OEi5ocE4ySumHuKjF4ACFhQHBUOOW4bD7iWWWEFrZR4Xb4WRd38fZWYNm0Qxr2nFcKR33bwfjFxLV1mjrFi__MDG26E5jMIZQ_lH_M3sJGwqHUpDOyP4dVvlw7ak_XwSrvNlozkcfNQ1iDc9imiCrpc5iwSjyW7XxcNC2WHeH0P6NfuAFLzJ8q8SYpHzxWTNL6A6-9wSNwjtGFC3xjzKE7wU76GR4kaN7M7uFVtCHCOPpi37BP4DMoUDTPsQGWRnAcg90Sy0FbBktUpRLoRRptL6UopR05DwTSGE-CAeiq0-EXLnjWTIkZwM7GPwthPf4TMQqZNyJvGUa_AwwGpct-tctqSTiX9cTfC7hFpGTqYeib_j23nQrZfAJdRSAdq09Vc9lAn5Ut6J1-s7Tc0ywyM3lHlOQ5FyDEEYikV0np2O8g3BpSfTxHQLpwjyNSgftbe88EY51mpn3Ko0Eu-LwSMAcrPooBrikQGDLtDl2xeJpRGAclG_yV8RRAJVS2l8OJHjhmd5Y058kG-4MyA2TZx5LbZyFpcFTdiqhPsA1LZK63OdgCGOBp2CeS4WF3AYW0H1pFi9T2SjJPqni_wyKWLTbLuMsWY91jYzGdWgiVvmN65ghTkobeFP1BO5lF0UU22tYn4VT5BSAyu56ooJpEZzfzsGlOK_yoghj8RR_5qvSXSLMZnvLhlGV1CxkFwYcDucIZf5H_ZVyL4wvyj7zn9qJg00dO1hywlGW3KFk2uKiX1qveDatmrBBP3-DyerEdl7Y_lVbB7C_bwKV3yLQFNedSO9SPmn4oqwNeas16dEe2aDNaWIuSRS2X0Lf9o4CPBSsXocdIHklwzvXZefYKVHDFxZGhIPJ4bRoAwMNaYfGrft0R3x9LgYBQBIybXDGqZNC7lvMndfo2KsKrWWC8AFvblkqxKtwmbyoVJum_YH7uwUZcSzQzZ3aemErcNFd91H1Q5kPXnlCP2noDYVJqBWshJ1KPBhhZ4vlY9QMnP_W-j51gHnhHGWrv4YnO9xeChKyu5IP7rhv74lE1oalN1gdxhTi-lWUDvl_TXlygkyZef7UQV84gUFDvwigHyDW8ugve6KGcg8SL0XyNhk4cB8In_8gbHCzTglg1GIEIwSlFtaV5hjGNQVGAjTiOK-z_f9FTU1shFO1gr5bp99mNXHSOa9MCROdly3CwkebEh0pVGy7o6SkY3er4cBLlGjnpVydGEWPwEWVdiSiqkMSMX1Z-tnIb5rwXcT2cPGgIjqIcef60rqiAGGRGXVyuVa9lmGyNDoZVDAvpdOLbHsJAbMBRJpZ3tjGHgMXAHe0sY6eMGuXSyCdzNKFwhXOnMJ7XqMJf7bUsHu4Dh0TGxEfzuls4QL01FUqEGetGxBqddHrpfEv19n2-NcoLXgj0kWpMaLTly1UJyP9qP3RWaqyhU18tqbs1JX4CbfkRqvVApNVfP-x0_isTcFWZazYfN5n5sE1CAZ0DhAHsKI558jQLMUXv1lEzTutTi8x_jvS3BiDxUvT0q1SxASRlK4i2sF2AcJX7h1tjCF0Hwq4Uu21SuB0qw7b3C_i6SoMejwqsikyS-dBj18IRhQquAsYAcAoVDEc1jcgE_LZgaNaxsWApV_54cNB_lyMuXNp7IX5cnnaztE-4C7r6Iv3miUOvCj7NHnPaL2hsGVG2F9kJtiG05PAgd88Jot5gUpKlaMidjTdEI4svEW4j4VPiQuUHMFrpvIXx1DRw02npNVEOfJ9VNG2Vng2yUPOvw1NqAul3vRRGeOD3UlvquH6RQEGekIkCbQQDAq-QsBcnmTrBGJdI0-GAATmn7ZjxAi8Lsl9ciRceYU6qGWrbMjSa2w6pHaE2jiREnpWfCmgten6vp_Dj_BinPWRH-NDrTTqynb2Q4AH5KP1mt4ikkbX8_M8pkgkwu4hfioXGUDLUYqtuiYP-LtdW6I3mLJ_LLxS_ETA6zFK3VGkDwjEa7vIHMnwniOvoZBVoJ1aaOQnQd7JkHNBmY7V1JWVZncf-p_F8T5nhc7cTkW9Y1pSVht2y_QnYgS_Dx9ECzEpeCIUz2p-DGQGB17-RJNXbVHmEzAvTCb_hiACvDenlZWJzXWbcaHv8AaAvOz1niy6f8NElfp1DjsRnql4C-O6ZheXRtQy4a-PWSuogPOGST-mH3QTe-0JVR0l2cfeZ98Jn40_BkMG1p7_-Mp7aOsBsHYf71BGpRT0D50RPDyAyvhgSdTiPWxAVN6JyNy5wOHfWmxYLDksH3xoIQn6oYX_ADvVN93RVgs8ZI2n4fQTDgb3xhcb2xi3JDkINXze9D7Zvv1rcJI8cOKMY0kZQipjzdAlmxfajjWkvsoiLmHjiH0ua6BHP-6DIz4zTNYeo1v-RnZjmwRD33OsBgUYlheEeaWhpgB8LkfjVBD04-gtlA6IT-AAB7FyLLeX4QCs4Haema-Ad0VEQelk47c9L9irzjDY3fdXhpC-pIyOXDfUrqF24LUBiT9eR1mxbkHd2vNmA6d2l1ycMTYE09CnRL9a1NQFPeGKVcjRwVIq0J09-HxPOrrfW3hEJbE9LTSRVp3d1BZqpncIiaghDzd2SFi4eJumtYCHX2Ag==",
  "id": "rs_09ce3b369e78e0c4016ab41ea6ef8087d0836526b32e3d09ca",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6uAJdPQZh-0a4XSb3dQMk0-8Zk1BUDCcS1g0L1FUDPffeqlqJPot1GGyiub-_tSSoWQGvthfHDu3GkhT6QAkC-iCvzBiqpBCLOhcwvjqW0iHV5ClosKYSnFj6-8IguPcTDcWv2Vi8jVoWpPHZSch5eMEiqTati_vybfNX0uLMljWky69Rz8DZ9t0Pign4LJoTHGdN2uhWjoL0nTtIDDjXrVSRN0vLSBIWQh9-xM0q-zbKERwXfvOcDlpUotB9Gx6FEvBerzDdoXvO5IC93XJXVWdDd4iHnyL0GK3hRHXdiRjnoSuoDshbG2RuepYUG8_RrnrNA7htEZ0hzfWmBD0d6Hl2_3Pwmf-a-tTN-iczxxHjRSvLtoJ9ZkJ4tJm0pb-Zjlwb5yESv5iZMZvhocpF72CFk2wKMvQZ5MC7Xvi70pRJoKShIn2GIR93xf00XW5jyiyynsBmtWLA0ZibysYmtPJduUQKMWltEBjEEd2vF8qC_2fXWm8ALQgKTglaf-wQC15FL1BfFPaOq0dCGWYcT2DJR5mx9dpeXSoztedrDlh4OKJBJzpjd9X59cydauML6mgRwCaV8R1_ya3cRj7LBM09tM17bEcYi1KunPMnfDk8VV2PwShf1lH11AnPuwPonGzd8gqCvPfpSk6ca3dB5maXTJMkhOnr_QIUTGvIu344brx7ej92FN3ube6Dep5puuv-l91zZf5Hh9PiBrIljU4UUEPhTlDp9zmy8VUoEDKZmmryVYF_xxehxuUJRjJ76uFlz6uQjzRpQr22eSpjmucY6gL-JN1z2T-UEClTSt10IPynwptAebEY90I0FZ5eMQb8CVOEG7eyB1qKwH_ue6B0Y4ORNla6-Fy-QxonYULVAWQvejv32z4ToL0JP9kJwGmeNgG0kKW_hJE1WhlN5hgKbWktEpUY2dF0enGmFuKEsRC2a9f0wQFvL863NtLq4O_N_iJMJh0BbJpVNSJZfMJeV_bK0SsChZTmfIj3-bLRHzE0CVJb8xv3p5l_ujhxxC3pRtDKTp1ysjene3iMjwk_JaofITYnHlwhPnftNdUmFRrUQj3sBgVKPLoEcCILoTrNyT6_iJph-4VA-JFVZPdHYM5o3jN9yvsiWNNr23rEhWkJR0N-lh6RWJWLFwubbrcKKV_-Dn4Sm3k_EfeCcVh0r8ryx-DzQ4UYSCCE0ReMoCJMvqxhc3qIMsla9CE3yGuAU-n2Lr7SAb86baCTBhGqP17SMnHf71_Txq7e5xeyJMoyp7-dY_Kiv6056L0CZfSFWL8on6CHKsx957BVjbaWErG-YpuSSo5RROFQCbIpFcx-_Igo_I1Lgrw0Qhppnlsi3pOLOivumLMVvFCL_X75StVpdGbI2-jk5Qtn0YRuYuHfaawWMJ04EdEM3RyG2F3l-LezYXFtdCPrdSNHJXEoN2MEJlandZInLWA36Ux8DanvoVayh7a7axueD61pHTkQdF5k1mhfm8baE8sw36bdMWuOcPc3C_qOri1ROO6TFIBiJrTQ0DDhbpxYf1dHiz5GXGBuoBCcS63G54bQRTa7RihNgVqdIlSi-Q64x5fIxcWE4IRwLq7hOQhMBweBrP2tkHAMWZRfStOh1whfRC_n39hKip0h8m-48ZbhaM3ZTTGDzbnSYfV3uGYn0xQoWca84WMsLuth3eEqOwRnwe_FWBii6cRneARAIHU4-SyHyt68C1msPVnlBaRs5uD4ZswCgiPMnuTy7o4J3NLgjhVCNYckKSbL0yu31rU5-1df2rAJZrqdcDxMWPilHI9tXMA6l3oAPv7TFNmSF5zx7BG9WbMsrjqrJDkPwb4Qrm_mKD3huz3AWB2Zqonz6Zn1yiMe2pI05gchgOTPG1ArsbP6SXd0ZA_VZJoOyVUoH6A1GcArpo4g8wjh59LoxZm2TPEqeC2wATxMra7mEN7_CPsfyPsqtkFUErobL0OHT2TR5rkSzrE0wdY2cHcWmOPqWYUpdVOr_SV9xo52otcDYPy9x1Pez0mJdEIPXcnDWlTi57tCvtvSITnFDgeyQdR_6sGt4Ypq-TscaBTkx0iudbCYZwF_ia0cYdMXvnayu1lNv1vM6Pm5vb2WNyRc12luRQGiXA1MrJPc63IQW0wfuT7ZHdt6f3zT5YJIp7AwfUklK9YRnoAv3sfXqeboVI9Nf",
  "id": "rs_09ce3b369e78e0c4016ab41eab4b5c87d0b5bd820ac4830d51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.255,\"right_z\":0.065,\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.12},\"note\":\"The pen is still visible on the tabletop in the right wrist camera after lifting, so that apparent finger gap was not a secure pickup. I’m reopening and making a small sideways correction for the pen while bringing the left hand back above the cap.\"}",
  "call_id": "call_a3sicSxVKzSeA6cgK94yXazm",
  "id": "fc_09ce3b369e78e0c4016ab41ead141887d094fcac647211db0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a3sicSxVKzSeA6cgK94yXazm",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6579, 1.7313, 1.2419, -0.6689, -0.5079, -0.524, 0.9965, 0.7666, 1.8938, 0.9031, 0.3244, 0.6014, 0.1978, 0.9969]\nstate[eef_state]: left_x=0.3685 left_y=-0.1716 left_z=0.1049 left_yaw=0.0964 left_pitch=-0.3782 left_roll=0.2049 left_gripper=0.9965 right_x=0.3967 right_y=0.2483 right_z=0.0571 right_yaw=0.1565 right_pitch=0.0187 right_roll=-0.1893 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -8.5538, 9.2786, 1.0574, -0.4518, -0.0952, -0.0122, 0.6085, -8.2256, 7.5419, 1.6972, 0.3053, 0.1099, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca200d33a08179c62231d148a7e92f4395c2ab78bfb67ccf7d3bc70a7a363ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78043e6db492773b9694082016cbfffbb2e22dd98f00bd8c05e823203452e9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c11fc3d286d576cb205dbd2ce3877b294b80d9bf11e0c2693db2df100bca222",
      "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 · 4.777 s

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

message 70 changed as sent

message 78 changed as sent

message 83 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0248, 0.8196, -0.7219, -0.2768, -0.0879, 0.9965, 0.7464, 2.0739, 0.8345, 0.6292, 0.6102, 0.1978, 0.9954]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1546 left_yaw=0.099 left_pitch=-0.3232 left_roll=0.1799 left_gripper=0.9965 right_x=0.404 right_y=0.2406 right_z=0.0082 right_yaw=0.128 right_pitch=0.0675 right_roll=-0.1613 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -2.7009, 6.6803, 1.3455, -0.1587, -0.0611, -0.0122, 0.253, -6.7897, 4.6017, 1.033, 0.1636, -0.0415, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0294, 0.8196, -0.7227, -0.2768, -0.0883, 0.9965, 0.7467, 1.8511, 0.8951, 0.334, 0.5968, 0.189, 0.0439]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1533 left_yaw=0.0997 left_pitch=-0.3283 left_roll=0.1812 left_gripper=0.9965 right_x=0.402 right_y=0.2417 right_z=0.0744 right_yaw=0.144 right_pitch=0.0527 right_roll=-0.1694 right_gripper=0.0439\nstate[joint_eff]: [-0.0615, -2.6872, 6.7214, 1.4188, -0.1538, -0.0611, -0.0122, -0.253, -10.8923, 7.8427, 1.5263, 0.2955, -0.0171, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6579, 1.7313, 1.2419, -0.6689, -0.5079, -0.524, 0.9965, 0.7666, 1.8938, 0.9031, 0.3244, 0.6014, 0.1978, 0.9969]\nstate[eef_state]: left_x=0.3685 left_y=-0.1716 left_z=0.1049 left_yaw=0.0964 left_pitch=-0.3782 left_roll=0.2049 left_gripper=0.9965 right_x=0.3967 right_y=0.2483 right_z=0.0571 right_yaw=0.1565 right_pitch=0.0187 right_roll=-0.1893 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -8.5538, 9.2786, 1.0574, -0.4518, -0.0952, -0.0122, 0.6085, -8.2256, 7.5419, 1.6972, 0.3053, 0.1099, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca200d33a08179c62231d148a7e92f4395c2ab78bfb67ccf7d3bc70a7a363ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78043e6db492773b9694082016cbfffbb2e22dd98f00bd8c05e823203452e9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c11fc3d286d576cb205dbd2ce3877b294b80d9bf11e0c2693db2df100bca222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB612zPjO-r48rmUDAADSfYIBtu5CT3KNbf5ZtrU2NMPYh2O0G8Bmntp4ERES3_PQwaegvF95iwJk79E_mOcer_cDTEwfIKpKHXVh4arti8BB9IN4_2gqy8kswq6UFroYzha8uhuUGGmy6ohOVE59XVSBcSGEeot11Vfm94OrGhcAMckSdyWEV4Pq-w6rs2DqO5EFXe83FJZqb-EuI77F4lytrUpJH0pcSPxrCoUiqxM4sRDEh_UuSvH_WuaIqiEZdgIF4ade3adRzhXeEGikdTUGWlGJXF5ju6E4bBbTed8NOyV-xRdcRSRIa0jRywW9hQ2ifdhYFZH9IIrKQUdQO3u-6k1AHL_JuLAuS3n_l65V7c16djIXsszIRvxqHsT9IxAPPPoIHBaZQDY89V5tE9K5VVfaa2XKTVoYKXGk-I2tUrkYq2GKYy2pUnJ1lAMqF7_EMm0T8T0QRRNhKoqkqSp8fnY1gRQ6b8j51v0vIq9ynk312n5kjNCEk1mkGkNchbFj66lZ_at8qX4N8LRUUGl4w6Tj5l7kj9jXQhqdfpbldJogvPH0QvEa661f5KJJXiFdj1zxx9rRwQnvNryzpy3ssZAMP15xFThK_Lkfnb3mwTu6Kac3oCL6SHu66Opu7VbDsqmXJrX3n3-j39uKS8hAGMRMPZq7GBd9Zd4Gv5XqJrcwof4eARG9aVSeSuSHJvL-MxM4JH27EZ-AlT-mztMO6VhUIiL5Hl8hMmVlvCI5hfX_m9FyFxJtj1mqY5eXqBBlUuNMcxksd5RjySLdB4xf0bveX_scRpmzVwqfFCDtOkx3RsXM8EJivLUnr6ZHuMgoe_JdoGUfE7Rm0-f1YQ--MG2_4wuRQhLpCyuI-VKoSeHtFjqyf4Ytn3GUoQo2VKjnOqtW25YPCjkL_VVnpLYxTbJZfY00lZJ9REbFn-eYA_d-lS2J93GJPfscSL2RLBVVGr32xjFbVH_hQITMfYxKSBD4dWBFwAE528RpisjDoI4oTYUzGLOnrX2n1o6xKBCnXVv31ccgjRUZjEpBt0OK_XLPAjTvmYK86Wv8AV7In45fuC3a27MjG0NSTMk69OMVAIixSE5cojJn7-_gp33SMof8-STE1Px3rHWWrMKfyNCdr6SNg3JefGUxHGRAGCgMchiHkavMCyRsnX8E_z6aw3-OAZ_vfRkaKTDk14yDDrgbp8bZP1OTQMh9bL7syK6Si2Q6WANhxmcBCRqvAhQhdRX-RrSwdI2B8BKE50No9GPfsDYC5CEltwOMZM7kZgL0Tx5bLVRA556Jli4jP1A2U4gWqJVSWzxdzDibW00gu0ND42QQ6WiqGHZPm9AepGBw30wdGJbHRUq_0z_-FLZAZKm0LxfXpY3mbUbdz8JD97hnDUlukSiFabVYWS2Ml0QKcPJkUd7ayD7BjzFhxx5enA6lZNd48DzksqVfpV5MZKMknJ_6vD4YYkQxie06Fp0uz8q6VI9iArelW8GWQbDGM-XZHJf8-pD4zGzGSCURvzkY9y0S-r1WtDvWx9lrWN1Sf05DLb5wUJa20v_JOV3GxUa6haLYpa3eG75V2iqZp_LdwK0NzgL1P1U5e9SWTimZOAQLKJnDaKT_k2Iu7Ae-KczJtf7ltccqU56c6kkl6MdLXw9nvPwIRevatSmCX_Xbrf0iCVdbMEIC7FzegXHirgUo0FTImQ8Ocx6W6bmP1W3fZ2tge_Cq6k8lqbpopfhPSo9qbH8RNMg-Rej_k0Ex1EIl-cYOWdhhZRdgfY-6NEoBcAYfhHGuMZ-iWQCZr6jlz-smTjuyehbIxWR6qiEcysb9__IWkXqr0iXoHOmbM_3Sr1UMwxNlGJ39iDaOVbf84eF4m_LbAI-l2UYGfI4WLKJ8StMJHDEyEmDOlSDpxEyvz9307Dhj4ZILCYYrm2GrzaKOnyN5ykwDQA7FHBW9_rS3zEOzDqjddGn5H1tXHdHjQ2CIBXDNe31hhj1NQ5lEpMJ8VMdIiwjdkuuKIBsvcmlnBam6n5okijOsqkeM4OExTb-HeqmR6Cor71EYlDf_xsD5rwph2qz3G-HG0eTijNocFw9_l5bnpKEIDnK3afMBId7D_kyjbI7rPWghiHroP2KEyVpeZ7L-C1Tzvqb1hmWvzpMIq0EKO8LRdQkarNIpDHHacRsFQNVvAF0nleozDQaoEYipjc1seXtUD_IXcUGrBz0QZ92uoVboV33eauACRmkxSgxyRrNDELh75MiAJV2JjkU315c8Gd4Y8g0Fxsf1HiS50iDNGyOeiJkE4HVrlWhhAs0xTpYZXVYFgGFpqHEgkZL0atrnP8MW_oqcfOJDAzrQMVZls8eaDlMrbsWi79q7baaRUGzPsE2yVM6WWjBOIHwRDTgsl9no5pWQm4lOLRPmn_VTbdZN3HLS40CEjXfPkVzdweDgbNnQRhkABtGFNhU8zljudtcL9wgCVqXDbb_-D1GCweqA9dQXvC618NSjtLlYPOnWEVZF_0IQZaLLMUtvUckpVRl6oXjV_5yczYBpzxCQjTx64Q_yy97DmfOb6WFqQQFyG90MeszqKuIBSfrfmVWP4UgqTA_GhYoKfb88UhB9H24RYcSLF9XYmSAmbb05dyzBLwyGM_1LVjqmUJd5G7OSM5PtIGs_dEvGrkDs3BQmc-2yTJ8lYIANQXGEe9UonlPq6YKFo5DqpE9H2PUvBbk88ICV3GKshs0XMirNCyTgScB9rlTTSQQHqjcRoOv3prz-T3Ukge5PfeZnX2GeQZ7TCIx9PU-wc9Nuj9RtKaqpwMS79nv_7Y=",
  "id": "rs_09ce3b369e78e0c4016ab41eb12f9087d0a8cf27b7d020f16f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.195,\"left_z\":0.065,\"right_y\":0.265,\"right_z\":0.025},\"note\":\"The cap is now clearly ahead of the left fingertips, and the pen is ahead and slightly left of the right fingertips. I’m advancing and centering the left hand on the cap while nudging the right hand left and lowering it partway over the pen.\"}",
  "call_id": "call_CsemSArS3U4ctoB771jFz80M",
  "id": "fc_09ce3b369e78e0c4016ab41eb473b087d0b508966c9ebfe5f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CsemSArS3U4ctoB771jFz80M",
  "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]: [-0.6308, 1.9522, 1.3186, -0.6174, -0.5041, -0.5213, 0.9965, 0.7841, 2.0121, 0.9031, 0.3637, 0.6205, 0.2131, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.177 left_z=0.0471 left_yaw=0.1477 left_pitch=-0.4479 left_roll=0.2739 left_gripper=0.9965 right_x=0.3906 right_y=0.2496 right_z=0.0133 right_yaw=0.151 right_pitch=-0.0368 right_roll=-0.2325 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -11.5897, 9.7983, 1.2283, -0.2125, 0.2271, -0.0073, 1.1282, -9.5932, 7.0906, 1.5897, 0.1099, -0.2515, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1017e79e74a7aa157a60ff6c49a3a914e900c7c4b7b9be65bb4514f507e29ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcbd2cf4708d76304d4d0164cdf518a259d85338dc2237cbeef6cfd9a57715bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad4f4926aa6ed3f9ddf961d61d44d6302ba527e2bde620840c0042c744df902",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.4 s

