adhoc - adhoc_9e94a4a0.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: 239.3 s
total steps: 253

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 short black cap is left of center, and the long diagonal pen is right of it. I’m moving each open gripper above its own object, keeping the arms apart before lining up the grasps.

move_to

left_x0.3500left_y-0.1700left_z0.1300right_x0.3500right_y0.2900right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7933, 0.6033, -0.3798, -0.0216, -0.0246, 0.9993, -0.0147, 0.7921, 0.609, -0.3817, -0.0238, -0.0132, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1799 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.295 right_y=0.0035 right_z=0.1825 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.306, 10.5231, 1.7558, -0.0317, 0.0708, -0.0855, -1.0735, -1.1009, 9.894, 1.9951, -0.0024, -0.0611, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.13,"right_x":0.35,"right_y":0.29,"right_z":0.13},"note":"The short black cap is left of center, and the long diagonal pen is right of it. I’m moving each open gripper above its own object, keeping the arms apart before lining up the grasps."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteBoth objects are visible ahead of the fingertips in the wrist views; the cap is nearly centered, while the pen shaft is a little to the right. I’m advancing both grippers slightly and shifting the right one toward the pen’s middle before descending.

move_to

left_x0.3700right_x0.3700right_y0.2650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7006, 1.4059, 0.7181, -0.075, -0.5625, -0.448, 0.9993, 0.9398, 1.7382, 1.0794, -0.2043, 0.7082, 0.5968, 0.999] state[eef_state]: left_x=0.3404 left_y=-0.1591 left_z=0.1117 left_yaw=-0.007 left_pitch=-0.0558 left_roll=0.0275 left_gripper=0.9993 right_x=0.342 right_y=0.2793 right_z=0.1147 right_yaw=0.0343 right_pitch=-0.051 right_roll=-0.0458 right_gripper=0.999 state[joint_eff]: [-1.6752, -4.588, 9.6479, 1.5897, -0.1832, -0.0073, -0.022, 1.0735, -7.5009, 10.1812, 1.5751, 0.7253, 0.3053, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"right_x":0.37,"right_y":0.265},"note":"Both objects are visible ahead of the fingertips in the wrist views; the cap is nearly centered, while the pen shaft is a little to the right. I’m advancing both grippers slightly and shifting the right one toward the pen’s middle before descending."})

tool

executing move_to over 3 steps (0.3s)

step 27

assistant

agent noteThe cap is centered in the left wrist view and the pen crosses the center of the right view. I’m lowering toward their tabletop heights and turning the jaws roughly perpendicular to each object’s length so they can grip the bodies rather than slide along them.

move_to

left_x0.3800left_z0.0350left_yaw-0.8500right_x0.3800right_z0.0350right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6422, 1.4929, 0.7509, -0.0589, -0.5377, -0.4274, 0.9993, 0.8719, 1.7592, 1.0824, -0.1989, 0.6647, 0.5442, 0.999] state[eef_state]: left_x=0.3567 left_y=-0.1493 left_z=0.0948 left_yaw=0.0234 left_pitch=-0.097 left_roll=0.0544 left_gripper=0.9993 right_x=0.3586 right_y=0.2629 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.0858 right_roll=-0.0768 right_gripper=0.999 state[joint_eff]: [0.0479, -6.9128, 9.853, 1.79, -0.0464, 0.0904, -0.0171, -0.3624, -9.1419, 6.612, 1.7753, 0.2906, -0.022, -0.0073] 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_x":0.38,"left_z":0.035,"left_yaw":-0.85,"right_x":0.38,"right_z":0.035,"right_yaw":0.6},"note":"The cap is centered in the left wrist view and the pen crosses the center of the right view. I’m lowering toward their tabletop heights and turning the jaws roughly perpendicular to each object’s length so they can grip the bodies rather than slide along them."})

tool

executing move_to over 6 steps (0.6s)

step 33

assistant

agent noteThe large yaw request barely moved either wrist, and both grippers remain well above the table. I’m keeping their original orientation and continuing the approach toward the cap and pen rather than forcing a stalled rotation.

move_to

left_x0.3900left_y-0.1600left_z0.0150left_yaw0.0000right_x0.3900right_y0.2600right_z0.0150right_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]: [-0.6285, 1.507, 0.7586, -0.0586, -0.5167, -0.4171, 0.9993, 0.8486, 1.7592, 1.0824, -0.1719, 0.6312, 0.5079, 0.9991] state[eef_state]: left_x=0.3594 left_y=-0.1489 left_z=0.0913 left_yaw=0.0162 left_pitch=-0.1114 left_roll=0.0542 left_gripper=0.9993 right_x=0.3655 right_y=0.2626 right_z=0.1052 right_yaw=0.0447 right_pitch=-0.0871 right_roll=-0.0684 right_gripper=0.9991 state[joint_eff]: [-0.3077, -6.7761, 8.8547, 1.7167, -0.1978, 0.2125, -0.0171, -0.2393, -9.1692, 6.7761, 1.619, 0.3834, -0.0122, -0.0073] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.16,"left_z":0.015,"left_yaw":0,"right_x":0.39,"right_y":0.26,"right_z":0.015,"right_yaw":0},"note":"The large yaw request barely moved either wrist, and both grippers remain well above the table. I’m keeping their original orientation and continuing the approach toward the cap and pen rather than forcing a stalled rotation."})

tool

executing move_to over 6 steps (0.6s)

step 39

assistant

agent noteThe cap remains just ahead of the left fingertips, while the pen shaft runs through the right gripper’s approach line. I’m advancing and descending to bring the fingertips to the table beside each object for the grasps.

move_to

left_x0.4200left_z-0.0100right_x0.4100right_y0.2500right_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]: [-0.6113, 1.5951, 0.7528, 0.0578, -0.5102, -0.4084, 0.9993, 0.8345, 1.8355, 1.0657, -0.0563, 0.6312, 0.5041, 0.999] state[eef_state]: left_x=0.3735 left_y=-0.152 left_z=0.0748 left_yaw=0.0223 left_pitch=-0.0964 left_roll=0.0438 left_gripper=0.9993 right_x=0.3774 right_y=0.2665 right_z=0.0831 right_yaw=0.0339 right_pitch=-0.0716 right_roll=-0.0552 right_gripper=0.999 state[joint_eff]: [0.8547, -4.5333, 4.7385, 0.8913, -0.2222, 0.1978, -0.0171, -2.0718, -5.135, 2.9197, 0.7546, 0.3492, 0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_z":-0.01,"right_x":0.41,"right_y":0.25,"right_z":-0.01},"note":"The cap remains just ahead of the left fingertips, while the pen shaft runs through the right gripper’s approach line. I’m advancing and descending to bring the fingertips to the table beside each object for the grasps."})

tool

executing move_to over 7 steps (0.7s)

step 46

assistant

agent noteBoth fingertips have reached table height. The cap is now at the bottom of the left wrist view, and the pen runs a little right of the right jaw center, so I’m making small final alignment corrections before closing.

move_to

left_x0.4350left_z-0.0050right_y0.2350right_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]: [-0.5358, 1.9469, 0.7788, 0.4202, -0.4812, -0.3832, 0.9989, 0.7555, 2.0666, 0.9909, 0.2958, 0.5713, 0.4374, 0.999] state[eef_state]: left_x=0.4171 left_y=-0.1484 left_z=0.0017 left_yaw=0.06 left_pitch=-0.0786 left_roll=0.0262 left_gripper=0.9989 right_x=0.4054 right_y=0.2556 right_z=0.0035 right_yaw=0.0367 right_pitch=-0.0688 right_roll=-0.0459 right_gripper=0.999 state[joint_eff]: [0.759, -6.8718, 5.2444, 0.8474, 0.0952, 0.3687, -0.0513, -1.4427, -7.3231, 4.6427, 0.9695, 0.1099, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_z":-0.005,"right_y":0.235,"right_z":-0.005},"note":"Both fingertips have reached table height. The cap is now at the bottom of the left wrist view, and the pen runs a little right of the right jaw center, so I’m making small final alignment corrections before closing."})

tool

executing move_to over 2 steps (0.2s)

step 48

assistant

agent noteThe cap has passed beneath the left wrist camera’s lower edge, where the fingertips grasp, and the pen crosses the right gripper’s jaw opening. I’m closing both jaws and will check their settled openings before lifting.

move_to

left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.522, 1.9835, 0.8082, 0.4595, -0.4824, -0.3817, 0.9989, 0.7399, 2.0735, 0.9512, 0.3908, 0.5541, 0.4217, 0.999] state[eef_state]: left_x=0.4298 left_y=-0.1486 left_z=0.0023 left_yaw=0.0726 left_pitch=-0.0517 left_roll=0.01 left_gripper=0.9989 right_x=0.4085 right_y=0.2519 right_z=0.0016 right_yaw=0.0442 right_pitch=-0.0398 right_roll=-0.0182 right_gripper=0.999 state[joint_eff]: [0.9504, -7.3641, 6.5709, 1.2967, 0.0024, 0.1685, -0.0122, -1.9897, -10.5778, 3.9726, 0.9304, 0.0513, -0.1392, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The cap has passed beneath the left wrist camera’s lower edge, where the fingertips grasp, and the pen crosses the right gripper’s jaw opening. I’m closing both jaws and will check their settled openings before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 58

assistant

agent noteThe left jaws closed completely, so they missed the cap; the right jaws remain about 5 mm apart, consistent with gripping the pen. I’m lifting the pen to confirm it moves with the right hand and clearing the left hand to relocate the cap.

move_to

left_gripper1.0000left_x0.3600left_z0.1100right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5106, 1.9965, 0.8257, 0.4603, -0.4824, -0.3721, 0.0085, 0.7353, 2.064, 0.9375, 0.4068, 0.548, 0.4137, 0.053] state[eef_state]: left_x=0.4357 left_y=-0.1461 left_z=0.0025 left_yaw=0.0788 left_pitch=-0.0474 left_roll=0.0148 left_gripper=0.0085 right_x=0.4084 right_y=0.2501 right_z=0.0037 right_yaw=0.0488 right_pitch=-0.0332 right_roll=-0.0141 right_gripper=0.053 state[joint_eff]: [0.0889, -8.0889, 5.9692, 1.3065, -0.0659, 0.0708, 0.5446, -0.0205, -9.0598, 6.3521, 1.4432, 0.2906, 0.1001, 1.4725] 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_gripper":1,"left_x":0.36,"left_z":0.11,"right_z":0.1},"note":"The left jaws closed completely, so they missed the cap; the right jaws remain about 5 mm apart, consistent with gripping the pen. I’m lifting the pen to confirm it moves with the right hand and clearing the left hand to relocate the cap."})

tool

executing move_to over 10 steps (1.0s)

step 68

assistant

agent noteThe pen stayed with the raised right gripper, confirming that grasp. The cap has shifted and now appears diagonally just ahead of the open left fingertips; I’m lowering that gripper more carefully near its new position while raising the pen out of the way.

move_to

left_x0.3850left_z0.0180right_z0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6422, 1.5024, 0.7486, 0.0177, -0.5571, -0.4683, 0.9949, 0.7353, 1.8618, 1.0294, 0.0494, 0.5373, 0.4065, 0.0604] state[eef_state]: left_x=0.3662 left_y=-0.1528 left_z=0.1039 left_yaw=0.0574 left_pitch=-0.0375 left_roll=-0.009 left_gripper=0.9949 right_x=0.4011 right_y=0.2457 right_z=0.0678 right_yaw=0.0585 right_pitch=-0.087 right_roll=-0.0543 right_gripper=0.0604 state[joint_eff]: [-0.3214, -6.9128, 7.2, 1.4921, -0.4225, 0.0415, -0.1538, -0.3487, -12.3009, 8.841, 1.5653, 0.3053, 0.0366, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_z":0.018,"right_z":0.155},"note":"The pen stayed with the raised right gripper, confirming that grasp. The cap has shifted and now appears diagonally just ahead of the open left fingertips; I’m lowering that gripper more carefully near its new position while raising the pen out of the way."})

tool

executing move_to over 6 steps (0.6s)

step 74

assistant

agent noteAt table height the cap is still visible in front of, and slightly right of, the left jaw center. I’m advancing about 3 cm and shifting rightward toward its middle, then I’ll close without pushing past it.

move_to

left_x0.4070left_y-0.1700left_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]: [-0.6121, 1.8015, 0.6552, 0.345, -0.5419, -0.4622, 0.9959, 0.7357, 1.7699, 1.1862, -0.2741, 0.5179, 0.3916, 0.0604] state[eef_state]: left_x=0.3737 left_y=-0.1466 left_z=0.0116 left_yaw=0.0755 left_pitch=-0.0945 left_roll=0.0295 left_gripper=0.9959 right_x=0.3943 right_y=0.2438 right_z=0.1169 right_yaw=0.0759 right_pitch=-0.155 right_roll=-0.1013 right_gripper=0.0604 state[joint_eff]: [0.335, -7.6513, 4.6701, 1.7509, -0.0659, 0.188, 0.0952, -0.3077, -12.0, 9.6889, 1.917, 0.3785, 0.1538, 1.0281] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.407,"left_y":-0.17,"left_z":0.005},"note":"At table height the cap is still visible in front of, and slightly right of, the left jaw center. I’m advancing about 3 cm and shifting rightward toward its middle, then I’ll close without pushing past it."})

tool

executing move_to over 3 steps (0.3s)

step 77

assistant

agent noteThe cap is at the fingertip depth now, but its dark body lies to the left of the jaw center after my lateral correction. I’m moving the left gripper back about 1.5 cm sideways to center the cap before closing.

move_to

left_x0.4070left_y-0.1480

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.609, 1.9263, 0.7776, 0.3569, -0.5457, -0.4667, 0.996, 0.7349, 1.763, 1.1877, -0.3096, 0.5144, 0.3878, 0.0604] state[eef_state]: left_x=0.401 left_y=-0.1635 left_z=0.0034 left_yaw=0.0833 left_pitch=-0.0853 left_roll=0.0219 left_gripper=0.996 right_x=0.3901 right_y=0.2402 right_z=0.1151 right_yaw=0.0769 right_pitch=-0.1782 right_roll=-0.1189 right_gripper=0.0604 state[joint_eff]: [-0.4171, -8.9368, 5.9009, 1.2234, -0.2418, 0.0317, -0.0073, -0.1983, -8.0479, 6.5846, 1.663, 0.1685, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.407,"left_y":-0.148},"note":"The cap is at the fingertip depth now, but its dark body lies to the left of the jaw center after my lateral correction. I’m moving the left gripper back about 1.5 cm sideways to center the cap before closing."})

tool

executing move_to over 2 steps (0.2s)

step 79

assistant

agent noteThe cap is still between the open fingers but off-center to the left in the wrist view. I’m making one small sideways centering adjustment, then I’ll try to grasp its middle.

move_to

left_y-0.1370left_x0.4050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5854, 1.9354, 0.7788, 0.374, -0.5259, -0.4606, 0.996, 0.7345, 1.7649, 1.1854, -0.3077, 0.5137, 0.3874, 0.0604] state[eef_state]: left_x=0.4058 left_y=-0.1583 left_z=0.0015 left_yaw=0.0882 left_pitch=-0.0871 left_roll=0.01 left_gripper=0.996 right_x=0.3899 right_y=0.24 right_z=0.1136 right_yaw=0.0771 right_pitch=-0.1804 right_roll=-0.1202 right_gripper=0.0604 state[joint_eff]: [1.2103, -9.935, 4.0274, 1.1013, -0.2418, 0.3443, -0.0122, -0.2667, -9.1145, 6.6393, 1.3553, 0.1832, -0.0513, 1.0281] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.137,"left_x":0.405},"note":"The cap is still between the open fingers but off-center to the left in the wrist view. I’m making one small sideways centering adjustment, then I’ll try to grasp its middle."})

tool

executing move_to over 2 steps (0.2s)

step 81

assistant

agent noteThe cap now crosses the center of the open left jaws near the fingertips. I’m closing on it while keeping the pen safely held and raised in the other hand.

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]: [-0.5442, 1.9247, 0.7444, 0.421, -0.5087, -0.4347, 0.996, 0.7345, 1.7649, 1.1854, -0.308, 0.511, 0.3878, 0.0604] state[eef_state]: left_x=0.4083 left_y=-0.1423 left_z=0.0016 left_yaw=0.1011 left_pitch=-0.0763 left_roll=0.0069 left_gripper=0.996 right_x=0.3897 right_y=0.2404 right_z=0.1134 right_yaw=0.0788 right_pitch=-0.1819 right_roll=-0.1184 right_gripper=0.0604 state[joint_eff]: [0.9504, -9.6752, 4.0, 1.4042, -0.0611, 0.1538, -0.0122, -0.335, -8.9368, 6.4889, 1.3407, 0.232, 0.0024, 1.0281] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now crosses the center of the open left jaws near the fingertips. I’m closing on it while keeping the pen safely held and raised in the other hand."})

tool

executing move_to over 10 steps (1.0s)

step 91

assistant

agent noteThe left jaws again closed fully without gripping the cap, and it disappeared under their lower edge, so it was pushed rather than held. I’m clearing the left hand to find the cap’s new location instead of repeating the same close.

move_to

left_gripper1.0000left_x0.3500left_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5304, 1.9079, 0.7307, 0.4572, -0.5041, -0.4206, 0.0093, 0.7345, 1.7649, 1.1854, -0.308, 0.5102, 0.3874, 0.0604] state[eef_state]: left_x=0.4122 left_y=-0.1387 left_z=0.0098 left_yaw=0.1023 left_pitch=-0.0467 left_roll=-0.0076 left_gripper=0.0093 right_x=0.3897 right_y=0.2405 right_z=0.1133 right_yaw=0.0796 right_pitch=-0.1823 right_roll=-0.1183 right_gripper=0.0604 state[joint_eff]: [0.0615, -8.1573, 4.5197, 1.1795, -0.2369, 0.1245, 0.4518, -0.2667, -8.9231, 6.5026, 1.3553, 0.2515, -0.0171, 1.0281] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_z":0.13},"note":"The left jaws again closed fully without gripping the cap, and it disappeared under their lower edge, so it was pushed rather than held. I’m clearing the left hand to find the cap’s new location instead of repeating the same close."})

tool

executing move_to over 10 steps (1.0s)

step 101

assistant

agent noteThe cap is plainly visible on the tabletop at the bottom center of the left wrist camera, lying nearly horizontal now. I’m lowering toward it with a shorter forward advance, so the open jaws can straddle it rather than sweeping past.

move_to

left_x0.3800left_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]: [-0.6472, 1.4197, 0.7399, -0.0849, -0.5728, -0.5091, 0.9948, 0.7345, 1.7649, 1.1851, -0.3073, 0.4961, 0.387, 0.0604] state[eef_state]: left_x=0.3521 left_y=-0.1416 left_z=0.1145 left_yaw=0.0871 left_pitch=-0.0521 left_roll=-0.0156 left_gripper=0.9948 right_x=0.3888 right_y=0.2427 right_z=0.1124 right_yaw=0.0904 right_pitch=-0.1886 right_roll=-0.1094 right_gripper=0.0604 state[joint_eff]: [-0.3761, -6.7214, 9.1829, 1.4872, -0.4078, 0.0659, -0.0024, -0.294, -8.9368, 6.4889, 1.3944, 0.3297, -0.0415, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_z":0.025},"note":"The cap is plainly visible on the tabletop at the bottom center of the left wrist camera, lying nearly horizontal now. I’m lowering toward it with a shorter forward advance, so the open jaws can straddle it rather than sweeping past."})

tool

executing move_to over 6 steps (0.6s)

step 107

assistant

agent noteThe cap’s thick body now sits between the left jaws in the wrist view, but the grasp point is still about 2 cm above the table. I’m descending vertically to the cap’s height without advancing farther along the tabletop.

move_to

left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 1.7435, 0.6399, 0.2756, -0.5423, -0.487, 0.9959, 0.7345, 1.7649, 1.1851, -0.3096, 0.4927, 0.3874, 0.0604] state[eef_state]: left_x=0.3672 left_y=-0.1337 left_z=0.0174 left_yaw=0.1089 left_pitch=-0.1143 left_roll=0.0274 left_gripper=0.9959 right_x=0.3883 right_y=0.2429 right_z=0.1118 right_yaw=0.0925 right_pitch=-0.1921 right_roll=-0.1084 right_gripper=0.0604 state[joint_eff]: [0.5128, -7.3778, 5.012, 1.619, -0.0904, 0.2418, 0.1001, -0.3487, -8.8, 6.4752, 1.3846, 0.2027, -0.0122, 1.0281] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":-0.008},"note":"The cap’s thick body now sits between the left jaws in the wrist view, but the grasp point is still about 2 cm above the table. I’m descending vertically to the cap’s height without advancing farther along the tabletop."})

tool

executing move_to over 2 steps (0.2s)

step 109

assistant

agent noteAfter the vertical descent, the cap dropped to the very bottom of the wrist image, behind the visible fingertip tips; advancing farther was the cause of the earlier misses. I’m retracting 2.4 cm at the same low height to put its thick section back between the jaws.

move_to

left_x0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 1.8069, 0.6304, 0.387, -0.543, -0.4892, 0.996, 0.7345, 1.7649, 1.1851, -0.3077, 0.4919, 0.387, 0.0604] state[eef_state]: left_x=0.3739 left_y=-0.1381 left_z=0.0085 left_yaw=0.1082 left_pitch=-0.0845 left_roll=0.001 left_gripper=0.996 right_x=0.3885 right_y=0.2432 right_z=0.112 right_yaw=0.0935 right_pitch=-0.1909 right_roll=-0.107 right_gripper=0.0604 state[joint_eff]: [-0.2803, -6.3248, 3.5077, 1.4579, -0.2027, -0.0317, -0.0024, -0.0889, -8.9641, 6.5573, 1.326, 0.1783, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35},"note":"After the vertical descent, the cap dropped to the very bottom of the wrist image, behind the visible fingertip tips; advancing farther was the cause of the earlier misses. I’m retracting 2.4 cm at the same low height to put its thick section back between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 111

assistant

agent noteThe last short command mostly lowered the gripper instead of moving it backward, and the cap still sits at the wrist image’s lower edge. I’m requesting a larger backward-only correction to get its body up to the jaw tips.

move_to

left_x0.3300left_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]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4881, 0.3843, 0.0604] state[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3882 right_y=0.2438 right_z=0.1117 right_yaw=0.0978 right_pitch=-0.1931 right_roll=-0.1068 right_gripper=0.0604 state[joint_eff]: [0.0889, -6.612, 3.8359, 1.3895, -0.1978, 0.0269, -0.0122, -0.3214, -8.9368, 6.4889, 1.3553, 0.2027, -0.0122, 1.0281] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_z":0.005},"note":"The last short command mostly lowered the gripper instead of moving it backward, and the cap still sits at the wrist image’s lower edge. I’m requesting a larger backward-only correction to get its body up to the jaw tips."})

tool

executing move_to over 4 steps (0.4s)

step 115

assistant

agent noteThe low-height backward move did not track at all, so I’m not repeating it against the table. I’m lifting the left gripper first and retracting in free space, then I can descend at the corrected position.

move_to

left_z0.0650left_x0.3350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4877, 0.384, 0.0654] state[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3881 right_y=0.2438 right_z=0.1117 right_yaw=0.0983 right_pitch=-0.1933 right_roll=-0.1069 right_gripper=0.0654 state[joint_eff]: [-0.0889, -6.7214, 4.1368, 1.3504, -0.1929, 0.0073, -0.0073, -0.3487, -8.9641, 6.4479, 1.326, 0.149, -0.0464, 1.0281] 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":{"left_z":0.065,"left_x":0.335},"note":"The low-height backward move did not track at all, so I’m not repeating it against the table. I’m lifting the left gripper first and retracting in free space, then I can descend at the corrected position."})

tool

executing move_to over 5 steps (0.5s)

step 120

assistant

agent noteThe left arm is still holding its exact pose despite the combined lift-and-retract request. I’m trying a vertical lift at its current horizontal position to get clear of the table before changing its reach.

move_to

left_x0.3750left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4843, 0.384, 0.0654] state[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3879 right_y=0.2443 right_z=0.1115 right_yaw=0.1009 right_pitch=-0.1949 right_roll=-0.1047 right_gripper=0.0654 state[joint_eff]: [0.1026, -6.7214, 3.8222, 1.3407, -0.2222, -0.0073, -0.0122, -0.1573, -8.9368, 6.5026, 1.3211, 0.1783, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_z":0.14},"note":"The left arm is still holding its exact pose despite the combined lift-and-retract request. I’m trying a vertical lift at its current horizontal position to get clear of the table before changing its reach."})

tool

executing move_to over 9 steps (0.9s)

step 129

assistant

agent noteThe vertical lift worked. The cap is still near the bottom edge of the left wrist view, so I’m retracting a few centimeters now that the hand is safely off the table, to bring the cap forward into the jaw opening.