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

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0279, 0.8196, -0.7216, -0.2768, -0.0883, 0.9965, 0.7467, 2.088, 0.8345, 0.6453, 0.6064, 0.194, 0.0448]\nstate[eef_state]: left_x=0.284 left_y=-0.0 left_z=0.1538 left_yaw=0.0994 left_pitch=-0.3258 left_roll=0.1804 left_gripper=0.9965 right_x=0.4041 right_y=0.2417 right_z=0.0046 right_yaw=0.1334 right_pitch=0.0675 right_roll=-0.1618 right_gripper=0.0448\nstate[joint_eff]: [-0.1983, -2.5641, 6.7214, 1.3309, -0.1343, -0.0708, -0.0122, -0.3624, -10.8376, 4.9162, 1.5409, 0.2906, 0.0952, 1.2821]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6579, 1.7313, 1.2419, -0.6689, -0.5079, -0.524, 0.9965, 0.7666, 1.8938, 0.9031, 0.3244, 0.6014, 0.1978, 0.9969]\nstate[eef_state]: left_x=0.3685 left_y=-0.1716 left_z=0.1049 left_yaw=0.0964 left_pitch=-0.3782 left_roll=0.2049 left_gripper=0.9965 right_x=0.3967 right_y=0.2483 right_z=0.0571 right_yaw=0.1565 right_pitch=0.0187 right_roll=-0.1893 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -8.5538, 9.2786, 1.0574, -0.4518, -0.0952, -0.0122, 0.6085, -8.2256, 7.5419, 1.6972, 0.3053, 0.1099, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6308, 1.9522, 1.3186, -0.6174, -0.5041, -0.5213, 0.9965, 0.7841, 2.0121, 0.9031, 0.3637, 0.6205, 0.2131, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.177 left_z=0.0471 left_yaw=0.1477 left_pitch=-0.4479 left_roll=0.2739 left_gripper=0.9965 right_x=0.3906 right_y=0.2496 right_z=0.0133 right_yaw=0.151 right_pitch=-0.0368 right_roll=-0.2325 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -11.5897, 9.7983, 1.2283, -0.2125, 0.2271, -0.0073, 1.1282, -9.5932, 7.0906, 1.5897, 0.1099, -0.2515, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1017e79e74a7aa157a60ff6c49a3a914e900c7c4b7b9be65bb4514f507e29ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcbd2cf4708d76304d4d0164cdf518a259d85338dc2237cbeef6cfd9a57715bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad4f4926aa6ed3f9ddf961d61d44d6302ba527e2bde620840c0042c744df902",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41eb7009487d0a42a9031ddb834b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.003,\"right_y\":0.26,\"right_z\":0.003},\"note\":\"The cap now reaches the left jaw opening, and the pen runs just left of the right opening. I’m lowering the left hand onto the cap and making one small lateral correction as I lower the right hand onto the pen.\"}",
  "call_id": "call_hiso7v7qnVPhSfq0jSirMfGQ",
  "id": "fc_09ce3b369e78e0c4016ab41eb98dc487d0a3be7d0223a62e2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hiso7v7qnVPhSfq0jSirMfGQ",
  "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]: [-0.6285, 1.9793, 1.3373, -0.5861, -0.4973, -0.5148, 0.9965, 0.7925, 2.0224, 0.9066, 0.3763, 0.6239, 0.2127, 0.9977]\nstate[eef_state]: left_x=0.4016 left_y=-0.1833 left_z=0.0435 left_yaw=0.1343 left_pitch=-0.4369 left_roll=0.255 left_gripper=0.9965 right_x=0.3901 right_y=0.2538 right_z=0.0121 right_yaw=0.1571 right_pitch=-0.0308 right_roll=-0.2313 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -11.8769, 8.8137, 1.1258, -0.3297, 0.188, -0.0122, -0.2393, -9.1282, 5.4085, 1.3846, 0.2076, 0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d5395d556d9705e16125c5f708ed130208d764c1006bc96660c0e69ebcb690",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1140de40af4b70d17fc898aa4b2eec99a7c91e4a718374b7959176e28bc72e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def85f6504c1dd7801355e337f0414f53fbd37af29a7adf9a4309d204fedfd0b",
      "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 · 4.982 s

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

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.0294, 0.8196, -0.7227, -0.2768, -0.0883, 0.9965, 0.7467, 1.8511, 0.8951, 0.334, 0.5968, 0.189, 0.0439]\nstate[eef_state]: left_x=0.2839 left_y=0.0 left_z=0.1533 left_yaw=0.0997 left_pitch=-0.3283 left_roll=0.1812 left_gripper=0.9965 right_x=0.402 right_y=0.2417 right_z=0.0744 right_yaw=0.144 right_pitch=0.0527 right_roll=-0.1694 right_gripper=0.0439\nstate[joint_eff]: [-0.0615, -2.6872, 6.7214, 1.4188, -0.1538, -0.0611, -0.0122, -0.253, -10.8923, 7.8427, 1.5263, 0.2955, -0.0171, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6308, 1.9522, 1.3186, -0.6174, -0.5041, -0.5213, 0.9965, 0.7841, 2.0121, 0.9031, 0.3637, 0.6205, 0.2131, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.177 left_z=0.0471 left_yaw=0.1477 left_pitch=-0.4479 left_roll=0.2739 left_gripper=0.9965 right_x=0.3906 right_y=0.2496 right_z=0.0133 right_yaw=0.151 right_pitch=-0.0368 right_roll=-0.2325 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -11.5897, 9.7983, 1.2283, -0.2125, 0.2271, -0.0073, 1.1282, -9.5932, 7.0906, 1.5897, 0.1099, -0.2515, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.9793, 1.3373, -0.5861, -0.4973, -0.5148, 0.9965, 0.7925, 2.0224, 0.9066, 0.3763, 0.6239, 0.2127, 0.9977]\nstate[eef_state]: left_x=0.4016 left_y=-0.1833 left_z=0.0435 left_yaw=0.1343 left_pitch=-0.4369 left_roll=0.255 left_gripper=0.9965 right_x=0.3901 right_y=0.2538 right_z=0.0121 right_yaw=0.1571 right_pitch=-0.0308 right_roll=-0.2313 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -11.8769, 8.8137, 1.1258, -0.3297, 0.188, -0.0122, -0.2393, -9.1282, 5.4085, 1.3846, 0.2076, 0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d5395d556d9705e16125c5f708ed130208d764c1006bc96660c0e69ebcb690",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1140de40af4b70d17fc898aa4b2eec99a7c91e4a718374b7959176e28bc72e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def85f6504c1dd7801355e337f0414f53fbd37af29a7adf9a4309d204fedfd0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41ebbfa7887d09dc039a8cb2cc44b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.38,\"left_pitch\":0.3,\"left_z\":0.005},\"note\":\"The right jaws are aligned around the pen at table height, so I’m closing them now. The left hand stopped about 4 cm above the cap; I’m slightly retracting and pitching it to find a reachable low pose instead of closing in midair.\"}",
  "call_id": "call_Dqc4jqKiGZgsQ2nL3UocLwfR",
  "id": "fc_09ce3b369e78e0c4016ab41ebd1e9887d0a1025207bdfaa73f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dqc4jqKiGZgsQ2nL3UocLwfR",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.7204, 2.1433, 0.7506, 0.9833, -1.0176, -0.2687, 0.9965, 0.799, 2.0247, 0.8684, 0.374, 0.672, 0.2188, 0.062]\nstate[eef_state]: left_x=0.4135 left_y=-0.1582 left_z=0.0387 left_yaw=0.2737 left_pitch=0.3553 left_roll=0.102 left_gripper=0.9965 right_x=0.3812 right_y=0.2391 right_z=0.0025 right_yaw=0.1237 right_pitch=-0.0437 right_roll=-0.2786 right_gripper=0.062\nstate[joint_eff]: [-8.8547, -4.9983, 1.2239, 0.4078, -0.3639, 0.0024, -0.0122, -0.841, -9.5932, 7.8291, 1.4237, -0.359, -0.1099, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb75f535e1797e8c7d73004f72bdb371bb92a0b7002bad2955bf75fe16d7fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9327b0163cf7cb5b373a42867e897a3cfdadc6d79742ba863c28090165b8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed54773454b551645ba20242fe2991d88c4745ccb6822a42742727d4a293e0b",
      "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 · 8.45 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6579, 1.7313, 1.2419, -0.6689, -0.5079, -0.524, 0.9965, 0.7666, 1.8938, 0.9031, 0.3244, 0.6014, 0.1978, 0.9969]\nstate[eef_state]: left_x=0.3685 left_y=-0.1716 left_z=0.1049 left_yaw=0.0964 left_pitch=-0.3782 left_roll=0.2049 left_gripper=0.9965 right_x=0.3967 right_y=0.2483 right_z=0.0571 right_yaw=0.1565 right_pitch=0.0187 right_roll=-0.1893 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -8.5538, 9.2786, 1.0574, -0.4518, -0.0952, -0.0122, 0.6085, -8.2256, 7.5419, 1.6972, 0.3053, 0.1099, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.9793, 1.3373, -0.5861, -0.4973, -0.5148, 0.9965, 0.7925, 2.0224, 0.9066, 0.3763, 0.6239, 0.2127, 0.9977]\nstate[eef_state]: left_x=0.4016 left_y=-0.1833 left_z=0.0435 left_yaw=0.1343 left_pitch=-0.4369 left_roll=0.255 left_gripper=0.9965 right_x=0.3901 right_y=0.2538 right_z=0.0121 right_yaw=0.1571 right_pitch=-0.0308 right_roll=-0.2313 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -11.8769, 8.8137, 1.1258, -0.3297, 0.188, -0.0122, -0.2393, -9.1282, 5.4085, 1.3846, 0.2076, 0.022, -0.0464]\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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7204, 2.1433, 0.7506, 0.9833, -1.0176, -0.2687, 0.9965, 0.799, 2.0247, 0.8684, 0.374, 0.672, 0.2188, 0.062]\nstate[eef_state]: left_x=0.4135 left_y=-0.1582 left_z=0.0387 left_yaw=0.2737 left_pitch=0.3553 left_roll=0.102 left_gripper=0.9965 right_x=0.3812 right_y=0.2391 right_z=0.0025 right_yaw=0.1237 right_pitch=-0.0437 right_roll=-0.2786 right_gripper=0.062\nstate[joint_eff]: [-8.8547, -4.9983, 1.2239, 0.4078, -0.3639, 0.0024, -0.0122, -0.841, -9.5932, 7.8291, 1.4237, -0.359, -0.1099, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb75f535e1797e8c7d73004f72bdb371bb92a0b7002bad2955bf75fe16d7fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9327b0163cf7cb5b373a42867e897a3cfdadc6d79742ba863c28090165b8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed54773454b551645ba20242fe2991d88c4745ccb6822a42742727d4a293e0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41ec327b087d08326cd6b6db129b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"left_x\":0.37,\"left_z\":0.115,\"left_pitch\":0},\"note\":\"The right fingers stopped at a pen-sized gap, but I need to verify the pen actually lifts. The left arm changed pose sharply when pitched and still did not reach the cap, so I’m raising and resetting it while lifting the right hand for confirmation.\"}",
  "call_id": "call_bYYFAXyEfQglvN3nGGE460gK",
  "id": "fc_09ce3b369e78e0c4016ab41ec482c487d0988040393538fdac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bYYFAXyEfQglvN3nGGE460gK",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6707, 0.9283, -0.1349, -0.8726, -0.6697, 0.9965, 0.7933, 1.795, 0.9672, -0.0319, 0.6682, 0.2123, 0.063]\nstate[eef_state]: left_x=0.3789 left_y=-0.1544 left_z=0.1122 left_yaw=0.293 left_pitch=0.05 left_roll=0.0746 left_gripper=0.9965 right_x=0.3735 right_y=0.2286 right_z=0.0715 right_yaw=0.1204 right_pitch=-0.107 right_roll=-0.3302 right_gripper=0.063\nstate[joint_eff]: [-1.4564, -8.0342, 8.294, 1.0916, -0.2515, 0.0122, -0.0122, 0.0752, -11.3846, 9.6342, 1.6142, 0.2564, 0.0366, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cbb77cb4a2336ec0b8c44da7a8eb6da9918cc1ca59f4f61a3d83d0d237c4f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf758efd3b319b3a1fcce3eaaaa0054cd8641832221622e2ad4375adaf0f4591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc27a780470aec852fe68b4978fe4f6ad04296d7fa6b83e0a4b5f666147e48d",
      "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 · 8.821 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6308, 1.9522, 1.3186, -0.6174, -0.5041, -0.5213, 0.9965, 0.7841, 2.0121, 0.9031, 0.3637, 0.6205, 0.2131, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.177 left_z=0.0471 left_yaw=0.1477 left_pitch=-0.4479 left_roll=0.2739 left_gripper=0.9965 right_x=0.3906 right_y=0.2496 right_z=0.0133 right_yaw=0.151 right_pitch=-0.0368 right_roll=-0.2325 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -11.5897, 9.7983, 1.2283, -0.2125, 0.2271, -0.0073, 1.1282, -9.5932, 7.0906, 1.5897, 0.1099, -0.2515, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7204, 2.1433, 0.7506, 0.9833, -1.0176, -0.2687, 0.9965, 0.799, 2.0247, 0.8684, 0.374, 0.672, 0.2188, 0.062]\nstate[eef_state]: left_x=0.4135 left_y=-0.1582 left_z=0.0387 left_yaw=0.2737 left_pitch=0.3553 left_roll=0.102 left_gripper=0.9965 right_x=0.3812 right_y=0.2391 right_z=0.0025 right_yaw=0.1237 right_pitch=-0.0437 right_roll=-0.2786 right_gripper=0.062\nstate[joint_eff]: [-8.8547, -4.9983, 1.2239, 0.4078, -0.3639, 0.0024, -0.0122, -0.841, -9.5932, 7.8291, 1.4237, -0.359, -0.1099, 1.0183]\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 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6707, 0.9283, -0.1349, -0.8726, -0.6697, 0.9965, 0.7933, 1.795, 0.9672, -0.0319, 0.6682, 0.2123, 0.063]\nstate[eef_state]: left_x=0.3789 left_y=-0.1544 left_z=0.1122 left_yaw=0.293 left_pitch=0.05 left_roll=0.0746 left_gripper=0.9965 right_x=0.3735 right_y=0.2286 right_z=0.0715 right_yaw=0.1204 right_pitch=-0.107 right_roll=-0.3302 right_gripper=0.063\nstate[joint_eff]: [-1.4564, -8.0342, 8.294, 1.0916, -0.2515, 0.0122, -0.0122, 0.0752, -11.3846, 9.6342, 1.6142, 0.2564, 0.0366, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cbb77cb4a2336ec0b8c44da7a8eb6da9918cc1ca59f4f61a3d83d0d237c4f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf758efd3b319b3a1fcce3eaaaa0054cd8641832221622e2ad4375adaf0f4591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc27a780470aec852fe68b4978fe4f6ad04296d7fa6b83e0a4b5f666147e48d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41ec7b39887d09288f7ef78090127",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7PcEHtQaQ-lCjOaJJci7Y0pc4qFrc-OKJCiwQHFzEd-Sb_Kt0gMLN6FriFKSL6OLkYOpJ587RBAjEPijc4djmqcii2Ila3DC9M3a4PGQKDLxMbnkSL4BnDMXZw1EGR-MIXDoharYiTvkjxLkD-p6qK3C-4za7UdEW86GyqPEeNaVFVo0qMqDoI7AyuGEJBWxPXZ3LJL_W3gZdWkMfZfvXmlX-SdHRAaFQnOlxjwzI5ijarRtwn1jlW07phYDZtGxRH6oi6ipXw9bD33XLafoNP6_8kIqansmuQQtfRjU3qNcIfTh-dggzG1NtgbOa_gedsqBOgS004hhWWD-MnFl6cZTSf0hHlbJAIeSFFXX_wXCbROboiPt_UhRGWalVW_tTu6HFa_TqSiYGMFsNZ1-3SfDHQfNWmIPgTcVfTP5EO7pkVTe4GWqG6mOa7QjB4oGhwb_JcysPlpmAAzV4nwkc8-A7rN6OdPcQQjBDJtHXpBEH478mk1pj-A9bCLmtOmCug53TX3LbQOoR0HomA9q49SxfpspJMZohoM61wKNcGl0LI3GzrD7aPQW2rSyZgRY1nBLF1JrcAAVSk_0AdRRmDse06Uk-32LGaMgZTb7KVAGEPcHxFEAZR_H98p5pyAHCgjaADO1Sw1YN7lITVkD81E3CgmYIDuQI0B4IpqQbXTt_tQczSMAb_XtbLtInKE-8bDOxkZl9lDI7fYIeAiV2lLhcGq8NL-pIQgRPAIQpGS2TR3fpuz97MlAauASdYlMF2BgAz2FuuVP1EOSe0uv5BQ-SwLwHb-5we2JgSodOU_K0k012Y8VZpq87P0RnOW3LJTWx_ZwDPdbgrw4m5DagFY-Jx4qpS_WaCrneC1Sf0NzKv3HTzCQ7EVGrW6sxt3AxhSCdeUv6qcbcSQtzipDaSzDguyr2JCCjQNovp0BB0K16WcZAr6WTwUEdoDg_686KtiIK5xVBwYlXAplhrDqQYC2yUECenx5XOZaqP1P0pBiALIEzUzBq5x6OLABgUX5qWrX3aL6cT55eHO5W8nNZcyNycA8j_DysPacpOQ2aN74eSqLR1XwrcOmMRVtB6L-KbmIZesMzXW0AntC8G_fSrWzSKdughlV7pxDyFgOJcljrUjdYajnaM1FRlKUA_J-RauSQ6Ir7_2rLfg1HFusEiYW1DdgPn-iwZ_CCsi6HkXq-0Ceda3KCqcl8LxQYjEIkiyRNJip8i4OPHbu184L4a2AVjhOEX_fnAo9m83MxwxZwTZTehrcBgFWzH8i9A2GrZmmZWGQ8PKJGaXsaAQoSHzpaeiTNq5dgZ1rUCmGqgs0kIIFAuT_dWVW8ksy1n7OCa9jJ4DQ84f6bylJ-PdrPySD9HiGOJhBsoRRldxSjnmaTKSSOKlw3rK5xe5nB7wC7LODKrtYnZI56Q3yZy92T2lMFEuUPvrI63zZW_AdzZmLACwLBrTKS52ZOlA_eIVpuSKrU6g1KYo8pgjKyjKiYkVc3TwCYZhlUzVDHROTSXf0XCEfZFv0VzqZOrzeXqQ90qsGF42fto_owdEkMRt10N0zRht7h00kO-iDR20UV6-IUX_9tKSkSkQDua-CuOKIf29SMbKrNdN6R1WmQpyw3WJFmd5CmqEaJUUQqgm91SwK_2Z9nYI24ZZavjHyGhCm_yPxJD-EVa_T5KTIpzhkhQFjqGKX-STG693G1DQuufOV-ux8oNFV9wsVqTv77gTa0J7SltrggnaVIhCTacMEupc2oLpkevocFkUpYgVuW6FFjMPLs37KI9O9R58rqZC09s4bXo1RWjfdYlSWNhBuYfiUgitS4_ALpLHuO7J_y1DrljXSzNlsIYJsbZ5Mvrzu0pwXTCsK9wuGDWOuawVwuqfGX3VrVCSD8PuXckYGf-B9C6HSVSyDBe4zp9IJHQzV0F",
  "id": "rs_09ce3b369e78e0c4016ab41ecc530487d0902012d36c04e870",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.29,\"right_z\":0.16},\"note\":\"The pen still appears in the right wrist image after lifting, which leaves the grasp uncertain despite the finger gap. I’m moving the closed right hand sideways and upward; if the pen stays on the table, that will clearly distinguish an empty grip from a pickup.\"}",
  "call_id": "call_hfWnU8yx7zntpzgkU9ztJL3V",
  "id": "fc_09ce3b369e78e0c4016ab41ece184887d0b9ea1c63291bd518",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hfWnU8yx7zntpzgkU9ztJL3V",
  "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]: [-0.6861, 1.6386, 0.9253, -0.1474, -0.8211, -0.6872, 0.9965, 0.9497, 1.7779, 1.1709, -0.6724, 0.7792, 0.4534, 0.0652]\nstate[eef_state]: left_x=0.3833 left_y=-0.1421 left_z=0.1162 left_yaw=0.3178 left_pitch=0.0258 left_roll=0.0248 left_gripper=0.9965 right_x=0.311 right_y=0.2274 right_z=0.0926 right_yaw=0.0259 right_pitch=-0.2803 right_roll=-0.5252 right_gripper=0.0652\nstate[joint_eff]: [-4.0, -4.7932, 6.5162, 1.4139, -0.9109, 0.1392, -0.0122, 9.8803, -12.4376, 14.0923, 2.6593, 0.6032, 0.1392, 0.779]\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,$blob:51dad57a0567a2dc3ce0e40cbca4887026d66cfcfb91c580f63f22f743d8ade2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ec8a25e2c1e369ac8b6fe543c939a73ce18e8419942b958c74b14073503487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694c479c5e797546bc78e947906fc386b1aaa2faf89366cf349ed5bc91b19c59",
      "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 · 5.485 s