move_to

left_x0.3400left_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]: [-0.5953, 1.4979, 0.8631, -0.1673, -0.5461, -0.4969, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4755, 0.384, 0.0654] state[eef_state]: left_x=0.3742 left_y=-0.1383 left_z=0.1196 left_yaw=0.1142 left_pitch=-0.0926 left_roll=0.0048 left_gripper=0.996 right_x=0.3873 right_y=0.2456 right_z=0.1108 right_yaw=0.1074 right_pitch=-0.1992 right_roll=-0.0993 right_gripper=0.0654 state[joint_eff]: [0.0068, -8.1846, 9.2923, 1.4432, -0.2906, 0.0513, -0.0122, -0.2667, -8.7863, 6.5026, 1.3748, 0.232, -0.0757, 1.0281] 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":{"left_x":0.34,"left_z":0.12},"note":"The vertical lift worked. The cap is still near the bottom edge of the left wrist view, so I’m retracting a few centimeters now that the hand is safely off the table, to bring the cap forward into the jaw opening."})

tool

executing move_to over 3 steps (0.3s)

step 132

assistant

agent noteThe cap is now centered near row 180 rather than cut off at the bottom of the left wrist view. I’m descending halfway at this fixed horizontal position, checking whether it stays between the fingers before the final approach.

move_to

left_x0.3420left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6594, 1.425, 0.7891, -0.226, -0.5663, -0.5346, 0.996, 0.7345, 1.7649, 1.1847, -0.3069, 0.4694, 0.384, 0.0654] state[eef_state]: left_x=0.3425 left_y=-0.141 left_z=0.1097 left_yaw=0.0899 left_pitch=-0.1269 left_roll=0.0266 left_gripper=0.996 right_x=0.387 right_y=0.2467 right_z=0.1106 right_yaw=0.1122 right_pitch=-0.201 right_roll=-0.0947 right_gripper=0.0654 state[joint_eff]: [-0.0342, -7.5145, 7.2137, 1.4969, -0.4322, -0.0855, -0.0122, -0.0068, -8.759, 6.6393, 1.4481, 0.2125, -0.0415, 1.033] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.342,"left_z":0.05},"note":"The cap is now centered near row 180 rather than cut off at the bottom of the left wrist view. I’m descending halfway at this fixed horizontal position, checking whether it stays between the fingers before the final approach."})

tool

executing move_to over 4 steps (0.4s)

step 136

assistant

agent noteA purely vertical descent at the retracted pose stalled, although the cap remains clearly centered ahead of the jaws. I’m moving slightly forward while lowering; this arm tracked that combined direction on the earlier approach.

move_to

left_x0.3600left_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]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.3077, 0.466, 0.384, 0.0654] state[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3867 right_y=0.2471 right_z=0.1103 right_yaw=0.1147 right_pitch=-0.2032 right_roll=-0.0929 right_gripper=0.0654 state[joint_eff]: [0.2256, -7.4051, 6.8034, 1.409, -0.5055, -0.0659, -0.0171, -0.0205, -8.9368, 6.4479, 1.3358, 0.1783, -0.0659, 1.033] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_z":0.005},"note":"A purely vertical descent at the retracted pose stalled, although the cap remains clearly centered ahead of the jaws. I’m moving slightly forward while lowering; this arm tracked that combined direction on the earlier approach."})

tool

executing move_to over 7 steps (0.7s)

step 143

assistant

agent noteThe arm did not track the combined descent from its tucked-back posture. I’m returning to a slightly more extended free-space pose that has previously allowed it to descend, while keeping the cap visible for alignment.

move_to

left_x0.3700left_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]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4656, 0.384, 0.0654] state[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3866 right_y=0.2471 right_z=0.1102 right_yaw=0.115 right_pitch=-0.2037 right_roll=-0.0929 right_gripper=0.0654 state[joint_eff]: [0.1983, -7.241, 6.612, 1.4139, -0.4664, -0.0513, -0.0171, -0.253, -8.9368, 6.6803, 1.3309, 0.1294, -0.0757, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_z":0.12},"note":"The arm did not track the combined descent from its tucked-back posture. I’m returning to a slightly more extended free-space pose that has previously allowed it to descend, while keeping the cap visible for alignment."})

tool

executing move_to over 3 steps (0.3s)

step 146

assistant

agent noteThe left gripper has now moved down to about 6 cm over the table, with the cap’s black body centered between the open jaws. I’m dropping the last few centimeters almost vertically to clamp its body at tabletop height.

move_to

left_x0.3500left_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]: [-0.6136, 1.5772, 0.7593, -0.139, -0.5407, -0.5266, 0.996, 0.7345, 1.7649, 1.1839, -0.3084, 0.4622, 0.384, 0.0654] state[eef_state]: left_x=0.3493 left_y=-0.1304 left_z=0.0573 left_yaw=0.124 left_pitch=-0.2107 left_roll=0.0828 left_gripper=0.996 right_x=0.3862 right_y=0.2474 right_z=0.1096 right_yaw=0.1175 right_pitch=-0.2062 right_roll=-0.0914 right_gripper=0.0654 state[joint_eff]: [0.1573, -9.8803, 11.7949, 1.8926, -0.2271, 0.0952, -0.0122, -0.2803, -8.8821, 6.5846, 1.3553, 0.1587, -0.0806, 1.0379] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_z":-0.005},"note":"The left gripper has now moved down to about 6 cm over the table, with the cap’s black body centered between the open jaws. I’m dropping the last few centimeters almost vertically to clamp its body at tabletop height."})

tool

executing move_to over 5 steps (0.5s)

step 151

assistant

agent noteAt table height the cap’s thick black section is visibly between the two left fingertip tips, near their closing line. I’m closing now and will check whether the jaw opening remains larger than an empty close.

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]: [-0.6147, 1.7416, 0.6666, 0.1062, -0.548, -0.5388, 0.996, 0.7345, 1.7649, 1.1816, -0.3069, 0.4583, 0.384, 0.0654] state[eef_state]: left_x=0.3487 left_y=-0.1291 left_z=0.0033 left_yaw=0.1363 left_pitch=-0.2148 left_roll=0.0866 left_gripper=0.996 right_x=0.3856 right_y=0.2478 right_z=0.1087 right_yaw=0.1203 right_pitch=-0.2085 right_roll=-0.0893 right_gripper=0.0654 state[joint_eff]: [0.1709, -5.3402, 3.8085, 0.7888, -0.1636, 0.1343, -0.0171, -0.0205, -8.9231, 6.6667, 1.3407, 0.1734, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At table height the cap’s thick black section is visibly between the two left fingertip tips, near their closing line. I’m closing now and will check whether the jaw opening remains larger than an empty close."})

tool

executing move_to over 10 steps (1.0s)

step 161

assistant

agent noteThe cap is still on the table: the left jaws closed empty just behind its thick section, which is visible a little above and left of the jaw tip. I’m reopening and shifting about 1 cm forward and 1.5 cm sideways to center the cap’s body on the actual closing point.

move_to

left_gripper1.0000left_x0.3600left_y-0.1130left_z0.0040

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6159, 1.7531, 0.6609, 0.1265, -0.5468, -0.5438, 0.0078, 0.7345, 1.7649, 1.1816, -0.3077, 0.4576, 0.384, 0.0654] state[eef_state]: left_x=0.3487 left_y=-0.1299 left_z=0.0002 left_yaw=0.1367 left_pitch=-0.213 left_roll=0.0801 left_gripper=0.0078 right_x=0.3855 right_y=0.2478 right_z=0.1086 right_yaw=0.1208 right_pitch=-0.2095 right_roll=-0.0893 right_gripper=0.0654 state[joint_eff]: [0.0889, -7.8838, 5.4906, 1.0476, -0.315, 0.0122, 0.5641, -0.0889, -8.9231, 6.5299, 1.3309, 0.1587, -0.0611, 1.0281] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.36,"left_y":-0.113,"left_z":0.004},"note":"The cap is still on the table: the left jaws closed empty just behind its thick section, which is visible a little above and left of the jaw tip. I’m reopening and shifting about 1 cm forward and 1.5 cm sideways to center the cap’s body on the actual closing point."})

tool

executing move_to over 10 steps (1.0s)

step 171

assistant

agent noteThe cap’s thick portion is horizontally centered now, but it appears about 2 cm behind the finger tips after the advance. I’m retracting slightly at low height to line its body up with the jaws’ closing line.

move_to

left_x0.3440left_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5488, 1.7508, 0.6605, 0.1619, -0.519, -0.498, 0.9952, 0.7345, 1.7649, 1.1812, -0.3077, 0.4503, 0.384, 0.0654] state[eef_state]: left_x=0.3612 left_y=-0.114 left_z=0.0034 left_yaw=0.1536 left_pitch=-0.2021 left_roll=0.0709 left_gripper=0.9952 right_x=0.3849 right_y=0.2488 right_z=0.108 right_yaw=0.1263 right_pitch=-0.213 right_roll=-0.0848 right_gripper=0.0654 state[joint_eff]: [0.4718, -8.1436, 4.6701, 1.2283, -0.0952, 0.1832, -0.1978, -0.1573, -8.7726, 6.4615, 1.3211, 0.2222, -0.0659, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.344,"left_z":0.008},"note":"The cap’s thick portion is horizontally centered now, but it appears about 2 cm behind the finger tips after the advance. I’m retracting slightly at low height to line its body up with the jaws’ closing line."})

tool

executing move_to over 2 steps (0.2s)

step 173

assistant

agent noteThe cap’s thick black body now crosses the left fingertips at their visible closing height, and it is centered sideways. I’m trying the pinch at this corrected position.

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]: [-0.5663, 1.7248, 0.6319, 0.1562, -0.5247, -0.5098, 0.996, 0.7345, 1.7649, 1.1812, -0.3077, 0.4469, 0.384, 0.0654] state[eef_state]: left_x=0.352 left_y=-0.1147 left_z=0.0034 left_yaw=0.1478 left_pitch=-0.205 left_roll=0.0714 left_gripper=0.996 right_x=0.3847 right_y=0.2494 right_z=0.1078 right_yaw=0.1289 right_pitch=-0.2145 right_roll=-0.0826 right_gripper=0.0654 state[joint_eff]: [-0.5265, -8.6222, 5.0393, 1.1941, -0.3834, -0.0317, 0.0464, -0.1026, -8.8821, 6.4615, 1.3846, 0.2027, -0.0757, 1.0281] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s thick black body now crosses the left fingertips at their visible closing height, and it is centered sideways. I’m trying the pinch at this corrected position."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteThe jaws still closed empty, and the cap now lies just ahead of the point where they meet in the closed wrist image. I’m opening and advancing by only about 1 cm, keeping the gripper low, to bring the cap directly onto that point.

move_to

left_gripper1.0000left_x0.3550left_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5697, 1.7161, 0.6151, 0.149, -0.5236, -0.5148, 0.0081, 0.7345, 1.7649, 1.1812, -0.3077, 0.4431, 0.384, 0.0654] state[eef_state]: left_x=0.346 left_y=-0.1125 left_z=0.0004 left_yaw=0.1484 left_pitch=-0.2169 left_roll=0.0773 left_gripper=0.0081 right_x=0.3844 right_y=0.2499 right_z=0.1076 right_yaw=0.1318 right_pitch=-0.2162 right_roll=-0.0801 right_gripper=0.0654 state[joint_eff]: [0.2256, -5.9692, 6.1333, 1.3211, -0.2515, 0.0317, 0.5495, -0.0752, -8.8684, 6.5983, 1.326, 0.188, -0.0317, 1.0379] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.355,"left_z":0.008},"note":"The jaws still closed empty, and the cap now lies just ahead of the point where they meet in the closed wrist image. I’m opening and advancing by only about 1 cm, keeping the gripper low, to bring the cap directly onto that point."})

tool

executing move_to over 10 steps (1.0s)

step 193

assistant

agent noteThe cap’s thick end is centered directly at the left jaw tips, with its lower edge touching their closing line. I’m advancing a few millimeters while closing to see if this centered, low pinch can hold it instead of skimming past.

move_to

left_x0.3580left_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]: [-0.5564, 1.7157, 0.63, 0.141, -0.5201, -0.5148, 0.9947, 0.7345, 1.7649, 1.1812, -0.3077, 0.4397, 0.384, 0.0654] state[eef_state]: left_x=0.3509 left_y=-0.1106 left_z=0.0036 left_yaw=0.1583 left_pitch=-0.2133 left_roll=0.0703 left_gripper=0.9947 right_x=0.3841 right_y=0.2504 right_z=0.1074 right_yaw=0.1345 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.0654 state[joint_eff]: [0.3761, -6.9812, 7.241, 1.0281, -0.1832, 0.1245, -0.0122, -0.0752, -8.8957, 6.4615, 1.3211, 0.1538, -0.0757, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.358,"left_gripper":0},"note":"The cap’s thick end is centered directly at the left jaw tips, with its lower edge touching their closing line. I’m advancing a few millimeters while closing to see if this centered, low pinch can hold it instead of skimming past."})

tool

executing move_to over 10 steps (1.0s)

step 203

assistant

agent noteThe cap was displaced by another end-on pinch: its long axis is almost parallel to the left jaws, so it slips out rather than being clamped across its width. I’m lifting and rotating the open left hand to approach the cap with the jaws across its length.

move_to

left_gripper1.0000left_z0.1200left_yaw1.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5491, 1.7233, 0.6346, 0.1329, -0.5163, -0.514, 0.0074, 0.7345, 1.7649, 1.174, -0.3077, 0.4355, 0.384, 0.0654] state[eef_state]: left_x=0.351 left_y=-0.1083 left_z=0.0011 left_yaw=0.164 left_pitch=-0.2237 left_roll=0.0758 left_gripper=0.0074 right_x=0.3824 right_y=0.2498 right_z=0.1044 right_yaw=0.1368 right_pitch=-0.2255 right_roll=-0.0792 right_gripper=0.0654 state[joint_eff]: [0.4718, -6.0103, 6.4205, 1.3797, -0.1636, 0.1197, 0.5641, -0.1846, -8.9231, 7.0085, 1.3211, 0.1783, -0.0269, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.12,"left_yaw":1.2},"note":"The cap was displaced by another end-on pinch: its long axis is almost parallel to the left jaws, so it slips out rather than being clamped across its width. I’m lifting and rotating the open left hand to approach the cap with the jaws across its length."})

tool

executing move_to over 10 steps (1.0s)

step 213

assistant

agent noteThe left wrist has rotated successfully: the cap now appears lengthwise up-and-down in its camera, perpendicular to the jaw-closing direction and centered around column 110. I’m lowering vertically toward its middle with this better grasp orientation.

move_to

left_z0.0150left_yaw1.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6468, 2.0842, 1.702, -1.3697, -0.7315, -1.7645, 0.9949, 0.7136, 1.7649, 1.1683, -0.3378, 0.4572, 0.3965, 0.0654] state[eef_state]: left_x=0.3628 left_y=-0.1216 left_z=0.1082 left_yaw=1.0696 left_pitch=-0.2541 left_roll=0.0582 left_gripper=0.9949 right_x=0.3837 right_y=0.2338 right_z=0.0993 right_yaw=0.0873 right_pitch=-0.2445 right_roll=-0.1059 right_gripper=0.0654 state[joint_eff]: [0.759, -9.2786, 7.2274, 0.1245, -0.5006, -0.0317, -0.0415, 1.7026, -8.7179, 6.8581, 1.6142, -0.188, -0.2222, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.015,"left_yaw":1.07},"note":"The left wrist has rotated successfully: the cap now appears lengthwise up-and-down in its camera, perpendicular to the jaw-closing direction and centered around column 110. I’m lowering vertically toward its middle with this better grasp orientation."})

tool

executing move_to over 7 steps (0.7s)

step 220

assistant

agent noteThe rotated cap is centered sideways, but its thick section is slightly ahead of the finger tips while the thin clip trails behind. I’m moving the left hand about 2 cm forward and down the final 3 cm so the jaws meet across the thicker section.

move_to

left_x0.3780left_z0.0010left_yaw1.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6418, 2.162, 1.5028, -1.1046, -0.7258, -1.7702, 0.9959, 0.6979, 1.7691, 1.153, -0.3939, 0.4706, 0.3889, 0.0654] state[eef_state]: left_x=0.3595 left_y=-0.1179 left_z=0.0303 left_yaw=1.0821 left_pitch=-0.2577 left_roll=0.0672 left_gripper=0.9959 right_x=0.3768 right_y=0.2162 right_z=0.0857 right_yaw=0.0534 right_pitch=-0.2992 right_roll=-0.167 right_gripper=0.0654 state[joint_eff]: [-0.7316, -9.1009, 4.7248, 0.0855, -0.4664, 0.022, 0.0952, 0.9504, -9.1282, 7.5692, 1.7411, 0.0806, 0.0366, 1.0281] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.378,"left_z":0.001,"left_yaw":1.08},"note":"The rotated cap is centered sideways, but its thick section is slightly ahead of the finger tips while the thin clip trails behind. I’m moving the left hand about 2 cm forward and down the final 3 cm so the jaws meet across the thicker section."})

tool

executing move_to over 2 steps (0.2s)

step 222

assistant

agent noteThe thick black cap ends right at the finger-closing line; a little more forward motion should place that line on the cap’s middle rather than its thin clip. I’m making that final small advance at tabletop height.

move_to

left_x0.3870left_z-0.0040left_yaw1.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.63, 2.2215, 1.5063, -1.0481, -0.7258, -1.7599, 0.996, 0.7052, 1.7687, 1.153, -0.3717, 0.4515, 0.3878, 0.0654] state[eef_state]: left_x=0.3663 left_y=-0.1176 left_z=0.0084 left_yaw=1.0881 left_pitch=-0.2582 left_roll=0.074 left_gripper=0.996 right_x=0.3772 right_y=0.2245 right_z=0.0873 right_yaw=0.0796 right_pitch=-0.2907 right_roll=-0.1403 right_gripper=0.0654 state[joint_eff]: [0.9094, -9.5932, 6.7487, -0.0806, -0.4957, 0.1197, -0.0024, -0.8137, -8.6769, 6.2564, 1.1502, 0.3785, -0.0122, 1.0281] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.387,"left_z":-0.004,"left_yaw":1.08},"note":"The thick black cap ends right at the finger-closing line; a little more forward motion should place that line on the cap’s middle rather than its thin clip. I’m making that final small advance at tabletop height."})

tool

executing move_to over 2 steps (0.2s)

step 224

assistant

agent noteWith the gripper rotated, the cap’s thick section now crosses the left jaw-closing line near its center, instead of lying along the jaws. I’m closing across its diameter and checking whether it stays between the fingers.

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]: [-0.614, 2.2398, 1.5196, -1.0279, -0.7338, -1.7512, 0.996, 0.7021, 1.7687, 1.1522, -0.3882, 0.4477, 0.3874, 0.0654] state[eef_state]: left_x=0.374 left_y=-0.1145 left_z=0.0047 left_yaw=1.0936 left_pitch=-0.2529 left_roll=0.0634 left_gripper=0.996 right_x=0.375 right_y=0.2217 right_z=0.0848 right_yaw=0.0765 right_pitch=-0.3065 right_roll=-0.1484 right_gripper=0.0654 state[joint_eff]: [-0.253, -9.894, 6.0376, 0.0659, -0.4322, 0.1734, -0.0122, 0.4034, -8.7863, 6.3248, 1.4042, 0.2418, -0.0659, 1.033] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"With the gripper rotated, the cap’s thick section now crosses the left jaw-closing line near its center, instead of lying along the jaws. I’m closing across its diameter and checking whether it stays between the fingers."})

tool

executing move_to over 10 steps (1.0s)

step 234

assistant

agent noteThe rotated jaws still closed empty; the cap remains on the table just beyond their meeting point rather than between them. I’m reopening and moving forward about 2.5 cm so the thick cap body, not its end, sits inside the pinch.

move_to

left_gripper1.0000left_x0.4000left_z0.0040

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.614, 2.2417, 1.5192, -1.0115, -0.7254, -1.7451, 0.0092, 0.7017, 1.7687, 1.1522, -0.3893, 0.4431, 0.3878, 0.0654] state[eef_state]: left_x=0.3757 left_y=-0.117 left_z=0.0024 left_yaw=1.0882 left_pitch=-0.2632 left_roll=0.0544 left_gripper=0.0092 right_x=0.3746 right_y=0.2221 right_z=0.0843 right_yaw=0.0792 right_pitch=-0.3097 right_roll=-0.1455 right_gripper=0.0654 state[joint_eff]: [-0.0752, -11.5077, 4.9299, -0.1245, -0.4567, -0.0708, 0.652, -0.0205, -8.6769, 6.3521, 1.2772, 0.2076, -0.0317, 1.0281] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.4,"left_z":0.004},"note":"The rotated jaws still closed empty; the cap remains on the table just beyond their meeting point rather than between them. I’m reopening and moving forward about 2.5 cm so the thick cap body, not its end, sits inside the pinch."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteThe forward move brought the cap to fingertip depth, but in the rotated wrist camera it shifted about 3 cm left of the jaws. I’m correcting sideways with the gripper open before closing again.

move_to

left_y-0.0770

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5865, 2.2837, 1.6073, -1.0328, -0.7261, -1.7222, 0.9947, 0.7017, 1.7687, 1.1522, -0.3901, 0.4397, 0.3874, 0.0654] state[eef_state]: left_x=0.3944 left_y=-0.1169 left_z=0.0051 left_yaw=1.0961 left_pitch=-0.2662 left_roll=0.0447 left_gripper=0.9947 right_x=0.3742 right_y=0.2225 right_z=0.084 right_yaw=0.0818 right_pitch=-0.312 right_roll=-0.1438 right_gripper=0.0654 state[joint_eff]: [0.6359, -10.2222, 7.159, -0.022, -0.4127, 0.1392, -0.0464, -0.0068, -8.6632, 6.2564, 1.1844, 0.1685, -0.0464, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.077},"note":"The forward move brought the cap to fingertip depth, but in the rotated wrist camera it shifted about 3 cm left of the jaws. I’m correcting sideways with the gripper open before closing again."})

tool

executing move_to over 4 steps (0.4s)

step 248

assistant

agent noteThe lateral move shifted the cap down to the bottom of the wrist view but only slightly toward the jaw center. A short backward move should both bring it up to the fingertip line and shift it right into the closing path.

move_to

left_x0.3670left_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5148, 2.2181, 1.4807, -0.9218, -0.7517, -1.655, 0.9959, 0.7017, 1.7687, 1.1522, -0.3897, 0.4385, 0.3874, 0.0654] state[eef_state]: left_x=0.3946 left_y=-0.0805 left_z=0.0041 left_yaw=1.1139 left_pitch=-0.2469 left_roll=0.0381 left_gripper=0.9959 right_x=0.3742 right_y=0.2228 right_z=0.084 right_yaw=0.0828 right_pitch=-0.3123 right_roll=-0.1427 right_gripper=0.0654 state[joint_eff]: [0.2803, -12.4923, 4.1094, 0.1441, -0.2418, 0.1538, 0.105, -0.1573, -8.6085, 6.2291, 1.2381, 0.188, -0.0464, 1.0281] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.367,"left_z":0.01},"note":"The lateral move shifted the cap down to the bottom of the wrist view but only slightly toward the jaw center. A short backward move should both bring it up to the fingertip line and shift it right into the closing path."})

tool

executing move_to over 3 steps (0.3s)

step 251

assistant

agent noteThe cap is finally centered horizontally between the rotated jaws, but its top is level with the fingertips and most of its body is still behind them. I’m retracting roughly another centimeter and adjusting sideways slightly to put the body across the pinch point.

move_to

left_x0.3630left_y-0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5411, 2.1696, 1.3899, -0.902, -0.7593, -1.6825, 0.996, 0.7017, 1.7687, 1.1522, -0.3893, 0.4355, 0.3874, 0.0654] state[eef_state]: left_x=0.3757 left_y=-0.0797 left_z=0.0037 left_yaw=1.1075 left_pitch=-0.2371 left_roll=0.0412 left_gripper=0.996 right_x=0.374 right_y=0.2233 right_z=0.0838 right_yaw=0.0852 right_pitch=-0.3135 right_roll=-0.1403 right_gripper=0.0654 state[joint_eff]: [-0.4034, -12.5333, 4.547, -0.0415, -0.315, -0.0122, -0.0024, -0.2803, -8.6085, 6.3521, 1.243, 0.2173, -0.0366, 1.0281] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.363,"left_y":-0.09},"note":"The cap is finally centered horizontally between the rotated jaws, but its top is level with the fingertips and most of its body is still behind them. I’m retracting roughly another centimeter and adjusting sideways slightly to put the body across the pinch point."})

tool

executing move_to over 1 steps (0.1s)

step 252

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.556, 2.1605, 1.375, -0.9123, -0.7559, -1.7035, 0.996, 0.7017, 1.7687, 1.1522, -0.3897, 0.4351, 0.3874, 0.0654] state[eef_state]: left_x=0.3691 left_y=-0.0825 left_z=0.0038 left_yaw=1.1086 left_pitch=-0.2385 left_roll=0.043 left_gripper=0.996 right_x=0.3739 right_y=0.2233 right_z=0.0838 right_yaw=0.0854 right_pitch=-0.314 right_roll=-0.1402 right_gripper=0.0654 state[joint_eff]: [0.253, -12.4513, 4.4923, -0.0806, -0.3932, -0.0952, -0.0073, -0.1026, -8.7863, 6.2974, 1.2039, 0.1734, -0.0611, 1.0281] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 8.027 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6033, -0.3798, -0.0216, -0.0246, 0.9993, -0.0147, 0.7921, 0.609, -0.3817, -0.0238, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1799 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.295 right_y=0.0035 right_z=0.1825 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.306, 10.5231, 1.7558, -0.0317, 0.0708, -0.0855, -1.0735, -1.1009, 9.894, 1.9951, -0.0024, -0.0611, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a4cc3cbb0a7d30ebea69131548a734e95feb40f264cf341be6547b43a08660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa0f2c91ad21e91fa95f2e1753829925c2f1aaa22934340cb643b740b5f60e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6045afef7f9939b6317cb1ee5b70fc1e9d8db148f56e80eee69a3f680fa7c9",
      "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 · 5.668 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDsppYZvG9OIUYeKHDUABRgRML9t0AFcwi7MsB75xHzTMZ9KSgjH28diNl1sNwPbIxv42Cb9RGRUBBYCA_fF5yQ5vF-GcAKAsUkNuVvLdhs7NQWNZI2dNsiUnMy746LqML_Czi7hP8qoDivYzrv6zjTR3Gxc_p9dZi1EOnYuvJW5ezHLbukjXOyb0Z7SnJpcRqT7qrXkSdrnKq3adK0Pkd__g1vUOcOybItiQCgYYVahJErtNp9WyVpK4HvO7h8fDqapzyBM-2jFRIHA-L1uE7DSXng6Qj37T19fQ3jif7DDkkpqEMk3EhW4q1DLvKHXf9joRPw130Xh4hVKyZl6XrXhFDmgDinPcHiivdNY8bXwh5JU-hdIsnXpckfKZIQCIITuK_MnC5M_qpvfe4rJzoWHBKjXgez4MdUWv0ONz9fou_R-A_NU4E2JJ1FP8i7GahbVq7C5YSIy5GI6Gwud-ECOVcejof8vccYnh3z_4UL8g8lpGGZoOo3s30vrYt9BQGFkSMYUl73mGQSIo0N0H3_zQdJPpN8vwrBg1s0Oj-RQyWMuXNQ9OwEFYt22k6qIvPIBGCLfslPyZPPy6EHzyMFQ2Jr3kew-H10qYDKcpTWr37mcx7QN7rHZ7_BYhG0H8ZspgvgoZp4S-AkWIj3Yb0RJsOaiYtJd6F86KvIsNVO8kLI5ADiGDDBLqBsPtEf2nJ8u2Xbt-THiAxS98dyQK6e4KEFpdxuGCDstff0j-KVoQbGMsbq2uQzETjbQRHPdYOzTbF7YUQLkXbZWOOGo2YpNg36geLWVYxS8y45l3nUojOUvr0KNOI0nwSZdElTOXuFxXPWgSTzi0axJtwur3UmnIKR4xwbWyjzc0wyLMHW06XpR4kDAVEb3JNIaDOzMkOiy4fFKCtxI16gP81rH4A1kKc5TUltEAe_k8egsQYzYJ-Rgf9PhP7GL4LYy9glJZlnhAL0weq3rmTNXtGerscgwGSDVVVWJ2xfjv7sDSxT4AAd-OkwLbrBskz3U0RrjFFc3QCL1Yyr-z3Pz2BJZQcDyWuWNjZlYaMO9fJKmiLAkdo6_zZpWAi4Ty-c4u5BbNZxz5AiBu7CA-6KPvMOBCm6cI495464zzLNuKaXjNGvHefmJxMxAg18dONxFEjqB5LZQvM2M_TsiBVdjF0xZyrU3FNAG9s0-gwoSa-fij0ZcmzyRGGpK9WFZ_4LPw7NY9-DcxrR3PV272WGEk_lWjDx9unmN23b7yRF78cncCUpfsK2BQFQt3BxXRWZfLaTckSSuNGb4CckYZcGVDYnT9RlZ44eTkSnbyPqeJRXhplBw7cUpImJAXL1bM1bCV0670O8AQb01i4nnJIZl9_r9-zvPmeX-I3hyjBnM_zkKOR8hx8wsqm6PEKR0cEBo3Wy8TD_EVNz0wU9FVgMvqRc-BoLOK7kfykyy3tBUFENIZti_gRHzo3xg8quuam7OFUxvGDqKk5HdHOwnh-DdCBI3xbN5fWPmi7K1hOSVm01EW1Dyr1T8u_Nf0NpuWnv23QzuFYbQwm-m3M6269onZ312JD4-e7aFbG97XVzdUPWL3Co8P55aDveJ7Q4sdsYn3W16XXdpSENnCs2xllE8NjT2rTt5PGlcfUEc4Hem7qP7MvyWuW3l36UPEAxuE_HN5Sg__kJRIZSYWrQ_WyQFhXF5h-Kl0Ba05X-74qWn34-4UH6L0nuwu8IE4XRgmRbeBRHwNxjHVHPkqne1Fi04NPYoRWb8hwOjRWdfyavZ-xHsgXuXM9oVMMhRcgRByq8SQ3c_dLZ-h31eCs_-VIe8TWF09RwkdZV8ga1dWxMfsC23Yq5sdExQjU648aYCuhXGvahXoBoI4c0wGJ5NW9o1pPCCbQ-C4lgSheV6sa6RdoMebr4U0OI5GqwXkmoMXpU9qQFf2R7zEaNhHBPVycp1oWIFfXQdbnWR8_u5gJZl4BfwWSS7kf1SeXQfDH7dlzn7Dg2VldkbnyqcTSt61hmK5fPVOwNJvNLnnc6KX9DNDBgMa_5dFfPIP-jeEsXcAnxVxAezyvn-4h0YfLycF7QrSs7Si0p05R5-oiaJKGrHdluj8hbvafQ9hSD_oAfuDph-E-MrciydtBi6qSpWzaIQ2AZCJ3jY28VtT2aN20wiFRLUVRKxLtjo0RnZYrlShPXPmXTYWdwPC5cNDWJeo-lrvvQo1AKuz0Rlp7K4JudrjcRyO-4W00pfngtE6hKR91IrzcXmumntrTk1wzSp0cYmk1VK-Ng7Thq8pROlqVbUSaR2-fZ2L4HF8ElzpZFlrzgt92LIeNTNzchq_OsU93kHBYPyMdzfOuh9DobFPVSb5f0tji275s9O5lFcKqdQ9mm_cDZFCNdLVa_xp2ryixzyYLOQgmNSNO1SxvYNdqk8D-J5VJEhX2fun3uv-cK_chN1AlHpT3lf40lia5NWR2xdWqQ_syEr6ycUicMMhjEszQvK83FPXJqyzf7N40Ce3s_AF2gzuqmYc7GUrBeA_bUAxbVjqcxtDvM1OAa_706vrvHS9lQVp0ws5h5ZykRJFuvWAISdCe6XF83FAcV3rUuLrqJ9rODlcFveVPpqpDcts9MT_IT20zNSJGBn86wy6PIje7f5LQAJGZ5HIvNJkL-QuhVk9wCT9ZxMDDNfko-MDVSsSDHV3Q5gJ5psfFS6Oaam4Iuct1A75kxZjfkHKFKlYLSS9sLSc6F_S8NMmU3fjzed71deKBw3xpMVmrqQdh78O0aSEt3QbtXJL8vQFS38PnbU81kOxEQ4JdLZ724lA-NaUdH4GO1zYKCooY1Hu822bVUE8-Tsyet5CW_V9VZVnlpUIyxlRsArh-31ZBwfcmh-FrkIoEOZtLsf-9y4umsprPi5-DGHWDcXUbgYL5NW50wsipEwXdnbe0QWjavqJHLYI1j7Xulrci3tt7p4rVMAS9zlWmWdY_qtl9ijInnnVEd0QiowxVJxVDf7jNJ-LDJ-yMT9lxAPKp0GkfoZlDgqmnog6Ibx657qkTaYjJkdISr9kqv3TYbilZfBxJlfSoXhNNYsBpHAuheQyu2PKtoy6mLSkS-tv6-X6auDFPzAltFSHnI2YsE-W6T_ZyMZjKrbeajjjvT6PqZdmBYT_9qJTKfOnhGRg4K7rMalrfKi7TGpm3CoOaDhWkM-iabHmd8BpXRjppqkCNpw_jEBaGEKMIBoJ3yFla4NiZwlge3yQ2eUW-dFpoLMVsc3UGOVFUzqdNSKsPEUJGP86sjJzcktyYGb1rbITWKq06ybgrgV79POqukNqDxUj4wKFKzyKBA55JR4dOJcBPDOvfKElDfNw0gf4ePN-wg-TQ9U-9dKBLVSGECWEQ3E3C62icRjCXUwbc4f1N7AzyjCZISqWCoy3vKd6YWSlUx46P9jR1s3hhMq3dlTyh9FBt6qQgDhVOHqusiqOLu3xJIzgSjHk6H4Vu_jUWTup8ClGFmiJmQ3gVyrfRsZZRZ9LgZjFsFGHMaNYAWvIg3DOzSyrx4AvztD_gtwCdEIdUOHBsQ0chzvjFsabNjUja3oBnEtjky6Ug3Es7HNHGFWOxbIgj1FTfEDa-eQYoF",
  "id": "rs_094f36e649ad9dd2016ab420e5e2a887d0b4869d33354e659d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDsupp9E0-TZlAUFRbO7PZWLyXMXYzXL1crbeJLvD05l67YzjdqnWf1iXGTihPY6gW1nzBnVMsD7s2llssPV6V6GMG5xj60LafkWxerA2gXUMeEkB50Q1xLraF9Z0MTIo57j2DaaQ-HPc2WJ8HyeDmUPfjbgg5og_MCC8onQtDeD1i4Za9eKj3QlPbxCCOoGyc6XZt2Z-P0Ee9Cxy8ZslQEjma_EJ73wh02U1VxjN5wc-JgQ-WC6IRlnyCzbyCmMAikIYD1kb_X2XUV37J2seCNaYclZ9Owx7SY7d04UR564Xf-nWLPmXVRnx7J5vqjon7pdwToGpYs6Fn6f6ExAj5YFNj43KM7Pb2_Zsmt95U5rP3CJffbn4WGble8t_tRJRM5vjTJfnVhXH9Ly6FQdTj2xxvE_3CLgeXq-BKyGd3ez152mIosnME0lM1F6NkCSBpOOGezUsVI2U9j-d3PCvOGIWgV_n-yRjCRIv8ffZ224ALjJfA2SWOdUSMrjqTyvDgyN5jCLHtL2oEusdSzJiCMOe7TY2Yl4PEJ3K_e0pbkUkxIHFSCcKsSeEFiAt5KXEPt5CIb8ERssHEHGx2IJDVsYORNYLFgKOsjrkwhrGT1XFAWrIKQ6zR0rJuCuA-FIthGKyrA1n5ImKILOT0U6KnOFzfeRDhEblwH4Z7RzXC4dxqHyunnfj_5M1nHptwKDs0uKY4Dn9Md8zoZrCLjnH2P0lGkgHoKuTpLVfQu7tmbRHdxU6QatbDXKoZMTCL-oPdOgeSwLFwJZDvheM-whvyesL2HlWe5FfKK7nRjbPfhAiD1OvE5w658BQiolGR85gbfDXov7_1vDg2Fm_eTJY_zUW-WXkedVNU1ygKkXNGoSghqeppmVMKx6mnsc2NNyvjAIgFlH8ZkPOvlCRzTPzvsYkUGOi-TGH1GHO1JfnVgwvGuNKJl9q6ls_m3CFdKgKfy2cxXelpVpAig_pnM8X6LlXUcF8cjOPt3QGY74CGY11s1QQ9DemCBZ5SUSGYwrCyU82h0gHbIUl1kcdKTSiQ79P_hq5XUT4tvxuky8NFN_ZxhoUPmUgX_Uxf5bkykseSV5Fcmd1MkZKzbrwyLSHk6M3a22hDo3OYfJrgE5voiBj9ZYye0c840TdcsxE9Kt_zZeE0uwwxt3m04dNYjN3HbVB-yVpMGmIMJKF5i0I4QyBpSbBT6EzQfsSQdZoFCm6kJNumbSycF2Lxs_iwTWBaTG2ogzyBVn-WKkXlnep3OKEECro1c9PSnW8CxGKpG6eoDajXfhSluPOsTGprOZp2b8BwvVYAKE3Fs3qYalzTqNuxO9wQYa5ms1PpaaSsgfXDu5av-6Iz6ECDjZuanmEQ1mYiMKo7n24gZXApAJFRg5mwYNRKqOS9oNi7sKv3UFQD8G6ZhOESieIS40_2FmvzqMTQvETufGiSI66gQIiJel96a2ArUSdNJlA6QYZkD4iOWPYCphilM9oyBS3h_IaZuZVWMCPWZovLLJnGhCmtsHoXoK8eI0_LtAHgU1vSeiQpRR89Al-46wb2UJly7LtzIgmMAA4Wq06Jh0-VeK2QeTHJ9nFL9Yn71lkca6B6fpwm1RRPRx8V7IDnhub7cgjWlKui7bHGoyXQ7v4ZRCIRIZW6Mb_iqaQGPJR6GVNlLML6AUqRM2lsXV7mCYimVO3lkd-NfEVtgZN27gU2jvtHIDbmyUzKauy7HheQQwgg2rQ6npF83pK2BF49JQSgVSKfL0WHsAu8uydU3Y4XM3DU7_HCuV6aE5fY7j9Sjg5G2cb0NnfSMRCNT_OZTY9n6bXmw5A==",
  "id": "rs_094f36e649ad9dd2016ab420eab8bc87d081918c28cf217d96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.13,\"right_x\":0.35,\"right_y\":0.29,\"right_z\":0.13},\"note\":\"The short black cap is left of center, and the long diagonal pen is right of it. I’m moving each open gripper above its own object, keeping the arms apart before lining up the grasps.\"}",
  "call_id": "call_YNgLqazgh3von0tdo2ylLms8",
  "id": "fc_094f36e649ad9dd2016ab420ebca8c87d090d2ec9827b39f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YNgLqazgh3von0tdo2ylLms8",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7006, 1.4059, 0.7181, -0.075, -0.5625, -0.448, 0.9993, 0.9398, 1.7382, 1.0794, -0.2043, 0.7082, 0.5968, 0.999]\nstate[eef_state]: left_x=0.3404 left_y=-0.1591 left_z=0.1117 left_yaw=-0.007 left_pitch=-0.0558 left_roll=0.0275 left_gripper=0.9993 right_x=0.342 right_y=0.2793 right_z=0.1147 right_yaw=0.0343 right_pitch=-0.051 right_roll=-0.0458 right_gripper=0.999\nstate[joint_eff]: [-1.6752, -4.588, 9.6479, 1.5897, -0.1832, -0.0073, -0.022, 1.0735, -7.5009, 10.1812, 1.5751, 0.7253, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622e390f7edc0640e66c13be0c05c6c8c11329f7151f0c4ca0ba77edf004c21a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200bdfed845f18d43e0dc4276d18273ad97345a7cf108fc5d9a1e6401990a2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1644c8330295d85ceaa64c3d8c1f4916ca71362d75eae0b085ac61fd24d50397",
      "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 · 27.6 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, 0.7933, 0.6033, -0.3798, -0.0216, -0.0246, 0.9993, -0.0147, 0.7921, 0.609, -0.3817, -0.0238, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1799 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.295 right_y=0.0035 right_z=0.1825 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.306, 10.5231, 1.7558, -0.0317, 0.0708, -0.0855, -1.0735, -1.1009, 9.894, 1.9951, -0.0024, -0.0611, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7006, 1.4059, 0.7181, -0.075, -0.5625, -0.448, 0.9993, 0.9398, 1.7382, 1.0794, -0.2043, 0.7082, 0.5968, 0.999]\nstate[eef_state]: left_x=0.3404 left_y=-0.1591 left_z=0.1117 left_yaw=-0.007 left_pitch=-0.0558 left_roll=0.0275 left_gripper=0.9993 right_x=0.342 right_y=0.2793 right_z=0.1147 right_yaw=0.0343 right_pitch=-0.051 right_roll=-0.0458 right_gripper=0.999\nstate[joint_eff]: [-1.6752, -4.588, 9.6479, 1.5897, -0.1832, -0.0073, -0.022, 1.0735, -7.5009, 10.1812, 1.5751, 0.7253, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622e390f7edc0640e66c13be0c05c6c8c11329f7151f0c4ca0ba77edf004c21a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200bdfed845f18d43e0dc4276d18273ad97345a7cf108fc5d9a1e6401990a2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1644c8330295d85ceaa64c3d8c1f4916ca71362d75eae0b085ac61fd24d50397",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCD0hvhFMGXvtmvUKmhvdMHO9YTyb2_u7SVnced80tzp1iywebUwbLig6LBC4Q2OcGAcSzUmFWcfnYw7Ko9yGOMg0v7g3IbodE0DIDatH8x5oF-vsZGP_df21oppAsm14N7NjJ1VbRDjtcCioRJR14zk88TcL_7JbMghwLSUozQs2VcYw_RlcE1kaTCKAbL22OP2Zo5gPvVekFfHyn5hbUzVTYLfzzFBwzUaApjAWnHsW4aixoS6H4T7HPP6xf9PS_O_zBx2skMETt7X5penk5b7BbMKb9oE4VNuPTYpFfcEBTfAF81wpzxg4YA2vXDD6Jd8LVL1uL3VvQuXj9gQwxy5nmWiA_6XZ98cmg95J0Ye0WjE-ljUlF2_54QxaA1P1Ic4GeG5Ysgt1cgQAU3KQivJj25_xupZgvrV2XnkzmhNdzPAO5DAXhFCR_joZnHRaEwkSCwb0ygySqeRIlwTigZ4ukDCaGZ5qPqn_uqotgY1TIiXWtchaMxbX5jxpdyzRuSMFE0IPmxdr5uEH3sPyJt47jzhJaoB-6bKW5OSYetggt0yOVryK4yFBEVo1hHTAzXxWoVQPpSFONY0m6y5mwXspKT4peUGfkk2VQUUp6T9Q76rKdlxly8OIvjsdhvWVkIVyg1kV_3sTtO2NZYTYJmbKZQKdgF4co5entQRQwdN16yZAXzWAJfsVygY-hxAI7rOV2gvWwsbdF05wGjqTbWF5vQ2RcBUA30jacZBZSOGqemhe2F4A8Gg6FD3iKb3fO4817Z8JC8-wP-KFXSXbOM3IAwS_eL0vd81c70QmfSPYivCOByjbQgM1ilA_8rtKgfp4jy9aSUuJvchusXfMViQyuSw5bZm2EG1M80RCYyt4MvTxaUAjQw0xxrOuaE5kj3mCQoEj-xFaJzorcQAL8C6O4Ui5s0jeFLANnF7T5ECYPJMQRTJDoG4aEjxHe309EaeVcEcxU-Xex0082Cj1iJ_Hccvd8ehhHQeUbLSdlco8fF65-Vui2coVd_3ziZ6X9fjTA3Day62Pt7jPR4ATGd1Ebd8VzvX8t_egy3NBJDs33eDWDgButJ4DjugGUuSAHg1SWIMdd3KEx6BwtMmXYULAIpPfXBeab7qABTrEIuHJ92rtCdoxXojRbWGk_IRjNixjXBU5HPEa5gIFJ-TqA3kMGlE9KsFHXxJcgOW4pEE8C_Iih2K9yZ7wSNacvXSnCaC_8GQJ86ARHhq65xbcb6ENjnUA3q0V1k2y_vrr6QjVjODuZHVuCBp9xuuRT-jN5aOgNAFlYkC4Jequ_6XCsVSQ8rtPlCq0IZMTA--p3MAAhTS5yzMGa7xAcgUeSWzb5FzA5ipGc4XG2ixJnIYQr5xRBaGNC3C-_pSnz7b4lpwck3cleYEOIv27rseFHR2qupbZ6oOPaOpIS7L4JGva1RgTmaGRJOF7Jtd52Z9IfIW8wZ7yMqyV0ZAjPJC80F_pTG2b_AgxBwOpAR5wl9VLPYkyhiI58hS69A6OeqfbWR0gmKG0Yjuvx9cnSlpmP9MSOl2hO4TXuqFRLNvruX6XgFQklwuuhJMgKsfVNPSCBOQDyBQXraFubft6oqJytyeOHP1zXlcMa2FWFPIc6SGuIV_a9Qg6MR7QNyVLJsISoie88MO6trWQUvBBduA_rXyyOYOeVfhEmfAWIP4ZpuxMtDxPypz30pAp-CXuIJFDQLPAe568MbVHrTy00zGKJnx2-0aOZsDXF0CTqWkPNlmFF_q0JuCJv46YKPyAKeOPTrikML-cSuBE86zS9nYRbiCxS2vzzvOuW9IhjVVqaFfEXPVXt3sWvluqy0alvf5_Gmc7O4lBX6ZycDWsL_t8gne_GL-u6VBvYc9VYls_SnTZewOzBr7RwZD8XOwncCAn-QuKCx3wxk8_IJBOqjIP5SNlJeKJLUEYIobYETE5ukBr_s419TgF31JzYBa4YrTPAdMzKpCmxAWv2Dt9PULCAbPGrxIzcC4aj7I7wavlttJGJRsxkBc2g9dKfzyaiRzdU__2501yJ9VHU49v5OE--P_0NQOSpTVQ4OeaFsvmzj5x_Ixalj1KQSfIl7Om3BvG0Ot62HFUUjPFwcsSNRdyjJwXy0nzAKhVGFWM3TN6q_A54Nuag-i9CCXvYeSl6G3x32JJne7McGCUTwcX7YyvNLCQDmOfwfrOkhm3kHjyGlvC3eqlHPlzB--WNwzvSFvpho7p1VMD7YYmWp7iQ1USGCGkSIgHvVzgk4x1kGhpOvNniuYYrXfrPVAoMJrMdcwf8RMbuH_GC24lipcZ07fr1a4Q9hzUgMMmTjpTAJ3THteGIsvEGuKpIJOyaL9FC1IPnNqVFgti4DX21yklsrQpuY5Nz_y3ApvmjbiWi_Tyoz53Qk4fr6jv_ArZoEjG0jHd1bONwPOeqTeFyt7R-LX5j3kY4yUiLYldvA6qtDBwCQGnZNHz3anSdYxIr9DPgHRyb1wnQqyyLDE0z5MmJx2-mMb1th55AVw2YvOM5exEU8tXV_DagPymkQRz-Ommyyb8BaEpZjyNFkZrdm8tgI5FzpdZL5Rm1OQyyC9UKDh_pbqd-NPVpb8yy8foB9ATLHjzkqplvOhAN5xVY7cgcJxKwSSq55CR1YwCQ8zRl3U8LKMV2lwDlOfvmRzP1K7lcRkW092kr2phgMunSpmFyBin-BnQidy6FR_DUX0_ltc0PJ0UyEiqNmVMIBTouGL9-u_3PB_BZ2vQPJVC9tkGm_DlpxiC55rF9ddHjhO4yb8TOAmRzSUhHVTMcxrDiUkt6WwFdotSyyFdomyaxWPrHlnWrHryaj4HriWNW8Egdywre409WJBTfNEuIM3_h8Q8HDeZSJm0yMgFGiauOLBMSCDz6NvhLYzg_e7vnW25-Nhv0Y0XAqxJHo87Rky7WYjpA0meV649BkBwhLRsPkj5cMN8Fyb3sEWr-J8XVODcOBuT8XJbVY3NbalUcbnuna_BlmnvqquJlckcUU6K1YMLjr3Si1UieiFwPX8kw-jAZZxZ62f5s6akSStAMTe_nrxch4txlMQef_W-nlS5K1yM6QMr29jtgRGASC0ws3iYiMEDi1TIAuZzcpeYn4-O6RfmPGQiGkwK4QHdGBL5khKWlsiuPn_xMzbPsXVOe8e6E8uAJQENIyHzNrpM1JlA3m4yFIW_YZvAnE=",
  "id": "rs_094f36e649ad9dd2016ab420f0075487d095f87ffc4fdf9618",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"right_x\":0.37,\"right_y\":0.265},\"note\":\"Both objects are visible ahead of the fingertips in the wrist views; the cap is nearly centered, while the pen shaft is a little to the right. I’m advancing both grippers slightly and shifting the right one toward the pen’s middle before descending.\"}",
  "call_id": "call_IquIRpm7WbdwsUrrvrUNejPN",
  "id": "fc_094f36e649ad9dd2016ab420f3b96c87d08c99f143bfce2d6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IquIRpm7WbdwsUrrvrUNejPN",
  "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]: [-0.6422, 1.4929, 0.7509, -0.0589, -0.5377, -0.4274, 0.9993, 0.8719, 1.7592, 1.0824, -0.1989, 0.6647, 0.5442, 0.999]\nstate[eef_state]: left_x=0.3567 left_y=-0.1493 left_z=0.0948 left_yaw=0.0234 left_pitch=-0.097 left_roll=0.0544 left_gripper=0.9993 right_x=0.3586 right_y=0.2629 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.0858 right_roll=-0.0768 right_gripper=0.999\nstate[joint_eff]: [0.0479, -6.9128, 9.853, 1.79, -0.0464, 0.0904, -0.0171, -0.3624, -9.1419, 6.612, 1.7753, 0.2906, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6a7075ee10de87642a5daeb19db45856e0f7341304bd86861e73511a9073c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2377a3f603e836ae7a7b650ba3a82b384b40004a260722a7f1e26878261523c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1b6751d9d32ee36aec7e22ee5febbcb99e987617f98630b956fae51fe7292a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.472 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7006, 1.4059, 0.7181, -0.075, -0.5625, -0.448, 0.9993, 0.9398, 1.7382, 1.0794, -0.2043, 0.7082, 0.5968, 0.999]\nstate[eef_state]: left_x=0.3404 left_y=-0.1591 left_z=0.1117 left_yaw=-0.007 left_pitch=-0.0558 left_roll=0.0275 left_gripper=0.9993 right_x=0.342 right_y=0.2793 right_z=0.1147 right_yaw=0.0343 right_pitch=-0.051 right_roll=-0.0458 right_gripper=0.999\nstate[joint_eff]: [-1.6752, -4.588, 9.6479, 1.5897, -0.1832, -0.0073, -0.022, 1.0735, -7.5009, 10.1812, 1.5751, 0.7253, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.4929, 0.7509, -0.0589, -0.5377, -0.4274, 0.9993, 0.8719, 1.7592, 1.0824, -0.1989, 0.6647, 0.5442, 0.999]\nstate[eef_state]: left_x=0.3567 left_y=-0.1493 left_z=0.0948 left_yaw=0.0234 left_pitch=-0.097 left_roll=0.0544 left_gripper=0.9993 right_x=0.3586 right_y=0.2629 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.0858 right_roll=-0.0768 right_gripper=0.999\nstate[joint_eff]: [0.0479, -6.9128, 9.853, 1.79, -0.0464, 0.0904, -0.0171, -0.3624, -9.1419, 6.612, 1.7753, 0.2906, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6a7075ee10de87642a5daeb19db45856e0f7341304bd86861e73511a9073c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2377a3f603e836ae7a7b650ba3a82b384b40004a260722a7f1e26878261523c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1b6751d9d32ee36aec7e22ee5febbcb99e987617f98630b956fae51fe7292a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_094f36e649ad9dd2016ab420f7814087d09b54f5706537f6ea",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEQfW4H4N8o3oFSjdR0KxPOO9Lx81mMy53QbVlgne1yf0v4FgY2K3qKu5sMeWCoEd78FoCdoyUi4IxLwtXBUGp6PcJYOm3_aLaojsBMdKUJC4Ivy4NNGYxNhplH0fieNrIoInYbf5bccs8aBih2GzBY_iKTyWow3LCKl1UIgyizBlzSn8f618Gly8adOjljMvdJdh05XmFqiI-TXiwu8gAliyFW4rKYkuA2cr8AKzYUzHFdKvhNj1Wb7UIEtEzrCw1Ne8xMWmFOo_7PRuMx_aNWbETXxIMjH9nN_PGVFEasxSUqHPWW4Sg92mSkaViYEcx93dF4h50GjVhGXDb9_Zq7ysT8c--NM21_xE44PaCRy7VRfEyvTofsHswEmuI68YsR2FHs4aYqIWmb0lWUGznpUDEP7bnhPyPz6ROFGwBEGzakzLlUV0-KMiW5WH-PaWt2l2qGyLvdS41LV6fsmOnLkrw__WaQsUH6DoAxDVXLudldUOLpZluPhQyHpEOtrk2Lx6hnsY9pPcFdLK4lvMUJps8tcVsMaQl1dI__LW3Pj5ilZtAziTL0zgWvFISJpk_9Q5_B3OgWEU5D3uXvcEdxF45Ivc-CdTlKLlseUwswOrCESgfu0NEgJqFRnfApc9y2FW1mSWdM_4sI3V3NdUew-oEQMYJuqqcVWmKv-lJ8QqwAfEOIOP25IKtpLWbc-7PgO3f90H-acUEJnAa749o5wrd-Q9D7uoARcsOi4kRaWDI0F-byU_BUsuDRnDJRHJMjdHoz2Fcd-g4gZjg7fhQZQWMD5c54dHcnohx-03UacYUTj1TyuoU8-LtLmTuRYig5X9w68SgqeEm0AgD7hSQ5vlgrqSMJiFvazOiC8qm2M8-i1U0Wf2GEadN1AdOgJahZI-4Nej1B6BnnfuwSvUlQArEDGQNgMatahw1G0nY5rRMx3e1rL-cPNYnuqBuFq05_xv57XwCqhuzGrqT-GKWGkT1UBOQg2od6Zl5jqi4iniMMwGMlzKmwtHYWTg1eMhnYUzeah9_PEjjX5NrUCW_WlJtFqHBsq_3bIBPWBOQje32HJ8vUzatZeoIQxLGFsk_Rtam0vVzNxEr4EJPW8cfw2cF7c4-vZZN_fMf7nfGEyziJ6iUyptPkxb749gKVLpwvM4r98fCy0TCi4Ke47ggyEx0Z9VNt6VxSpToToxNAS_01G7h8OFo5t6McSVZROK0p0fyEF8gC4ejiWL78XXuH1aPrX7RrBHmzzGUsvsT1PoXi4Bm_KxKMb5gCtzP63_fvmR8H5_dDELE8BXHPu1s0ElaBc3lMhypjVAhUvMCm9dCVWepDnXGumLQHaCnClYhGHa1AaEOeTESNCNHshywGhidV-EUDlJQtWN_xgm0VQwcFvhL0IVZr_SfebLbK5f1Gg8KEu6pnFuLN3V7enKSoFEuTVESMJbMC5Aou0_L9P2d0UGTSBP5sgFi_VyB0ObTFU70pIHf_JBurUa4zfKOtYgFWfzS0z3I0Hk_-HyF4ZwP_0y8khvoG9jOf59t9W16SN6eOPNpv2nB-jZYN2Fb1vZMnc_r98xwjhMs5arss0HHQ_XQ0FuenKGCfNiVpEz6g5_-ek49Imss378UZLoiBEA36ZOs069ayYoe8Lg_tN8B7otrUwSjNHnVTU9wmBC5-b9i2HSYGZ2K49UI6iqGpoDnjSgZySzLK-gVyhsCyE8SJjgzBNFw9EBB-ocvGNNOD",
  "id": "rs_094f36e649ad9dd2016ab42108aa3087d0a6d3278893a1fc4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.035,\"left_yaw\":-0.85,\"right_x\":0.38,\"right_z\":0.035,\"right_yaw\":0.6},\"note\":\"The cap is centered in the left wrist view and the pen crosses the center of the right view. I’m lowering toward their tabletop heights and turning the jaws roughly perpendicular to each object’s length so they can grip the bodies rather than slide along them.\"}",
  "call_id": "call_uMbGNISsokHYrx3JtVDXZBtS",
  "id": "fc_094f36e649ad9dd2016ab4210c0adc87d0b998d1a971766296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uMbGNISsokHYrx3JtVDXZBtS",
  "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]: [-0.6285, 1.507, 0.7586, -0.0586, -0.5167, -0.4171, 0.9993, 0.8486, 1.7592, 1.0824, -0.1719, 0.6312, 0.5079, 0.9991]\nstate[eef_state]: left_x=0.3594 left_y=-0.1489 left_z=0.0913 left_yaw=0.0162 left_pitch=-0.1114 left_roll=0.0542 left_gripper=0.9993 right_x=0.3655 right_y=0.2626 right_z=0.1052 right_yaw=0.0447 right_pitch=-0.0871 right_roll=-0.0684 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.7761, 8.8547, 1.7167, -0.1978, 0.2125, -0.0171, -0.2393, -9.1692, 6.7761, 1.619, 0.3834, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8efad4b1c64a18a97a74173b3799535b3dcabb348875a06a952049788e2a69a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f2877f5ff42c25dedd7aa3ddcbd093250168876f113028a0d137fea7ce2c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e50ea3fd80e3633dc26267894de28e54da2dfc0161df03ab51c390f955399ef",
      "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 · 4.992 s