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

message 91 changed as sent

message 99 changed as sent

message 104 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.9793, 1.3373, -0.5861, -0.4973, -0.5148, 0.9965, 0.7925, 2.0224, 0.9066, 0.3763, 0.6239, 0.2127, 0.9977]\nstate[eef_state]: left_x=0.4016 left_y=-0.1833 left_z=0.0435 left_yaw=0.1343 left_pitch=-0.4369 left_roll=0.255 left_gripper=0.9965 right_x=0.3901 right_y=0.2538 right_z=0.0121 right_yaw=0.1571 right_pitch=-0.0308 right_roll=-0.2313 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -11.8769, 8.8137, 1.1258, -0.3297, 0.188, -0.0122, -0.2393, -9.1282, 5.4085, 1.3846, 0.2076, 0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6707, 0.9283, -0.1349, -0.8726, -0.6697, 0.9965, 0.7933, 1.795, 0.9672, -0.0319, 0.6682, 0.2123, 0.063]\nstate[eef_state]: left_x=0.3789 left_y=-0.1544 left_z=0.1122 left_yaw=0.293 left_pitch=0.05 left_roll=0.0746 left_gripper=0.9965 right_x=0.3735 right_y=0.2286 right_z=0.0715 right_yaw=0.1204 right_pitch=-0.107 right_roll=-0.3302 right_gripper=0.063\nstate[joint_eff]: [-1.4564, -8.0342, 8.294, 1.0916, -0.2515, 0.0122, -0.0122, 0.0752, -11.3846, 9.6342, 1.6142, 0.2564, 0.0366, 0.8083]\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 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6386, 0.9253, -0.1474, -0.8211, -0.6872, 0.9965, 0.9497, 1.7779, 1.1709, -0.6724, 0.7792, 0.4534, 0.0652]\nstate[eef_state]: left_x=0.3833 left_y=-0.1421 left_z=0.1162 left_yaw=0.3178 left_pitch=0.0258 left_roll=0.0248 left_gripper=0.9965 right_x=0.311 right_y=0.2274 right_z=0.0926 right_yaw=0.0259 right_pitch=-0.2803 right_roll=-0.5252 right_gripper=0.0652\nstate[joint_eff]: [-4.0, -4.7932, 6.5162, 1.4139, -0.9109, 0.1392, -0.0122, 9.8803, -12.4376, 14.0923, 2.6593, 0.6032, 0.1392, 0.779]\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,$blob:51dad57a0567a2dc3ce0e40cbca4887026d66cfcfb91c580f63f22f743d8ade2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ec8a25e2c1e369ac8b6fe543c939a73ce18e8419942b958c74b14073503487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694c479c5e797546bc78e947906fc386b1aaa2faf89366cf349ed5bc91b19c59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41ed09c7487d0b5f1e8c0305c672f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7Yy8NHsOln-7r03rBjPB_7rpNNs5Bo2UKbX2v6tEi2KQ4ZhYc2WgsC1SmOCXQC6lTmS7Qvv9uX818Anr1KrMIyjY8r0jAnrkO8TdFQFnq_mCNElt0Gs3TxvW9l_sMMVrylaAmyEe05s3icdJPJNEM31JjGRdOZOth17AK8ngXzILYAN0MPZDamtvrgXf-IIFrdgptke7ArwmEZnXlsgJgokozYJZ9sW-kSDgm2XTBtYoQih3iBKoEaL9t5yczcoHI-ZViNQzh1i_gX570B6ih9ZqVtimB0BguNFcpgm2nPwCqbqi7mzWlWdpe0itTbMqKHUOv3mm5WWvTLLBTB6gYM11RsHfHU3KbYvTSaYKSygFG-Gi3eGZED6ocIrv_FobWwvBbCV2fS5Aowzpp6f7xkLQxG7e1UdCAbbZ9-3bhaV6RHhCqh1xArW7n0faNxLxBT-gwNTV1pd1D34lWUF5WGVUWmrUjkU2i67dA8PXvszXJmsAV9EM2MKfxeAXYizxRaEXpiJ-25Y_6YWmgf2NB98xJDd6K-pCPTbeCevHxiyFaim51KR9oI1E2ZpYnPj5-9K79vvyza3WA7fvPAvrtU-hYqG8kRjr81Ikfc7FF_6H1PlAAb-4jqLTmQzsf4iI6QCkQ0Tx9CbBySXZxT8EH-w0qOcueEczlJ3KPriDwj1gJXG04dQOwySeIvsUqVFCVRSOS6rKHHovadX6JhGZWnNgCyHll7VtX_R-SR2EYbt47NXpeL5gLGweOJqKLVUzN5eBYzpqFC3OWA2QmDVF2olu8jU5yTONhxP0Fxh97NM4ueybXDbrKKH_Rhz4pwkSTZRcqtAiDzpaEza20I23CohPPS6Hg4_Hs7T3rTjtMs2tdrowC3mrUUbuTRX5YsEuDVBFNVkVd5S7MsbIDmkHzRY5jB8H_jhV-Tcvvkw0JKbEbKTNGRj09a7ZywI3PtCW1d3l5cw6-d-5QJ9dK_8AQeWZTEkkGngBWGDoxY-ADcJTZzYYBP0MpQcgcTq1qjtWWWhZOwcDcG2FhdED6pKoS-645sQzKrAj5dTvzCtUClgMqPQ7U9F9CiLMgk43Eq83Nf1ZhQGhDrcJKhYYcM26yiTI-dlv5m53iIVWNwicKMZej_spSN5oXdjairhrrRpQjUIadfjc7zpFtZgCiO73pTnmvzwQ9XoEastLEhKKFDozHuKfSEYcfrHxZnmsXbLDnJGfMgF_l_t0XUyKehZkTXhKbpwqkH3awSBhpO9zRZRPYEdVNHGf86hXIeeQP0OijiCImxEi34PT9zJMYEjF4BgOA5dzlcXxRdDBz1ovbcceVHfk8rbd3_SiN94iMIkVGvg_DtMyyJQRr76kZeMVXlfPKyZCooQM1igKZ8Chpp_-KlBPDM84osw0w8XYNTVc1j3KIb0dUOEiwhcE_5D17BDudTWeSQhkzkt--WnHMHulB0JYwfuimUwGXNTZU-DyDBT1GnC-EIOeuPw7cZYR8HscRhkrVz0wZjwHSSP9PAY_f-b2S_4tTwwV7y-Qb36kricdxVl2j1bHc35nbtExAWXVoE-XSaPdKluZT3qOlzv5geef7AEpr8VRN__G2Lz2_ou3bTmVCg73tY7bX_079TP-TL3BbD_0tC5ZNny48tq8Xd2nrlRwDtNiubYegbGNzCIceuo2Ar2ukm0vOGZR67jZM0FCfLylvbh1cwIAKdDKiiUZD7FmydAaoNEgk3idfWoIjveDgz-uPz_dbDS7RznwbLJoc11o8Y166xKlnKh4X-ZRSWlK48L9MnnA1RPGmeSU1K2h7LL-5-Dk_031ynNIXKq06Jdsb1Cj9Ejjicl7h8L8AG4kHjEGRp4lRmpyHrsejHLoweRT6agno7filQVdtOu-sJzUbk8ixK194wJi0LkSavAOmkkoVdPAkW-GHBeVpK3jYKda3nQMX1gJifAnKxHBpi9WpsOQPMaDA_SYeK7SEne_mxACZmyVE4aF2qzj3nFCg9Avoc72Vw7-r5fbdqWVy-HyopPDmruWh_NR1cKoVLPs3bbDUru8rR13lKwjUrUj9nPSvxw9kantM2KKjBtq5jSWwzPOOeGoLt-4mi7Vd3ebQOZmptoTQA5050",
  "id": "rs_09ce3b369e78e0c4016ab41ed606d887d094686e2618cc738d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.13,\"right_z\":0.18,\"left_x\":0.375,\"left_y\":-0.17,\"left_z\":0.012},\"note\":\"The pen stays fixed on the right jaw column even as that arm moves sideways, so it is being carried; its long shaft is simply visible beyond the wrist camera’s usual blind area. I’m parking the pen safely to the right and lowering the left hand toward the remaining cap.\"}",
  "call_id": "call_wAiKwjL92xkW7GSurQhd4RqJ",
  "id": "fc_09ce3b369e78e0c4016ab41ed7530487d096671f098156bbe5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wAiKwjL92xkW7GSurQhd4RqJ",
  "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]: [-0.7536, 1.9152, 0.8452, 0.2016, -0.8577, -0.7719, 0.9965, 0.9291, 1.729, 1.1828, -0.8448, 0.7681, 0.4397, 0.0679]\nstate[eef_state]: left_x=0.3851 left_y=-0.1732 left_z=0.0328 left_yaw=0.3189 left_pitch=0.0463 left_roll=-0.0275 left_gripper=0.9965 right_x=0.2973 right_y=0.1988 right_z=0.1029 right_yaw=-0.0133 right_pitch=-0.3594 right_roll=-0.6226 right_gripper=0.0679\nstate[joint_eff]: [-1.2513, -5.8598, 3.6171, 0.6618, -0.5299, -0.1294, -0.0073, 1.2513, -9.4974, 7.788, 1.5458, 0.4811, 0.1587, 0.5299]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f71dee34f83f38fc953a7b4e6e4199abc192960a9f870d23d8e1115c584b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1f44d5ca7891d93fbdf6b84d0a7ca0afb7a6b08da5e685bda9873d2c64a086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ef19506f4ff96eaf7d6384398f27a3bf8fd7f21cac9f9030c0533d52789bce",
      "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 · 6.241 s

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

message 95 changed as sent

message 104 changed as sent

message 109 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7204, 2.1433, 0.7506, 0.9833, -1.0176, -0.2687, 0.9965, 0.799, 2.0247, 0.8684, 0.374, 0.672, 0.2188, 0.062]\nstate[eef_state]: left_x=0.4135 left_y=-0.1582 left_z=0.0387 left_yaw=0.2737 left_pitch=0.3553 left_roll=0.102 left_gripper=0.9965 right_x=0.3812 right_y=0.2391 right_z=0.0025 right_yaw=0.1237 right_pitch=-0.0437 right_roll=-0.2786 right_gripper=0.062\nstate[joint_eff]: [-8.8547, -4.9983, 1.2239, 0.4078, -0.3639, 0.0024, -0.0122, -0.841, -9.5932, 7.8291, 1.4237, -0.359, -0.1099, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6386, 0.9253, -0.1474, -0.8211, -0.6872, 0.9965, 0.9497, 1.7779, 1.1709, -0.6724, 0.7792, 0.4534, 0.0652]\nstate[eef_state]: left_x=0.3833 left_y=-0.1421 left_z=0.1162 left_yaw=0.3178 left_pitch=0.0258 left_roll=0.0248 left_gripper=0.9965 right_x=0.311 right_y=0.2274 right_z=0.0926 right_yaw=0.0259 right_pitch=-0.2803 right_roll=-0.5252 right_gripper=0.0652\nstate[joint_eff]: [-4.0, -4.7932, 6.5162, 1.4139, -0.9109, 0.1392, -0.0122, 9.8803, -12.4376, 14.0923, 2.6593, 0.6032, 0.1392, 0.779]\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 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]: [-0.7536, 1.9152, 0.8452, 0.2016, -0.8577, -0.7719, 0.9965, 0.9291, 1.729, 1.1828, -0.8448, 0.7681, 0.4397, 0.0679]\nstate[eef_state]: left_x=0.3851 left_y=-0.1732 left_z=0.0328 left_yaw=0.3189 left_pitch=0.0463 left_roll=-0.0275 left_gripper=0.9965 right_x=0.2973 right_y=0.1988 right_z=0.1029 right_yaw=-0.0133 right_pitch=-0.3594 right_roll=-0.6226 right_gripper=0.0679\nstate[joint_eff]: [-1.2513, -5.8598, 3.6171, 0.6618, -0.5299, -0.1294, -0.0073, 1.2513, -9.4974, 7.788, 1.5458, 0.4811, 0.1587, 0.5299]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f71dee34f83f38fc953a7b4e6e4199abc192960a9f870d23d8e1115c584b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1f44d5ca7891d93fbdf6b84d0a7ca0afb7a6b08da5e685bda9873d2c64a086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ef19506f4ff96eaf7d6384398f27a3bf8fd7f21cac9f9030c0533d52789bce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7edKVKfNHGYn8X92e8J0_c8c8smlYsVPwgQqLycAPffUjBvN_DLnGY3dhjpXq5kRAlaBm53l-NN6BWn1_O0bQP2Rh3wfAhpX4q7q6aw5SQtVQjOr0bdH1Ha4HYAQtgJ_b75r43XFbsF7ehhxEde0RVmx5sJwOxENL6g54Ha5uaXYW6dGiFjMWr1q9djTDYRrP_MhPQSOZKR52-c95USODZS_jQbYfPxlAF-o2LIqw4S2dEvKGWVtBi2I5R7dJSx2FYrml8FylJ5t9Exo-vaXK4FhbnUKbXOkIAScpCzFBkf-wjXukzmkb2lrU_WEfojbkPsgZ8ROpQ1z1D_ZulrmiPQmq61SiaGOmUdL45G6jk7d11RxeffjB8WX6PSwchWaTiksaUeSqaAq1jqedpKJdFnALU_ueUyo5yU-s-J1z6EbO5aA5A6OzhmVFaCBOC2KsFqzv5CtJlCsxdNVFsfoiHOqshmWB-ARY4m2xNYUejTNHhsZBNb7v3YinuIxb9CEzvr0YenIcHv2tLW0qfvLeVDvtN-Rhgu2kRMIgfYHo6TLcsfVszLEqo9tAIYDhJI6-rgkcFsA2iBRUpuhS7lmmQ_V5cuwDuSp96RlqSz5qEEtMUUJZkipM1Tlbb2ud3rMDL3xxeyvXBSey5ldiALH67qvlHoauXkVwfhutE2MhrvVuASEuSsoq4DzSHFWd6R0mxRh-7zJpG0IBVY6J-J_6gQEY4d2-atpnOUKWxk9HTGr2_Rbj7mIUa6hIj0FswUBx8V3e5nbah9TpbdIvElIa7cbbM4qypz3EDceaBL3-0VICSHTtY0d5E6-U_mo0cQcwI0gCmHfZYR-oe0KWOivYEeBTxoBZ0VOWy_AFCBxZSDnvORgLwnXbjZuVCCGKzNy6h-sdZ2DW4j31ugdGFYhaiQBhyRKjZWLuzcKpUAnrZtEbVOeJJUgQVHmiHM7GPOdn4q27gW11sMaKZlvXxNAJrau_oMIipQi8rOTAmgL4d5jovihNW1XiCOv3eob4e_ntPHbWqX3Lk3tKI-4UCy_G3E8sdg_z0PiNQluUbt2_nWYWCw3VgoD7BzGgLE54C50aO0Bezp_GA3f2fIDEAvgo-NxMTMqx34cEwRunvRKB7uZ4PnJlPfeigVG05mx1H5RCA9gzEVUIb3gmOzg8bbsDwZdt-MGykFrbwT9Ea2hizI9ImUPamtKkpwX2MIiDszU_PbyfOx08jmMX5m3jDSp4j41xYQqeld042qjaqc-Dj3oWoZ1OqgXTx1QgGJJRrPzZ9kJLG9Sh1DyvgqsDs0VAEyAYyWZ7K4-8fNKFe1-PKXIkDcg6ktc5_d3XI62vVMSjrDYFHAUoz-BmPtlTrckLW13L1_X14Jbd4bwScgw5gGr8LNmVs54KmrjHr6U3Sw2PEcfMhBxUzRK-MuBTkc0mhK6NBdCE2c0gA1nXyiaqzoctxtaLPrtVUl1useHrOOyAcUY_xX30sI5ImaxpJm49TThsvCLRXjht2VilEk4KIHGWLHXkWFAVpuRla2AMI7JwnW0axaluRfWAgbMa-bYPlD4w5EhG1KLPvi76KrRnYXiE7c6iLwKk-edp-tKwKEsQkZGXnc9uKqfty9PPaKNKjU22apNMJDBs7A0xkQSg2QIgF4PKjVUtpYwxce1GDhnwknhH7HU2PNu0Zep3Z0L6kOb8DB75SDgnPQg5D1rGRMoeee80od2AsDWbHLCZkk9B5vUN2GTreee7LC2ssw8Sevu8dJ1lOWetlFUt_ioGq3qe4aY9RzjsatF1kEdcaCypfj5fdcX2c82M-TIJupjm4obztgLhsOLpo1L3uq62FFtHs_eYKuVzC1H9VjEHjdmgBGp7HskSyHqsNyHNFtRZPW44jvUZTfAAJB3UrZDWan8NyH6L82OiwR3glIjke_HrzPuOSudy0BGHXv0o6zAe2Lb7AOcXi416re_qCnUXJVMC4Jza8bV1Ky8wJSQ8d6c9TKhgiljtXxes-sXWI-681GiQRXS2dRMPWuQbeUZOINz172QhSrhlsIAeKaRHf_dQLOv5t14wwMiQocREC4Mkw_owDRxxI-2K0UV0kkGnXZ75tEOe5pXpbm0AOjBK9QverThZLqmd1hx8xRnBm-zCSW6pUGsQO0z0GFHaKwxJyn_yzkfHxHr8kyDbR-JWWe84A5t2LVxCR_yjfSIcjBjaFDvrAV-dt_bGhORk2_I0xv2gy4SVcpqouqhis7p556eS1XKKUJ31Q05WOorPloqo_KDJ5T9dnO1cm3wDNrcEmNuSXEh8SR6NVzQ40Ek561aG4FP41cXyTwVyIT0re6RZeACRFqqIc0jQOKS6k_QAktf1hI_yonBixSsSMSMF6dTOo2i7KA7qeMATPiKGRcQav2d9cxncLlbAkUcwhQmz2Wsm5DcmErRVG-bNlwIut5EPsyS71Ml5K04v1mH7WRa9DQKLkfbKQFvib1dHzZ8qkyc0SC636qgfbEGL435tfi_ggMXsBaVgezrpBGb_m6Os-UxC7d4lPTKZMlK9eruuTHBXuxGXReblyNnoyMoUvZ8d7MqTEDI6D5SwEFr083jK9WXqnSX-Aakkpm-Iiu23vaqsMJqHsEMIuWv_heIo55OEYJevXx-sTSML3YBuYhSotIULlz-51HNcF4noNmmsDiCzQjTOhPow1V7Xtz_jlNX5W2zNW2UZoI_mUm1d5iiIXFekM4rbR4NyOrq3IBUr5nd744tpcNAjW5ilgAyF7r3H_yBVNcmsn9BGX9R0xEQb5dcJEmzRFWWgdfypk6kW4L3Nz7QuUFl-g7836leNlwrUe",
  "id": "rs_09ce3b369e78e0c4016ab41edaa76087d0a33560451512c8a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left hand has reached about 3 cm above the cap and stopped descending; the cap’s thicker section is visually between its fingertips. I’m closing here to test whether the hand has met an upright cap rather than forcing a lower target.\"}",
  "call_id": "call_5KmGI6Qj1CHBXqbsuH5EWSfb",
  "id": "fc_09ce3b369e78e0c4016ab41ede09e887d0bbfb840dd648afc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5KmGI6Qj1CHBXqbsuH5EWSfb",
  "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]: [-0.7532, 1.9251, 0.8394, 0.2173, -0.8562, -0.7773, 0.0088, 0.926, 1.7294, 1.1759, -0.8589, 0.7628, 0.4374, 0.0674]\nstate[eef_state]: left_x=0.3848 left_y=-0.173 left_z=0.0291 left_yaw=0.3212 left_pitch=0.0452 left_roll=-0.0327 left_gripper=0.0088 right_x=0.2946 right_y=0.1947 right_z=0.0998 right_yaw=-0.0198 right_pitch=-0.3769 right_roll=-0.6394 right_gripper=0.0674\nstate[joint_eff]: [-0.335, -9.5795, 5.4906, 1.1306, -0.3785, 0.0366, 0.6667, 0.0205, -7.7744, 6.2838, 0.6618, 0.3932, 0.0024, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694d27a06df495bdaced9eb662cca09d5bf71d33c6689bc763e26b474f5eb055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd5af84dca13a326d8fd00984723c746db774237bda5e7b2798727c27181d2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4abaf4d54f0f3e88fb62015746d210a81d62a462e10406ef319b0d843f8e0a48",
      "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 · 2.635 s