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

message 2 changed as sent

message 11 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6033, -0.3798, -0.0216, -0.0246, 0.9993, -0.0147, 0.7921, 0.609, -0.3817, -0.0238, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1799 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.295 right_y=0.0035 right_z=0.1825 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.306, 10.5231, 1.7558, -0.0317, 0.0708, -0.0855, -1.0735, -1.1009, 9.894, 1.9951, -0.0024, -0.0611, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.4929, 0.7509, -0.0589, -0.5377, -0.4274, 0.9993, 0.8719, 1.7592, 1.0824, -0.1989, 0.6647, 0.5442, 0.999]\nstate[eef_state]: left_x=0.3567 left_y=-0.1493 left_z=0.0948 left_yaw=0.0234 left_pitch=-0.097 left_roll=0.0544 left_gripper=0.9993 right_x=0.3586 right_y=0.2629 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.0858 right_roll=-0.0768 right_gripper=0.999\nstate[joint_eff]: [0.0479, -6.9128, 9.853, 1.79, -0.0464, 0.0904, -0.0171, -0.3624, -9.1419, 6.612, 1.7753, 0.2906, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.507, 0.7586, -0.0586, -0.5167, -0.4171, 0.9993, 0.8486, 1.7592, 1.0824, -0.1719, 0.6312, 0.5079, 0.9991]\nstate[eef_state]: left_x=0.3594 left_y=-0.1489 left_z=0.0913 left_yaw=0.0162 left_pitch=-0.1114 left_roll=0.0542 left_gripper=0.9993 right_x=0.3655 right_y=0.2626 right_z=0.1052 right_yaw=0.0447 right_pitch=-0.0871 right_roll=-0.0684 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.7761, 8.8547, 1.7167, -0.1978, 0.2125, -0.0171, -0.2393, -9.1692, 6.7761, 1.619, 0.3834, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8efad4b1c64a18a97a74173b3799535b3dcabb348875a06a952049788e2a69a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f2877f5ff42c25dedd7aa3ddcbd093250168876f113028a0d137fea7ce2c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e50ea3fd80e3633dc26267894de28e54da2dfc0161df03ab51c390f955399ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEUNOEKOaa5WnhT96kQZhhk3Ob2uHOIw1FDv0WibAGkPzWYdbollG1sa68BWdxJTavnjMrJmChm9bwZ0g7xpUgC0XPDe8UqK7mSsJm0z-R4tBBLsr5Qi9HimEucNoJSSmtBdPH9pBEQLBqJJWGNGeerFeZU-msW4j4Rltu4WqktU3VtG4YcN6i_B5j5w0cgs3y5CqFUGnn1IxTrH7ByAta1nSR9EDmtT3HxIDggSWh6iZ4oQvuqnl2L3sIjPYTCD_Gi9l4BGAJRxqNjYZrzRcMK3G4pdwO7EhuoVigHNdNRatZmCYbhfWcDKoU0LqHFvwFfwxlEjFX5z82yAG5ggM8yFTD92JShrt2a_HiFOk5TdBeocy4ICSvlMp2eSSH6jCKUSeTzEZMaPkX_OWld6nKTRdDoFERSlMEmPptNjKrn63Am1EiwTbl1Y0Wx800wPBNyndq9lhWa9wDb-qkvcp6ibUFzzIWtgJRM21ob0xNiuEcuQAob3YIg1NUZF-jewNVK3NVEMCeejHZA8n-FuGQjDesUOxxOEW9PFajL2TikpdXO2iu1YuFEqYt_pfVyt4OpDINHUiVIAg57WQlK7191FllJEivFYP3Y4xU5wyfsVxWefZckAFHCSdJ20StJFboHqId-jc-PaFqQ9SveBe0Rvk8W8ZWarrHDu8_wDh7inAyUgwcpqGIuhuYAqgOER_0o74kDHcDX3-4SeyCMwuy2zscn5oBSz2Xy_rJPqsTJpGlaiEnMFMtI5SXDu8WaOa_Q6Zl0zVHgH_69qOPWWLG2L3ekDeBiVXUQ5EdsqIpz-LIKE0HF4FCoHlWSBqyPfblrnhzsJuHQZcPz8-cFh5APpyApbUY2woYKt6o-7_Na-S1-_H0gDgDCQKGCuSLt1MOU25Reds6luMx5O9AgvY9yVCp9JtX2hTirIR-ope2CvUYTsJlXrf2bYR5ZQKSIOz_3TsetKZuZtEhdJaxUqH17LMbw4kwz4iWvpH725mFY9474QEBAk65I19phwLhiloytx8y66lEeIl4woj37wA7J9Zi0HFHhod2qMn8fwlez39vIijcE703PB7RtjbgYOfPwvuQaZ-ijaxJ1ED7HzXP2p__aLTmTBOfbjAtJvQ48OgWV3gut9KYXlG1PSW9rsJaILp5WUis1MkarDIda7aSOWm5GBICiJSI4wDsB_QUFE0uakqojeVn9Vz_wFnfka9nDI4w3cv192ZUrv4TCA7sQeB1Zu4rRMKNZWs2JuPptq8hQ87Qp6q9EaLYupIlUHlLYdLO_TJwY5g88HKn3AdAYhfJCGZPg7GOsN4dlHJ_aU05m2-8nQ_KmvgtbwfqV6-fwhcFrgIle2VG6q9cemL6Ze5nn2bOSP51f1Rv4x730mEwa6mNwvvhqTcpmeYPFxxxiuYx5rLVeUlZeOrlUSmeVE7AUsA5RUGiDxn1Rbs3BjTjjcVKjD2xjxRy5h-ezHAa2JCDhcfS7gAaznxWAGOzYfO4hqT_HgU31sQJrp8USqPULw7aO2qvM26U9uwKEq4ifXZHe1EXFY1Jjv_q_2G4TyZg3QAIlr8QFMqPI_gF2Bl6ljt79_NjMWeZ45NRghVCgvGSB2IperGVuSjE7tL0Bd9yvxTHlgZuwV2emmd7kjOWrOdCTGjsfvhQ7xlyRlef5l83Lt7y3RR3nqMlvU0aNqXWYmgksQbuTpUbGegkSfva22hBArgwHy_G5dPV9KAticy_f6SLF-E-iyoC8kWOZcgNOO_Uzv9QSRdthfllSxAqKXDT9pTbJrD6Szv9KVrb7JCp_tKSG2BAPvFtTuTZt3iVScdyUYJFrapmWezSIQxDsScUOmFrMmeifnFjUZWECrNUw3bWyVf3Vm4u5nzGbjJMkoajN7IUIAyQ8eVJoHSdI7uQdO1YzFEJahdnazXPS6A7EMuqZeTISV9kgulsO48aqv6niHELOoQFEOCuZOg6YdVEFM35F5-UUzlt9aK5N",
  "id": "rs_094f36e649ad9dd2016ab42111f0bc87d0bec7974b8a6c81ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.16,\"left_z\":0.015,\"left_yaw\":0,\"right_x\":0.39,\"right_y\":0.26,\"right_z\":0.015,\"right_yaw\":0},\"note\":\"The large yaw request barely moved either wrist, and both grippers remain well above the table. I’m keeping their original orientation and continuing the approach toward the cap and pen rather than forcing a stalled rotation.\"}",
  "call_id": "call_fAi3vfv4v3Ek13YSG7F8cwsi",
  "id": "fc_094f36e649ad9dd2016ab42113899487d087001555f5b48f22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fAi3vfv4v3Ek13YSG7F8cwsi",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.5951, 0.7528, 0.0578, -0.5102, -0.4084, 0.9993, 0.8345, 1.8355, 1.0657, -0.0563, 0.6312, 0.5041, 0.999]\nstate[eef_state]: left_x=0.3735 left_y=-0.152 left_z=0.0748 left_yaw=0.0223 left_pitch=-0.0964 left_roll=0.0438 left_gripper=0.9993 right_x=0.3774 right_y=0.2665 right_z=0.0831 right_yaw=0.0339 right_pitch=-0.0716 right_roll=-0.0552 right_gripper=0.999\nstate[joint_eff]: [0.8547, -4.5333, 4.7385, 0.8913, -0.2222, 0.1978, -0.0171, -2.0718, -5.135, 2.9197, 0.7546, 0.3492, 0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2518b43c084190726a95dd495a8691768d25cc886ef751354781db7cb111023c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b160aca92b1c379592c8092ab3c0899ddb11c92a3a6d1bfe583c8ab1697334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4710442d9f2b3a84a92c268c2deb7e3301fb73a3b4caf0077b1c61a8958a4b",
      "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 · 6.119 s

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

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7006, 1.4059, 0.7181, -0.075, -0.5625, -0.448, 0.9993, 0.9398, 1.7382, 1.0794, -0.2043, 0.7082, 0.5968, 0.999]\nstate[eef_state]: left_x=0.3404 left_y=-0.1591 left_z=0.1117 left_yaw=-0.007 left_pitch=-0.0558 left_roll=0.0275 left_gripper=0.9993 right_x=0.342 right_y=0.2793 right_z=0.1147 right_yaw=0.0343 right_pitch=-0.051 right_roll=-0.0458 right_gripper=0.999\nstate[joint_eff]: [-1.6752, -4.588, 9.6479, 1.5897, -0.1832, -0.0073, -0.022, 1.0735, -7.5009, 10.1812, 1.5751, 0.7253, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.507, 0.7586, -0.0586, -0.5167, -0.4171, 0.9993, 0.8486, 1.7592, 1.0824, -0.1719, 0.6312, 0.5079, 0.9991]\nstate[eef_state]: left_x=0.3594 left_y=-0.1489 left_z=0.0913 left_yaw=0.0162 left_pitch=-0.1114 left_roll=0.0542 left_gripper=0.9993 right_x=0.3655 right_y=0.2626 right_z=0.1052 right_yaw=0.0447 right_pitch=-0.0871 right_roll=-0.0684 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.7761, 8.8547, 1.7167, -0.1978, 0.2125, -0.0171, -0.2393, -9.1692, 6.7761, 1.619, 0.3834, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.5951, 0.7528, 0.0578, -0.5102, -0.4084, 0.9993, 0.8345, 1.8355, 1.0657, -0.0563, 0.6312, 0.5041, 0.999]\nstate[eef_state]: left_x=0.3735 left_y=-0.152 left_z=0.0748 left_yaw=0.0223 left_pitch=-0.0964 left_roll=0.0438 left_gripper=0.9993 right_x=0.3774 right_y=0.2665 right_z=0.0831 right_yaw=0.0339 right_pitch=-0.0716 right_roll=-0.0552 right_gripper=0.999\nstate[joint_eff]: [0.8547, -4.5333, 4.7385, 0.8913, -0.2222, 0.1978, -0.0171, -2.0718, -5.135, 2.9197, 0.7546, 0.3492, 0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2518b43c084190726a95dd495a8691768d25cc886ef751354781db7cb111023c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b160aca92b1c379592c8092ab3c0899ddb11c92a3a6d1bfe583c8ab1697334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4710442d9f2b3a84a92c268c2deb7e3301fb73a3b4caf0077b1c61a8958a4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEaPFWifO_VPTAvma9QoS4XyplCRa037xyS9R4-y0SqY_osEvSjKp3hoyQN-d-YunMnv1Ir7qIDkQokAsnLxbWIyEK2GtJoSr7-mf4TVqgC-eKOFUtlPwerPFtn-_Pw40ViQIhxUAnDmvcTBx7HRUNEXkHsSbCfDrt4z-bcY8-uMBuTraav79PUOQDNR4hv_XlCFhW9Qp7APn_v3wfi54v0z2oXNmiWj_iAMNCC3WAz9Aq2KJIUdYFnianhVwhsFgGLVcP6wc2ZCdtgfboeLYVC_UIuTilCV2BXHv3fPLOn6kv2jP39B-je1qgzZ_FeKZN0RKkjHkcRs019JKrlkPkh0Ymw1W4j1noDlsEkzwHU9dpXF60xn26JVZKIU61MGkXtGS_FkakdDWjvT2SAZxHWEkCyxZk67ehbIjFyGXqZ-UCT5cj80fNRrCn7zVmKo8UjnWF9DAB211DVzervi7jLGnMfdXJr06F-DT0IVN_o1xxkx1Nlv4O0zA3pVcxalD0bty72V8gWeqao2ViLCwhYX5OPr3u2nqiGtwqHaccMjTAq2yMIRVL7g8nVH-HfgsunqG8K6VOibynpigTeTxJ_NPw7Z43mfsKreSYf3kfaTbhLTqSmsDF4NgDaG8-I4lukJ8ejeeyYgnBW6qKDEPS4cM0ZpB2V0tTOCCJXrlKDL5eQ4we9LIjgntUIEpbW_qdOhssrfn2ZD1SHisT8uX0mz9LhSzroUl-bTEugCm5blJgO6eBWdwvdg1gynt5amAMh4y-jJUj_ynlUXhBHQR5jkvrarx98N92jlJLMue-5TU-4c9vBIut1PXnxMYs5qHcs3vFcImia0It7qRePwXKtPZFmasyaCjIErIRZAisFnLUCdyt2hQMBB7iHBrRg_okdU9GWAmL_9Oe27nOAMYEpmbHu2uUJTFZqOD3Ip6yhu9eGXl6M-jUffNFw8sUAW30tIjUgVqpqETh6aUBOJls44Jwlbf4th0SeHjSWZYsWCcERVsQlwV3mwHDjEcsGVvGGEa90jr3AuX2ndtbzI-Y7rG4-JxGb_Col-YO2sqigatnee1kMuYqjc8W9w5y01HV-HahGy3gW8SZt4Cj4b1KYP1oqGaexql09-Uc2r_hIjd5FkMC2FQh_yUKZX1g9RJGBpgK5SxcSTy-NJKb2KrFK2mJtk9yB87XPGzShYJ9XubSsrgSm-PEGvZWEn4zCNElnE-WeOqdR-ObK782YI1ZwhkeZ-ypwotpsWc0J7Pmb5kuHY1597y2iB66I4I1yXzBkCAO1N6Vc_CH3m4Mhm_v2euflpTPV9mU39PLCEhcFfC-pfp30WRpUdFU-Fq69EzClh-1u1RJwJWQAIzW2T8a6sjN7Qo4r3uVVEOcbwj4orX6QqMcianP7ks2DqakDyAwTPEU_kLV1ZsyPxXZ7B6xsWO2i5dx6GRWErgpNwK8Ni9JtCgRqqhWokKR-EvrUoAdb5F4DjPL-2RKI9O-KGIzObfjlpFBMkrZpSnjFThV-Wa3IKrLYOkQ_AjbLqc-xuyXwBiRfxOgU3J5gWCIkvUnMrYSvvFkZ2wBVh9WFNEPhJrEXjvr09B2Eqq1NfiddQrz1MgHxEsFV072Ed8-OS9IGraBe2YwXK9waQv6dd8ToYZXkwWMttolUwHpngpfKhHBrYEjHmzf9PHcVDPUErYdMEnDk7k5OmdkAByOKcG2OdNEn3DAf-dF6bPRqF_rpVq4rpTNgp6xgv39GjOfUehgKFTyRkWb7LgRYT_priKfRt1ueCT9yBP25gqIc2OpcopmJRV9THJ8uS79bVJNUQWjZJmYVl-WOsjkAcfoHpnGYumrG1J5ZlSfbQZUJEHc_8xMQz3C5_9rvooWVLQbD4qM0uI9TucfYlWCrTysqsz-fLHw9GMkyBM81nouL7710vfXeOSITsJsK18n0CKlcgC_pfkprADzlV1A85sCLIYlXVnrmmaakSYm92skBSIDTI0CLr7CK1irUZzDiSD8x7ibP_BTNg4-0jvm9hsSGw6MHQF3av20E6HXskDr-mMBtgHMy_wbYoJATnKeY--m8kyPeZfmoq7o2HMx9A5yGeCD85wiP04ZN8wM8_p8wyC1bUQSzkvFSygESfohrzy-qz1tTaM6blq-ymSuTNm_xjTtPZiaxXynyQZSGcLvgTdjJQI9X8RlSl5gH7ThKiVVkcryf-f9Fbsl0AHA86-oaQ6ul5Ru4vAuwUipEGtY-xfDZNPbQ6BGlYmxT15MNp4M21_u0Sj7OzfzvMcyTgxIoUgOFs9SuErj94Ww3fSMuhGpiANZG-IsiKFLrz97ejMw3V1vjBl26YLk61U9nIIZgq8llnCttrpTAdMswWX2rJ6B98ftbc2cFxc3R9jexp477V6sndlcKPvh8RG2stsJsVzy2fVNnaPbrJfrLbY3jBBZ4AfnpuBElpNS6biOeLlxhUsLS83_1tKRh1KsxPtM6OnggsJ42EXZEz6zVGCJvVDYU82dAVDj4UOD3x99sgQg0JiIzF_FXPhe5t8huxIA3bmA-0GRgAnvJvQL2l2OdUZBisNs8lZYbbWL6a2ptnUrbqt1WHNy-NlQn5q9G_WXDPFkw7D4=",
  "id": "rs_094f36e649ad9dd2016ab42115ea5887d08e67faafaf2b35c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_z\":-0.01,\"right_x\":0.41,\"right_y\":0.25,\"right_z\":-0.01},\"note\":\"The cap remains just ahead of the left fingertips, while the pen shaft runs through the right gripper’s approach line. I’m advancing and descending to bring the fingertips to the table beside each object for the grasps.\"}",
  "call_id": "call_9bojNTeu6314H8tg5NGfLfgT",
  "id": "fc_094f36e649ad9dd2016ab4211901d487d0ba04ca9a31e327ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9bojNTeu6314H8tg5NGfLfgT",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5358, 1.9469, 0.7788, 0.4202, -0.4812, -0.3832, 0.9989, 0.7555, 2.0666, 0.9909, 0.2958, 0.5713, 0.4374, 0.999]\nstate[eef_state]: left_x=0.4171 left_y=-0.1484 left_z=0.0017 left_yaw=0.06 left_pitch=-0.0786 left_roll=0.0262 left_gripper=0.9989 right_x=0.4054 right_y=0.2556 right_z=0.0035 right_yaw=0.0367 right_pitch=-0.0688 right_roll=-0.0459 right_gripper=0.999\nstate[joint_eff]: [0.759, -6.8718, 5.2444, 0.8474, 0.0952, 0.3687, -0.0513, -1.4427, -7.3231, 4.6427, 0.9695, 0.1099, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab93c385d1cd73d4f5c398ee71dbd211401f0c628a954f4c471f4d70d0737be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47176ff33d727f0dc767881eaf17f0528da99968d0bb776fc4d9e52bcc5ad010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb401d15fc4cf6802fd7965742ca1dadd2919530b92a3b32658783f2f6ca4dc0",
      "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 · 2.802 s

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

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.4929, 0.7509, -0.0589, -0.5377, -0.4274, 0.9993, 0.8719, 1.7592, 1.0824, -0.1989, 0.6647, 0.5442, 0.999]\nstate[eef_state]: left_x=0.3567 left_y=-0.1493 left_z=0.0948 left_yaw=0.0234 left_pitch=-0.097 left_roll=0.0544 left_gripper=0.9993 right_x=0.3586 right_y=0.2629 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.0858 right_roll=-0.0768 right_gripper=0.999\nstate[joint_eff]: [0.0479, -6.9128, 9.853, 1.79, -0.0464, 0.0904, -0.0171, -0.3624, -9.1419, 6.612, 1.7753, 0.2906, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.5951, 0.7528, 0.0578, -0.5102, -0.4084, 0.9993, 0.8345, 1.8355, 1.0657, -0.0563, 0.6312, 0.5041, 0.999]\nstate[eef_state]: left_x=0.3735 left_y=-0.152 left_z=0.0748 left_yaw=0.0223 left_pitch=-0.0964 left_roll=0.0438 left_gripper=0.9993 right_x=0.3774 right_y=0.2665 right_z=0.0831 right_yaw=0.0339 right_pitch=-0.0716 right_roll=-0.0552 right_gripper=0.999\nstate[joint_eff]: [0.8547, -4.5333, 4.7385, 0.8913, -0.2222, 0.1978, -0.0171, -2.0718, -5.135, 2.9197, 0.7546, 0.3492, 0.0464, -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 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5358, 1.9469, 0.7788, 0.4202, -0.4812, -0.3832, 0.9989, 0.7555, 2.0666, 0.9909, 0.2958, 0.5713, 0.4374, 0.999]\nstate[eef_state]: left_x=0.4171 left_y=-0.1484 left_z=0.0017 left_yaw=0.06 left_pitch=-0.0786 left_roll=0.0262 left_gripper=0.9989 right_x=0.4054 right_y=0.2556 right_z=0.0035 right_yaw=0.0367 right_pitch=-0.0688 right_roll=-0.0459 right_gripper=0.999\nstate[joint_eff]: [0.759, -6.8718, 5.2444, 0.8474, 0.0952, 0.3687, -0.0513, -1.4427, -7.3231, 4.6427, 0.9695, 0.1099, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab93c385d1cd73d4f5c398ee71dbd211401f0c628a954f4c471f4d70d0737be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47176ff33d727f0dc767881eaf17f0528da99968d0bb776fc4d9e52bcc5ad010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb401d15fc4cf6802fd7965742ca1dadd2919530b92a3b32658783f2f6ca4dc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEgy9zg_z_F8x6b0kZsuFYufOvkQaTFY-yghmlmIppDM_4ljxfvDvaGfsqeEowbK9pv8KCXq8mmkEmlUTsmB2VDioqwhbo9F0c6PY3g2UrgteYlzDfoO4L3F6CqfdMOF0akUkU7rK8qxllecf-ILqsjwLujXsc3P6jptZTxQlyKfqjmMLpqV8T1FAaT5dSbL86BJ03KoYw5_cOO_HlJPiRg5fcw3y9dkdFbsx1nGCcrTDj7GPmFbhIpPCyWHDDsQ568XnN40-_bL-0xdqFcQBKRLAi-cnJTgh_bTDhMUgBsDsV9FR7BUKXHQlomcOiWmmQyMjeXqq7LKGH2XSJO_NNpbxUHnsMuOLvOC5AwNk1OtzPVs1l__JuS15TJMy4KympsDMhbJCVtxXoYUJOiFyVAfxBjLVCfYKjHq6O59Pf3qDlNk7LDBV-GE6ycpS4y1-18rNIogOkDILGDiTGMcESBYXWtb9h_lVj7vA6xXjq_Kg65jThrH4DenQmre-bM0t2Y_ayDP7YyhLZXJnLNhaaQBn9HLKztBZAYvAOVfq11UsTpFJeqOLaEJIyiDnleOnPDzlx-0zx33_NELMlJLu01Z-sarqHBluFCtJ_uTxqcf1JUD6pqK9V8UJJBRy-NdMeB1Rk5nzwXXLUqrM1gOZJXh_KifYBcEdP8CbulcUlNtp0lPErMNOjGP8TL_NazG8pPZfi7UNQ493obPAJvm9FjPXsxAmvoKXRmyIAmMDQtkGKEm4QmZN_Kvz87pInsgK-2hvAe4lLcLuMf0wyc44pWW8B6blX5g-voYP5CSricrbPgn6nrMTFf8KmmFwN-BmOrB9BfZxNGcjQZOJQXjiztBxgabBeU247VQnUta7YEExHijUrrKQQRBv9PCcbGQr-ER_eJUPnHQV3hK7keIPYmpAOc4bRTkpRJqO39NsH_jGgBktF4CH4kMCDkrzSeX957ebdNv1QnYQsW9MOGz45qJ4gmWhzjdC-M1-PL-wLnKJgSi3BHOMkmClDAArdeV55qCubsm4PN46TjKGHsANLWUi2fMezLAeaqajzGKe7YLhAcr-TnrPLAfYVm8VWUJNVaNl55jmlvZ7Vrk2429sLwE2gOfwwYfpUG_Opi4FFGw3H1D985Hc2obpLpaEN7FJgee8wo6u807pkz81-CIHN9wkiRgn1YUQ_J_YeGMQdXBxlZgxnlhQOamg0OlEZ5b2WiaTO0rljP2V_cZ-fc6Y5xkQzwOMb9AeIEEJZeLapYESlQdFnjye6uSH-a8HD8zLdS-YwfxjATEv3qDy_0pg0SyDolZc0B09J7G-xSV_fj9GrKk1nA3vYZV_u-wHrW6m9j7eskNkSg9pm9PIz-e4-Re5pizf17AaMj_9r-m5sBv79_GxYqwm_KmBRQbuoswuJgs1Te8K8uHmvCV1zN7H1h3ub1_8RJLIKlKLagTixo7ZYPg055X5WZMm12_HV2SteHz7wwO34t8pxDDMOU8SyvJE8h55dMg6rvp4pYKwNUH9CTxF1LdTY0M8V7kehfm-kDCl4-GG_0o_40E_rrgGX2Z8-TCx8EmqVjiXIdsPf9VRjsGZYeKKbAiXjWKcDHdvgN2SJi6hCdaO-eJc88KWhRCK28zUy5ivtUtVdQbwpj2OxMgurzwt8Ur3dYkENuVLyW3wuA6gvzi6Z-B8e6dDLJecBwy0Q5BFo0tGxZF5vkHuEGAkyiXqqFmtZYbUBt8faj9rjQwJdVvTtUWLd00XA5TmYtjSaqH-mfQYNBR_QBLgz5uht-l4Di_yxIIFmua-CFMnFl00pKT0ynFvqk_XRvRadKWLFTJwGWw-3bE3sRdcy0fpBrDI4z-zwhx9ooiGPkh6Pal9tVGKNox8Oa8HgcAmwHyf5cGzBwUtPBGMtBf3a4dsBWkGhCJ4eWRz5Q8o2ddfZHAFFrkFQ4ypX_5U2Jlwv8un1NhOOF68QeYqKS3UgAFu8QXpgbd5MzFf_LCZds3YKaAyYGkHgylmuN_BaPUGXr6Dh6y4Iusgn8084Mlyq-fyUqNgsKzGcO87rN3_CrtO0_V85P7ouVnFCf7mmFeEQdYyNN-7pK41gsfpc1mgRLkjOU7z9XZVDZCAeoDDKBWZ0aejlNT_tu1obVyBJlGGprIhZQ2WU6__EdqJElmQQE0z81l2jy6qdP7GVwsc1aO4tIgMNS7CYxl7dpbIgoRRCxnoHNq9sZeZrEjbm86Esb3yo8CHavFdXGFI5xeg3jnAk1N0S3lOxTA6rYOx56PlvbcM29EhDVoRr0smICA6q4mVieC7iHxPk5u-Lyxm3UUYIP2jHwnnZ4Oss5eiMCr57xDPDEtcnw5oY4O5nDXKjH0jj4FeU7UZUeLF6W2QLh_keJPHsxQt7Whac7YlM_1nSK4WZaQJlp6edoewBKZ2iKAtBfR7jw8W9SkJvaD9af4cz9DKxEeAuuMgvF15bhY8Rg36AFqHzAJJHykps8aA068tuCIIcZ3mxhl-DPD1ZoB0v53-ZHkDaYcthaBK9QqL1ax8iJgYYHt3quuRq_Z-hHoNFIiBXgklVuSE3TfUW976cNbLrXOrmeDRtjxzm5qrnODoKYSoKfUl6vuLkynOGqANHvfUIh5CRfCQzcJ9RSCULYrhZwUMsicMCGBV1SHFEPdtqiVNmLMtixinrr772mnKBN55IApDYlFWPO0pO3a5UgqvXl_fPrIBd1yvBWa4QOfjLsigcp9bk-IscVEDMjd5h0PinwARFYoCzrtUFdvb3cWVWNB3WNVhLqXiI5howPlZ5RW5xuMLPDgI2MzM59BT5Ex0Q2v5BrI8lodYeYoPicpSABOcdCDdilE7-TnTsgezAlbwd1fjxWEo4Y0o_XxXYowwcx0SMyF_1X0zznKn95Tqq70swLFmsWjFiZyw==",
  "id": "rs_094f36e649ad9dd2016ab4211c596887d09549599e142825a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_z\":-0.005,\"right_y\":0.235,\"right_z\":-0.005},\"note\":\"Both fingertips have reached table height. The cap is now at the bottom of the left wrist view, and the pen runs a little right of the right jaw center, so I’m making small final alignment corrections before closing.\"}",
  "call_id": "call_YVMptey1U9WvpXeYGqO3aj5B",
  "id": "fc_094f36e649ad9dd2016ab4211ffa1087d0a696df7fa67217fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YVMptey1U9WvpXeYGqO3aj5B",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9835, 0.8082, 0.4595, -0.4824, -0.3817, 0.9989, 0.7399, 2.0735, 0.9512, 0.3908, 0.5541, 0.4217, 0.999]\nstate[eef_state]: left_x=0.4298 left_y=-0.1486 left_z=0.0023 left_yaw=0.0726 left_pitch=-0.0517 left_roll=0.01 left_gripper=0.9989 right_x=0.4085 right_y=0.2519 right_z=0.0016 right_yaw=0.0442 right_pitch=-0.0398 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.9504, -7.3641, 6.5709, 1.2967, 0.0024, 0.1685, -0.0122, -1.9897, -10.5778, 3.9726, 0.9304, 0.0513, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcd75a874a29fe631052ad0e628a573f94639a67cfdafdc8eaa65359bde7f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cc4e7b128a2358513103d2407cac8201cd27f50281f8e830d3faec4de3b40e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad7c8d353dacfb4b2a937ee34def262a880378ca539234b5106201e48fdcf71",
      "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 · 4.259 s

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

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.507, 0.7586, -0.0586, -0.5167, -0.4171, 0.9993, 0.8486, 1.7592, 1.0824, -0.1719, 0.6312, 0.5079, 0.9991]\nstate[eef_state]: left_x=0.3594 left_y=-0.1489 left_z=0.0913 left_yaw=0.0162 left_pitch=-0.1114 left_roll=0.0542 left_gripper=0.9993 right_x=0.3655 right_y=0.2626 right_z=0.1052 right_yaw=0.0447 right_pitch=-0.0871 right_roll=-0.0684 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.7761, 8.8547, 1.7167, -0.1978, 0.2125, -0.0171, -0.2393, -9.1692, 6.7761, 1.619, 0.3834, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5358, 1.9469, 0.7788, 0.4202, -0.4812, -0.3832, 0.9989, 0.7555, 2.0666, 0.9909, 0.2958, 0.5713, 0.4374, 0.999]\nstate[eef_state]: left_x=0.4171 left_y=-0.1484 left_z=0.0017 left_yaw=0.06 left_pitch=-0.0786 left_roll=0.0262 left_gripper=0.9989 right_x=0.4054 right_y=0.2556 right_z=0.0035 right_yaw=0.0367 right_pitch=-0.0688 right_roll=-0.0459 right_gripper=0.999\nstate[joint_eff]: [0.759, -6.8718, 5.2444, 0.8474, 0.0952, 0.3687, -0.0513, -1.4427, -7.3231, 4.6427, 0.9695, 0.1099, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9835, 0.8082, 0.4595, -0.4824, -0.3817, 0.9989, 0.7399, 2.0735, 0.9512, 0.3908, 0.5541, 0.4217, 0.999]\nstate[eef_state]: left_x=0.4298 left_y=-0.1486 left_z=0.0023 left_yaw=0.0726 left_pitch=-0.0517 left_roll=0.01 left_gripper=0.9989 right_x=0.4085 right_y=0.2519 right_z=0.0016 right_yaw=0.0442 right_pitch=-0.0398 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.9504, -7.3641, 6.5709, 1.2967, 0.0024, 0.1685, -0.0122, -1.9897, -10.5778, 3.9726, 0.9304, 0.0513, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcd75a874a29fe631052ad0e628a573f94639a67cfdafdc8eaa65359bde7f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cc4e7b128a2358513103d2407cac8201cd27f50281f8e830d3faec4de3b40e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad7c8d353dacfb4b2a937ee34def262a880378ca539234b5106201e48fdcf71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEj_hC2HGs2CXagS9lXVYYFcrZ7iQFCQV2n81JvZCnAhtMbpSYvbmzB55gYaM_bpkU-7giGry1wqAZyoZpOsSZrwWwP-OzgAPWinlosVw-MkRwEPNarUMmcMJsS7_7zB9nAL9plbBdCX6TIB2Vq_Zt6bAizWVOY54svOwupVmNSt4nbhOCPa-lTBQudx0I77YtC9ZowiHHIErS8x4Zq1XCKrU5WNO0w5mDGtxNk6MjWCuuTMpjxkqQsWTxzczt7kRL79Q4JGLB21OSQqa99uXq0TuiLs0k3tjiCYt3sHLxthKUA3WJo12TzG56M56p9AcM5csKliYN9qUove7WAvLEY3DUazMAdnPiUotmnuHbJODyYR1Uy1evzw8OCHpBSjl-0ghIjPfBjUFMcVU_LXdWa_wilYBBq1SkvOdW-jCHq3yNdL6KXQ7r5DkC7bXLrC_DGimlBphbq7emeqiyFrbYZ3XVGJP_A23zbJ4PDHZ6Mn87L7F5KnnQafvbQ1KKm9WqFLEPfifmRR2vJQfUAgXFbV0yfCchZ8iIs9-JzjTVcJBamN7r5u4ga1j_2lxAgv9no_LPFrNkHVTQ0ZigoYp3CR5ZMnvgBxL_b7pqGqn_iVugt0h3OWidgchEgPYN7i4PnhcpdYj8dV6SkMDOq0ZLPAjY0iF4oJr1ZIF_Eda74Rhq3JqEGLfu-kFYVa1QSc6CgqeF_BYwZbBJejB8bMTd-8-3WVKTqMKMAWpnL_pUQxOK7LohY5OKDMSKwAcCni-nLTlng2w3_SYVvnlQx0h62_E4IW_onRDkMw5_KTTfBBsrMMMB-RpbLDTAjwXe9OteS5cZjKv0aOW82VoEu4Kv7cbvXD1r-Z6lOiE2PDcdEAqGQBea3e3svTQxy1MiErh7gubKpz1Y_GwN2NiB4cWqYQar68b66lJY2aEqjK7QWPmOe02z604tYPspzH9GKTGL18UgtV2wXf85SiBiRenZqkbADam3G1jPp4JQrU512MBQf6ODE0nmystwVMGyoRLrwodD6gzrrveKol5gm7xJQd4ZYEbnSlpyvPRH74uHymix2QQ4NDG6iAeH3dqeW8xvP1RYpRHtrCMEIi-y5fCPLaBuASa1fVlQk6_-6KFt7Bod9nMtsBCqakKAZ9J0NXz312vuiI7IHBuYBXDQFdLejRM4UkxLju6MGYk2hZCkdMMUQha79SbGziQZT4k7aos2xMlXnLOWNq9YcaTId26079PoBRpJ30lJ8V9nwOElxK3zHSjRLhsBK5svtn6oHfx3pbIAC_7gxpO1JAJg_2W1R_YAvQExpVLwqZfwyBCHKlc3zh5vuf5FiB9WTi_OJRY8jEG7_5mNeNCqNP_2Ra8JOZJ1_NLlC4QUh2RhWGfXNgxck80VP2_QadklJwieLeTBe26-xONPnd5piQH1NTIEaJjC0OIbJh0dZRyH9lor53aGN11W2QVZmaKNYLX_j484IyJK7HYxG0G3Tuj5l17WpxMLnFUsN7vJpNAyAmyrSzE0=",
  "id": "rs_094f36e649ad9dd2016ab42121ed5087d08b725f2b10fa4617",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The cap has passed beneath the left wrist camera’s lower edge, where the fingertips grasp, and the pen crosses the right gripper’s jaw opening. I’m closing both jaws and will check their settled openings before lifting.\"}",
  "call_id": "call_yJiyDAaIR7EMOXKZupYrILD1",
  "id": "fc_094f36e649ad9dd2016ab42122d10c87d0b4881a14e563f26b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yJiyDAaIR7EMOXKZupYrILD1",
  "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]: [-0.5106, 1.9965, 0.8257, 0.4603, -0.4824, -0.3721, 0.0085, 0.7353, 2.064, 0.9375, 0.4068, 0.548, 0.4137, 0.053]\nstate[eef_state]: left_x=0.4357 left_y=-0.1461 left_z=0.0025 left_yaw=0.0788 left_pitch=-0.0474 left_roll=0.0148 left_gripper=0.0085 right_x=0.4084 right_y=0.2501 right_z=0.0037 right_yaw=0.0488 right_pitch=-0.0332 right_roll=-0.0141 right_gripper=0.053\nstate[joint_eff]: [0.0889, -8.0889, 5.9692, 1.3065, -0.0659, 0.0708, 0.5446, -0.0205, -9.0598, 6.3521, 1.4432, 0.2906, 0.1001, 1.4725]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93c4827172f70a8a1e99e83e41a9e8cc1788a0c3437c4b514ce1a092ee11231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc721d82819b5e4df1148a8e6f2b064fcc00bd59c92a5a2088eb191886a867cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed4b245da7db964e53b2d1ae0e8f66c21a80f5c8b7f5486f94de745201038ea",
      "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 · 5.251 s

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

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.5951, 0.7528, 0.0578, -0.5102, -0.4084, 0.9993, 0.8345, 1.8355, 1.0657, -0.0563, 0.6312, 0.5041, 0.999]\nstate[eef_state]: left_x=0.3735 left_y=-0.152 left_z=0.0748 left_yaw=0.0223 left_pitch=-0.0964 left_roll=0.0438 left_gripper=0.9993 right_x=0.3774 right_y=0.2665 right_z=0.0831 right_yaw=0.0339 right_pitch=-0.0716 right_roll=-0.0552 right_gripper=0.999\nstate[joint_eff]: [0.8547, -4.5333, 4.7385, 0.8913, -0.2222, 0.1978, -0.0171, -2.0718, -5.135, 2.9197, 0.7546, 0.3492, 0.0464, -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 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9835, 0.8082, 0.4595, -0.4824, -0.3817, 0.9989, 0.7399, 2.0735, 0.9512, 0.3908, 0.5541, 0.4217, 0.999]\nstate[eef_state]: left_x=0.4298 left_y=-0.1486 left_z=0.0023 left_yaw=0.0726 left_pitch=-0.0517 left_roll=0.01 left_gripper=0.9989 right_x=0.4085 right_y=0.2519 right_z=0.0016 right_yaw=0.0442 right_pitch=-0.0398 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.9504, -7.3641, 6.5709, 1.2967, 0.0024, 0.1685, -0.0122, -1.9897, -10.5778, 3.9726, 0.9304, 0.0513, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5106, 1.9965, 0.8257, 0.4603, -0.4824, -0.3721, 0.0085, 0.7353, 2.064, 0.9375, 0.4068, 0.548, 0.4137, 0.053]\nstate[eef_state]: left_x=0.4357 left_y=-0.1461 left_z=0.0025 left_yaw=0.0788 left_pitch=-0.0474 left_roll=0.0148 left_gripper=0.0085 right_x=0.4084 right_y=0.2501 right_z=0.0037 right_yaw=0.0488 right_pitch=-0.0332 right_roll=-0.0141 right_gripper=0.053\nstate[joint_eff]: [0.0889, -8.0889, 5.9692, 1.3065, -0.0659, 0.0708, 0.5446, -0.0205, -9.0598, 6.3521, 1.4432, 0.2906, 0.1001, 1.4725]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93c4827172f70a8a1e99e83e41a9e8cc1788a0c3437c4b514ce1a092ee11231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc721d82819b5e4df1148a8e6f2b064fcc00bd59c92a5a2088eb191886a867cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed4b245da7db964e53b2d1ae0e8f66c21a80f5c8b7f5486f94de745201038ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEo6zwHXsK_iq2hK6sO_kP2EPzU0Yw5cBGZuKjpZHIL4CDsausGF_T87DsU9sdZRr4tA3akh9JDNC9d-Ji1xM1fjkE4jSHra-8NBtUfdGaMD5GprDWQpkZEeIoeLmw9NRXT_ZoZQBV_Z8DRbb_N0FNG9emmYpi7yXgUfKFkgAbFg9x0FhucKD-UjSdkK84hovLHggmNBalYVIc3eUZX0ksYmoD8qRA-8N5jdFdnoy-9ZTzJEZIlxF8HrGyJi2hgZ1XPciGXzW_lr5y9OVKiFbcZmFpA1qokMkd0PsLv7CPMjRhcl7Dfg2uimjHnovRDlJuX4y6hZWTr7bDDXNTRPFF3jIlUkKNluIJBAm-rrJOfr0ZngivJGQc_0auOm7hcLmWRDx2Rs5aSnpdGb20wbaaCE-mpfIIcoX8-qJF7vJbeC3nFqgXvuPqhfYdcXJSQi9zryf2TSjn9WxBvPf8Ah04Bd89FFkbmo_CC9BtLuuHKsv-tSzvjxVDGJXfceCSoESI2x_KaJ52IK8_NBCkyPcu6pjr0mLxO1fwgskJn14Dy2qnJazEPbwfPsMCUDrUQMt7PA-QuS1SrBuXlH4UjvYXbP5S0hU0zZJsdbQfjTVy3QyK-ZPbizn2BcMEz0gnIFAezzpQj9OYAPsv6rfU5zYZwqFw6nNQP2TC1_pv1W_qQ7YVNV2ZRLpveBNhZrDP-d4YQy2HalUNxBXbQUIxPR-gBebl4LIIN4IOyH6c6omBhUFtPzyym0uf0NMCCsJU9sEk61ZFVnHaaHnx4KBsI8L3tSooWOtcsTzsETtY-ub8dZ8u5xr5UqRnkwsbJK1ILKm29I3HUlbZeBnDvpi3HgTHYu8lPnIdAa81n40pskU1z4W9DpwZU7ODCfYEsPRhCxTZQrgusmD374urModTeAZfdRvCImCPnzs9f_2zycQXGSt7HqfjBSgr3yxrANZIczxrnjNtgKDwayAumAb2WxS1nJmFuMWhwHkRrwWIAg3UG6VPARXcMjrKqGyXF5mYQbtxfqgS8bX2G8M9vzG9QO__dJI8PWcXM9_bql40R4aGUTteT7CaSVow7AcZncqNx6cjvp6f9K_LLgJlbBoW6MGSjSgUyszirHxE2ApHrhiDoxk9ON6nz1KKL6gQmFzBrfzAX7_IlfeSrftIoEREJ2BuZ_-UnfOOyZx6VlQZ_5jA3eVHPa-pGy1hnwSXJvcMH4PPm3bBN87n8K8czgJM141Zg7SKZtS2W2Iv8itnQb4Z7P--jtJbEvFdqzisJf_z1vZ-03j0lZOyegwaght-Rx7m4f4QhJWZorncW53AhHpo3BfROuMmlqmjjhOPeAyr23SpDWUSV2_N3VdRB6GA-nRNjSPoS829BdMuRMqpaZysD-W_thwjTOJ-BU3uVkvEvXfZY1a9GAYNERJan39AIblOJr6ULzzVcpfH8peebfbCBkGIRZDsIYuNuDxsqT9ZmbByQ9KSH4_9sQyQibiXp-4u9V_7RWeCZkV_HV7kL8KpdRk04nZ346bScQAsSK4nNHkg2dy4ASnpXdHpZ2abGpoV5Go869hfOlWz6RzGO2z6PvaVTgnkpfdX0cziHWHqRrxiWpChPP_cX17SV8ppHlbkJsSTE7SpIk6GVlUJj0qr6AUYc2zbYPxnrlfPzfNAZc_bMInWykhLvfP_P4vKdaeTT2tJoAgCg9VifEkQQuE8bULZBFgGtpuQk6CpTIoyO11mImNNxrJFIL9nbsZM6qwuPCSmb_CkcMiPBLuZNqDs_DGXK7cxoZ5bNdYF_08rnP59_ihtbneknZ01ZDB6PRHCg-ppVMBz_HVgw3swLS4ecsTRt5aJKhXdrkN2tZJ9RdFof3VxvD-pFzKmiqAXqmviaWjTd6q1BUMZhMvSh-7y2RBpFPM5skQ86bjYP7KShDYglxq0aznXkDACoqH2rMgy6XWclooBnCW3SZ75ETdy_DTIZX_XAzU7G1WUh8UWPFgBm-JYFkGtDdNdEGe0wDFRsBDbPHs8jWeo7KzE6LCg6XVoVA-yCL_xEfZ22Z_zAAAi_zPlaAtxGK0KfaWAz3c7Ld0ggel7UsEm1t7Ur5vRwQJIcAU2q0J0syij7vUOiCjdq2V3CMZHglhT5vUiI5hAtSapkNxa7MViNTOH0_344gqlaEoZqyMZQeCWUUKc-5xvBHPq4iJ5yQKBG0wnwYJ0LgR-OUuM1S2Kn0prKRl6FvVYWcdHePKHV_MYc7lsEHnBrtjgRXSiR7wa-RIc4bsElo1p4xYqa0BsfVQ0DuYLPAM4LX-kyGPufFQUK4KmDytBCs1KlDswKmPEK0ZJJcK6W51IisIoowbg7sACNddKmWetVF4E4bm8KSI7SeCeZXZYz70RZ7vv27PDmZiV_FquKJZQSSpiqKNyOsSlNjp_quGvRm8KGI2oxhOEMtwwEeXy1",
  "id": "rs_094f36e649ad9dd2016ab42125843487d08d9dbe38fe4511e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_z\":0.11,\"right_z\":0.1},\"note\":\"The left jaws closed completely, so they missed the cap; the right jaws remain about 5 mm apart, consistent with gripping the pen. I’m lifting the pen to confirm it moves with the right hand and clearing the left hand to relocate the cap.\"}",
  "call_id": "call_ugW5o68BtdBPiv0SN955QE76",
  "id": "fc_094f36e649ad9dd2016ab42127dd6487d0be3689a0bbbff387",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ugW5o68BtdBPiv0SN955QE76",
  "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]: [-0.6422, 1.5024, 0.7486, 0.0177, -0.5571, -0.4683, 0.9949, 0.7353, 1.8618, 1.0294, 0.0494, 0.5373, 0.4065, 0.0604]\nstate[eef_state]: left_x=0.3662 left_y=-0.1528 left_z=0.1039 left_yaw=0.0574 left_pitch=-0.0375 left_roll=-0.009 left_gripper=0.9949 right_x=0.4011 right_y=0.2457 right_z=0.0678 right_yaw=0.0585 right_pitch=-0.087 right_roll=-0.0543 right_gripper=0.0604\nstate[joint_eff]: [-0.3214, -6.9128, 7.2, 1.4921, -0.4225, 0.0415, -0.1538, -0.3487, -12.3009, 8.841, 1.5653, 0.3053, 0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7fdc3ad705b9c7d93dbd954a92c5d374fe64690db7f1583413a45cbfc70af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab26c018a52c2a70141f5036dc50e2787cb06d6f1b97cf35cbff8ae067558628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bf5ebe80fe36d2128ea717da3c54415daba20007ba34c11598670a5b87ab7c",
      "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 · 4.656 s