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

message 99 changed as sent

message 109 changed as sent

message 113 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6707, 0.9283, -0.1349, -0.8726, -0.6697, 0.9965, 0.7933, 1.795, 0.9672, -0.0319, 0.6682, 0.2123, 0.063]\nstate[eef_state]: left_x=0.3789 left_y=-0.1544 left_z=0.1122 left_yaw=0.293 left_pitch=0.05 left_roll=0.0746 left_gripper=0.9965 right_x=0.3735 right_y=0.2286 right_z=0.0715 right_yaw=0.1204 right_pitch=-0.107 right_roll=-0.3302 right_gripper=0.063\nstate[joint_eff]: [-1.4564, -8.0342, 8.294, 1.0916, -0.2515, 0.0122, -0.0122, 0.0752, -11.3846, 9.6342, 1.6142, 0.2564, 0.0366, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7536, 1.9152, 0.8452, 0.2016, -0.8577, -0.7719, 0.9965, 0.9291, 1.729, 1.1828, -0.8448, 0.7681, 0.4397, 0.0679]\nstate[eef_state]: left_x=0.3851 left_y=-0.1732 left_z=0.0328 left_yaw=0.3189 left_pitch=0.0463 left_roll=-0.0275 left_gripper=0.9965 right_x=0.2973 right_y=0.1988 right_z=0.1029 right_yaw=-0.0133 right_pitch=-0.3594 right_roll=-0.6226 right_gripper=0.0679\nstate[joint_eff]: [-1.2513, -5.8598, 3.6171, 0.6618, -0.5299, -0.1294, -0.0073, 1.2513, -9.4974, 7.788, 1.5458, 0.4811, 0.1587, 0.5299]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7532, 1.9251, 0.8394, 0.2173, -0.8562, -0.7773, 0.0088, 0.926, 1.7294, 1.1759, -0.8589, 0.7628, 0.4374, 0.0674]\nstate[eef_state]: left_x=0.3848 left_y=-0.173 left_z=0.0291 left_yaw=0.3212 left_pitch=0.0452 left_roll=-0.0327 left_gripper=0.0088 right_x=0.2946 right_y=0.1947 right_z=0.0998 right_yaw=-0.0198 right_pitch=-0.3769 right_roll=-0.6394 right_gripper=0.0674\nstate[joint_eff]: [-0.335, -9.5795, 5.4906, 1.1306, -0.3785, 0.0366, 0.6667, 0.0205, -7.7744, 6.2838, 0.6618, 0.3932, 0.0024, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694d27a06df495bdaced9eb662cca09d5bf71d33c6689bc763e26b474f5eb055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd5af84dca13a326d8fd00984723c746db774237bda5e7b2798727c27181d2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4abaf4d54f0f3e88fb62015746d210a81d62a462e10406ef319b0d843f8e0a48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7lHznayPsk78SqZ-GZn3gqL54pQ74JST3rT4U9quH_tMUxHDO753Wtjb60FI1Je0yISXEJeA7kuHnvmOnswKwqkp5FBwJjx_Bv5AWaqmi7haYhjQHPHXU4fxv0hbt1uhrBlCsoMr3kI1Vmo5LcCH2fe1yyLjSCn2oWN3h_aQ8rGTzlpmpU_5xqGvL0ADdwyhI9VxO_x2WInznuaIkLjKmYPHZ7iZcosb3IK3BVYWxCtf-hEXmPRphKvRPk888bbMaXoCoK_G96CGhmXwd26QX2nTUkhMiIxJ8-ABCvrnyDremD_xlg2khUkYGCLzz9xc3p6CY0BGqRaw4IvWiZBj71zVd_mPJ2WkJAGycXvBZ9osqSvR1_om0cmdLHPnZ_7qe_9Wv60sLkdHbX7bmInXrmmOTD9NHkwLqtfE0cw8IThLbBXo5_O5brjhlHQgkEmbQEcCWJ7rYs2VJuNX36st4hILZIV603pgnOiwFfEUSlWb7ZkOuFWfBgce_5TO4YJUa_nW4CvqUDIMzMdOuH6i5sKJyabRkKcZVJ9BO6OPqbHzVASe3kwQouWOJQpD1jCmi2TgKpanZ5R3fH1nSvPtlXPfNe24ferX2gDGXU7lH6T2yGELujChjOfbBD7ln2PRb-4AgAf7AA3xO2JvapdRMVSd4JvjFATpHiY7_0plhPozGWssRFg_FmZXXrSXj9V3VYqx83ORv0RSAcOwefrvK3VKkZecTcj4QrCUGO69xptAKjVzsMEhyhl4vRShDeRGQigvlwttmziLHt4JF1IYW5iJxFc66rcpSo5bpoEHs7IUDezVH7O1AJ3Hhy5cEvKUV3BOUiAKeEV5XDmJsQmMz1yIyYj75kTfl8JGbYsxziRCDnntLzjycj6m9YgLonsP_pYjVRdb5UzqD7VnpYDt9dvyoAIGDjLt7zOiLpxxC1aukYoBo2MSMzkHXg9irRtPH9b0i_pk55fo-cyH2mPoIUIQMYCyGFhetnH30J2CzQt2rJ4J1G2ka8fSi0SsKONLyHYYLjvJ-PvANXAnrs9F2aCJW2l49CZVZL1gPlDMzLT-bU_Gqerk89wWGEw2-dF60y5A2ki2cpjMNkc6kmmfLO1Pz5KuR4GVV41F3xTVHMS_rs1dBFCJye-XKu1kdUKPUAbxAOBLAGg5SEG4PhLTk0k3whxYj1BaeOhO3SBHI-Nn7xSkxb8-hPhkPxMvtZxxEUnSe4QCGFsBVH9D_2DzYVEZ1lHbGOL6HaNk6-moKkPtxQfNqJ5TNMQG1nW3JXKpNzLqyvJuKWhakn4ylqxffB1-Acan4xFbLkEOhzlu4wPb4k6FTZF_5_86xMLBZ5ZNC094Lg9-6SQoQT-Xd_8EzK2QV9pZhf3vQeI8xJnrooa0f-UQSrJPi4IjjLynwZcQkTmpV789VjDPIvRszSJUq4mRMgrn5yJsyJ9Kkn2pDIFKIx50r24qD5RGq_cuBhCPm0CG-3hK70XoyNQ7v7895D_jPY6UeSnWmQSyGDtF8b45bYerWO-7q_82UCLDXgqzSQvsp2cKH8pNICGPbHSnvlyzEUrXIjDYgJxlcCGuA58SSwMhPY69mSRjfrQNVA08D7GX9nvNKL88_rtFATe0GbhaM_fycY9wqkIhRMvsMksS06bnQhuh1hZ75KBETpCgAB8Zv49tEZkI7VueSNPuiMfQFtBBA_WDQa5_YH3J4qOj3Z52aDwoDRJBqfknm-lOL7KdwkHv3DqFdwCW-cuV-WzxsT9Yc2xO43VOE4YA8lGandpJ4g8vVBrsz2-1lVFCBCAAUck9PzJMibRIODFsdI8ntEpZsla3VZnrBl4dO0q66UyE_4Uz2XCCSk61qPwcL2ljo05RNgfIXXsDoOitFEUfDeCzka-DyRRMpY7fMly9zOachSNO_CDv5KquXn0w-QEUcFLqYN8mORABwQ64y1GaDDoMwQiFPhufgK75MXOMwdcIRjVCuqS3tTNGUdarWS1B2i8hBwvODRPKq0GKM6FfDqjK_XRyQTElwheHxcqcBLm6DYnL0DiwvwDLb15mnY04BS7qza7a4EKdUVPRpFmvE6_uTBalyIUApSz7rUV0ZaTJcLf-AzUzuxXn7av1pNha1JbpbxgvWUr1uW1vJIeU05uf1EbJoZNI4YCU30sn85f9cRf4_PAlU2OC_WGUfN8MMRU-8Odap997bW7CK4m-_MFFwR2STMVeJRot1D7g0biqL1YNSAi5qQCFwBbPMR13V7Xtx8Va1aKx0M50ENmcLZBedSHBef3nVPVvA70FZafPqPks2gSdKpZ3sRPZafQnSYgOYADvtwb7otSNfR4dks21xmeklEHn-z3n_6nOlLf6ecqgI6lW_A_1ajle-QpX70SkWYWbbftuNQnG7unq98ZaJp5NzKw0K5PkkHccUcrrMPMjlITK--AR-4DEeNKpLbh4zYF362e0F205wEoHPQnZP1PyJsBdcyCBGzTr--PPuTt_UboyJh5bFPMfbe3ewEfRrgyGRqbhUaI8pX6HkQ7As_ao-d3TDsFozd5RTUOQufBS-wmDoHFXulISxwjn67Hx-uUcrOC0cDdZoiO1ZOuayR4IYllwDrZQ6xfYdtKyq3gH-tDzoQE8IcQ5BR44DJWbVIsF5M0EP0OG5NSkXqx9KYcaJV0bLw9fQ3L2d5y_1eHULq6Axf36eFxtglMnULM6PBcO5h5fo1win4VxJG9fvrYXCp9rrROeF3HeE4JpQy6mRfUz6nty-DM0shJnfXNFDI8lQsQbrMDVKc7SmQjkCtVphAycXDuR66YQ9m6IpJMv3SEdayzI9DWHttLtkaJHueNAA7nCpDjbOGv5yCWNvXUnFKJ3bKHqW3hrhwwW-sWhLLSaSq0ao5TUGx",
  "id": "rs_09ce3b369e78e0c4016ab41ee127f487d080b9bac48d80dde1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_z\":0.085,\"right_z\":0.22,\"right_pitch\":0.35,\"right_roll\":0},\"note\":\"The left fingers closed empty, and the cap’s thick end still sits immediately in front of the fingertip wedge. I’m reopening and advancing the left hand a few centimetres along the cap; I’m also commanding extra height and a leveler wrist pose on the pen-carrying right arm, which is sagging under load.\"}",
  "call_id": "call_1KJRDF5dvprJnzs2k1V3WoHs",
  "id": "fc_09ce3b369e78e0c4016ab41ee4910887d09c3068433ef3d2a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1KJRDF5dvprJnzs2k1V3WoHs",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.6983, 1.8782, 0.9672, 0.0261, -0.8288, -0.7349, 0.998, 0.9909, 1.232, 0.6701, 0.0467, 0.9581, 0.3519, 0.0673]\nstate[eef_state]: left_x=0.4058 left_y=-0.1659 left_z=0.0604 left_yaw=0.3356 left_pitch=0.0188 left_roll=0.0076 left_gripper=0.998 right_x=0.2938 right_y=0.1914 right_z=0.1968 right_yaw=0.0044 right_pitch=0.2744 right_roll=-0.0788 right_gripper=0.0673\nstate[joint_eff]: [0.4581, -11.8906, 8.8137, 1.1844, -0.2662, 0.188, -0.0171, 0.3897, -5.6684, 7.0085, 1.8974, 0.3932, -0.1783, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a43916db309a9569e18ff60cd69700d8d23dfbed754f4cac324992241f09e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95efdbedb27ff7aca07c04468dc8303bb7ccac3e067d8331516d273462188da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f81654ca95ecb545281e1dec22a06daf5e383c8c7371938b4fbf65c866395a2",
      "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 · 2.652 s

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

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6386, 0.9253, -0.1474, -0.8211, -0.6872, 0.9965, 0.9497, 1.7779, 1.1709, -0.6724, 0.7792, 0.4534, 0.0652]\nstate[eef_state]: left_x=0.3833 left_y=-0.1421 left_z=0.1162 left_yaw=0.3178 left_pitch=0.0258 left_roll=0.0248 left_gripper=0.9965 right_x=0.311 right_y=0.2274 right_z=0.0926 right_yaw=0.0259 right_pitch=-0.2803 right_roll=-0.5252 right_gripper=0.0652\nstate[joint_eff]: [-4.0, -4.7932, 6.5162, 1.4139, -0.9109, 0.1392, -0.0122, 9.8803, -12.4376, 14.0923, 2.6593, 0.6032, 0.1392, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7532, 1.9251, 0.8394, 0.2173, -0.8562, -0.7773, 0.0088, 0.926, 1.7294, 1.1759, -0.8589, 0.7628, 0.4374, 0.0674]\nstate[eef_state]: left_x=0.3848 left_y=-0.173 left_z=0.0291 left_yaw=0.3212 left_pitch=0.0452 left_roll=-0.0327 left_gripper=0.0088 right_x=0.2946 right_y=0.1947 right_z=0.0998 right_yaw=-0.0198 right_pitch=-0.3769 right_roll=-0.6394 right_gripper=0.0674\nstate[joint_eff]: [-0.335, -9.5795, 5.4906, 1.1306, -0.3785, 0.0366, 0.6667, 0.0205, -7.7744, 6.2838, 0.6618, 0.3932, 0.0024, 0.6813]\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 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]: [-0.6983, 1.8782, 0.9672, 0.0261, -0.8288, -0.7349, 0.998, 0.9909, 1.232, 0.6701, 0.0467, 0.9581, 0.3519, 0.0673]\nstate[eef_state]: left_x=0.4058 left_y=-0.1659 left_z=0.0604 left_yaw=0.3356 left_pitch=0.0188 left_roll=0.0076 left_gripper=0.998 right_x=0.2938 right_y=0.1914 right_z=0.1968 right_yaw=0.0044 right_pitch=0.2744 right_roll=-0.0788 right_gripper=0.0673\nstate[joint_eff]: [0.4581, -11.8906, 8.8137, 1.1844, -0.2662, 0.188, -0.0171, 0.3897, -5.6684, 7.0085, 1.8974, 0.3932, -0.1783, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a43916db309a9569e18ff60cd69700d8d23dfbed754f4cac324992241f09e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95efdbedb27ff7aca07c04468dc8303bb7ccac3e067d8331516d273462188da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f81654ca95ecb545281e1dec22a06daf5e383c8c7371938b4fbf65c866395a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7qnt-LuHqKodYp2JMOKcpOFiPiJvxCw9amGGUWPHMvBIrO74r_dzqbP-QgMqyn8HH4n6QeUoaoZOPHqUCYaom91DX_pD6P-8cvTlfqnRTIHkUNim7b-ZXpRCbAWK14-NypM4S_b9j6Ir2cYq5UO1Aup7E4fw9R6YgSG0NNevH_cg1lTuNAmgGaWQGLjkGstVK7yX_Xuxub07lLWsbLNBTgF-RHh8V4PsBhuEkJW5CkpIYlrbvzXAxUo1QA3F_8aTd7snOg7TcKxjX_ZNBdczP3HrJrn_cUL4lwGw-rBVYC0mkPz9ML7QGp9UDLZH2k4mxVDvMKqvNY9q_AjA8UuEYxCSMsMIDm7oe3Mel4EBJ4twztTMQpQ4FLgh8lpo0BjWCzF4IhXeKXjUVNTQz-wjkp4HjGqfuFh3os4Su_V2GUJ4pN6C3xgCCENYT541RSdmJhiaMHWLQd0Qa37d_f52RqPUpkBH6h_DxNcfPiPuUWaCCik5Nok2BFmUCmXtran4EjRj53iRiF1Mvk00EYMRVWDr1zRFb8eT4aWpt-49saOHxxxQEZfnZYKmRDIz2WH0O9xvgvICzwXAV4zLgQOeh1FmLi-cUn5fX4vAc9pig3ktIWfC9YCqHTuFsivxUjWX_6FBMlINYWwNWMe1Dydy3HuAWGSKHV5nHCz8crS-8XzH1S67ZmexApZt1nz-HdlWqp8XLbbdmF7qkeDeSDDxYAG4Zc2k784sCR-dmyoWrlKppL30gVsX897vqK8uBmHH1EIBVt2iSix8r0EM0IPW6w4FNcPl7PKWgT-MfXXADcQpAZH2-ACHeglvdW3b_64OMjp_tuhjB-REWdylQv_yC8vmaaD_AODZmY-OnJVB_03w4YSARH3UivgC0JvP9C5JMbVjiglYOqsDUVdUHqkryKLrQIIc0gicVCbJ2rq1LMMqojFEuGbSE-5WhdpInk1tRWDKXJKjaQSRxfGoCfOgtvMaVsO2lGYIh6Fe3H_0KwEvH7hiGV7yX_3MS89UFY7aJmWyvE7sGC5nm5QMrGCo_bqJRITsxDnHexZnz6wNc0nomkEZnpgLiGwEpbLNx3Q5bb3fnAlR37gRp5M7qMnYbrnjfZCtARK6CKvGmqc6RpFZh_N6aFbs6m1tEpHN1BruIAb12QY4BA3SV7OhgpJ-LXX34hwDzVpL9ETFsLbX92AapmLg6qrYmZek_SBwNfr2RYg8RWf7G0_B8sB8F45_1cAj6qj7MB61BsMqjco-ra82pGZk7Wug320qfAQT2R7hcgy1EBEFdGTlbZqDi99g63VPdMr9i2_Zd05WiyNTkkZA3BwSDpnGlCpQsqPW9xT-f8YQPh9gVe13ft7aQfY2wUXwsIv1rHtWDw5BfOKUujiVwvbwAJUn02moqhWiUqQQPtJx8fsLE3m1ZH9RonUXulitGdIlANQSMjeonDLyRpAEsVrw0JeDOHWun0e93USRYTNb4l2-5RYbX72HFjXsaEEQQKPqNnJMgvnmqCgmG02lZ_LzDvRyjk_TDs1iyVuiZKQOL9UieaD1ViFR2RQIjhKQ==",
  "id": "rs_09ce3b369e78e0c4016ab41ee95cfc87d0bd31b187ea06a3d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"With the left hand advanced, the cap’s thick section now lines up with the middle of its jaw column. The right arm is carrying the pen high and clear; I’m lowering the left hand onto the cap without changing its lateral alignment.\"}",
  "call_id": "call_EGAIFz4kSYnY8Er5VavL3hyx",
  "id": "fc_09ce3b369e78e0c4016ab41eea194487d0bfe91e34d52cfa6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EGAIFz4kSYnY8Er5VavL3hyx",
  "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]: [-0.696, 2.0537, 0.9092, 0.2569, -0.8417, -0.7456, 0.9983, 0.9897, 1.2316, 0.6628, 0.0528, 0.9489, 0.3351, 0.0688]\nstate[eef_state]: left_x=0.4069 left_y=-0.1636 left_z=0.0021 left_yaw=0.3517 left_pitch=0.0263 left_roll=0.0058 left_gripper=0.9983 right_x=0.2935 right_y=0.1919 right_z=0.1944 right_yaw=0.0199 right_pitch=0.2696 right_roll=-0.0935 right_gripper=0.0688\nstate[joint_eff]: [-0.3624, -7.5419, 3.7812, 0.9402, -0.1001, 0.1685, 0.0269, 0.0068, -4.2462, 7.3094, 1.453, 0.3297, 0.1294, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723eb0149df70354d8a615d7f4570008fd8d24ece9276bac199071cae34f3892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8577cfaa2ecd21f71b3fbf2e7e88f1d91f044579a1b599d7210204c2627d6790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc32aaa74b11df29f54d6dcf0def781de1d0f6621fdab3d7c891af06e72b6f6",
      "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 · 6.887 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]: [-0.7536, 1.9152, 0.8452, 0.2016, -0.8577, -0.7719, 0.9965, 0.9291, 1.729, 1.1828, -0.8448, 0.7681, 0.4397, 0.0679]\nstate[eef_state]: left_x=0.3851 left_y=-0.1732 left_z=0.0328 left_yaw=0.3189 left_pitch=0.0463 left_roll=-0.0275 left_gripper=0.9965 right_x=0.2973 right_y=0.1988 right_z=0.1029 right_yaw=-0.0133 right_pitch=-0.3594 right_roll=-0.6226 right_gripper=0.0679\nstate[joint_eff]: [-1.2513, -5.8598, 3.6171, 0.6618, -0.5299, -0.1294, -0.0073, 1.2513, -9.4974, 7.788, 1.5458, 0.4811, 0.1587, 0.5299]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6983, 1.8782, 0.9672, 0.0261, -0.8288, -0.7349, 0.998, 0.9909, 1.232, 0.6701, 0.0467, 0.9581, 0.3519, 0.0673]\nstate[eef_state]: left_x=0.4058 left_y=-0.1659 left_z=0.0604 left_yaw=0.3356 left_pitch=0.0188 left_roll=0.0076 left_gripper=0.998 right_x=0.2938 right_y=0.1914 right_z=0.1968 right_yaw=0.0044 right_pitch=0.2744 right_roll=-0.0788 right_gripper=0.0673\nstate[joint_eff]: [0.4581, -11.8906, 8.8137, 1.1844, -0.2662, 0.188, -0.0171, 0.3897, -5.6684, 7.0085, 1.8974, 0.3932, -0.1783, 0.696]",
      "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]: [-0.696, 2.0537, 0.9092, 0.2569, -0.8417, -0.7456, 0.9983, 0.9897, 1.2316, 0.6628, 0.0528, 0.9489, 0.3351, 0.0688]\nstate[eef_state]: left_x=0.4069 left_y=-0.1636 left_z=0.0021 left_yaw=0.3517 left_pitch=0.0263 left_roll=0.0058 left_gripper=0.9983 right_x=0.2935 right_y=0.1919 right_z=0.1944 right_yaw=0.0199 right_pitch=0.2696 right_roll=-0.0935 right_gripper=0.0688\nstate[joint_eff]: [-0.3624, -7.5419, 3.7812, 0.9402, -0.1001, 0.1685, 0.0269, 0.0068, -4.2462, 7.3094, 1.453, 0.3297, 0.1294, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723eb0149df70354d8a615d7f4570008fd8d24ece9276bac199071cae34f3892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8577cfaa2ecd21f71b3fbf2e7e88f1d91f044579a1b599d7210204c2627d6790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc32aaa74b11df29f54d6dcf0def781de1d0f6621fdab3d7c891af06e72b6f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7uFqwDJUPifzyJqkSP3jaLnnrDXfQgT9UpGSr5w7kP6Y3K9oAKDNugGl0nusMaBaS0tYu5sdFFb02WyLILatrlj5rEnoctDEf9ZnNbNT9oBM6-We9gq1vYAKAQhrjGCjTkfClDXHqVtNxedBzI6gsBQlkLNxnd3rJpIS-EZkjl5Q974kH8G_UCkOhFWMOrCa6HBLCijW6v69ZI6u0AjV1tMInu8D6dzxjh66OAuCwNrnoFN2rQqgvgsPU5C2pTUTftOxSxQqQK8toNsmV2_1lVTjjNZOl0cuvqDvFYt9bl8dNCz2pEYx-CK4fFWcZLiBlZQjfZOT0LcEu7FbRvJo7_yZAITynhDKV54HpPrCTnTo1H6xiBpiVci7fbjgR7mJAMxSdB6ktP1RpEs8MDsYCO4YJYrqdVE2HrUCdERrCTX2Qa8gxkEqukYzW3ciuD-Wm3YYh6DsOuUynZ3urJj-Ta88bMzZOQTCfKKSLnQqowR9uGEQ7h2URKaFEmxPE9wS9uBcCakhjKI_G_pMAiQplOggPRjujybrqsqCroxOXfROViBYBVxedDeRNHEoGg8SwX6WL5c6DWlY3Gcwer_k6osfYbKQhGBdCDPUeAu5UlBzTl8n5c8g_DWT4plroK4IzYiNMejq9XaaCfSOIkPW_fGxF9JOli-AqVt2jZlm8-u8TVCmsRotFHgkHmnSY8jRslWpuj_N77MXT8KxjROCargqGyHQHh9tVbFUeKvL7_yUV5nc82J70vikZhckaSmvKTWAFViCiq3HtSRwXZQAIaQrMQJK75bXRTQXb1dISIDfYeO_dA94apIBm2CLgcovdc1VkllUtspTvu39XRTax6HqxFbEnVgO6YLe_OwL_1D16btwatDrmXyy1OVJo0rsxLoIiAkf2M3Vj9pYfKzlDAu52dOGzjNEmN1FJ1mIk_Y0WZDnIpoTf6j8Sr-EuqGFX2-CW_yEj0HV7NoFLUh7u3-WMfn2If-G7KdRMEcVNmAilOlNyQ8ONEQHbqLOCv099x1XC0Q6akX6mo6iGRU0R4g1_VZSfxmsn5mbs1WRUER0ub01sVeNfBUkdWCeIhcrNTyPyAY-wOyrR8BV5K66DiaBpZbGjwbPQ1lpZwxtcNaqpRWHylvFkjdqKk56wtt3McfJAKdwXue04ht4TTQybsUNjGKT7oaijtTsattbvTjapyPKK6HHMeW5_HgjWYSviw0rmRdgJtzp-Ayid3-n6SYSGIUtIkZR6Ac8YQdx9uvjwKM446zxfa9UpvuYfQ6VZHafTfuOEwXsubWsmrIfnDNCMmV8SjlBIj-GtynxdJmIg=",
  "id": "rs_09ce3b369e78e0c4016ab41eed171887d0b7cb173926198e7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips have now reached the tabletop, and the cap’s thick part runs between them instead of stopping ahead of them. I’m closing on the cap and checking the finger gap.\"}",
  "call_id": "call_IeAmE45pLbpr6MjpHde3XDDt",
  "id": "fc_09ce3b369e78e0c4016ab41eed6a1c87d0aaea94e52e7d9e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IeAmE45pLbpr6MjpHde3XDDt",
  "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]: [-0.696, 2.0617, 0.9058, 0.279, -0.8631, -0.7506, 0.0557, 0.9897, 1.2316, 0.6628, 0.0525, 0.9421, 0.3313, 0.0693]\nstate[eef_state]: left_x=0.4079 left_y=-0.1612 left_z=0.0028 left_yaw=0.368 left_pitch=0.0459 left_roll=0.0004 left_gripper=0.0557 right_x=0.2934 right_y=0.193 right_z=0.1938 right_yaw=0.0276 right_pitch=0.2664 right_roll=-0.0956 right_gripper=0.0693\nstate[joint_eff]: [-0.1846, -10.2769, 4.8342, 1.0965, -0.1392, 0.0024, 1.37, -0.2393, -4.2325, 6.8581, 1.536, 0.2613, -0.0024, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b582c2008b4cfe29fb3c1141daae0d724a506483913e2a2fd849412e9e1b526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494d3f34caa221e640ba0d37f5d516d3f5bb390ed4c77b266ddb511f9a22849d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85db84d86aa44edb3c94fa24540f379162a5d3aa6bc10b280f62e330aaf01585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 6.749 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]: [-0.7532, 1.9251, 0.8394, 0.2173, -0.8562, -0.7773, 0.0088, 0.926, 1.7294, 1.1759, -0.8589, 0.7628, 0.4374, 0.0674]\nstate[eef_state]: left_x=0.3848 left_y=-0.173 left_z=0.0291 left_yaw=0.3212 left_pitch=0.0452 left_roll=-0.0327 left_gripper=0.0088 right_x=0.2946 right_y=0.1947 right_z=0.0998 right_yaw=-0.0198 right_pitch=-0.3769 right_roll=-0.6394 right_gripper=0.0674\nstate[joint_eff]: [-0.335, -9.5795, 5.4906, 1.1306, -0.3785, 0.0366, 0.6667, 0.0205, -7.7744, 6.2838, 0.6618, 0.3932, 0.0024, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.696, 2.0537, 0.9092, 0.2569, -0.8417, -0.7456, 0.9983, 0.9897, 1.2316, 0.6628, 0.0528, 0.9489, 0.3351, 0.0688]\nstate[eef_state]: left_x=0.4069 left_y=-0.1636 left_z=0.0021 left_yaw=0.3517 left_pitch=0.0263 left_roll=0.0058 left_gripper=0.9983 right_x=0.2935 right_y=0.1919 right_z=0.1944 right_yaw=0.0199 right_pitch=0.2696 right_roll=-0.0935 right_gripper=0.0688\nstate[joint_eff]: [-0.3624, -7.5419, 3.7812, 0.9402, -0.1001, 0.1685, 0.0269, 0.0068, -4.2462, 7.3094, 1.453, 0.3297, 0.1294, 0.3785]\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 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]: [-0.696, 2.0617, 0.9058, 0.279, -0.8631, -0.7506, 0.0557, 0.9897, 1.2316, 0.6628, 0.0525, 0.9421, 0.3313, 0.0693]\nstate[eef_state]: left_x=0.4079 left_y=-0.1612 left_z=0.0028 left_yaw=0.368 left_pitch=0.0459 left_roll=0.0004 left_gripper=0.0557 right_x=0.2934 right_y=0.193 right_z=0.1938 right_yaw=0.0276 right_pitch=0.2664 right_roll=-0.0956 right_gripper=0.0693\nstate[joint_eff]: [-0.1846, -10.2769, 4.8342, 1.0965, -0.1392, 0.0024, 1.37, -0.2393, -4.2325, 6.8581, 1.536, 0.2613, -0.0024, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b582c2008b4cfe29fb3c1141daae0d724a506483913e2a2fd849412e9e1b526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494d3f34caa221e640ba0d37f5d516d3f5bb390ed4c77b266ddb511f9a22849d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85db84d86aa44edb3c94fa24540f379162a5d3aa6bc10b280f62e330aaf01585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB71_bWl7lZVKW_S2w8urM39--gu29hIBiaZIecaQXkl7gSlBOxnb6hdEwIJ5xeVXP8Mi0wDznLUYWosCjiav0KXFO1W6zNtxogBjX5rCdluhtn0N1cFhkuQkpLjauJ9DI4IyQ3ebeXr3xlJhQCSOOK8uUpH63bOXGZvt4eIsaR_TtOk1cfn7NKt0Jxf5FKmJvJbtkWopjXtWFoTBguAninDedEeYnSeT2MEYUDjPNbKJaRhkuX6dyojwNGBe5F766rF3uETN5fMIw68nrzphSKI3T1fj9hSian0-jmIvCwk18M9nNdEI8UnDhXn1jqHL_0vsppM6FKCh6hIn50S1EQvaf_dPfNwmnOCybcEKdiumuSmbhUgJhPicv6flyP18RT_dYuorE8lA7nirFenqTkdb7DZ2XH_GY8EwvUgXWzqTH7musiCAMord4_V2vww5KzLj1YcusOURwYf2qtyCZ9WqSD4AOHvZP49oYK9Rh5e7jFsCNFm8P08EaQtFzDvpEFFeT-CGKC1AJ_EOt_PWcJ5H_L6Ypil7UabhO0a2422IdZ1HSszHaHdAdP8w6FlZ_Ehzh0k4if-R7dtvBIFaWgOeA3BQhLSbQEg7OFk3mb99OiWk7yorm__HO0bnmV9xUMpcp9qLL4kPSJNH6FCRCVHJW5SCypw2TQNlMWpqZiR3dec3La-0BO9qiKuYtrgukpK0Ed78NFDSlsWxdVxUaNAdifVmmD8ZMSvxCO9KPEk3T5tGphiOuwAOUTd6-b_kz5MCvh6wPKkCeX6IJTHZUnQ1216QU6BKa_2VlpsXc_vM55_yhqR9uvBcvRT_dQoBBU1em0IDRaU41VpZBJb0Ivz83S5U7X-1sZy21Zpy2sbhC5YJf_mafbfg_YR2C3WdTueNgllMcxscmqbsIJ00OqvNOGfhpLPfMpwsCNdkpp8bZJ0iWexP3tWS2JtojCMtvTkLNyG-sW1jiwkP2rBiSNOQ4tCmTvXCPMmNlE05hEzhc9myN6Nnm33mWHWgzrJK8h_Z6oV7Gd1BH_XYn3jtE66zIXDLmpdjqrnR-pVsIRqz-VrUOt0taGfBWVYdRvne5TnBXLhM-Dn_V6-HOtlub1mR5jMrSYwexK1yQe77LXtJ2FaOo6tz9y-5tkMfOQPSaQ-0qdyuk0-D51J1KQcAHS3_IQWvj0998lJ7z2LK4Bjnz5I2SGyh93ZT25nkxO0sFQ7YPiMfZkdbdh9zkJ-LmdqdKd4O_G5MsRdr76gYzns-Fk8sQsHH-A0wNHKZGqit-JFnNEtI2Bj6crXZ5diSRRE30j7Y8AnGkthi3wUVapOhN0mjm2Anh1CtL43NtQlR12TlAQaPdIdkepN09A7aKL0S420AEf6KcPQM2BZHgSWR_24wAUQUSaSy7u0FMLcTRmqrMmb2NYY2NPskCjww1FIdUDIWOWjGwE8CKxfyFHU4MDGehVH2EKhp8uauLUZpWk0QZSSnM5hZzWowBoZrAhnVzFMZCBNLOcO7Lm0rkgLYd8J_dzpd2fr1s7lCB0Jd66-c3ctstGistvXpwqTJ-nSltsemT8S1HxA84mRzG4r_IF1ZityH2fkB6fabkHe-ntY0DgW11ZIesP4OgcP113rJWDr3YTH6IxhccpGKxj_bfBb3G6RUV9lY3OnSdsFQ1m-Xv8I64F32mqgG7GqDks7SiRogYgV47wJGjXjBIjXUV5xepk--w8AB9FzOqyeKHgeqFTw1qQoaF-d_Sbtq0a8_fwRe1mLfaoQ_AUnZ5WrQKWU_jgRZZj48tXbDdNMELol3jxB9SuLLyOk_Wh2xtlJxVSpjPEYHYZon8EGpcJXqPe914tbAFm_BiGW9Q34OWuf3B75CBK0p7rnGi6nvZEjNXM4YeF-OPq6AUzRIWUdmIVT0Z_8_y054pblb8c7waa4iGEpvUtqRLM8XMLpzMBpsd9vtYGEKHdIOflv7PvutAoPTJZgbhm-rnDXwh7qIGTtzFeDy7tY34_UAB70aPTq4Vn0nb4UZ9GjjR_EEBv4KZenngAgzkM4L7UZXvNvpzuJJWGTqw9WEfGdapTwzZLAjhn9G9IMkPqBtMzqR0So0gUOjXt8DwAVrxfydTDxj32m3fM2HCqAQ1a9426kDyA9USiTayhPpe354u3ZnnjPKI5kdmFVBe6Hg0_KJye6BdUR7hLe-AZIUk7Th-PZQVZ4MclttAuAeMzQqxgB3Z1kdqME-S7zb8gij_2utg0mJ7MT5XfHtFm58LsjbwiAa2UN5fRR7Il5qwhcMAjpREdpAF3sTVMwEnwNRf_b4IBEXrgbELMXcL9fwMI6Yn9Bnaq43XkCPsJxkOrgn_iHG4cw-AWXwC9Qhh-GajDcaBuZwxLEQowA2NIl_3958U2ItWyrkV-VxZcOyaKv2L__LBhglzc9SfxUyXHEb2rD5V0Fw5gxzRALpQiOMRqm81uK6CdgVUnxj4iermbAbVxUDJfPOqPlV1bJMwYVA82IFaV0qAy1zf7errK-87NW3ab7CREPW3MsAgZSNq_Jv-96EeyBJALE2ZPwJud_IyHX79D31grc4D0LJfujRoEpFBEkqLIP9EH6_UhQxVuph6zw2MypeLEev80f7_7uuMB18_k5gLK8kD3vTy4Wgm0gdydnQ7tCFit8jIcz3NhsVpjOa7P3x-EB9t6_xtSvsTyWbCkY847yReSj_9Q7H60Bvi8YH2gSt6E9EB4i9l98UadB8vhA7exU5KLsaVoXYualwJnv5FUpoUDy-l8G-uC9evyjUvjQnEZuH2-9llpCC1xk-d5PwmuQ0zy8LVtKdTyX9Lw2YL-xWuzn94t5J8Teb_rdTlhs6F5xktg7URsjgyczjZiBXiS82Fw8T8Ahey-cIbDV_rS-Tng6EjpFcdIP51ZnY9m9UzWRvbvwaTY6JjkW0IRkBsMOHxWyp2eP77DE8AIuwnKe97WoKXBxWZodZg9L69vTbEme5CEQsKWjvMA4C2j24-rBuQ0g2-uYXmiHALo0Y-hB4oJfmq0wpYXwOVLHy_OgMx0GQg3xm1O93pRzkC8nS3H6mYgW47oKPOW4lK68B9OPLwuuQ8WI76oEn58AoxJYmGooEOp8BmbeFsGBD69JDVRbU7pmQFA2QnODc6kD89trUksrMMmjiUk27huafq8mPmwr1mtfQMAtChsGhZTlcYxjELG0SvdJXS-Nj3xR0LqKDEFWUw3CNl-GBIENIydrs7gbFLSXkOSZcBGM2eEBpzhPunScKPZSHSBYrDQBtAJItAR-mwfP7DEtZ9IkUXI_kfqhwR-0NaduoQRGBtJpOabfZVNPqey1eWh1EDaXztjRYLprGxW5Xkec_y-4ljXjgU_zb91YRVnvtv1TLlM-ktGSwPKHXhwG_qhOtZ0g0vzt4RS37ckbU4fmjJtljdogiD1vxJrH0zJktDrthcwkHms9pFqlmA6D3LK25X8_uZENGIViUToXpKqwqZe4HsqkCwAs-vvyRAuKNmmYawzGBWItAC79nuq-urq7tCnAUIsC_CZD18FBoVjRAeVeIYLKdfnIgAhJIXaupCNasxFHPTs=",
  "id": "rs_09ce3b369e78e0c4016ab41ef0050087d0bbc2efb7e086d5f4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB71yyIHQl-IDu8aJwT5D5ZD0uvRZRv5aQYQZRflq1ObUC20X4vRsEuQ3ItAw-Iak146_VN_uTohi7SwAeVHgrsVslHyk0Tn_r2Pf7hEOGS4LoIpJ7yd9ls4oOndRKX9JSXE2NI06WpBN1ZHfFBjg50ctdVb8b-jFi8uDRbNEvADJY75hXPojq6-9lr7eFGerG2uwOb44dPv7FBoEaCOtacQcbu7_is66k5j2iprE0EOw_i5LPeoOepLH2Fjnq8NoVewhlIvmeCYjA6Ba4LNNZhI4le9n8RSYnTPUONWYZyUzNcETeyTDXQHmR5CMO265e2fcsmGmQqtFyGlpWVUvcGdXWnyEWHRzOEZyg-sbNDDC-WcNUtJhQDAJx880AY09tqV7ohENMQJex2XPzghqouoS42X7IXJkoWOSJyGTHCNq2tRUyH2hS2SIZ4XBqaffs4PJ_MGjwDwzctDWHahRKmkldxuwJZXzqYnf9_iNzxKu6mqWhxdvgTuI628ECbv1Vm88atlbOzKUSORZfMJD_pPdcWQEn3XQOgYfgBuTfIXHuerLvmxwI_GgSqHAYjzSNZUWeM5-Sng6RLKGNZOab2MnEFeV-OyLU-rd1WATjuANRXFKLVOp1hQpD3sczr3JhoerhqL4NLniKFNpwflROpoaHtifOZLSPvr43E-DIZ996KxynhRVLACULu3s0OmwtMiMZ5AxL793TImX6VioUIEo7Wz7POiOBVV5UdIu8E6n5x4KAGRVtuk3Y9_AANIGUS3AEU1wevVbpWmpEq6KHsBF_d53ZXL2yFjV2dCRH4XUpsvZB2tZF4TvcFk2yo9NBdJzquZUiSqFSnv_DpfYUrdewOvV-nU0A2ohFycu4KmkJ0V4SAR0xE5ofDx_vt96QfF6KR0c3qSwPk2IYSQzh2ASUSJwM-lBVJsUHa10qv0T2pMoULubphNkYpq0-Y6PaAMe-WColiuEu2EhTdIrGrkVSD4_sx2mg0D21IJtIhD1m4GwJy0IqiOelOkIVXKexd_ZrJj3EineMWanCsfZhi30BW4z80aO9IdUdjTK9sJklBL_qGhFbYGOq5JDBfYRaTsfQzssbny0Zen5VrYp6img7m_9-mdj2-SFVMNTWBmrTViDZFwNezwwowAjarmVr7glcnMrjfk8BvAyT-Kg99f-Ou-jDASaWvJzLJSXhtk41bOuPuS0LmeGZMiDRwIXJ-5gI4Y3y9TihXx644qifnCcVvha8sFbyBn2L3N4pn5g1MrNqYo0-3medjGQkVNB49e4xqMKjkPMB8qWKqSfLGP2-14gnmS5vZvuQRM2zExY7b4PL5YMMt5SYNBWZ5Xgvq9xeE0eojBbjYGN6f5pYZ2SAJB9uMsD3nBJ7pVvgARsFUzIklOBxPs-_oRVBCRB0zCPM-AcwBw5gpi4LHtPaRiMTdCgyo_ZW5O8VFALkjEh5fw0u2avQAbWVxQhmYaSS6-OspW0uicyf-r-kFdefuD9v0KQ1Md0PaPwSsuL6un_G0-UbL7EdJjmGGpAA5g08owV7Htb4rCDihxcTzLLgzFA_fUfJnq6PBW2XpaIve59s2bb9EpJxR5yjhwxWF1o7otj4dyeesmLC1w5fTdYsR1ruN7n2FbN_HJqNtpN-JeGpZLYsWbVOIzy5Esxn8j827yVrEtYIwbzGlnFozhXgeGL8KQLOXtCgwctizdzAawbwwZdTnz-2j-2IMIsa_7Ls-zAzMfAvR4daekF-ni4emhzW1YnZEVEGHW-Un6VaV-6qiPsNySNfWqSYdobqTkkhh5",
  "id": "rs_09ce3b369e78e0c4016ab41ef3f18087d097b14394384155b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"right_y\":0.31,\"right_z\":0.165},\"note\":\"The left fingers settled on a cap-sized gap; both pieces may now be held. I’m lifting the cap and moving the pen toward the table center while keeping their grippers far apart, so I can confirm the cap moves with the left hand before attempting assembly.\"}",
  "call_id": "call_5egJogGu2N9ViXdDWBTqAzD6",
  "id": "fc_09ce3b369e78e0c4016ab41ef501c087d0b856fd3f72e4e308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5egJogGu2N9ViXdDWBTqAzD6",
  "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]: [-0.6758, 1.7718, 1.076, -0.2569, -0.8574, -0.7616, 0.0693, 1.1442, 1.6619, 0.9817, 0.0395, 1.1267, 0.556, 0.0724]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.1085 left_yaw=0.3891 left_pitch=0.0053 left_roll=0.0551 left_gripper=0.0693 right_x=0.3031 right_y=0.29 right_z=0.1804 right_yaw=-0.0519 right_pitch=0.3029 right_roll=-0.034 right_gripper=0.0724\nstate[joint_eff]: [-1.6752, -12.0274, 11.9043, 1.4188, -0.4615, 0.1001, 1.033, 3.0017, -4.6154, 7.159, 0.9646, -0.4274, -0.6227, 0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7299f4e2d99c8bf27724d8998423e37fe00440a20ef7c1ea6a40b4960895dfab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b14bc4c310f7315b688cd540e46fb4d600ab20fc12b7b3d7415efae44dbecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a4287387837507f7981d2ca866c40019405e56db6a500f51b1057d8437f425",
      "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 · 11.32 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]: [-0.6983, 1.8782, 0.9672, 0.0261, -0.8288, -0.7349, 0.998, 0.9909, 1.232, 0.6701, 0.0467, 0.9581, 0.3519, 0.0673]\nstate[eef_state]: left_x=0.4058 left_y=-0.1659 left_z=0.0604 left_yaw=0.3356 left_pitch=0.0188 left_roll=0.0076 left_gripper=0.998 right_x=0.2938 right_y=0.1914 right_z=0.1968 right_yaw=0.0044 right_pitch=0.2744 right_roll=-0.0788 right_gripper=0.0673\nstate[joint_eff]: [0.4581, -11.8906, 8.8137, 1.1844, -0.2662, 0.188, -0.0171, 0.3897, -5.6684, 7.0085, 1.8974, 0.3932, -0.1783, 0.696]",
      "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]: [-0.696, 2.0617, 0.9058, 0.279, -0.8631, -0.7506, 0.0557, 0.9897, 1.2316, 0.6628, 0.0525, 0.9421, 0.3313, 0.0693]\nstate[eef_state]: left_x=0.4079 left_y=-0.1612 left_z=0.0028 left_yaw=0.368 left_pitch=0.0459 left_roll=0.0004 left_gripper=0.0557 right_x=0.2934 right_y=0.193 right_z=0.1938 right_yaw=0.0276 right_pitch=0.2664 right_roll=-0.0956 right_gripper=0.0693\nstate[joint_eff]: [-0.1846, -10.2769, 4.8342, 1.0965, -0.1392, 0.0024, 1.37, -0.2393, -4.2325, 6.8581, 1.536, 0.2613, -0.0024, 0.3199]",
      "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]: [-0.6758, 1.7718, 1.076, -0.2569, -0.8574, -0.7616, 0.0693, 1.1442, 1.6619, 0.9817, 0.0395, 1.1267, 0.556, 0.0724]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.1085 left_yaw=0.3891 left_pitch=0.0053 left_roll=0.0551 left_gripper=0.0693 right_x=0.3031 right_y=0.29 right_z=0.1804 right_yaw=-0.0519 right_pitch=0.3029 right_roll=-0.034 right_gripper=0.0724\nstate[joint_eff]: [-1.6752, -12.0274, 11.9043, 1.4188, -0.4615, 0.1001, 1.033, 3.0017, -4.6154, 7.159, 0.9646, -0.4274, -0.6227, 0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7299f4e2d99c8bf27724d8998423e37fe00440a20ef7c1ea6a40b4960895dfab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b14bc4c310f7315b688cd540e46fb4d600ab20fc12b7b3d7415efae44dbecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a4287387837507f7981d2ca866c40019405e56db6a500f51b1057d8437f425",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41ef8ce4087d0ab206b68c92617cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.29,\"left_z\":0.18,\"left_yaw\":0,\"right_pitch\":0,\"right_y\":0.32,\"right_z\":0.18},\"note\":\"Both objects remain aligned with their own wrist cameras as the arms move, confirming that the cap and pen are held. I’m bringing them toward a shared centerline, leveling the pen, and turning the cap parallel to it, but leaving a deliberate gap before insertion.\"}",
  "call_id": "call_d9ypvOaaZyiwXBxz4iEcGQxc",
  "id": "fc_09ce3b369e78e0c4016ab41efc1b8887d0b8858490b30a1346",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d9ypvOaaZyiwXBxz4iEcGQxc",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 1.9545, 1.5066, -0.3946, -0.6903, -0.5159, 0.0749, 1.0691, 1.6882, 1.3636, -0.6727, 1.0466, 0.9619, 0.0746]\nstate[eef_state]: left_x=0.4665 left_y=-0.2211 left_z=0.151 left_yaw=0.1553 left_pitch=-0.0474 left_roll=0.0935 left_gripper=0.0749 right_x=0.3177 right_y=0.2686 right_z=0.2199 right_yaw=-0.2248 right_pitch=0.1282 right_roll=0.0306 right_gripper=0.0746\nstate[joint_eff]: [-8.4308, -9.0051, 13.1487, 1.5458, -0.188, 0.2418, 1.0281, 4.4923, 0.6222, 9.8393, 1.8584, -0.9597, -0.989, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd871cbd5b22e8f17cf365b805e92150dfc0c140da4eaff9007d697260f1c0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bc0b92a6fff6f69d99bced0534bb7f7ef1ef53ab6d1222004870569f7ffb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfde5dd431903090ae66a8a86104978f47046b47ab380d4b9b4a958046bb7d7",
      "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 · 5.991 s