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

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5358, 1.9469, 0.7788, 0.4202, -0.4812, -0.3832, 0.9989, 0.7555, 2.0666, 0.9909, 0.2958, 0.5713, 0.4374, 0.999]\nstate[eef_state]: left_x=0.4171 left_y=-0.1484 left_z=0.0017 left_yaw=0.06 left_pitch=-0.0786 left_roll=0.0262 left_gripper=0.9989 right_x=0.4054 right_y=0.2556 right_z=0.0035 right_yaw=0.0367 right_pitch=-0.0688 right_roll=-0.0459 right_gripper=0.999\nstate[joint_eff]: [0.759, -6.8718, 5.2444, 0.8474, 0.0952, 0.3687, -0.0513, -1.4427, -7.3231, 4.6427, 0.9695, 0.1099, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5106, 1.9965, 0.8257, 0.4603, -0.4824, -0.3721, 0.0085, 0.7353, 2.064, 0.9375, 0.4068, 0.548, 0.4137, 0.053]\nstate[eef_state]: left_x=0.4357 left_y=-0.1461 left_z=0.0025 left_yaw=0.0788 left_pitch=-0.0474 left_roll=0.0148 left_gripper=0.0085 right_x=0.4084 right_y=0.2501 right_z=0.0037 right_yaw=0.0488 right_pitch=-0.0332 right_roll=-0.0141 right_gripper=0.053\nstate[joint_eff]: [0.0889, -8.0889, 5.9692, 1.3065, -0.0659, 0.0708, 0.5446, -0.0205, -9.0598, 6.3521, 1.4432, 0.2906, 0.1001, 1.4725]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.5024, 0.7486, 0.0177, -0.5571, -0.4683, 0.9949, 0.7353, 1.8618, 1.0294, 0.0494, 0.5373, 0.4065, 0.0604]\nstate[eef_state]: left_x=0.3662 left_y=-0.1528 left_z=0.1039 left_yaw=0.0574 left_pitch=-0.0375 left_roll=-0.009 left_gripper=0.9949 right_x=0.4011 right_y=0.2457 right_z=0.0678 right_yaw=0.0585 right_pitch=-0.087 right_roll=-0.0543 right_gripper=0.0604\nstate[joint_eff]: [-0.3214, -6.9128, 7.2, 1.4921, -0.4225, 0.0415, -0.1538, -0.3487, -12.3009, 8.841, 1.5653, 0.3053, 0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7fdc3ad705b9c7d93dbd954a92c5d374fe64690db7f1583413a45cbfc70af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab26c018a52c2a70141f5036dc50e2787cb06d6f1b97cf35cbff8ae067558628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bf5ebe80fe36d2128ea717da3c54415daba20007ba34c11598670a5b87ab7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f36e649ad9dd2016ab4212b45ec87d0b0a3b0f762ab37d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.018,\"right_z\":0.155},\"note\":\"The pen stayed with the raised right gripper, confirming that grasp. The cap has shifted and now appears diagonally just ahead of the open left fingertips; I’m lowering that gripper more carefully near its new position while raising the pen out of the way.\"}",
  "call_id": "call_45tYJPKM9IkHHGFE32Z2QoOJ",
  "id": "fc_094f36e649ad9dd2016ab4212e179087d09a552b77574ac93b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_45tYJPKM9IkHHGFE32Z2QoOJ",
  "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]: [-0.6121, 1.8015, 0.6552, 0.345, -0.5419, -0.4622, 0.9959, 0.7357, 1.7699, 1.1862, -0.2741, 0.5179, 0.3916, 0.0604]\nstate[eef_state]: left_x=0.3737 left_y=-0.1466 left_z=0.0116 left_yaw=0.0755 left_pitch=-0.0945 left_roll=0.0295 left_gripper=0.9959 right_x=0.3943 right_y=0.2438 right_z=0.1169 right_yaw=0.0759 right_pitch=-0.155 right_roll=-0.1013 right_gripper=0.0604\nstate[joint_eff]: [0.335, -7.6513, 4.6701, 1.7509, -0.0659, 0.188, 0.0952, -0.3077, -12.0, 9.6889, 1.917, 0.3785, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0ddc87d52661ef499b8860609f2a4565778094c73b1239eade410d21b8442d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2af73e47b7882e1416272537a2164232c52309bcda47781f64373194f311b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c8639f8d6713b63de553a5cd4438126fcdbc3e3f31274465ae435b1df014fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.762 s

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

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9835, 0.8082, 0.4595, -0.4824, -0.3817, 0.9989, 0.7399, 2.0735, 0.9512, 0.3908, 0.5541, 0.4217, 0.999]\nstate[eef_state]: left_x=0.4298 left_y=-0.1486 left_z=0.0023 left_yaw=0.0726 left_pitch=-0.0517 left_roll=0.01 left_gripper=0.9989 right_x=0.4085 right_y=0.2519 right_z=0.0016 right_yaw=0.0442 right_pitch=-0.0398 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.9504, -7.3641, 6.5709, 1.2967, 0.0024, 0.1685, -0.0122, -1.9897, -10.5778, 3.9726, 0.9304, 0.0513, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.5024, 0.7486, 0.0177, -0.5571, -0.4683, 0.9949, 0.7353, 1.8618, 1.0294, 0.0494, 0.5373, 0.4065, 0.0604]\nstate[eef_state]: left_x=0.3662 left_y=-0.1528 left_z=0.1039 left_yaw=0.0574 left_pitch=-0.0375 left_roll=-0.009 left_gripper=0.9949 right_x=0.4011 right_y=0.2457 right_z=0.0678 right_yaw=0.0585 right_pitch=-0.087 right_roll=-0.0543 right_gripper=0.0604\nstate[joint_eff]: [-0.3214, -6.9128, 7.2, 1.4921, -0.4225, 0.0415, -0.1538, -0.3487, -12.3009, 8.841, 1.5653, 0.3053, 0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6121, 1.8015, 0.6552, 0.345, -0.5419, -0.4622, 0.9959, 0.7357, 1.7699, 1.1862, -0.2741, 0.5179, 0.3916, 0.0604]\nstate[eef_state]: left_x=0.3737 left_y=-0.1466 left_z=0.0116 left_yaw=0.0755 left_pitch=-0.0945 left_roll=0.0295 left_gripper=0.9959 right_x=0.3943 right_y=0.2438 right_z=0.1169 right_yaw=0.0759 right_pitch=-0.155 right_roll=-0.1013 right_gripper=0.0604\nstate[joint_eff]: [0.335, -7.6513, 4.6701, 1.7509, -0.0659, 0.188, 0.0952, -0.3077, -12.0, 9.6889, 1.917, 0.3785, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0ddc87d52661ef499b8860609f2a4565778094c73b1239eade410d21b8442d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2af73e47b7882e1416272537a2164232c52309bcda47781f64373194f311b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c8639f8d6713b63de553a5cd4438126fcdbc3e3f31274465ae435b1df014fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE0rHGqiiwK29wQHwu58KCTydwl8AsCvtXbd5hEuxNuJBv8H8ueWZ_Dk_LwGcoCyWdLQiiMpQIjzTyAVRgMIvOw_DhzMTY3YcqKAq3us9g4E4Waps9WHTqMBcFlPicACt4AHGi0lMaX1cNcsZKY6Of6acmnvBkNH5bL3gocE9RXc6fGt5Odn-CC3ptMMcMIPPr1SpN-OaFdm2j1N25TFPDNS7MDy88x7SZewn4zCa9wmcgWJ-67oW43PbRM9AtQBSDQHZnQIfwPw-jPvMTsXLW8h9rK3yDytxEyxmVs222i9Tt5n0qwqqtCt_hEcoF58-Gl1eDErUXWBpd0RFXciGpdMaUXtTbsUsEvO5mRdK6YiHnpM0hncxAQ8bOr9SoOYh1JgAghGcKIDOu9iXttGSQQ4FBVVvvHWJEm8G8RMYQB4qL1QrJErN2bs0d8DfObaT4MO5DROvUbC3mbNQLJ6DETnA1YwP-835f_Bp2Rm7hsi_Ndc-1cmQ5Jvjo9UKgiWvuN6jgYJ9gf52MRib5TLE_eY_OK7oO3TBSFo4Qy_UXuwcezV2VnlYaBqOaFFWalNATTWFOfVg1k1UBUqS1OGq2MD7QB9hr6FSXdcSjcHLPUo0daHqQqTXKMSzY_iwwmSM4aVNAXVNtLk3moNuE8b0Dgx2st3-C3Vyk3udfUzwGq2FZI2AgL8ss7PAf66UKsSdgwcHYMVzjvNz78BTk5Dz4pKUIPJ9e44y6Jpr1Wvt32Vug18YJC3T6Lo8rAn1fyMngjomthnXdwObwBqj_RoOW-_XDCgV1S2faMnX38EsbK5o6sSUJXmRX5bbtAYcrcj2eklU5ofQx6J0tpgsPNNgLLNKyy1RxGNXMGbZej825pdepyEaYGb3qZluk-_u_ZRH72H63v06unjd3I9_sZAc-uuSy_bdDHQ0XOORq4M29rM-uheFdBZNW_w1F0IXFNFKKRIhCSFnjmoGjHSwjH413ComkKv5PkPDmMOgCESJyK3c4PenKmhr8umrLCLDQfZPTwOj_ioMKFhuVR03PibiT0HhZQ9NG2sgKVX9XTVbTPUGMJIz6pgTZESV9suenOlrIYe501IVXvpWmiH640ZTGJ6KpFZJaaSfAzu0i8hnU-HCkFVnvOz26B1e3AmuCtL0WwKxZmwaZeyW8vowaNl8F-HYsjyJ4fWLyhdqGDTMX45-WKSLJWb4SMp0KkEXcsmsJCJuk9pEAoni3cA8yaNb2vjLARQVrZVOVYvAK4pINny2kQL9sh3VK4Mef8JqB0VCPCK8m66RsMFAG3OQaRkCLj1nWCktM4kXJ_vpzjDgXOCoEBX229-KbXBh-tf405IJ05zIvpcmEbfZuXLyVg2RwdyKw-tOeqED04GD5X6r6j3OrP8yDh_KogyGW-MJo5wVmqPejaqZdMpodDx67IfrHEsdIl8ASdUMXwbgqFy_yH1cCpdwdW9Il-EpQH4IGmZzdlKO2-AcYxW3FegfBmSsGyMT29ZUcnb4odB3YUFCyxEwgjtZ2IvT7IjsI-b8VDGcIbvkUWnWrWFL85dIuLIhxCEQxL9OsqSshtcUfkq-OPB_Sd2voaXEG8SIeX395-dEkp-GDzlInM2boQn7xAJZj2p5-JND4gA-sXkhS0Wp_S48a49yysLWW8M_voj0-crakdLd93mRNu2frUDMA-rGq_BBPapdpjqKNNVXD5hXVcxcNyoBd9mmXx1NLIkMx3bd4JSP33MION-t2D0OtkStKgCsG5MD3zF8fMz6g0MeEbZi5lb3pGWarsXe4q9gEdReZ5xyT1_sjObu20-obEH0t0LFhEaYgGIvyZAfW59POt92BZRkQzQz-GzRFJcFl_Gl_Qfr1k_wI4Ae0XvrZqYXP7TApX6sLV8be4ucAtR0vYkUs0GX8w1xH6QFw7lMTxqtRAJ-sgAfOMImrfeHe-8-pMSwTXR4XimpVdzlUo_7Hk5rFEfsg58fdMObsg4s89-xpJ9wJgA3G5nqJvhKxGvCFe8yZkvVsPp7GQgFZiELK2CK44cAUYQDbOEMU9aigxfomqfwMUjpt30in2Ubor1NtAnUQaP2-0_p3fiL6tf1jNBbMJAJdQ2V5EkCcPRnuk-OQgCYMPKZ7Sc9NFGaB9e-ACykL47JCmKMyEwP-ATv4g4SO5BgTiSve5vfswsrgNrVcpyruyQyouDhjEkqkTJfq30VdFi9R9IkeGOVF0g54eoQlnyIlHU50AJfAG075pXfDrEFCSno3pCebdo_TzhXCH5C_-znuOWwQa_EB6IFYH6IfjmvBnWtDheTZSIZIiIr8_hy6Gf1sCBJPj3wbes6xvu-gDu3ErO_WadmQQrDne9jVAzGblLfN1edz3p4TzEpTb0zG8CJGgevlHbasTUH3ZgwfHZZpgPc6WL3xoni_vtH73Ybgg7pjSkQSsZQwB4eUTtz1ukNf9n4EE_LcNKebT5EujrhT-VcDmZ51IB6Ooq1AATaUMB5tTgLuJCV6Wj_AVusp10W-z8QYXI_vf-pgF6w==",
  "id": "rs_094f36e649ad9dd2016ab42130ecfc87d09397ef31cb425959",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.407,\"left_y\":-0.17,\"left_z\":0.005},\"note\":\"At table height the cap is still visible in front of, and slightly right of, the left jaw center. I’m advancing about 3 cm and shifting rightward toward its middle, then I’ll close without pushing past it.\"}",
  "call_id": "call_ohUE2hDxLLADxldTwwRQ4eqq",
  "id": "fc_094f36e649ad9dd2016ab4213348cc87d09c8595578e10d340",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ohUE2hDxLLADxldTwwRQ4eqq",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.9263, 0.7776, 0.3569, -0.5457, -0.4667, 0.996, 0.7349, 1.763, 1.1877, -0.3096, 0.5144, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.401 left_y=-0.1635 left_z=0.0034 left_yaw=0.0833 left_pitch=-0.0853 left_roll=0.0219 left_gripper=0.996 right_x=0.3901 right_y=0.2402 right_z=0.1151 right_yaw=0.0769 right_pitch=-0.1782 right_roll=-0.1189 right_gripper=0.0604\nstate[joint_eff]: [-0.4171, -8.9368, 5.9009, 1.2234, -0.2418, 0.0317, -0.0073, -0.1983, -8.0479, 6.5846, 1.663, 0.1685, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93af7e94197e5d19c71fab704dc450321b79c83cfa1f6b51951ae93fb4c32cec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3544e30303e1388fd2dbc14561a342d3d22ba9032e8ed3789cca1bc7c9bf948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759690b6956c59de58af3c756164f23220e2700a095bdcf0cb0c1428b1334f35",
      "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 · 5.175 s