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

message 121 changed as sent

message 130 changed as sent

message 134 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]: [-0.696, 2.0537, 0.9092, 0.2569, -0.8417, -0.7456, 0.9983, 0.9897, 1.2316, 0.6628, 0.0528, 0.9489, 0.3351, 0.0688]\nstate[eef_state]: left_x=0.4069 left_y=-0.1636 left_z=0.0021 left_yaw=0.3517 left_pitch=0.0263 left_roll=0.0058 left_gripper=0.9983 right_x=0.2935 right_y=0.1919 right_z=0.1944 right_yaw=0.0199 right_pitch=0.2696 right_roll=-0.0935 right_gripper=0.0688\nstate[joint_eff]: [-0.3624, -7.5419, 3.7812, 0.9402, -0.1001, 0.1685, 0.0269, 0.0068, -4.2462, 7.3094, 1.453, 0.3297, 0.1294, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6758, 1.7718, 1.076, -0.2569, -0.8574, -0.7616, 0.0693, 1.1442, 1.6619, 0.9817, 0.0395, 1.1267, 0.556, 0.0724]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.1085 left_yaw=0.3891 left_pitch=0.0053 left_roll=0.0551 left_gripper=0.0693 right_x=0.3031 right_y=0.29 right_z=0.1804 right_yaw=-0.0519 right_pitch=0.3029 right_roll=-0.034 right_gripper=0.0724\nstate[joint_eff]: [-1.6752, -12.0274, 11.9043, 1.4188, -0.4615, 0.1001, 1.033, 3.0017, -4.6154, 7.159, 0.9646, -0.4274, -0.6227, 0.315]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 1.9545, 1.5066, -0.3946, -0.6903, -0.5159, 0.0749, 1.0691, 1.6882, 1.3636, -0.6727, 1.0466, 0.9619, 0.0746]\nstate[eef_state]: left_x=0.4665 left_y=-0.2211 left_z=0.151 left_yaw=0.1553 left_pitch=-0.0474 left_roll=0.0935 left_gripper=0.0749 right_x=0.3177 right_y=0.2686 right_z=0.2199 right_yaw=-0.2248 right_pitch=0.1282 right_roll=0.0306 right_gripper=0.0746\nstate[joint_eff]: [-8.4308, -9.0051, 13.1487, 1.5458, -0.188, 0.2418, 1.0281, 4.4923, 0.6222, 9.8393, 1.8584, -0.9597, -0.989, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd871cbd5b22e8f17cf365b805e92150dfc0c140da4eaff9007d697260f1c0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bc0b92a6fff6f69d99bced0534bb7f7ef1ef53ab6d1222004870569f7ffb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfde5dd431903090ae66a8a86104978f47046b47ab380d4b9b4a958046bb7d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f00372c87d0b4e4989d2de2bfbd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8K4VKwbusxT_TgU6B-WZoc4sGQZtVWEXz_HP-F6ZeraC26-1oA0j96WNDgFVSPYXuJ6m6JgcQQ-VZR9oubOGC6eG9qQQwtQetbzBfxtDHIH66ruVhn91V1CztDu3oLn-3UOwRrLWuz7WZNT0dd0VLSenItO-dViL-03moFUrj66y7WE-S-OoOqF6b-5XWNcyJOqQutQuAGJro5K8spcEo92E2bIZNfdjDUmMHgPw90A-riF-YnfU99Nco78ttjVP41V5iDSofdXsPUw9w1fKEZW5DN2Ut0UaNdHF7fQW-YNn8z5yN6rWXvAlqNabsGHTJ7FxITe6rfXrNoNHi7z6BLWZulWuGEyyWYjitxlnMZVAnEQw-mH8oTnlpOb7o1Jnc28WjGn4YrsFPNROX7P-cLvazWbg1-AjAaw4E3inaJhKzGd7QRaNxNyITTRI65v7oU_CG76VAyuKZEaQODguuR1xrr1yQL7r-MdQwvMeJIVm5NtjU_PU59VBigX3mzt428uIU8mQlg6thYrRWbjCAXy3FQo8galM0dfIafYrqq5ww0BayarMn91QIDQ9rEN4ZieAdN5xvua6et5nBn1yDBoJsjaBXpRFRVKz44C0fcyZVaslPW2vwVIO7G_65FVpK_k7Geag9BNKuCPYC2xEeDikNExS_7N7IQvjx0oI_l3zKYo43X7WPZSkk7TMLbTWcNfxOCIGZHqYSXyIPQlRMlmlcPJZDwSGiNVOKQJa-tWKUVrwKAWi-H8h4cN6eLsKJbwrPVMbu1LJ6IhLr8RO-_JZkwbF5SuaHioyS_UUqHCuW9CkdTbdPyAQ1c6sGfYOUwtHFA_wJoa4dW6bLWYEuuuH3yG93GC5XA1VkhdnTyCumP3Ht-Tb6U2EcskivzlluVzfUtKts3t5JlfH0KXNYwOFzCLXDJXdufdhlkq9YGVTORttnZOBMdkY29qEiBFe4YaQ3-kc4KNwWY4Bl2sbD2SPek58wkdEr7-HyJ59hRH5BWIV3u5_WkC_vULdikVsx3dq7rUIuInUB47E_ghjntfO0hUDPvaj6BriteSBsvQwsmjKGczu_JRJ878zZhZkzygeFVQB59lX9D0tjc9AKoz3fPV4X3XlNE5hm38sKsscqBY2yQ_OPqDnq-SNmGYWXDutTqcCP5HfunCg--N5zCll6d5WYel5VaqGi7yiZMINBjozTTaCuPGrcVImk1T2fjA9tmUwzLyqxOs4TqriNs_MRzgvndgWwYy4Yfll3-AIMUDINWvMQhIVwa5EKtdmruPm98OBj4pwCk3X9Xid5ufHa2U_MZ-2kq0G88-iX1kP8wSgRAgcuPP5cOWjtOnkdawxGOjZW449RKDTWetKvk8NvIT0Zm051EABXjHO0sWq7mEVqswoexEDi01GYhSqiKTEyEK2fin81ocWRx8gxzGDs5bq_hlH4MSQHQ0GKScjBv7SIwxjYIuzi5nqDwmREuYc3Kola7g0rlD9VsRy1py1x4BiP4azAXXzKoKLMazuTw_8X28iDvsdTqJkTKTczuVYRkyWnbuMTWpR3gAm814waQOv_LVvGaQ-AbF1ZEtNfjn2hapUkgm0eRneOSt8WKMV5gWe0iMCg-AZSeRsIMq3f12f2zsyCxVBAg82F-gjAHqeTodfLAMEELuk930w9UdTl6P_g-AtDfg7stHAnFKmvHJaArQOSRk1lSs2iKbon5YTvVJAOQdWmBvymm_F-mjmzKg9rg11ubQHwDjImxQa6FuaaMAF-H2J7iaLhH1b76RfivDDzelDXGIXefqt9jtYedrP56vFejEqUWVtw7uoEwSeVChBPv9WuR9fDwYcktfGFDA1L8kxrmB0YKJmmcSozYaiQcOvz1VQZ-kw0-6C7DX-MSFnDOkqfTCt4q1uimZmdspWlX1ngYc0lsf41L2tS-vfE0jzW29k4I9iVFLZIskD0iGe-DyDbqAA3btfEc4lUbZqJGSrxfYN0_rjAaQAIxNkuAPd0TocKwY4h1wsNrQsIiSjShCSPXIV8OEBm3hh8HLTp4BcHK_WO9f3sSYEVOGcCxN3m4sSDEVrwNbzgpuz-w8S-_SZiZYfi2IU4dR9kYMv0fZOzLWPLEdoFnWMQmZykhiIPxaIpLUuDQdjAi9ddTbntin0XHsHlj6CiFYTkOWaReZjxhrY4ZlyE0x6jbtmUS45-4hlHfuMZsfDdgc6tNHlygqY_KTrDvVINLvekT9h7v4PsVD2aRWpA0ybCcTRgqsThIqCh0eNooknrpqXCaPrM1D5ZeBc-Su1T9WnsFGNQryj5E_a5_-eHN22V3V5vJNzQdiOHDM-STbJpsF4OsGsfUmUbjappJX_pu68IzYODk88J7KAGuBz0563SBsWywackTpZBPVpCy8sMjJ2UiQJ10V8fTMZzDzs3pmD6X8Z4mfxFs-arsM4Ua_Nuy6mbWIY11TX3z9seb-LqBGc61gB1MKyiLwj7PwgIuapm-85itBAYaNBalXfyOQYW14A4dVYEmP_vb55nMUFcLvnxkqFQc8taA-h0Pn8bdQfTS1LpN-MSAaH_DcSQruJfGNNogyFvkNJS0Sa9vmPUogFJ4x0HyywIEcqLLfLXh3l0_vTZi0rKJlCXr0OlvJnzE1m4c_BAoY8B97EaAIH76zr5BFjjjfQsVSgyrmlyIWBI7wvL1ZrqmA2CAjsP6UjNl6ddhdLaMZmG1C_iLaCHUE_UGrRrnqTfx9h7avWzIJeKgMxh06EPYBqemffsy5i8lcgRp92r64PaycPsjs5U0JQuDuQmcLZMKxn_nGS9rJBsvRDL3OaknQJNbqDN3EnRYgOu_TKFE3nezM33Ep0DNR82Wx2zDaU503dx6qnCUmfxq0R0v-CMrQaoJH28aOAjlG5XjAawL9IAg1jxq-t45Ku2R4GxVWxK2j4u6ElSnQNOzieLhNT8Pv7YKUEJ0N3dNlQke5CgThKlzLSM9tA==",
  "id": "rs_09ce3b369e78e0c4016ab41f04b9b487d0b903fedc05a8e849",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.31,\"left_z\":0.18,\"left_yaw\":-0.15,\"right_x\":0.275,\"right_y\":0.33,\"right_z\":0.145,\"right_yaw\":0.15},\"note\":\"The hands are still laterally offset and the pen is several centimetres higher than the cap; the controller also fell short of the centerline targets. I’m increasing their axial separation while correcting yaw and height, which should let the arms line up without their wrists interfering.\"}",
  "call_id": "call_iaUAo2X5d9uh0enOAs8j5QBn",
  "id": "fc_09ce3b369e78e0c4016ab41f08228087d0869aded95c17621c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iaUAo2X5d9uh0enOAs8j5QBn",
  "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]: [-0.6998, 2.0823, 1.7458, -0.4381, -0.5449, -0.355, 0.0749, 1.1751, 1.6444, 0.9897, -0.1089, 0.9463, 0.7185, 0.0774]\nstate[eef_state]: left_x=0.4885 left_y=-0.2869 left_z=0.1634 left_yaw=-0.0699 left_pitch=-0.0759 left_roll=0.1 left_gripper=0.0749 right_x=0.2814 right_y=0.3112 right_z=0.154 right_yaw=0.0432 right_pitch=0.1451 right_roll=0.0553 right_gripper=0.0774\nstate[joint_eff]: [-0.759, -10.7692, 9.9214, 1.6777, -0.1538, 0.232, 1.0281, 0.2803, -6.8718, 6.612, 1.6923, 0.3785, -0.1538, 0.2808]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28e1835ceea0e751d402e6f2e561b34530c9c6c680635e8e12fa443612c956b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96232e638ab48220f17f8471c47ddba3c3cd6d0788abe046608e0e444fdeda3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85f52b49338e5d2430aeb69a1d0d04bdc4993ee7b18a1c997d07b93d568dfe2",
      "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 · 5.923 s

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

message 125 changed as sent

message 134 changed as sent

message 139 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]: [-0.696, 2.0617, 0.9058, 0.279, -0.8631, -0.7506, 0.0557, 0.9897, 1.2316, 0.6628, 0.0525, 0.9421, 0.3313, 0.0693]\nstate[eef_state]: left_x=0.4079 left_y=-0.1612 left_z=0.0028 left_yaw=0.368 left_pitch=0.0459 left_roll=0.0004 left_gripper=0.0557 right_x=0.2934 right_y=0.193 right_z=0.1938 right_yaw=0.0276 right_pitch=0.2664 right_roll=-0.0956 right_gripper=0.0693\nstate[joint_eff]: [-0.1846, -10.2769, 4.8342, 1.0965, -0.1392, 0.0024, 1.37, -0.2393, -4.2325, 6.8581, 1.536, 0.2613, -0.0024, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 1.9545, 1.5066, -0.3946, -0.6903, -0.5159, 0.0749, 1.0691, 1.6882, 1.3636, -0.6727, 1.0466, 0.9619, 0.0746]\nstate[eef_state]: left_x=0.4665 left_y=-0.2211 left_z=0.151 left_yaw=0.1553 left_pitch=-0.0474 left_roll=0.0935 left_gripper=0.0749 right_x=0.3177 right_y=0.2686 right_z=0.2199 right_yaw=-0.2248 right_pitch=0.1282 right_roll=0.0306 right_gripper=0.0746\nstate[joint_eff]: [-8.4308, -9.0051, 13.1487, 1.5458, -0.188, 0.2418, 1.0281, 4.4923, 0.6222, 9.8393, 1.8584, -0.9597, -0.989, 0.2125]\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 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6998, 2.0823, 1.7458, -0.4381, -0.5449, -0.355, 0.0749, 1.1751, 1.6444, 0.9897, -0.1089, 0.9463, 0.7185, 0.0774]\nstate[eef_state]: left_x=0.4885 left_y=-0.2869 left_z=0.1634 left_yaw=-0.0699 left_pitch=-0.0759 left_roll=0.1 left_gripper=0.0749 right_x=0.2814 right_y=0.3112 right_z=0.154 right_yaw=0.0432 right_pitch=0.1451 right_roll=0.0553 right_gripper=0.0774\nstate[joint_eff]: [-0.759, -10.7692, 9.9214, 1.6777, -0.1538, 0.232, 1.0281, 0.2803, -6.8718, 6.612, 1.6923, 0.3785, -0.1538, 0.2808]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28e1835ceea0e751d402e6f2e561b34530c9c6c680635e8e12fa443612c956b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96232e638ab48220f17f8471c47ddba3c3cd6d0788abe046608e0e444fdeda3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85f52b49338e5d2430aeb69a1d0d04bdc4993ee7b18a1c997d07b93d568dfe2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8QEowKwY9t-M7asEaqzA_rBry_XL0ber1XGCRHxvrOi45saMwWi8UondELHUCAspIb6DcnQWrO5ue6mPv7mHhfj0_LB0dx7YYKaisXzSQGRaH62Dzek82T37VQkKq3DqPTlLfbP-Pel7wqCgcWN5kpBqz-dcws4omz7fePcnV23EJB3iyNPKMwHXJaktJMVE8PYcfHr-AipdoGgz4bjs_m2HkgpgMUEdAz3-hkiUHy4QOoKYzDBSD_xCp9KAuEopTlq9eaq_9-hQ83Zab64q9cdtRyxzkM2vNkyqmK9JqwMPmpuN9xu4dxr9VVSJutL6enhf0y7aIisMhoLRs00B4mnCw9bWKzjk8EtjUQHpHE6Jr2jpqo2Vi2mCbzkznbNaD8t2e54OiHcMJg_J82jvyqN6uJE1mdcf4ASU3zCKOvrvH5lIeS_unUR9A2-VCR-7xe4k4zzESJ0OLYGShNGGfKPp53-ExCjCsN8K4S1_j62ft0QboD2psWHOK1tfUrs3BCWfLWTmG2AI2UvTM0k9OFjWZXbl9dqF40oTj8yLicoOamA0WlQtVc7KwZpaIBbNoqNtigPNXafs276axfW_yC7feY4c1KhoPAzb4rhqJHmnDtHVSHgVfbkJTvDcYPdbGAExXrKuVYBxjH7GtrOMt5n6iSeyBVrsGei89JFQNNAN_68Bu-0WZG6Ng3-zANTJJDVecqvRtEuQGrDhPkoV9e7WRktryogFjyt5TxkPEVYd88GnZ6uPpHO8X7RLSWNC01gO44fHO8vqgWFZFGIRUTrEcBBim05d7TweCehG0mhl9AqzijgdkSytmZHVX3UfdMprTJIHv8u6Rbw2ChrBfcHlLeZpSr9IRS7xIrKlOGZGmpDqVrd6n_uEQ-h_PdLi0Ocet_iqi4bOgLeXwOcz6ddowZFoUybqL7ae8kXqRwrX1YvU1Fq87oxcTjzjdVLkXT5p97WSgKVaeK6bq2xCsrTRruH5CZDvmVBpml80m39OHQKBd1S0LHH3J-_x6CDqme3qWxLPtmP2eULJBqDwoCuUnFUDdm0iLFk-ZnrF3Mhe3afOkEvZDq60mgkKogWxZ4jtSM0Md5jM6UL9P2I_-vy48rycPDfscon14WFN39AUWJSpuMPXRDvbE9Dki_USa8zI2Dje7MiWrIsZPdZtlfM8Op0SP_sCCtfxootWIgejGvxvrl1jZMiskqp3Nj4PQE1gzkG3fFLtXXapmCEsbA0JdaPN5qI0CTlAOUyWr79MxPKF9uSpQcnT70bqcNsvs4SkKpCSeVp-_53Gh8MPN1YBKqpboHfI47vqjbXYPUULxcxw-m58D_q-2zWVmbF3qmn9U7hryokAkN-NteDbn9C9AZ0Yee7Vt6bGnqCnOm6BoZGSut-jo2OHcMCv39Wr5WALGCjXzl12FYVtvW2nQpwuaA9U3ur_ilEy3dgIi8t-0BQoLThaMEEdJqonWIYjXg-8ZTPrq24S1KVtDMB57vcWvft35omQp6AYrpAfFHVDC6YkZoxHiRhkRG0AUr3z2aXmVskrykLiFlC8HXffR3kTM7NNUXBusUcLbvgU8UT84W8pOoZtscWRDO1HDyeduOmY8Qab3NbKYi5YP7w2wOUaBqnd_TDrf8Xo0fcINYtYjSoqGn7ZjvAsgOGAFpgek6iBXoMheRS3beBoa-UOQqL_hR8ss-_0TPsuIK46GuCqZjE2n34ffZv6xMdleclNeCOr73OL0FpRUmRJtOTZiU08Du0-_S_XhOk7x-Z7sM30BxeTBme0qScynRXZIrjOCQczK0vftHITMd0RGaVca7evSzWLjJIiiwckQLx__7xyVWsB-Hta4DTqA7PLIj7R4UkTuYf5bpwPz62avmzSEBYy4eArAdCQ1P3tytP96kh-y0f6WLRWuL63DjJQeP4VUVC05CI2p_EstnVKiBIx0Cog4KjoGPtolZs--GhlxWbPpJ7WnCYQqvWCE-ctsnf4qJ8VK16No17LJnn5IxPDLAaQhvdkumLLJrItHaBtbHXTOvQWV3wscaG4vd1mhRwdIPYcZBLlLMBJh4fU8BE-D7M7PCmWpVV-ekqcYKcGusq3VNYtjlTrbapyfA1cKgc6M9Itp-9n94SLhVy0i2kSVILuNPqyRLMqsSnoBsZtx10O1C9umbZ9WXPNobMBskCosufe7yKlh1dzjFjwW3Fm2NXPHODghQEwHQrdHuKrEmxyxmDZlU-em3D822A-UgOf1i_TXulmvaoB6dk--nrgNWK2JMVul_bwKWGISdwtqPbLR57xRqgRTBsl8iQxvKc-QR-8TA8BSlyovxZm3IYHeqEnhlzxknJwu3JihX-ab_Y_ZPVQEdnWP698M__6u6YLFHqp9rjTImdWVyLROS5FavYW7fxKLeHL8gYBt2ckj2s_WOhESz3GVcVx2-bF7UEltObCzK2Jo5Qtyny4lLyHrtgT1lz2l83S_RBf-UtPZcY1rUGCZk2Zh9mEkr_hcNe0Ti-JLDmmsqSGLeIQkjVYRLseqrGNfR5aHYErmTPuZPn6NThybS2zYYpYJP-QPhz3Vs",
  "id": "rs_09ce3b369e78e0c4016ab41f0d74c487d0aa68f8abfe2e4e48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.355,\"right_z\":0.16,\"right_pitch\":-0.1},\"note\":\"The pen and cap are now nearly parallel and at similar heights, but their centerlines are still about 5 cm apart sideways. I’m shifting the pen into the cap’s lane and moving its tip toward the cap, stopping short to inspect alignment before contact.\"}",
  "call_id": "call_iP5pxdBh98pvuh4sPySAgXj5",
  "id": "fc_09ce3b369e78e0c4016ab41f0fc60887d0bb8835159564e076",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iP5pxdBh98pvuh4sPySAgXj5",
  "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]: [-0.6708, 2.083, 1.7443, -0.432, -0.5278, -0.3573, 0.0749, 1.1061, 1.8633, 1.4258, -0.5156, 0.7387, 0.7685, 0.0783]\nstate[eef_state]: left_x=0.4964 left_y=-0.2758 left_z=0.1623 left_yaw=-0.0529 left_pitch=-0.0797 left_roll=0.0861 left_gripper=0.0749 right_x=0.3091 right_y=0.3593 right_z=0.1519 right_yaw=0.0867 right_pitch=-0.0843 right_roll=0.0071 right_gripper=0.0783\nstate[joint_eff]: [-2.5368, -12.1094, 6.9538, 1.4383, -0.2711, -0.0366, 1.0281, -4.2735, -9.2923, 10.4, 1.6435, 0.442, 0.1978, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1a9166ef463fc0b893ad8f5c0e2edce0f0647c05d2009ecb7696ba7b2dd20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683b85039ea86be893cad06ca41cdbd89ca5f1bce573ad26bd63b093776f0ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96377bef5b35acf1de8658acb7abd312c0a2f30083fed809a80ec785c1b72b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 6.357 s