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

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5106, 1.9965, 0.8257, 0.4603, -0.4824, -0.3721, 0.0085, 0.7353, 2.064, 0.9375, 0.4068, 0.548, 0.4137, 0.053]\nstate[eef_state]: left_x=0.4357 left_y=-0.1461 left_z=0.0025 left_yaw=0.0788 left_pitch=-0.0474 left_roll=0.0148 left_gripper=0.0085 right_x=0.4084 right_y=0.2501 right_z=0.0037 right_yaw=0.0488 right_pitch=-0.0332 right_roll=-0.0141 right_gripper=0.053\nstate[joint_eff]: [0.0889, -8.0889, 5.9692, 1.3065, -0.0659, 0.0708, 0.5446, -0.0205, -9.0598, 6.3521, 1.4432, 0.2906, 0.1001, 1.4725]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6121, 1.8015, 0.6552, 0.345, -0.5419, -0.4622, 0.9959, 0.7357, 1.7699, 1.1862, -0.2741, 0.5179, 0.3916, 0.0604]\nstate[eef_state]: left_x=0.3737 left_y=-0.1466 left_z=0.0116 left_yaw=0.0755 left_pitch=-0.0945 left_roll=0.0295 left_gripper=0.9959 right_x=0.3943 right_y=0.2438 right_z=0.1169 right_yaw=0.0759 right_pitch=-0.155 right_roll=-0.1013 right_gripper=0.0604\nstate[joint_eff]: [0.335, -7.6513, 4.6701, 1.7509, -0.0659, 0.188, 0.0952, -0.3077, -12.0, 9.6889, 1.917, 0.3785, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.9263, 0.7776, 0.3569, -0.5457, -0.4667, 0.996, 0.7349, 1.763, 1.1877, -0.3096, 0.5144, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.401 left_y=-0.1635 left_z=0.0034 left_yaw=0.0833 left_pitch=-0.0853 left_roll=0.0219 left_gripper=0.996 right_x=0.3901 right_y=0.2402 right_z=0.1151 right_yaw=0.0769 right_pitch=-0.1782 right_roll=-0.1189 right_gripper=0.0604\nstate[joint_eff]: [-0.4171, -8.9368, 5.9009, 1.2234, -0.2418, 0.0317, -0.0073, -0.1983, -8.0479, 6.5846, 1.663, 0.1685, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93af7e94197e5d19c71fab704dc450321b79c83cfa1f6b51951ae93fb4c32cec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3544e30303e1388fd2dbc14561a342d3d22ba9032e8ed3789cca1bc7c9bf948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759690b6956c59de58af3c756164f23220e2700a095bdcf0cb0c1428b1334f35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE5Lk165d3iujET9pHeRfGh80YbbarHPmQ7tDq50tqyFOl7ilBGPXw5fl5Md0oQMxml5vdHjW8jl_RNe-fkd3yLEa1S0FJtW57hR6P8sWFSzEVy_qkcUXS-Kd_B_Ip9JKGccf0btuIyVrT1RdZMWS30vKllDdYIU9ghvul8ZyieL3rrD_zCOoET9erj5y4m0lhGE86f-fzonD_YKYIPWmoAbev6-4cYqfJhdyiJGfcJt6-qK4pY_weUo15JwRnlYmPezNWUNxQr4Nq8HpM_99v35mcUcDRQzrVDjEzF-twEYxwCNRt45gbzYTJ4hgZlubj_zk5SUO0a3C5RIsugVFfZe-SUruLlNvD4azIszFtomFAmKD3s5q4RzOa4NrRzJ3octKLRKzE81L49SYyarmZMZrl_U-2KnZhr4ts5hdL-xypmsPhs4K1sMHz_vQXAs6iYZjf94vVgd0qLK-i6HYcrArub5K_2HFT4Vg87Vvw_TTs2nmCgN-d6-HqfkUENJnOON6E3A1-1_WpaxO_x3DVFw-wg9J9DHdElggpk4jeX9E1ZUlJvUOaW4rbp_u3MF0NsiF9BTf0xf22IdWGXNrqstfCynoP608a9qpUMRR04pZMeCT2p29QlfxT8ntOvzv4-KRYLPmHjIRqaF7t1H6Fcrk3w33tBGr41t7P7NXgIJLEkxYt_myZjwAnmVVjs3erytiz98J3njsbJACoPQyRffuQsfgy5fm1BHUO83c_9lHss_mgloiHiB4Kb-G4pMBgy4yJulv98fMEexiuGXh_qbIXK_nrgkzLIPHJHn_XwPymGy7wvnE28FB-AnVhJdU0oPUCPy0tt3h6xQ5KcMUwcHLwHxaCDN65IfstiKrqGAAiHKvWz-cv2Egg0VebCeGb-UBzMNOs68sjArMd5GCVVwyGjv01lh4sG9ywZ81UdhGd8Op1oQC4JW4JXRc51KpLgad5lUyWbu4AnzJu29kXRpdX65p4j2VNvtz6s6oBj_Lqs5AfT2g1tAFHKAIeIOpCRwxG6uSoNjBN9cjWLl3zy50qDNIFoDE48FdCLDHg0pruxsmePci49vq5tcgWlbOJgbDoyDdTAd66WJrfc1QsNqZC2eE3E1iS5EK22YWUNSUjuWLn_yDyh7NP20QcLxp53QvI8BABFXgDOca-aPiwZQ7dyu8jtCv8RoXx29eKzq2PFzoVEjCuxPzTGWsoqlX7s-4pvlSwftYCGmsiJwzYHjqWZy4XAdKHlspOOcoS76BDSt7XP8iiqnAgBNwwrgG3MNkc0gA5Ev6tXmxyiW5nofq9ds3r2nv1puqMhxC-ahdSPaSciRKM7f5IILNGh79csmM2uu2qUa-Jsos5U8fdz5N-PiYESCPzQ4XO2AEFB6VcJNdjavW5DlL-8la99VRrURdNQWu4iCsQPrDMxZeDiCmETa80y-h4LIeSqNPe3q6T2AvVW64XRBBHftRvXz83l5y0tAnnbYlZJmw1M4eDlQuSJxShrz9Fn8gCHU7cSzdg1qBe4WvyVRoOBSclSH6FT9OH3UgN69vR2JZBhzHJdc8bQcUcrAsdtevkE4brA34QfP6Op4ST24PdTT62VXw7wJ5o9CmUPOHjCfd2gmipX1sXVJ8q1wuhZlWZMLoPmtl_HjmaZJ1U301LDmAtW2q_t8U3T6FJ9dzv4A7lgWvzJRFN3gSUWWM45iltNkjvk96jHDBIq-zS4RI2TfXAs1c-DipMt_cvolS4BjB0olTBfZAB3hzEMcmBEY-Yt4ywJt_xR2LyJZKpVXqahrSWKZqCx8LF3zCtemAbGY5QVdtU-Zi57m4ftT4o_0stfx09t3EhxD7HHdpy3aStXsTEIyAM7Z7GMrzSSqhNrKICkgcynSpkC3bry_5eRYAujS9lMyJGZxClxDn445nIRF_r5ClgEdAnDvTAKVtMRtmiBhkjzJz_BcEwz94q9hkKj6qDK33TmXYcpaRaxs759Y45WlcbakidA2wv7dhBD-1RCBXGuKqhO8KUfpVJZtfq2a23EY_Ek94SckCJja3WJP5bEyVmnhD0mqOrT7tiN-W0Xfk5sdxLlbz9Y9RNOYCYgALDkquru5JwM82oKMM-AYrVD_RzlhhpWmH8SNa0Qen4KyU8V9IfnXDIJQU1UjMtaeLIHYSkGbBO6Pp-GQ1vqnhMS7eopUNzKbVn-uQAyM1tvAm0rGdGg7M8mAvC2x9QpyBbr3QSgl1SeUbYxPHUFqubDtvKQBLq1KC57JJ7nvXNEdxQVbRK8dbXQIM9wCi-4lzCqp0zT1WDZU06nQS8J8OJaP-P7lC8Uqh4dlvkKemO3Ro7ia2afMe2OtEgwPvd1O9FK5SBn8C0Im8EeOkcdTrmHuAIIVhkZRcssTFfui6CtMqMaRO-bnkdiV-bEhiH0p9FHa_XYSsVNGV7sag-RPDsMkvL9QfTzW_BHP8Jqx7HTeONyjvZSKZHr_o1mCYIHv6vLAOk7n7bX1JlbdsrYMSs-diwGf_l-c3QAqdCAQp8jzf9-elOTc3ONihmmFjOOc6iR4usAz_MSXyhhwYh2M88t3hJHQ-hSfVqC3TbX0Nc1ktADQRBHl5vIzKFLdBrxC4N2mD8=",
  "id": "rs_094f36e649ad9dd2016ab42135763c87d0952010b2b95da4eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.407,\"left_y\":-0.148},\"note\":\"The cap is at the fingertip depth now, but its dark body lies to the left of the jaw center after my lateral correction. I’m moving the left gripper back about 1.5 cm sideways to center the cap before closing.\"}",
  "call_id": "call_PCXU1XwdjNbXJPh7RGUELEhL",
  "id": "fc_094f36e649ad9dd2016ab421385a2487d0968c8d05a9d2769f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PCXU1XwdjNbXJPh7RGUELEhL",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5854, 1.9354, 0.7788, 0.374, -0.5259, -0.4606, 0.996, 0.7345, 1.7649, 1.1854, -0.3077, 0.5137, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4058 left_y=-0.1583 left_z=0.0015 left_yaw=0.0882 left_pitch=-0.0871 left_roll=0.01 left_gripper=0.996 right_x=0.3899 right_y=0.24 right_z=0.1136 right_yaw=0.0771 right_pitch=-0.1804 right_roll=-0.1202 right_gripper=0.0604\nstate[joint_eff]: [1.2103, -9.935, 4.0274, 1.1013, -0.2418, 0.3443, -0.0122, -0.2667, -9.1145, 6.6393, 1.3553, 0.1832, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165e9b1db7b5eb6592a33da5935b11b29aa4268e94a1c16804ec712eb9c3d555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfff64fa2910e9e48e3fd158a2e19593b96519514aabab0998aa2d914ea30a79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa40dcf822195fab300b0fd2bf39ad083be844c7bf2964be58b39b55261e4705",
      "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 · 2.96 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6422, 1.5024, 0.7486, 0.0177, -0.5571, -0.4683, 0.9949, 0.7353, 1.8618, 1.0294, 0.0494, 0.5373, 0.4065, 0.0604]\nstate[eef_state]: left_x=0.3662 left_y=-0.1528 left_z=0.1039 left_yaw=0.0574 left_pitch=-0.0375 left_roll=-0.009 left_gripper=0.9949 right_x=0.4011 right_y=0.2457 right_z=0.0678 right_yaw=0.0585 right_pitch=-0.087 right_roll=-0.0543 right_gripper=0.0604\nstate[joint_eff]: [-0.3214, -6.9128, 7.2, 1.4921, -0.4225, 0.0415, -0.1538, -0.3487, -12.3009, 8.841, 1.5653, 0.3053, 0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.9263, 0.7776, 0.3569, -0.5457, -0.4667, 0.996, 0.7349, 1.763, 1.1877, -0.3096, 0.5144, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.401 left_y=-0.1635 left_z=0.0034 left_yaw=0.0833 left_pitch=-0.0853 left_roll=0.0219 left_gripper=0.996 right_x=0.3901 right_y=0.2402 right_z=0.1151 right_yaw=0.0769 right_pitch=-0.1782 right_roll=-0.1189 right_gripper=0.0604\nstate[joint_eff]: [-0.4171, -8.9368, 5.9009, 1.2234, -0.2418, 0.0317, -0.0073, -0.1983, -8.0479, 6.5846, 1.663, 0.1685, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5854, 1.9354, 0.7788, 0.374, -0.5259, -0.4606, 0.996, 0.7345, 1.7649, 1.1854, -0.3077, 0.5137, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4058 left_y=-0.1583 left_z=0.0015 left_yaw=0.0882 left_pitch=-0.0871 left_roll=0.01 left_gripper=0.996 right_x=0.3899 right_y=0.24 right_z=0.1136 right_yaw=0.0771 right_pitch=-0.1804 right_roll=-0.1202 right_gripper=0.0604\nstate[joint_eff]: [1.2103, -9.935, 4.0274, 1.1013, -0.2418, 0.3443, -0.0122, -0.2667, -9.1145, 6.6393, 1.3553, 0.1832, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165e9b1db7b5eb6592a33da5935b11b29aa4268e94a1c16804ec712eb9c3d555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfff64fa2910e9e48e3fd158a2e19593b96519514aabab0998aa2d914ea30a79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa40dcf822195fab300b0fd2bf39ad083be844c7bf2964be58b39b55261e4705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE-hY1NzZetXKBd27lxq78R1wOWLK512BMUnCUSa7eQqtx1nA8V93DpoD6zH8fGbZxr9d_jJCVE_QzUfYpbkf4KrFLImMzbbUhJ61I0UUiIZGe9M9GiQZD8BXgdTLsfrt9JBsPsao23BuaDJwiL1UGxawZCoCryVeovem_bUoATQTPREQ1wCsR4qbdoYq1mME5ra4-2u8Iw79yYr0M9fPWlk95Zr2ZWUAMBK4u9pS6rY6_LQc9G_lw2gyppSkN2RdFzQxnWra0ENRbmHm8jLxgcHb0GAfFYZ_Ej7VFEzH5HKYgODyI4QabUbO27Ys8W37MC6oYRWD9KX0IW3LkdoE40wAiOHN1xzClbt6tnw1DndYFXDQ2Cbt8Ko55zQmx-ZgADc29nZSMWyWh0yXiF72x11Q883tnPsZljBYyq_BLGsSnEBXnNxBibWaXkKzA6Tm2qzR8hi7oy39LcS8rbXP8PzpA6QU7_Q-LXP8Ajlsx8lwzqJ6OcSrzbYjsoh3TH5QSm4rV_dG6XbiQD6niWN-xZgEU6dTVLPdOR1UGFBUFqzcCRdompxUsBCOMdQJmhsXhbF152HueKUO5sMc5UrCW2RR5Vsrr8OAOy7GD-pV7FHQJXbGh8LaLcYedxMDqoGp_sheyZj-KUypCDMyMI_sJprSgIvU6VLysu2no0RnfrRhezs60adJx7GuSWj8KkeGG_TTun9JgewwEKkFzQ56MTrbpxSfQkm7_tK8rISJY-T15W8aLguyENpsjZzKRVYlsdv-wcyJTHoqLth5tXCpKgp2rFr0FSKgdJ2PY6vwQ29lVrmdmMdAuNLpImFErQ4WP9SrEWwt5lFE7o3kMgrx3ewXBpIsAwmBedgDC4vhXv_p05YigOUoGpJ-7UIA2YfTYnBWX0e_MRpnuXQY6ByELtgeBaL3LWGvRLFyZsnmSaoZVXyzFuAhjrt9vX-CoC42GOiFgPNLV0W8gi2SvTLwyBMrUe8-6KGLjmbWEU667yBHm_xUJNiGzrUWgXgVr-_hS_I1590V9BL8pgmNiWgUmeW8-sax24i1OU08mcc45Rd6WUGriBplFK7B0ainiitgb8MqWoLBLi6UTokNLyeLnz0j7rwTDhej7g9lBSp9lpJz-au_aRY0LGgXFDlGnqqWn-N2cxySlRQcv6icxAF2WofBRC9SdDlch8KgF1GRVqLSC5C1YjtjFktXrsuy1kk4uDacsAHTT6KrOLzjsgNss8KHdFyKnQTO3w1MWJdYk_8G7QV_hLNIyii4aX2oWrDi6sA9fIC-r89yJERMFE7rDhaxzdnSV__TUq6TPJixgnbM9AH0mH10G39w0pmsdNpwflovqhRP-a-ZqsERIHv_xPcO4-PivAi1jFhIVyDJQF4JMD3SXTwaAnVPPqage854J7a9SdyPCDsQTkxEiyyJhKHcon4yc7VzVoRpNp5LyZz4FIm-Jo8P7U_47I0FDxZuWHfNSylktcOyO4wSdoLqMYQNjqdB6QkeV4uz029NPkaYetpadIi5MofeSXfm_vtw6E5RIVv3njj_8g-UoyWwdtfooTFagmG7WqyH8SLfRIq1em0xxQQVDeSYqNjRiN7Idda1f7d-NCUJIMTDx0Jf2FSTLdhh6e8XhbCV-aygtJJGDl6i1VhIBcm1WqR9hktAua1ZxsHZumLQNLV3M9BiGtTbm5d-gnRIvUOUSp63Kb139yusYJY0XhMj5r6GbGpIt3ftCh0cG0E-tW5lc3_GXMwERe4fMBHiqfl0lSE6RKiRxOifYvKWgQo3tDDqPh_LKljTjQKd4-Wz3Ppm2DYYO7yoyO0DIGUNn9vrctNI4AGl4utS-c6661caZ1bgySd4WuIiNGY46ukwQ1i-mTpzMDc_4Vc6tRLnAFn8Zwr7SieeymwJkf7h61xd2yGWW0asVEBt1BMapWCHu1dDzG_ZJ20s4cZPhS1G_NevrsMuii5gmMbHlih7ErsulSDORs6KCSwtB150CNUFn-H0_rfRD6KktuvleD3YRWZm0ImFKe-EnOzVjbidhXPFxleMe7flqcwtVzuK8UGVMNRBMn66z1hs1TbDC97s5CFuqWLxGc3qkoWnbNqrCdlZBjUjimlPqB9uLPHp8HZFFQXJ2Onm4fEkFxIBtZtk__g5YpW-bxV--emTjVrv66fUDMN3ORxw4AKIHGYqF7WI24FWATkqbYUqdOjWq4oj9FaZPA6y2H3pMXepczE4z4XG3iKgyJf7BCljDyLfhsvAELLDZG8-28kYH9TP3RWqEsWv0gfMcnVtr9-6ZNbjbsIDWw15SHwQ2P3DMKqA6Sh5FLBEsd15hE6zRiV4UajI0rjPFie2N8-MU-kqph18dV8vS1P35iXTMGdqe-kWwkWjs4KXniDbgiZDwoqRx4Ci9WL0ceIgj0aqUc0QRJLNuDkXazqX5DvHcAALBCK5ftYFCrIye0Anu6VK0MNH3t0LLFaB-4e2aPruagX2mGjomvgGd-DePbopUfvDANJCGGIC40SPG6Md2L_0i3b8CQUNesLYBBEhceYvj6PJBZj5XMnnOihubSjdP-WWMh9HJ9FF3eV3i9YSna1eN9V8T57goTonXdO255hDtuxA7MO4JLsNzZWGy9QchVJChZ-yDSIG65lNT8Qxr5ioJnfssxPb4iAuuzFEHb_6x9zhmq_IrJiA8FlAkirTpQNoVcfNuALs52xJE9Zeh46uXe5Hy_9L-KcLTFVqS_DjOXDQZZ0tzSlcn-g57prP7Dbuv7LcpKD3o_2IY-SvKzk77oWzlMgo2wrKM6xiuV2RwQ1nKc1GgH6UP0mdBdjEgDQRpo_PUdp056E7orlDNEiVcuQLjEAZx1w-ykFd9giO0HLSbGcVVXTtk7ya-fd-sdYpY4E-OW-7hg__91eKNPmLEAVuUfXkDFGeTXamLLFkKfzLJfan5dAd2XugbfyYYh3a_BnSCquCPQ1NrMzCNvo_TBE-uWUA8-bWtIG-pyatCwN1WMOsVEW1cefNTkLDp49saQLE31PVu1Q0ZNXcPHgW4pr3yziOeQAYHnGjWXpYJhkadjrcZXOAC5Wid7OTwCiWWyoqoN29LlUNMZcEVJ0xVrL7zlK0GuLg90RPvTCATy4sF3NCD0BVpIz1mb2J0vleC2kmxRhhLWt1zF6tcpt5wYiDdIZmkYrECM2ZpECHwo1q3uhTQgwJodtn-3ZnV2",
  "id": "rs_094f36e649ad9dd2016ab4213a721c87d0a49303f8d65e5939",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.137,\"left_x\":0.405},\"note\":\"The cap is still between the open fingers but off-center to the left in the wrist view. I’m making one small sideways centering adjustment, then I’ll try to grasp its middle.\"}",
  "call_id": "call_VIkVSr1DW7rWdFS9orWhwg2n",
  "id": "fc_094f36e649ad9dd2016ab4213dd5a087d09d86ca4df31fa025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VIkVSr1DW7rWdFS9orWhwg2n",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 1.9247, 0.7444, 0.421, -0.5087, -0.4347, 0.996, 0.7345, 1.7649, 1.1854, -0.308, 0.511, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.4083 left_y=-0.1423 left_z=0.0016 left_yaw=0.1011 left_pitch=-0.0763 left_roll=0.0069 left_gripper=0.996 right_x=0.3897 right_y=0.2404 right_z=0.1134 right_yaw=0.0788 right_pitch=-0.1819 right_roll=-0.1184 right_gripper=0.0604\nstate[joint_eff]: [0.9504, -9.6752, 4.0, 1.4042, -0.0611, 0.1538, -0.0122, -0.335, -8.9368, 6.4889, 1.3407, 0.232, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c055a2c1d54ff8d1c55ead7b0150ac1c11e8bf8121b72889e62c1f7b3ad0a952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a69efa37dbe61cabf5352f51a4a7e4d9406a93acfd73600d0d737495dd5025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab2ef6389d82a323af7f3db52c364eedb209c52f4601e917cbe0a6a869a8990",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.274 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6121, 1.8015, 0.6552, 0.345, -0.5419, -0.4622, 0.9959, 0.7357, 1.7699, 1.1862, -0.2741, 0.5179, 0.3916, 0.0604]\nstate[eef_state]: left_x=0.3737 left_y=-0.1466 left_z=0.0116 left_yaw=0.0755 left_pitch=-0.0945 left_roll=0.0295 left_gripper=0.9959 right_x=0.3943 right_y=0.2438 right_z=0.1169 right_yaw=0.0759 right_pitch=-0.155 right_roll=-0.1013 right_gripper=0.0604\nstate[joint_eff]: [0.335, -7.6513, 4.6701, 1.7509, -0.0659, 0.188, 0.0952, -0.3077, -12.0, 9.6889, 1.917, 0.3785, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5854, 1.9354, 0.7788, 0.374, -0.5259, -0.4606, 0.996, 0.7345, 1.7649, 1.1854, -0.3077, 0.5137, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4058 left_y=-0.1583 left_z=0.0015 left_yaw=0.0882 left_pitch=-0.0871 left_roll=0.01 left_gripper=0.996 right_x=0.3899 right_y=0.24 right_z=0.1136 right_yaw=0.0771 right_pitch=-0.1804 right_roll=-0.1202 right_gripper=0.0604\nstate[joint_eff]: [1.2103, -9.935, 4.0274, 1.1013, -0.2418, 0.3443, -0.0122, -0.2667, -9.1145, 6.6393, 1.3553, 0.1832, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 1.9247, 0.7444, 0.421, -0.5087, -0.4347, 0.996, 0.7345, 1.7649, 1.1854, -0.308, 0.511, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.4083 left_y=-0.1423 left_z=0.0016 left_yaw=0.1011 left_pitch=-0.0763 left_roll=0.0069 left_gripper=0.996 right_x=0.3897 right_y=0.2404 right_z=0.1134 right_yaw=0.0788 right_pitch=-0.1819 right_roll=-0.1184 right_gripper=0.0604\nstate[joint_eff]: [0.9504, -9.6752, 4.0, 1.4042, -0.0611, 0.1538, -0.0122, -0.335, -8.9368, 6.4889, 1.3407, 0.232, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c055a2c1d54ff8d1c55ead7b0150ac1c11e8bf8121b72889e62c1f7b3ad0a952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a69efa37dbe61cabf5352f51a4a7e4d9406a93acfd73600d0d737495dd5025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab2ef6389d82a323af7f3db52c364eedb209c52f4601e917cbe0a6a869a8990",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFBCNPjsaodSc_fXtAw_MwA3Qbc3bzdAxzyiqt7e33NPDzykCUCr6ZunkCGw_lnXZnMULnPci3MiwMeih-HEffeoO3pxuvAf0AxJ8_vsxKXw9tTXlj8-e484aiULnNEBGerCug-pcomhcXC-Woh_tcpMULyd6n8oiYPXTurQzyg8_ueu_iiXU4vG3PYCFTm7i0r1E44g9I92EP3Ex9nDVzI86hQrJ0Ol9QOeQvrEgNBsTYSmj2DstOxvd6s0xk4uEmOKhyT8h05PP8S4qhy9-UnwJy9C36YHN6qwBBLsmGk-uGIIe66OqeHjVJwT6JLl9c2JCoDlphNgTERTNW_WHeOJEEsGnA_PE3bdBUK05qV49eLo7lzeNnzKTdmBhwVp1C06wNew6NCLReunisIHAF3xg85p5A6Ghv6pV_X8DST9uR8Ijg5BTr1-W_ak94JZQ5MGaIwBwMwLwC-8LzyxY1cgWV2nJZd2942OTfNoDsW2q4pF8i22QGhQl4OZDMSd3nQ2yY4v8md4ogbcs-4HtsQjcvJ-KMTqxdidRM0_YOBH_EY_g_mLEP0re458xPbmOC6jrGffZquiCeCoRtdfOdDxp-xdlvpVd5_uUiYQ2WOlTFOb6qFDWhCoLhoPFSFGrBNahhxQuSc5yXNnxjLKBui_ntBdTaubGkyQVKVctZR4rRKCBTmtxDD4NCOU36qXUXNVFrVJpOjFRvnFYTkZW3H3Zw8Z-eB8povK9wRzboV8MQeNTiAaeYVaYOEHqJQ5e-Sgg8tynDWmYhwn8S2l8U2R2mb_66sBZzwEXfBF08jvCqQqpRqtxf6s4q6bLfsGNeLbcAuLQyLYrMk6ooHkl5i-Eo5-_Qh4yIi64e8bzLCrjbLDEZJjsM1u_2FIxyhCgnKQ7xydVqPIr0vWaCjWmE8jnpQB4hlJ_-4avxLvzsKEHdIGxpfHjPQZvLcbVaMAlhVLiurVfYJ4o9pjfAvQNk0Pj2xvlwSyIX4G3tMpQthQzNBBQywjo2-AmlE2ce4nshxSDxaqyh_dPePNyJ6sle4BTrZKryKStRJsBlYl5yhAS0XPT9PfZ-IRoaOi6jGTJJfQb4qTKqteMpKFfR5kUUAfr-QbaDPLL82gBgg7nhR7c4PdPxF-p9ooVMycWSs7ecCn02XOv_LVDVLCw3qrFZ70Eev46edzuE0XfSlbBmlv0DYpJcO7sxnkglP6HmYNPvJ2CzAankxQDctoxrOn8CYOFD1yby6MBN9xrrntlVCpKvOjn4fUzfxD-iaBnpI6fSfJ0ooGnp_ijF2PYBWvPdRE2cd_sNTioiIu8_vA2MzwJY=",
  "id": "rs_094f36e649ad9dd2016ab4213ff51087d094d020a81882e89e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now crosses the center of the open left jaws near the fingertips. I’m closing on it while keeping the pen safely held and raised in the other hand.\"}",
  "call_id": "call_nb8H4f2YzlpQ4kqe6FD83WCr",
  "id": "fc_094f36e649ad9dd2016ab4214040f887d0a830400a05e50c67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nb8H4f2YzlpQ4kqe6FD83WCr",
  "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]: [-0.5304, 1.9079, 0.7307, 0.4572, -0.5041, -0.4206, 0.0093, 0.7345, 1.7649, 1.1854, -0.308, 0.5102, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4122 left_y=-0.1387 left_z=0.0098 left_yaw=0.1023 left_pitch=-0.0467 left_roll=-0.0076 left_gripper=0.0093 right_x=0.3897 right_y=0.2405 right_z=0.1133 right_yaw=0.0796 right_pitch=-0.1823 right_roll=-0.1183 right_gripper=0.0604\nstate[joint_eff]: [0.0615, -8.1573, 4.5197, 1.1795, -0.2369, 0.1245, 0.4518, -0.2667, -8.9231, 6.5026, 1.3553, 0.2515, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519c18a2992577781354dac1c3397ac681c640160a0b4fb8246a4b466a97e71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c452f3696917024e21a7e01fddef7897c7a8adb0aa609d77dcbbd5822e2dae14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba3fe9f29998491b2e310ce35cfc9dd665dd8a849d892f3c0620eae847813e4",