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

message 130 changed as sent

message 139 changed as sent

message 143 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]: [-0.6758, 1.7718, 1.076, -0.2569, -0.8574, -0.7616, 0.0693, 1.1442, 1.6619, 0.9817, 0.0395, 1.1267, 0.556, 0.0724]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.1085 left_yaw=0.3891 left_pitch=0.0053 left_roll=0.0551 left_gripper=0.0693 right_x=0.3031 right_y=0.29 right_z=0.1804 right_yaw=-0.0519 right_pitch=0.3029 right_roll=-0.034 right_gripper=0.0724\nstate[joint_eff]: [-1.6752, -12.0274, 11.9043, 1.4188, -0.4615, 0.1001, 1.033, 3.0017, -4.6154, 7.159, 0.9646, -0.4274, -0.6227, 0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6998, 2.0823, 1.7458, -0.4381, -0.5449, -0.355, 0.0749, 1.1751, 1.6444, 0.9897, -0.1089, 0.9463, 0.7185, 0.0774]\nstate[eef_state]: left_x=0.4885 left_y=-0.2869 left_z=0.1634 left_yaw=-0.0699 left_pitch=-0.0759 left_roll=0.1 left_gripper=0.0749 right_x=0.2814 right_y=0.3112 right_z=0.154 right_yaw=0.0432 right_pitch=0.1451 right_roll=0.0553 right_gripper=0.0774\nstate[joint_eff]: [-0.759, -10.7692, 9.9214, 1.6777, -0.1538, 0.232, 1.0281, 0.2803, -6.8718, 6.612, 1.6923, 0.3785, -0.1538, 0.2808]\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 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 2.083, 1.7443, -0.432, -0.5278, -0.3573, 0.0749, 1.1061, 1.8633, 1.4258, -0.5156, 0.7387, 0.7685, 0.0783]\nstate[eef_state]: left_x=0.4964 left_y=-0.2758 left_z=0.1623 left_yaw=-0.0529 left_pitch=-0.0797 left_roll=0.0861 left_gripper=0.0749 right_x=0.3091 right_y=0.3593 right_z=0.1519 right_yaw=0.0867 right_pitch=-0.0843 right_roll=0.0071 right_gripper=0.0783\nstate[joint_eff]: [-2.5368, -12.1094, 6.9538, 1.4383, -0.2711, -0.0366, 1.0281, -4.2735, -9.2923, 10.4, 1.6435, 0.442, 0.1978, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1a9166ef463fc0b893ad8f5c0e2edce0f0647c05d2009ecb7696ba7b2dd20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683b85039ea86be893cad06ca41cdbd89ca5f1bce573ad26bd63b093776f0ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96377bef5b35acf1de8658acb7abd312c0a2f30083fed809a80ec785c1b72b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8XDw_FLtnpyShKgYWwDW8HBDXMDIILYId1tpw0fz-hEsD1HIrA9yFP99wRUkDr99W-nK000G3oAa9C_kIUGptcIXVBHycs7lnR5a5D4j4iX4omdCLhBK2hXkSQekwQ6mAcmOnq24ZOgRuywImpLRgEljKtVzX_sBSj-7gbCu-zfybMju_IwuB0UwaUE9ktEUqNQVecB17-p_bsEUK-wvvVA1am69_uxTR1Q5I7pooQK02oBc-ixLGHkL_SdStZv1GMZACHQUmf7O-0TSHI7JqWLmxNpm1ha2nz-XqNIt4HuTn33dr1iJxkq5uwB9WEuKj8uPXzrzq3kCLsu82Qy9rqufOailO6OMj_eYU7xMvylyBLH-QdMMtjWb5pYxOJMS_etsAsTsLKnJmwYQWkzJnJX7CwjsnWl3qdQcxEMlEJaG4N3q0la7a0fZoi_SzHTL8_fTshK8rIhAQxOwrA8j50OtKqzWDG5dVT_uFWkL_QzDsqDvgQKVLAzub_PjUCVxmxO6UiqWfiVAY4YK8hboRWe94YyMzx-OQu1rdlLmk5U1x4wtQ8Vj1KpMvMjvv9iAhnX6Wzeyvuhlh8P6gSk_mwLpZFCXoFKePAyfwtw8wjkjjADizBUQrq8E6T24QrR4WKQruFfU0ccaffTM_uE_TTImj4dnzmiUpdCGb4tssF6XTa9aJ46CN6_G8ep3r9BReA7Q1ZhYywwP4dKy7b8EWbcWkKWHnbhmb1LabKm7ylXgw0PJiKsKmDI6ZHTUmIE3ZUT_KVxbU_X-sN1PF38U_uv_zGJLT5uZxR37bNy-TVSbIFTL5kaLANtky3WQ5OXTlImIMHYkOf1NlQdHNN7iDw2ZIGiraio5bD7nO4KvOvOKYEHmXQaHLw8WtP8JCHUIzKNsYIg6z0_pqWtfN22LxzNybPFUpSII0si2UrL7lh_bLOVOSIrBNqzADvU2P-unkcHB7P5vpT2XXbKh9C3ntW3sQAtIT1q62NQ68lere7D1WH2OPWBTdzB6-Og7EPCoZSMA-P3Jee1eoDBRMp0mDHu5D1sQPFREke1VyHq3dtT_4W10u6i1R4gzd4oEGmpBR09_0kIer3RQE2FGI1QdOL7uz1wG7tSMQLhhEh5TTbQeVwftvpXgVqt_a0p2wBxXMrRIT7CFmzbfmo50dqtwxFTiZf5tcufjVSq9cIs6fQZqeKiwnAOoUBNwlz6sNSNbKMrytsPQ_mLE19KxdAdULiN6YjznL9-couYLIUxJMDZLdRldvrar6IA2vnoN9jV85-EgKLcFLdk_nPtXsXkhHhsEVsWM-O8hW8XamaPAtcnnH2Qxz3vdv5QsB5BoxB33W3Wb3f_fLjyEI7bEhjK7j-2qUkiLkDu2JcvuhEc8BPaIijVGcFMy-DrOBjMah-QWQBaR9x4e5gB5pDVymTeCG8u2BLkEulfT85w4Tg4hNrdVugfL7qYGIKZlfLCEaMR6oqgU0duPlCmsLCLGllC6YNuTcRewACpXWuW72G6CzSmW2poAQGzcyOe6MOgyjsVDc4lDWaGrcwj-kb654JeBmWmdNUaIxixVihH9cDkb9fiOFeyE3Gcl2y3dpkGGXbvEu0YeaYjFA2oKBQ_1FPEyGGUala93lv8mTgvTJGh6zFAF_9lTyXzeO1zk1lffLfha3sUXbynzXvFA5qJzYbi78qd6HhRt87mr7B7lE_kEy1DeAF8OyvUGFoV5AM_L5GMbzmpYoDNZ8uS0KNbIy36tw4XvZwNgaY8pa7So69pko_hOKEDfbwS32eZpKc78XTsx2QKAmAprXlW1gIGi45J532ITYRooAhtvvji10hUt_4YYQXZp0nS0TN6psXzNx1yTxiV8TY3mOiCSoO79kYSgqqjOYdz3KSHEVmUDUhOmxDwXWttiKS_UIRURu1fARUwtrwq3WADQAWWduzaZm_S4DveaV5ImqFYJkRqbJSPcLBU-2jAFLxj9H5bPLZXF__Y2AYcWApRNuIBbkdXJ-T0PVd5iZ62Jcg9eP7aqkbplYQ8imR40Ws95MgU-Lr6HdpUudg5j2qrvzEmLFLkCD5q6KOFGMx0SrvzPjQjXGnzTm3LKLbfZL5ZDCUUrAVjafdS_QEjQLKfpaNu2Wzsb1sBArhqqBJ0fTWJsgK9wnX9MixPUS2oAa21KRz2ORATDxqqqo6OZ8KGTC-npveQhE5lllErpIEJhJzoR288RchOy0AD2BpDmT6l2UlzS3t4dvWXBsUqaerxM87RM8f7lzFGRJ_fMANcrqG0keVfKP6NA5B7Z4KOc7TawvW74r_UxYxrq1kpFkO-5EbGsBI606NaP4kZbl3Cz9Ue8uMTlNEodU-H1PWF1c8TC0BC0f8liUNUi2tqhVpLe6jdC2vWHeIcTGCS-Tf4mMYkxt--EUsggu-yTD5KrSZXsGA6rmdSlQYjtYwa8o1N888q0CGa5VTA7Bb52ftSzGNgKKkJRDQIo1WRtDdYNF3P8S1V-8fVFaIVweVFg-QWQ9ThalnUTA9GOHDnvqrUv2NW1CD3z_6xuQANFq39BVQhpw__aeo2f5OPDfUYpjl3gEXcD4rw-dNfhxV_5P6iw9PTtU6Y7CVYCG5cH-LKrMcpAip9ky7wEGQxDumQV2lWCGISIflXH4n5pHdbi5-G4NZkhQLBk9NJ9lhL-weY83M-MbWS5KuVr6IBCsDPxJ3ipoTK9Yi2tOc0DbmwdbMJXInypN9akhefUz-WbBYLYtszW0OYClLy_r7RLpqQMfX3j_mWvSQ3tUuihwT_F94_zfcmpsmPkMTD7GXlbt6kqu6u4TobWYKoz9Jzq8Mvq17yPoGPUNk_h2fMQPGvtHLY7PF1WCoSBNmc3owdGGR7rViokwI5t_iZH60uQE-pLuYy8DJVYQU9ASPym1eUCtQYGJCyoTG-6vsx4yq57BxDBxmIDAawY0YPKnUoib0TCTB2pE26-amtk60x8kt5fGYQ9SV31DYFt-8HS5Co-qudU8iISaB0dHUMYVTwnKMVEcybN54xSPbShV_YuYuldddqKr54CQ7TqGDuMVbXS0pN9vgLQ9TaOu0I1r98dJy3BhmLbfpMyYJwDqx0050MnwyHbx_sBpdNQZ1HzlxgAqWciu94PA5mD7q5o9ZkwL-7zR8A-JAlgB5vY1SQObfjQ==",
  "id": "rs_09ce3b369e78e0c4016ab41f12b66087d0b28cd57935e9387c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.3,\"left_yaw\":-0.1,\"right_x\":0.345,\"right_z\":0.17,\"right_yaw\":0.05},\"note\":\"The centerlines are within a couple of centimetres laterally, and both shafts have matching pitch. I’m refining yaw and height, shifting the cap slightly onto the pen’s lane, and advancing the pen only a small amount so the tips remain separated.\"}",
  "call_id": "call_PetgprF8OuvH8P3AZczIrOfq",
  "id": "fc_09ce3b369e78e0c4016ab41f16731887d09d4f65d60f05a2a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PetgprF8OuvH8P3AZczIrOfq",
  "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]: [-0.6987, 2.1006, 1.7767, -0.4438, -0.5339, -0.3573, 0.0749, 1.0641, 1.9312, 1.5135, -0.6121, 0.6876, 0.7429, 0.0795]\nstate[eef_state]: left_x=0.4925 left_y=-0.2916 left_z=0.1646 left_yaw=-0.0762 left_pitch=-0.0748 left_roll=0.0878 left_gripper=0.0749 right_x=0.3219 right_y=0.3563 right_z=0.1375 right_yaw=0.0813 right_pitch=-0.1618 right_roll=-0.0546 right_gripper=0.0795\nstate[joint_eff]: [-0.2256, -10.0718, 9.0598, 1.4042, -0.0562, 0.1099, 1.0281, -2.6872, -11.2889, 10.8376, 1.6435, 0.6081, -0.0024, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9779f65679a2d6cd98d77d80bad853c29c02b76b571d7e0e5a4efd5a2b4cf9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6f725abc0d563db727b0bf7a4d446bcde77e2113076686640a1caba8c62aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58162b078ae2cb51e96b082d914550dc793b64f258142bc1e57454a6830ae812",
      "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 · 9.417 s

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

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 1.9545, 1.5066, -0.3946, -0.6903, -0.5159, 0.0749, 1.0691, 1.6882, 1.3636, -0.6727, 1.0466, 0.9619, 0.0746]\nstate[eef_state]: left_x=0.4665 left_y=-0.2211 left_z=0.151 left_yaw=0.1553 left_pitch=-0.0474 left_roll=0.0935 left_gripper=0.0749 right_x=0.3177 right_y=0.2686 right_z=0.2199 right_yaw=-0.2248 right_pitch=0.1282 right_roll=0.0306 right_gripper=0.0746\nstate[joint_eff]: [-8.4308, -9.0051, 13.1487, 1.5458, -0.188, 0.2418, 1.0281, 4.4923, 0.6222, 9.8393, 1.8584, -0.9597, -0.989, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 2.083, 1.7443, -0.432, -0.5278, -0.3573, 0.0749, 1.1061, 1.8633, 1.4258, -0.5156, 0.7387, 0.7685, 0.0783]\nstate[eef_state]: left_x=0.4964 left_y=-0.2758 left_z=0.1623 left_yaw=-0.0529 left_pitch=-0.0797 left_roll=0.0861 left_gripper=0.0749 right_x=0.3091 right_y=0.3593 right_z=0.1519 right_yaw=0.0867 right_pitch=-0.0843 right_roll=0.0071 right_gripper=0.0783\nstate[joint_eff]: [-2.5368, -12.1094, 6.9538, 1.4383, -0.2711, -0.0366, 1.0281, -4.2735, -9.2923, 10.4, 1.6435, 0.442, 0.1978, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6987, 2.1006, 1.7767, -0.4438, -0.5339, -0.3573, 0.0749, 1.0641, 1.9312, 1.5135, -0.6121, 0.6876, 0.7429, 0.0795]\nstate[eef_state]: left_x=0.4925 left_y=-0.2916 left_z=0.1646 left_yaw=-0.0762 left_pitch=-0.0748 left_roll=0.0878 left_gripper=0.0749 right_x=0.3219 right_y=0.3563 right_z=0.1375 right_yaw=0.0813 right_pitch=-0.1618 right_roll=-0.0546 right_gripper=0.0795\nstate[joint_eff]: [-0.2256, -10.0718, 9.0598, 1.4042, -0.0562, 0.1099, 1.0281, -2.6872, -11.2889, 10.8376, 1.6435, 0.6081, -0.0024, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9779f65679a2d6cd98d77d80bad853c29c02b76b571d7e0e5a4efd5a2b4cf9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6f725abc0d563db727b0bf7a4d446bcde77e2113076686640a1caba8c62aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58162b078ae2cb51e96b082d914550dc793b64f258142bc1e57454a6830ae812",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09ce3b369e78e0c4016ab41f192bc887d0963631afabf3fa70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_z\":0.195,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"The lateral centers now match, but the right grasp point dipped below the cap during the last approach. I’m raising and leveling the pen as I advance a few centimetres; I’ll check the readback before trying to seat the tip.\"}",
  "call_id": "call_YL1jk9U8cZ7AyTisCmOIjuW3",
  "id": "fc_09ce3b369e78e0c4016ab41f1d295887d099df14e267ab4fe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YL1jk9U8cZ7AyTisCmOIjuW3",
  "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]: [-0.701, 2.1162, 1.7828, -0.4576, -0.5236, -0.3573, 0.0749, 1.0531, 1.9461, 1.5295, -0.6285, 0.6876, 0.7254, 0.0812]\nstate[eef_state]: left_x=0.4911 left_y=-0.2942 left_z=0.1557 left_yaw=-0.0852 left_pitch=-0.0979 left_roll=0.0955 left_gripper=0.0749 right_x=0.3263 right_y=0.3536 right_z=0.1348 right_yaw=0.0776 right_pitch=-0.1708 right_roll=-0.0807 right_gripper=0.0812\nstate[joint_eff]: [-0.1846, -13.559, 6.3385, 1.58, -0.3443, -0.0269, 1.0281, -1.7026, -11.9453, 10.5915, 1.5751, 0.5641, 0.0024, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e011481a565d4c6c186aceee9afd7de5d30edf005c9dc45a07ab6e4c83b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455f24f7f4c9cc4460a598ec1444aa8de92ef8a2e1ad24465986fd925c0706cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e438ec6b3be00e401488a56f36553a0929175056b9d6213afb3335fad3ef35f8",
      "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 · 9.201 s

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

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6998, 2.0823, 1.7458, -0.4381, -0.5449, -0.355, 0.0749, 1.1751, 1.6444, 0.9897, -0.1089, 0.9463, 0.7185, 0.0774]\nstate[eef_state]: left_x=0.4885 left_y=-0.2869 left_z=0.1634 left_yaw=-0.0699 left_pitch=-0.0759 left_roll=0.1 left_gripper=0.0749 right_x=0.2814 right_y=0.3112 right_z=0.154 right_yaw=0.0432 right_pitch=0.1451 right_roll=0.0553 right_gripper=0.0774\nstate[joint_eff]: [-0.759, -10.7692, 9.9214, 1.6777, -0.1538, 0.232, 1.0281, 0.2803, -6.8718, 6.612, 1.6923, 0.3785, -0.1538, 0.2808]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6987, 2.1006, 1.7767, -0.4438, -0.5339, -0.3573, 0.0749, 1.0641, 1.9312, 1.5135, -0.6121, 0.6876, 0.7429, 0.0795]\nstate[eef_state]: left_x=0.4925 left_y=-0.2916 left_z=0.1646 left_yaw=-0.0762 left_pitch=-0.0748 left_roll=0.0878 left_gripper=0.0749 right_x=0.3219 right_y=0.3563 right_z=0.1375 right_yaw=0.0813 right_pitch=-0.1618 right_roll=-0.0546 right_gripper=0.0795\nstate[joint_eff]: [-0.2256, -10.0718, 9.0598, 1.4042, -0.0562, 0.1099, 1.0281, -2.6872, -11.2889, 10.8376, 1.6435, 0.6081, -0.0024, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 2.1162, 1.7828, -0.4576, -0.5236, -0.3573, 0.0749, 1.0531, 1.9461, 1.5295, -0.6285, 0.6876, 0.7254, 0.0812]\nstate[eef_state]: left_x=0.4911 left_y=-0.2942 left_z=0.1557 left_yaw=-0.0852 left_pitch=-0.0979 left_roll=0.0955 left_gripper=0.0749 right_x=0.3263 right_y=0.3536 right_z=0.1348 right_yaw=0.0776 right_pitch=-0.1708 right_roll=-0.0807 right_gripper=0.0812\nstate[joint_eff]: [-0.1846, -13.559, 6.3385, 1.58, -0.3443, -0.0269, 1.0281, -1.7026, -11.9453, 10.5915, 1.5751, 0.5641, 0.0024, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e011481a565d4c6c186aceee9afd7de5d30edf005c9dc45a07ab6e4c83b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455f24f7f4c9cc4460a598ec1444aa8de92ef8a2e1ad24465986fd925c0706cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e438ec6b3be00e401488a56f36553a0929175056b9d6213afb3335fad3ef35f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f210c0c87d0ae094e952e57dc29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_yaw\":0.05,\"left_z\":0.16},\"note\":\"The pen arm stopped short of its commanded advance and height, suggesting the tips or nearby arm structures are at a close-contact limit. I’m keeping the pen steady and easing the cap backward onto its tip instead, with a small yaw correction to make their axes more parallel.\"}",
  "call_id": "call_c4JTFxYm6Sc49MvpEUK4e2B6",
  "id": "fc_09ce3b369e78e0c4016ab41f25e04c87d0886078079b6f4cbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c4JTFxYm6Sc49MvpEUK4e2B6",
  "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]: [-0.749, 2.1162, 1.7832, -0.5369, -0.6018, -0.469, 0.0749, 1.0519, 1.9461, 1.5387, -0.6281, 0.6868, 0.7242, 0.0825]\nstate[eef_state]: left_x=0.4713 left_y=-0.2968 left_z=0.1496 left_yaw=-0.01 left_pitch=-0.1167 left_roll=0.1028 left_gripper=0.0749 right_x=0.3277 right_y=0.3551 right_z=0.138 right_yaw=0.0789 right_pitch=-0.166 right_roll=-0.0732 right_gripper=0.0825\nstate[joint_eff]: [-0.6085, -12.7658, 8.7863, 1.4139, -0.4713, -0.022, 1.0281, -1.6752, -11.8085, 9.8803, 1.6288, 0.5446, 0.022, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed81bbe56128a4a7dfd7c50476d5baf9d2ca95ee1da2a691ac7c3f0b88e86ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e42d3887d7e6ed347ed62d79939e5975451649d6125620055ce3a3efc758023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0476d2c2de479623739f6823651c4f2efdc039738f9af8cbad07cf3d456f4fd8",
      "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 · 8.176 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 2.083, 1.7443, -0.432, -0.5278, -0.3573, 0.0749, 1.1061, 1.8633, 1.4258, -0.5156, 0.7387, 0.7685, 0.0783]\nstate[eef_state]: left_x=0.4964 left_y=-0.2758 left_z=0.1623 left_yaw=-0.0529 left_pitch=-0.0797 left_roll=0.0861 left_gripper=0.0749 right_x=0.3091 right_y=0.3593 right_z=0.1519 right_yaw=0.0867 right_pitch=-0.0843 right_roll=0.0071 right_gripper=0.0783\nstate[joint_eff]: [-2.5368, -12.1094, 6.9538, 1.4383, -0.2711, -0.0366, 1.0281, -4.2735, -9.2923, 10.4, 1.6435, 0.442, 0.1978, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 2.1162, 1.7828, -0.4576, -0.5236, -0.3573, 0.0749, 1.0531, 1.9461, 1.5295, -0.6285, 0.6876, 0.7254, 0.0812]\nstate[eef_state]: left_x=0.4911 left_y=-0.2942 left_z=0.1557 left_yaw=-0.0852 left_pitch=-0.0979 left_roll=0.0955 left_gripper=0.0749 right_x=0.3263 right_y=0.3536 right_z=0.1348 right_yaw=0.0776 right_pitch=-0.1708 right_roll=-0.0807 right_gripper=0.0812\nstate[joint_eff]: [-0.1846, -13.559, 6.3385, 1.58, -0.3443, -0.0269, 1.0281, -1.7026, -11.9453, 10.5915, 1.5751, 0.5641, 0.0024, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.749, 2.1162, 1.7832, -0.5369, -0.6018, -0.469, 0.0749, 1.0519, 1.9461, 1.5387, -0.6281, 0.6868, 0.7242, 0.0825]\nstate[eef_state]: left_x=0.4713 left_y=-0.2968 left_z=0.1496 left_yaw=-0.01 left_pitch=-0.1167 left_roll=0.1028 left_gripper=0.0749 right_x=0.3277 right_y=0.3551 right_z=0.138 right_yaw=0.0789 right_pitch=-0.166 right_roll=-0.0732 right_gripper=0.0825\nstate[joint_eff]: [-0.6085, -12.7658, 8.7863, 1.4139, -0.4713, -0.022, 1.0281, -1.6752, -11.8085, 9.8803, 1.6288, 0.5446, 0.022, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed81bbe56128a4a7dfd7c50476d5baf9d2ca95ee1da2a691ac7c3f0b88e86ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e42d3887d7e6ed347ed62d79939e5975451649d6125620055ce3a3efc758023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0476d2c2de479623739f6823651c4f2efdc039738f9af8cbad07cf3d456f4fd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f2b1e0887d089a37ca67cb34d29",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8xIWb-X3nO9SnMW5l-2kpTGwYCyV6MnLH8-thij90JH7Zw8qMJBkQ_7Jrvr9rphyjDzFU0H5XNrqeJLpIUbVgKFRYkP8d8_ONsqaz3xJvC1a5lSXkOjWxU-XyS3XpwOs2n6Wnc3L93DFZvDG7AW9LHr-_oXTnW76lLdjmoDrS4WMU-HG8O_CfxQ5kNZMcwfEB4rj95bZ5YwBbWxmcjAt8KF5dKYbiecvY0zDf1kl5-ZxBrqQ41z3oVNSgEDChQLQ-I8UYaSgRumKQYUuATCOnmpmvkQjy0k7NnUZbLEFGA1419MGsE11nfDvUfel_fgvMH2JmpJzfaS_B3FBJUWOFZtfF85mvxnUZ6IdWOPrgpwqJenSoy6PPg8wo5w-3kxws9GxtHIfAWysyWuSSfFvcG2_SaYjk0Dy1MYHGkUdGkMHkBCUmZaRkQHBJQn21hgXkYn7UYZY4D8K67dPTw-VcU5Ti63AAMoLnDQHOduUuukPgcA0fKDtM-z0uePPi8mlHrx9YLL9STqxWsZlyZrwORRwpH0YCC1hEv8SDEnBJaH1pzp06Z_K65t2jywWubscAuLmOrdIkvJ3RLaC28jwgXMmNC9j3_3JVY4IvSnLcHKyM0meU68UNqAWVOkI5JwZwcPg5kn8rCMdYBeStUZbhutp0_kdi70pItnyg_f6UAh6GFI0PqjOBwKXbeNU7LwHSsiasnXdR-DF7wtEy5LFqCLh9lIPTneYgXgb_wI5J-UPubgFVDa0G8f5UW6zH6PkdXP4FY0sdSR_suZ7Y_jUxnqN1UsUq1vkpeILgPocdQf6rZI-fFc95-LsOGCdNOK3jbPvx8rhC1W1D28kAnvAqi-Z4fmAviJ4qnAVYEXddzmnPAO61iYyij65PCdJTyGZamORMNCVZkp7pGwG1E4Xv8gk7Ww5wzgWWQ5kEhcM4D_mxIXU8qdADFHRgYqaJlRNWlIOVvkrTbET7aNIagyx2V7lbh-4vq13IgOUDKh7kp3HlYXbpz1QJ2lMnQW-EEV_65uyKplzsGMIvQU0mQfBqZ9py4gHnLRutR9FInloWsVC7IP4BWG6kEt2T7FuXZWsf54e0fbUYRNbvq04DfmFkpbUhaxLJOLJ_jb9THrTO8RjrGM4pRHS3MQ6Xd5N5ygsSK1pKexpCQfOPM3wAGJJ9OD9G2RoU6skRDL7CM0zT-toaMAmhnJ0Qo66PiT_k0Ft760stpxqUv11b0um2lTr6q2pOQBxZPFecSMle2zdbxytVCqT-EslKS6-49qbd9SKmdNS7rd9_hMjXyyThrzJF_U-EeJZS75IeVUYFY4ikeUrLt5dSB_MMsteq8XDJB7ot5oL_iDQ8bqk5lqtdRu4ehFy5iuhuBB7Bv6JUUrIgZy2BYB23kveFBo7HZ2uXa25joW07EC1njIVoOWGSqRK-1WT226o1WVd89G1N7uP6D3g8W3qYVzwXWXuIS1rOz9o8Z8ll8S3nGtu2Knn-CdwQdtBeWST2c6BXVbgCNCM7G09bYpzEq9CR_vpThM5WdtQd5_EBDtehSomIhDFeATJyGEgJt5kzVHkpATj8pcDzFff_iidjM5fDHlhjlO8ZAogzXpjWUh8g8UsH2f5rTwVlXaZhXR3zMGFKsln1gh4L0vZGk8EcTtIAM8K1M-n2bhrJASXI-E7LDBMAAPmyZ3T96nSHpLZmx3PlX3JCkxO3op5I=",
  "id": "rs_09ce3b369e78e0c4016ab41f2fcdac87d0b679c5cb2fb139bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.148},\"note\":\"The pen’s gold tip is still exposed in the right camera, so the cap has not seated yet. The grippers are now aligned laterally; I’m sliding the cap another 2–3 cm back along the pen’s axis while holding the pen stationary.\"}",
  "call_id": "call_ZiY3tH4u4S1KIIwSXgilikKE",
  "id": "fc_09ce3b369e78e0c4016ab41f308c8487d0a2ded60871290eaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZiY3tH4u4S1KIIwSXgilikKE",
  "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]: [-0.7738, 2.0876, 1.6951, -0.5426, -0.6281, -0.522, 0.0784, 1.0561, 1.953, 1.5368, -0.6258, 0.6849, 0.7216, 0.0831]\nstate[eef_state]: left_x=0.4514 left_y=-0.291 left_z=0.132 left_yaw=0.0181 left_pitch=-0.146 left_roll=0.1225 left_gripper=0.0784 right_x=0.3261 right_y=0.3569 right_z=0.1343 right_yaw=0.0847 right_pitch=-0.1711 right_roll=-0.0797 right_gripper=0.0831\nstate[joint_eff]: [-1.5111, -15.241, 6.3932, 1.4725, -0.2857, 0.0952, 1.033, -0.253, -10.7009, 7.2274, 1.1062, 0.3394, -0.0024, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df7493e008c900ed3b3cd9dec9885a190e9e871f4aaf6ba0bd26c499e010554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd6786564b7d74946312dd5fb926577169b06870353f5f6cf3b147beeb4e446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fd8979e9d83012d8fee6a5fc29a312fe21481a02f38dbc661ec0d0c79ccce3",
      "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 · 7.728 s

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

message 147 changed as sent

message 155 changed as sent

message 160 changed as sent

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6987, 2.1006, 1.7767, -0.4438, -0.5339, -0.3573, 0.0749, 1.0641, 1.9312, 1.5135, -0.6121, 0.6876, 0.7429, 0.0795]\nstate[eef_state]: left_x=0.4925 left_y=-0.2916 left_z=0.1646 left_yaw=-0.0762 left_pitch=-0.0748 left_roll=0.0878 left_gripper=0.0749 right_x=0.3219 right_y=0.3563 right_z=0.1375 right_yaw=0.0813 right_pitch=-0.1618 right_roll=-0.0546 right_gripper=0.0795\nstate[joint_eff]: [-0.2256, -10.0718, 9.0598, 1.4042, -0.0562, 0.1099, 1.0281, -2.6872, -11.2889, 10.8376, 1.6435, 0.6081, -0.0024, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.749, 2.1162, 1.7832, -0.5369, -0.6018, -0.469, 0.0749, 1.0519, 1.9461, 1.5387, -0.6281, 0.6868, 0.7242, 0.0825]\nstate[eef_state]: left_x=0.4713 left_y=-0.2968 left_z=0.1496 left_yaw=-0.01 left_pitch=-0.1167 left_roll=0.1028 left_gripper=0.0749 right_x=0.3277 right_y=0.3551 right_z=0.138 right_yaw=0.0789 right_pitch=-0.166 right_roll=-0.0732 right_gripper=0.0825\nstate[joint_eff]: [-0.6085, -12.7658, 8.7863, 1.4139, -0.4713, -0.022, 1.0281, -1.6752, -11.8085, 9.8803, 1.6288, 0.5446, 0.022, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7738, 2.0876, 1.6951, -0.5426, -0.6281, -0.522, 0.0784, 1.0561, 1.953, 1.5368, -0.6258, 0.6849, 0.7216, 0.0831]\nstate[eef_state]: left_x=0.4514 left_y=-0.291 left_z=0.132 left_yaw=0.0181 left_pitch=-0.146 left_roll=0.1225 left_gripper=0.0784 right_x=0.3261 right_y=0.3569 right_z=0.1343 right_yaw=0.0847 right_pitch=-0.1711 right_roll=-0.0797 right_gripper=0.0831\nstate[joint_eff]: [-1.5111, -15.241, 6.3932, 1.4725, -0.2857, 0.0952, 1.033, -0.253, -10.7009, 7.2274, 1.1062, 0.3394, -0.0024, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df7493e008c900ed3b3cd9dec9885a190e9e871f4aaf6ba0bd26c499e010554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd6786564b7d74946312dd5fb926577169b06870353f5f6cf3b147beeb4e446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fd8979e9d83012d8fee6a5fc29a312fe21481a02f38dbc661ec0d0c79ccce3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f32e9e087d098ca4e2fcf2eacd5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB85DBd-iLFQOR35YfQKj1uE9-A6iSMOxt376kDBmxJfbz23mfrvBJwW-GSUlWqfTAVMRhQczHNRccnl5Wepgrm7dc9T22Ju0ML1GbYSDg0OB0zun_dkxZkPgqJvUucK7flSQRuD-ghSrrfiMU0B73Ziny7l9-pDu1eD_CPY5klbWjplyJtf6Q54kCy6rTPnPc6ZmwgDNnsrR_b287B3diGacHrDkZ4s2V1CVBZn88wg5iPukiZHB4mjXQrimyz9KgTQkILnpH8066o3-rIwCjWViPVJvs6l9nf_vdrrIjjuucvuXba3cEeATYVNaZcw-sWnX2GtG9ACRltI4Ao_dXcFEjS3QNDzbK3e7oW3Cf1ywu-GJe_0T1t47ZH8ImBSKv36NCNbsPGRbK4HO25Zwf0hx_MR7uec2C3XjtxfMSg1kiWK5-QCSgTAShhdJ0LLOMBArtE8ePEe87U28lOauMyD9EKoZrRKwoFLy2iQB6tJNHK62gMmZvZAmNgAOekJI5VcMQgfVCu2olUsqSoYvGFv42Dv55xfg0RIWFsVQtYMirMSx5UMjloQA9tSBxKGXZK5HxMcFlDSKeIzRCWMqNclqodWuDwOckBGeBHQ203JG0kfTZQb_ObraAA__qr9puLumj6i1YR_tE7fOpYiXMVqRgd9RZDX8C-ikrerbg2M03sg-uTS-99duAf5Qy7d2hxZfaIT-ErlNrjCvCjycFSR3wjsh20bMXTCau6U36HL_m66BiHUeoFsv9LytsZe7GaUryeUc92yx2wiNrWrkpH1y4LnkF_-hA8noSdAU1LcxqpGQ3ChtIxO7zk3YQ9DBVAVVBXfG3iVq9cK6jDH96Kd8sdGGgGOMjQlFCpUmh-4WcYbSgf7unyvZalaxwnHdr87goMssV4TqhVX2IQyVEkTVJlA-0nM_8ny_vERxpe9wU3VIVnCT_bjujGnJTxQxrYGXpv3S-02mlqnnbMsQsYP9v1aXaeGr1wAPQ8Ct1AmEO4ALRh5HKEfkBqte2jF4atHGNK0b-IEKEP8NOUA_ZH6lVUih3AdvfWgDw_V_Td5pGNrqQnEXY9IQjncp8kDNLFpHGSrvWgIWPx_nmtHhNdjFmmFrpGi4gbuxePv5Bd1LEMftOUAuaBeFPfOHQj_SXjF_bVcloXcq0rit35AA5tyYsWNSmhAziDetvxNaaXZG-l7EqghHvFod4AuZsYfBg4XcqjW62Wxw5H77kcfm2UhtlVx2fvVRYZVjotG3KTYt_oaxU5JA842c2pttJT0TLI0Cky5fhJVqK0HYwo_fABQPj4FRqs6aJte7EGOn510klf1Amf0IfkLR0XM3e4a7P2Wz_NCuPdWnDWbOtgOZBzQKZ2SK7OTvrQbWLaEcVmimk3KC9tLC2e6ZAi6cWvlvDlmFgrQaE-tbMU6zF4xCoZMl6ckW7ZZQO3lyfmhny-twr3UusjOmYm_QZx5uXRAtA0nYhfogK-xNQxvgXJojgahb8HraEACsqPXvL9qjXASgrgcUzOYE68JNfhfS9jW9ukFmhASHzOUZYHJwNOjSlGADF9TG-c6phPC8O4QiPa62xJwqExrRc6pxU5PX1GhBhRjUoYx8QoI74KFYcZ2wsWGAATzXMT1e5yLy1WC7lhgZOEH9dZKgohCuac8aL4oChIZ-_o99jQTebUACyLcWzpTVV20qqfQzUTfliA0OHBFm4vN7yH9WVB7W_ZMVIQngU9UfMMC-dshzTDYhoNNsquPJ0f8hZsNinXw6asfwrRIGti3wt4byGfibZNkZGhe0KHHhqU6Lr4UKY-CeoJ0GrJlJrtrb-SroFmn9jHZUy9inec203UFFeYZF9TyvVBTWJ_XxujWM-nbc9hLuFw6dcdQXVdOEWmuLL5m9kvK8tPXb9Mj3bbwFLMpHkENodZ9HVjMKeVc892M8k7VF7BmVpsZ3bJ8Jofj2P9Oj9FMZ4j21QDN2EA5LNL5JsZ0T3-JZvFIz1smostVAOBd2jCBbf1fo-wi9OnrIl_8WCQcGeUTa8ikOJXTVb6RQSLfx4h9cfyY_g0Z3MggXsb7ABC7VNeq6Tp-XGtUntkUbvu7eiiAyek2fkCV0L6iG-HUUM-zvZ7VNhdbrJr3zmAZQPCHZ_CWSZqb_saiIEi-9Lm3eXLWc1BDWTq4oyVrv7r8KtPUE2Cd_SMiBytyHEzgBzRLUDJj8w==",
  "id": "rs_09ce3b369e78e0c4016ab41f3739a887d0a0165fe3cb64c9d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.18},\"note\":\"The gold pen tip remains visible, and the cap hand dipped roughly 2 cm below the pen during the last push. I’m raising the cap back to the pen-tip height and easing it forward only about a centimetre, rather than pressing harder while vertically misaligned.\"}",
  "call_id": "call_jFenfHiFBqviVt2PFlOGdcNG",
  "id": "fc_09ce3b369e78e0c4016ab41f39148887d0af750aaa82c3d76d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jFenfHiFBqviVt2PFlOGdcNG",
  "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]: [-0.775, 2.0876, 1.6745, -0.535, -0.6212, -0.522, 0.0784, 1.0573, 1.9541, 1.5291, -0.6365, 0.6758, 0.7216, 0.0833]\nstate[eef_state]: left_x=0.4485 left_y=-0.2903 left_z=0.1246 left_yaw=0.0138 left_pitch=-0.159 left_roll=0.1279 left_gripper=0.0784 right_x=0.323 right_y=0.3551 right_z=0.1291 right_yaw=0.0883 right_pitch=-0.1887 right_roll=-0.0915 right_gripper=0.0833\nstate[joint_eff]: [-1.4564, -15.2547, 6.5983, 1.3846, -0.4078, 0.0855, 1.033, -0.1709, -10.6325, 7.1043, 1.1648, 0.3541, -0.0513, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be4fc2d6d4dc9b00cdda9b3b11c5f4f8a34584b10b4aaf0cfb4d45992336ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f301f94f2340c801659e86b1fa74ffde890660a9baa9507bfe001a94f72e683",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c809da02fd7cc6334a8157ba49eb2580e3d2edb16bd1154f854504e6f6aae27e",
      "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 · 7.69 s

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

message 151 changed as sent

message 160 changed as sent

message 165 changed as sent

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 2.1162, 1.7828, -0.4576, -0.5236, -0.3573, 0.0749, 1.0531, 1.9461, 1.5295, -0.6285, 0.6876, 0.7254, 0.0812]\nstate[eef_state]: left_x=0.4911 left_y=-0.2942 left_z=0.1557 left_yaw=-0.0852 left_pitch=-0.0979 left_roll=0.0955 left_gripper=0.0749 right_x=0.3263 right_y=0.3536 right_z=0.1348 right_yaw=0.0776 right_pitch=-0.1708 right_roll=-0.0807 right_gripper=0.0812\nstate[joint_eff]: [-0.1846, -13.559, 6.3385, 1.58, -0.3443, -0.0269, 1.0281, -1.7026, -11.9453, 10.5915, 1.5751, 0.5641, 0.0024, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7738, 2.0876, 1.6951, -0.5426, -0.6281, -0.522, 0.0784, 1.0561, 1.953, 1.5368, -0.6258, 0.6849, 0.7216, 0.0831]\nstate[eef_state]: left_x=0.4514 left_y=-0.291 left_z=0.132 left_yaw=0.0181 left_pitch=-0.146 left_roll=0.1225 left_gripper=0.0784 right_x=0.3261 right_y=0.3569 right_z=0.1343 right_yaw=0.0847 right_pitch=-0.1711 right_roll=-0.0797 right_gripper=0.0831\nstate[joint_eff]: [-1.5111, -15.241, 6.3932, 1.4725, -0.2857, 0.0952, 1.033, -0.253, -10.7009, 7.2274, 1.1062, 0.3394, -0.0024, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 165 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.775, 2.0876, 1.6745, -0.535, -0.6212, -0.522, 0.0784, 1.0573, 1.9541, 1.5291, -0.6365, 0.6758, 0.7216, 0.0833]\nstate[eef_state]: left_x=0.4485 left_y=-0.2903 left_z=0.1246 left_yaw=0.0138 left_pitch=-0.159 left_roll=0.1279 left_gripper=0.0784 right_x=0.323 right_y=0.3551 right_z=0.1291 right_yaw=0.0883 right_pitch=-0.1887 right_roll=-0.0915 right_gripper=0.0833\nstate[joint_eff]: [-1.4564, -15.2547, 6.5983, 1.3846, -0.4078, 0.0855, 1.033, -0.1709, -10.6325, 7.1043, 1.1648, 0.3541, -0.0513, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be4fc2d6d4dc9b00cdda9b3b11c5f4f8a34584b10b4aaf0cfb4d45992336ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f301f94f2340c801659e86b1fa74ffde890660a9baa9507bfe001a94f72e683",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c809da02fd7cc6334a8157ba49eb2580e3d2edb16bd1154f854504e6f6aae27e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f3bb84887d091350510ab80576d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_09ce3b369e78e0c4016ab41f402f3087d0b09943b717cea17e",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.26,\"left_z\":0.17},\"note\":\"The cap still has not covered the visible gold tip, and the arms are not tracking further upward commands at this close pose. The cap hand appears to the right of the pen in the pen’s wrist view, so I’m shifting it a few centimetres left and easing it backward in one final careful alignment attempt.\"}",
  "call_id": "call_JK5HDEbS5QKVnlczETFndC5z",
  "id": "fc_09ce3b369e78e0c4016ab41f40f9b087d09f290e3fa11d5259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JK5HDEbS5QKVnlczETFndC5z",
  "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]: [-0.775, 2.0876, 1.6745, -0.535, -0.6212, -0.522, 0.0784, 1.0573, 1.9541, 1.5291, -0.6369, 0.6746, 0.7216, 0.0833]\nstate[eef_state]: left_x=0.4485 left_y=-0.2903 left_z=0.1246 left_yaw=0.0138 left_pitch=-0.159 left_roll=0.1279 left_gripper=0.0784 right_x=0.3229 right_y=0.3552 right_z=0.129 right_yaw=0.0889 right_pitch=-0.1897 right_roll=-0.0912 right_gripper=0.0833\nstate[joint_eff]: [-1.5658, -15.3641, 6.3658, 1.4286, -0.398, 0.0904, 1.033, -0.2667, -10.5778, 6.7214, 1.0916, 0.2613, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336ec08c1d513c49f279f85cb54a60af68100845c56233eed568e7bb560297a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b836f37e06712be2895615cb0ea6fa3529d0f95cd551e878185487c0015765e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6690f596220c1907085dc71ac759aa05d8de7b3dd43e40f3175ad9d7db8ca76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]