      "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 · 4.569 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 1.9263, 0.7776, 0.3569, -0.5457, -0.4667, 0.996, 0.7349, 1.763, 1.1877, -0.3096, 0.5144, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.401 left_y=-0.1635 left_z=0.0034 left_yaw=0.0833 left_pitch=-0.0853 left_roll=0.0219 left_gripper=0.996 right_x=0.3901 right_y=0.2402 right_z=0.1151 right_yaw=0.0769 right_pitch=-0.1782 right_roll=-0.1189 right_gripper=0.0604\nstate[joint_eff]: [-0.4171, -8.9368, 5.9009, 1.2234, -0.2418, 0.0317, -0.0073, -0.1983, -8.0479, 6.5846, 1.663, 0.1685, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 1.9247, 0.7444, 0.421, -0.5087, -0.4347, 0.996, 0.7345, 1.7649, 1.1854, -0.308, 0.511, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.4083 left_y=-0.1423 left_z=0.0016 left_yaw=0.1011 left_pitch=-0.0763 left_roll=0.0069 left_gripper=0.996 right_x=0.3897 right_y=0.2404 right_z=0.1134 right_yaw=0.0788 right_pitch=-0.1819 right_roll=-0.1184 right_gripper=0.0604\nstate[joint_eff]: [0.9504, -9.6752, 4.0, 1.4042, -0.0611, 0.1538, -0.0122, -0.335, -8.9368, 6.4889, 1.3407, 0.232, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.9079, 0.7307, 0.4572, -0.5041, -0.4206, 0.0093, 0.7345, 1.7649, 1.1854, -0.308, 0.5102, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4122 left_y=-0.1387 left_z=0.0098 left_yaw=0.1023 left_pitch=-0.0467 left_roll=-0.0076 left_gripper=0.0093 right_x=0.3897 right_y=0.2405 right_z=0.1133 right_yaw=0.0796 right_pitch=-0.1823 right_roll=-0.1183 right_gripper=0.0604\nstate[joint_eff]: [0.0615, -8.1573, 4.5197, 1.1795, -0.2369, 0.1245, 0.4518, -0.2667, -8.9231, 6.5026, 1.3553, 0.2515, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519c18a2992577781354dac1c3397ac681c640160a0b4fb8246a4b466a97e71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c452f3696917024e21a7e01fddef7897c7a8adb0aa609d77dcbbd5822e2dae14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba3fe9f29998491b2e310ce35cfc9dd665dd8a849d892f3c0620eae847813e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f36e649ad9dd2016ab42143a97087d0a5234b595a74f860",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_z\":0.13},\"note\":\"The left jaws again closed fully without gripping the cap, and it disappeared under their lower edge, so it was pushed rather than held. I’m clearing the left hand to find the cap’s new location instead of repeating the same close.\"}",
  "call_id": "call_ljTYxvJkBBpUUX2C6t7U8ETd",
  "id": "fc_094f36e649ad9dd2016ab42144be7887d09397120d1f924063",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ljTYxvJkBBpUUX2C6t7U8ETd",
  "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]: [-0.6472, 1.4197, 0.7399, -0.0849, -0.5728, -0.5091, 0.9948, 0.7345, 1.7649, 1.1851, -0.3073, 0.4961, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3521 left_y=-0.1416 left_z=0.1145 left_yaw=0.0871 left_pitch=-0.0521 left_roll=-0.0156 left_gripper=0.9948 right_x=0.3888 right_y=0.2427 right_z=0.1124 right_yaw=0.0904 right_pitch=-0.1886 right_roll=-0.1094 right_gripper=0.0604\nstate[joint_eff]: [-0.3761, -6.7214, 9.1829, 1.4872, -0.4078, 0.0659, -0.0024, -0.294, -8.9368, 6.4889, 1.3944, 0.3297, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252aa4d49332c481d5015fc6f56bcc1b789dc569c8815b3c61fc3b9339bcdf7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbdad0b48c5c65e2086dbae060bda3b3f85c6510459737b421cacdbece75f98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a4997a5714189ca310b448b8138b173c03ad3db1f86bfec1919efa713de4c8",
      "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 · 3.84 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5854, 1.9354, 0.7788, 0.374, -0.5259, -0.4606, 0.996, 0.7345, 1.7649, 1.1854, -0.3077, 0.5137, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4058 left_y=-0.1583 left_z=0.0015 left_yaw=0.0882 left_pitch=-0.0871 left_roll=0.01 left_gripper=0.996 right_x=0.3899 right_y=0.24 right_z=0.1136 right_yaw=0.0771 right_pitch=-0.1804 right_roll=-0.1202 right_gripper=0.0604\nstate[joint_eff]: [1.2103, -9.935, 4.0274, 1.1013, -0.2418, 0.3443, -0.0122, -0.2667, -9.1145, 6.6393, 1.3553, 0.1832, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.9079, 0.7307, 0.4572, -0.5041, -0.4206, 0.0093, 0.7345, 1.7649, 1.1854, -0.308, 0.5102, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4122 left_y=-0.1387 left_z=0.0098 left_yaw=0.1023 left_pitch=-0.0467 left_roll=-0.0076 left_gripper=0.0093 right_x=0.3897 right_y=0.2405 right_z=0.1133 right_yaw=0.0796 right_pitch=-0.1823 right_roll=-0.1183 right_gripper=0.0604\nstate[joint_eff]: [0.0615, -8.1573, 4.5197, 1.1795, -0.2369, 0.1245, 0.4518, -0.2667, -8.9231, 6.5026, 1.3553, 0.2515, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 1.4197, 0.7399, -0.0849, -0.5728, -0.5091, 0.9948, 0.7345, 1.7649, 1.1851, -0.3073, 0.4961, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3521 left_y=-0.1416 left_z=0.1145 left_yaw=0.0871 left_pitch=-0.0521 left_roll=-0.0156 left_gripper=0.9948 right_x=0.3888 right_y=0.2427 right_z=0.1124 right_yaw=0.0904 right_pitch=-0.1886 right_roll=-0.1094 right_gripper=0.0604\nstate[joint_eff]: [-0.3761, -6.7214, 9.1829, 1.4872, -0.4078, 0.0659, -0.0024, -0.294, -8.9368, 6.4889, 1.3944, 0.3297, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252aa4d49332c481d5015fc6f56bcc1b789dc569c8815b3c61fc3b9339bcdf7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbdad0b48c5c65e2086dbae060bda3b3f85c6510459737b421cacdbece75f98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a4997a5714189ca310b448b8138b173c03ad3db1f86bfec1919efa713de4c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFLVDz5YEzS9Lz6vvFrFA0qQodmsQC5ViqoS44CLBQ20_RcS66unDhZOpL-K4zOaxI-N-KNjuCZ5eE2zoR5UOywa_WTQsYwsTbawgMmVKj0o73FRpR2LIp1w2JZNlcbVdkIbWUPoO-0FDKzhCq16KKgBhOswwujYK3EX-qofSXe2FEZ7veYiMeXlP47RuoWco1PP7ESUPtY7yhH1mEd2NNrH33zd9awLouiSnk1Qg8Vlly2DOdxYVpXrfjOl13yBuk2aCd6OyWS8opBVmD3lboVXEbgNUUjL-qSJ_cd_fpdI6HUQGCl3D2ECyq5iBo8Uot0Yf81E0T06zJob1kfvHrbzkvQGExv7JZ42VkryfQxDUsaiVTwGAOTxFXvQCe7-ZE3kbwam75OJ1IAVAu4tCIWG8woEW3g87iacBusdnrh_jfvOgNbE0dyWW932-iaB8Jpij_Nd3dOjIWtG0S5rV0rxmbqHI4Ls9TFonJVnSew2ycvtt5g9MdqXL7iVdG9W1jZdpeIUzjZe9V4g91RJwjjBfleyW0WtKmHQ--BOy83UQHnLD4-36tewmAjOHc7-7zINt9q81Lq5eXOaXHpsi18wSLk4ipyc6xwJ-aBOuF0nSdJlfl2E_3qjBjYShbNDcl6rEUVqIDwyglAmtIsG2KKWQdaLHP_96cW-LJXtS081EQ8xvkC3WFgHc-Oez2UAOsT4-opIe8Oc5Mg2tSoCtggh8Q-FDMi5K-gBafmw1opxSZhYiKLW7-xa8XUY5eBqyenABbO6MPnI81oPqyU2FiPv_mTWLltwEXZlWYjF8M9X65frwkHqCNg9ynp_lYp946jyBdKCwziKSLLM-HIoomLa5Cp5JGrZIrWKWUlJkQHny0S9Bn4zErhYcfkf7JQ0oy6YTrDacAsEsvArq0edpdcM8ERouHIxJKjOE2EOeJoonbPRNinqDVGD9oVLDfmz2QZxtPf_YDYbMayLyDYjEgFM9jqqsrzNiQaMqRoy8oN7SGiWtwjxY5ZGsrHh---s04uS5rOyBtPPUN4Dz18Ama52CB-o47bsfl-IbBx50IuDUGwNstJns9HaQUisVpMKERSJZFOW4dhQ6qLYzymNQzAstKvQOkFbhmS7cTedvgajMCytFLWIzJdAfq8tC7xRUPo9TY9dHrlmehOtnUvTke-W2B90JWv82yk-4C_mXnzV8im0kq8FOna5L0uwXo53WpeDKhFOmzb8jIUmcyEnP0moWXckjY0gSA0D4hrGcd-dZRyADo2t1gqpvcpeEDlJRpDxw-RuXWE1TvDcLuqQhpC9jSQ2WTBvwD94ZsWWS9Cyz82qTKRE_ix5G4l8pDSUj3Kb2xAsuWAoRvRyxvIs8o28v88Ppd8sDVZHEyoOvonVHRhu7sVCEFsF3tX0q5OovV9utfLeLOINjiPmU-l6JreytPPcVLxPcNqR-5QArwSG3BUolC6FPAFgd-zSVNkgKOTb1aA_cfnWusYQzscODaxyI_yVbQi8Ft1wGSnM5bwv6z24lcaYXiy8HPWEDO6caYRR9SNGIpUjDR6pnPb_sy5xZPKd2qX7xf5uqEcm1Rw5IsLRwEVzAqDX-IfLiVTgUpzbeqBaUYiLf-5BYQet9v5UNO2qSuf-Z4RdWiiQvwVL0DOLrv4nkhrB5VFWT1XXQyMsWbSCZUwBAYKSGIYUVs3veTCDBD_wJq4tJhNGTKtrbuD2I5gvNEEGA4kjjjY7V2K8-rBOAx1A3NF2EIr2eKJHcq0UZacT9sEPVb_Frq7Y5GJqCAtALB56T0QY6WnQWSd64DE4OXpBxjMYkJaPD94coLop86PR0i3KpumMVsr0ne7qAxQ5faHoq8tAYJYjyKs1kuBhHMVYoxrfVXl_kxTgc6EBmyGQxKRpNqm-usIpZzeJzx_wCFbSpDEW_T1W4tndb8VyeJ6tKiKc6kF9B680rNOgeTJt4i2vjshD16OllE2ogQoT0vIgA3ImffVhJUdowpE66WgUxkotcb5aM1Zj5I2hbkR1G-_WFmLg1bZ_x5SZTyX2A1pkOJke6QYGPkmeD-q2MSFBDx2QVKuyh2PrHZMOYSh2CAY-cCLcDQRSBmxkIfopkJwa_gMVrwGSMEbud-_Bn4b8roIyJZrxaBiD7utp9IcD9arb8IZko-iQNg=",
  "id": "rs_094f36e649ad9dd2016ab421480a6c87d0b2881d1253898a9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.025},\"note\":\"The cap is plainly visible on the tabletop at the bottom center of the left wrist camera, lying nearly horizontal now. I’m lowering toward it with a shorter forward advance, so the open jaws can straddle it rather than sweeping past.\"}",
  "call_id": "call_b9EUPB66heLrejylJnsRn3VB",
  "id": "fc_094f36e649ad9dd2016ab42149c93887d0956393136033d37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b9EUPB66heLrejylJnsRn3VB",
  "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]: [-0.5941, 1.7435, 0.6399, 0.2756, -0.5423, -0.487, 0.9959, 0.7345, 1.7649, 1.1851, -0.3096, 0.4927, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.3672 left_y=-0.1337 left_z=0.0174 left_yaw=0.1089 left_pitch=-0.1143 left_roll=0.0274 left_gripper=0.9959 right_x=0.3883 right_y=0.2429 right_z=0.1118 right_yaw=0.0925 right_pitch=-0.1921 right_roll=-0.1084 right_gripper=0.0604\nstate[joint_eff]: [0.5128, -7.3778, 5.012, 1.619, -0.0904, 0.2418, 0.1001, -0.3487, -8.8, 6.4752, 1.3846, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a409d7762287feb1158c21730dc46cd05e4b4422b6fed45182fdde2f85dbdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb5e091f72a9193cbb257d69541a46f892049ffde3537fdbb7a859b813765b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136172420729360071980a5e59ac78add62e9090778db86fb690ba84460797ef",
      "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 · 4.075 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 1.9247, 0.7444, 0.421, -0.5087, -0.4347, 0.996, 0.7345, 1.7649, 1.1854, -0.308, 0.511, 0.3878, 0.0604]\nstate[eef_state]: left_x=0.4083 left_y=-0.1423 left_z=0.0016 left_yaw=0.1011 left_pitch=-0.0763 left_roll=0.0069 left_gripper=0.996 right_x=0.3897 right_y=0.2404 right_z=0.1134 right_yaw=0.0788 right_pitch=-0.1819 right_roll=-0.1184 right_gripper=0.0604\nstate[joint_eff]: [0.9504, -9.6752, 4.0, 1.4042, -0.0611, 0.1538, -0.0122, -0.335, -8.9368, 6.4889, 1.3407, 0.232, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 1.4197, 0.7399, -0.0849, -0.5728, -0.5091, 0.9948, 0.7345, 1.7649, 1.1851, -0.3073, 0.4961, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3521 left_y=-0.1416 left_z=0.1145 left_yaw=0.0871 left_pitch=-0.0521 left_roll=-0.0156 left_gripper=0.9948 right_x=0.3888 right_y=0.2427 right_z=0.1124 right_yaw=0.0904 right_pitch=-0.1886 right_roll=-0.1094 right_gripper=0.0604\nstate[joint_eff]: [-0.3761, -6.7214, 9.1829, 1.4872, -0.4078, 0.0659, -0.0024, -0.294, -8.9368, 6.4889, 1.3944, 0.3297, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.7435, 0.6399, 0.2756, -0.5423, -0.487, 0.9959, 0.7345, 1.7649, 1.1851, -0.3096, 0.4927, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.3672 left_y=-0.1337 left_z=0.0174 left_yaw=0.1089 left_pitch=-0.1143 left_roll=0.0274 left_gripper=0.9959 right_x=0.3883 right_y=0.2429 right_z=0.1118 right_yaw=0.0925 right_pitch=-0.1921 right_roll=-0.1084 right_gripper=0.0604\nstate[joint_eff]: [0.5128, -7.3778, 5.012, 1.619, -0.0904, 0.2418, 0.1001, -0.3487, -8.8, 6.4752, 1.3846, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a409d7762287feb1158c21730dc46cd05e4b4422b6fed45182fdde2f85dbdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb5e091f72a9193cbb257d69541a46f892049ffde3537fdbb7a859b813765b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136172420729360071980a5e59ac78add62e9090778db86fb690ba84460797ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFP4qaZl6beYf5bMIyYU9JfzZ3JOOqt2LTgG7p-EuKTbtJowqwziy4G6RVvaM2DwzeWi6uqJlBNpWNEDNCPv9bo0wBdh9tpOe3bIl3SDdf5ujcEGELEurA66iQUjKmZhrwbeS72hIyftjZzxcGR1N2qcF-OQ5bui6zxhF90sl3uopiHU3PY-LRvS-jJe-JeYEagHv-RHPZ2Hfp2B4zwYSW2J51bow58J5at3z-9EZrv96j3CMP_Hs2Tz5TbTDs4EofQUAufvreiiQG4reHqcL6gWDBKqF9HyAXkng2JgqEADn4aq7SUtA0_de-V9hyAgKb0NLSxBREL3Xc1H-IoWMgpTz_gYEWziAT0OsGkww145HCRpA3wNdmaEPYc8S7pUdk3PJbQOUnqD1Vs8jVF-VmutsrAzsfigW_BtdjAhyxnMe9xggkEgx6d9_-ADJkomX0Zzja_la5MZq0o0QU6VLDY6f34sdE-VaDkBYbD5fIGGV8HLtre1q5AZ2UShQQGtQ6qq__o2abtmep-8-89MRist0ijTcmjEW7FZauTvVHVDnmb3K2Dm8tGHAp9enNE7oLf0RMfKPD9ZycsXCAJol2WCivpLPK96gy9KK-bdCx1GWpnY7yj05DlyReQOMzcsISPV5mDUOVBuFLKNYJPoAKpP358ju8FzEDObjTRGRTPVXVXXUAlb27FqFKX2dIBuRDh2vtnjNWKW38Xc_hN0raDgKXa70IiAvmaMcU4HS7YIl2pHutmOTYDRC_9UEVNHQdvxwyeRHhDmP5EgizmbkT1c2oNXI9j040KyCcxyhVJtJefqQXrDSWgs1ErlYm8o7L4j6-HGOejgWJDr5rnfggiIV5FZ_1R_Jrq2LQEvYwW0VCnGm0Cb7GsL49gZA4-kyYFZrWA2WSB8kGv9V0NzP0eqZW1L3pUfm6riWgc9lXX-FC0kbqIjL1_xyq2VKsUm3W4nR0vV3DK9o7yxiAZbaM2Y49HSNcHQ7GWf8TZ_P-9M8K46z-rxdzhD2kDgk8_k3W9FRiU93nPDXzrbmmcSLoaLw52DA6n6zQkcAeKk_FHhTxXkN7c423q8aE76EEST_1_HtWkPnBXVSRMsLtNT_mFXrPCz8pRqLLkAy6VT1WqTrhKAbRjHn6zrNtifwvZQ15Kzym_HbQB9z3Fpq5HjDPULIMKK9vNGVXVHs-WifMBDgQL30p3RwrFuR9nCiwiTvumVJYSe6j9ZfOpMrPIL-A8buvoByOz5LFlJdH16w_WZQn_Pekp6bRSvfTb3gD03OwS6JziRA8fhupMDKwyaZC-yBIl0vXEBaiU8JTSVSZLMvofnVC1N-QngsUTKvDkmIi83BPCF79ORTAYCacZd_iFLqNoxI6x24pYvBUNXz3yp5uvrmbI247DuneKhpM8Fuuyq9F7t5cx_OgzcR_uNFA6ZVLksJDXdEI0qHSRV5wRcJdFlaYGb40iSjGmTrPqZ8gmh5ZtocjCummQGh8aNmzbVgJqKsKLzA2H7lqAO8Rtnw006YAeVcChmCuFF2NSh3kbsIEZN-r9kJnyq9IiOXF3wI1X-xbeYkVZhGvLqMgSAO4ChSemXw4POpI02448yDXpMPsXsN_pQRlu7cJzK7fYqWYvF2n_IcBGZ0ja-7xdN3Seyb8Qw8ZiQpSi3y1NuS32ddeyWl6GBOhqF9ZN4AhI_VaEQvAKVQAQGcym7HjLlj2-p0TQoRJ5Cl7siBUSlJpyP7-H-J52R01aF24Q43jnvutdDOnCjZbx5xDSy-zzFLpYCjr31tiTSM880hdQrhLg89w8M3RREtiOWxDqDXIpdQjTPgOqRUxCSdez5LvuguKlzmBmn7bK7tw5BFocB9wPT7OmtNrrNeYPecfGO9eJEIvdjXWbvSaWBTNOlNjm8ez61uWQdq2rJ3Ryadz0PXnOVThtY2qAkXLr7bQHBabMi_opYUnTRUsHMdwTDt0ujHklWoFzB0Tkm_dClLaDmXULSi4zwPSJ-kfJPUXXojFspEYaEu2YcquEYZ6IQwy87VDtMJUSiQssb7vmTAtDGP9kCt-hWvp5m_2z6mKBqO3QLJ8qsKajnHCyjVC4blEOQfaYDP-T0lA8YACkwfAgvcfQEf8c169pqBHy538oshZ92w==",
  "id": "rs_094f36e649ad9dd2016ab4214d423087d0a3c5a0bc909c3054",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.008},\"note\":\"The cap’s thick body now sits between the left jaws in the wrist view, but the grasp point is still about 2 cm above the table. I’m descending vertically to the cap’s height without advancing farther along the tabletop.\"}",
  "call_id": "call_H2fMwv05SHhJmiUzm6kVuzy9",
  "id": "fc_094f36e649ad9dd2016ab4214ecbd487d099bf682cac750ebc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H2fMwv05SHhJmiUzm6kVuzy9",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.8069, 0.6304, 0.387, -0.543, -0.4892, 0.996, 0.7345, 1.7649, 1.1851, -0.3077, 0.4919, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3739 left_y=-0.1381 left_z=0.0085 left_yaw=0.1082 left_pitch=-0.0845 left_roll=0.001 left_gripper=0.996 right_x=0.3885 right_y=0.2432 right_z=0.112 right_yaw=0.0935 right_pitch=-0.1909 right_roll=-0.107 right_gripper=0.0604\nstate[joint_eff]: [-0.2803, -6.3248, 3.5077, 1.4579, -0.2027, -0.0317, -0.0024, -0.0889, -8.9641, 6.5573, 1.326, 0.1783, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd7ddc3a2c1af39db771ec496c41118e234df1f85a702d9803c3a2d16eda2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af0abf9512eebd77f883b075b38851cae48d4b03b1de6182503bd33355816a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd06fcaf7b864cefac5d66481d594077d0b1bb40766814359c7b9283a33f561",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.423 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.9079, 0.7307, 0.4572, -0.5041, -0.4206, 0.0093, 0.7345, 1.7649, 1.1854, -0.308, 0.5102, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.4122 left_y=-0.1387 left_z=0.0098 left_yaw=0.1023 left_pitch=-0.0467 left_roll=-0.0076 left_gripper=0.0093 right_x=0.3897 right_y=0.2405 right_z=0.1133 right_yaw=0.0796 right_pitch=-0.1823 right_roll=-0.1183 right_gripper=0.0604\nstate[joint_eff]: [0.0615, -8.1573, 4.5197, 1.1795, -0.2369, 0.1245, 0.4518, -0.2667, -8.9231, 6.5026, 1.3553, 0.2515, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.7435, 0.6399, 0.2756, -0.5423, -0.487, 0.9959, 0.7345, 1.7649, 1.1851, -0.3096, 0.4927, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.3672 left_y=-0.1337 left_z=0.0174 left_yaw=0.1089 left_pitch=-0.1143 left_roll=0.0274 left_gripper=0.9959 right_x=0.3883 right_y=0.2429 right_z=0.1118 right_yaw=0.0925 right_pitch=-0.1921 right_roll=-0.1084 right_gripper=0.0604\nstate[joint_eff]: [0.5128, -7.3778, 5.012, 1.619, -0.0904, 0.2418, 0.1001, -0.3487, -8.8, 6.4752, 1.3846, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.8069, 0.6304, 0.387, -0.543, -0.4892, 0.996, 0.7345, 1.7649, 1.1851, -0.3077, 0.4919, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3739 left_y=-0.1381 left_z=0.0085 left_yaw=0.1082 left_pitch=-0.0845 left_roll=0.001 left_gripper=0.996 right_x=0.3885 right_y=0.2432 right_z=0.112 right_yaw=0.0935 right_pitch=-0.1909 right_roll=-0.107 right_gripper=0.0604\nstate[joint_eff]: [-0.2803, -6.3248, 3.5077, 1.4579, -0.2027, -0.0317, -0.0024, -0.0889, -8.9641, 6.5573, 1.326, 0.1783, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd7ddc3a2c1af39db771ec496c41118e234df1f85a702d9803c3a2d16eda2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af0abf9512eebd77f883b075b38851cae48d4b03b1de6182503bd33355816a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd06fcaf7b864cefac5d66481d594077d0b1bb40766814359c7b9283a33f561",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFTygY-5vgcs9tqY7r3aA5yN_sXb9Kv46IfVTNbIBDDutb17kownYYVuqZYdUeibB5XmD3aycvvpwPqITlh5Ar_7guVpUISRFtMAd36dpEjOtAUD49je8gOxbfynwJQYdGhoSNJJ56qlNcZ6IAfJMO6SeiUoraUIhGkX3E1NmwsDgzHRhYoKqlA7RVFU-P3nQxcfSH-XNI6cyrgMAodz9b7w_uwisKo9RbT4pkSDOMY0mfvSLCmiWpX2cLKOFKHMgCfJY0kvzbgqtyXpPl2OM_gq9RYKN2V42heobbq4USPziwEhQGDW-fT7RAHUG6qBFKF_S2RXYpc8Rhj3C80wig_kgbVKBOj70nR5h5Mit0tCS-4J7Nn8gtSDxn8RgRlu8yiamZyl6lQkbOGpRHoHjPyQEJw_UbHaY7pE09vM3_aiurUqCS7zAtdxo5f1vYpfQWGWURQ69E2FRQ-edsWjOqzpuci129-4G-9qonyCZGKfXpVxZeF7sUjgYr-WUFFkLD6W2BBZ8Kt8EgQ68Rex8RDiTZfs41FlQTvIy0OKpGfNQB9VCTbbfPu6FdKsFAvYCW9jD3W1U5oKOozraSxGUL36wbrjHztbF3ftK_2IUr94K0QVt8JfHPl0gyW1-bmUEcRZEscNAN2BsgHmtuRyL69Xp5XUGeuwGUidxWH2vFM8i5JycpGIN0fr_YofSKyLd4EPsuv9T9eCmj62OaDgG0gH9u62vFQzreJU_2M7i1vbtUoLGPePbp8yvStTXGL_AvUd5qOjUEGkvfXhsweAx45LiM72j1Yv_fLQB-2DxgbI679jhZ8WqCN4y3s3Ot_N6IEPZOtgWVATjJWmhMsG1vUJlKyVS6gztkcW4EZn8aWJptI0B9o7nuplGUymewl73txtvpNhGd3YqlShzFyxPRVYv0Luu7InzTC62AyUyTMD5hOmRjKlpPsUgBoc8T9b6UEXO9KAsQGAQEYoSYEgeuGYnYRQc1OuWmmhq9P6zNUqaLgROUy863Taiycn4gYnaxRaQaM6eiZWEvjxkHxjEDlwufIuLiV8Ct7iQnr7MRQpTQ9eHbdC-urbmFAssPZA4CF3luvUNMdsIOJPpOpdnHidbDbFpWlMrRNYaBmzym3E-3lJWYYtc4vGYXw9z4AYXVVIi_Vjy3STtTw8IpdsTjgMU3oh8BauSH3UahQtiWIBjSkBbVO0k2QcgHvlYPdTbBdAo-MP3_FrmqWDzlK4iGBIntqBwpeF4C91iZ8-PyrHevyIS2H9RUviYZMsry_PguOYwOHCAQ6TX1oQ9Gqbk0amrNkPvpPm4CU9GzlznlKsoQer2jrpBX1XHV74kLpCgPErcQaO2vGupEW80WaJwglDpBOSbMOMnBH_rCqsc6oHgLySEY5owLNII-lZcXo5NUcu6GD5sTH69fb8ONwF__XAw9A__Epe9-buWEWGz7gAoLQEQ0Al38iJVwIT2ymhBY7MiZPmcSCPL6aD5Q0w7PqTDUMezUyep45Wd26woaspaega2urr4vvSRjwyBguo7vOKBxeKSw1MK_5XxXqFUOEkvCI4piYdWoXJUxnrFeUzUl3-Xlk3RrVIiaZRpWTED_wwKVL0i0ekojmtXXTd2xz9kLHimP5h9B3zGH9VPiKD9lWSMsxzvfBYmwRNjLLwWkYWCPHmxF3R6tQ0ILgDgzxrm_485Dgxz8eK7oow4ZY4hopokr2s7cvwshpL6_OZdo7tr2XHcdDcJgEe52Odis4DvbG2BR-W2KtBV4_33FpuLrvr2qj175GXa_p3cuSuO4c2M2crLpQSda59soiW51AvuoUQzzpV_VIyKSpsAaYqdd6yDM1a2RU_KHxZt24zwbIpsHopf8o54gD67-lqFFENr1PPFmC-HcV-4JfXbBzCVR0G5B5zdGrSopskrF4wZuUzdl7org-eKlnlb5mrwJcT86lB6yopWazpWIWViKtjL_Ow9tsGpveO-9UfxgWuTL92NNpNGS9d71vAGmR1s_WUzNTcP3PDVCFX2W7dEUQwoQ67GE22oVRQkeMTUPPWsE28bm2KuTX0NbE3qCpCGwwbbVvVW5lYCSYu5ESS90Lwd2M34VfDXHZE_csLlqhFkGn534_15bU45hQy47ogCBVyFmoVZUV6XzCBIy596FXRiy9cJGBPUqQkmZju7EHrWVXJ4gyAuMaXVwuhTUulSrrvQ==",
  "id": "rs_094f36e649ad9dd2016ab421510fac87d0bf8acadb065af6b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35},\"note\":\"After the vertical descent, the cap dropped to the very bottom of the wrist image, behind the visible fingertip tips; advancing farther was the cause of the earlier misses. I’m retracting 2.4 cm at the same low height to put its thick section back between the jaws.\"}",
  "call_id": "call_wyVZuR6g5bJmxTkB7RycgZsk",
  "id": "fc_094f36e649ad9dd2016ab42152e03c87d0969de35f68122819",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wyVZuR6g5bJmxTkB7RycgZsk",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4881, 0.3843, 0.0604]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3882 right_y=0.2438 right_z=0.1117 right_yaw=0.0978 right_pitch=-0.1931 right_roll=-0.1068 right_gripper=0.0604\nstate[joint_eff]: [0.0889, -6.612, 3.8359, 1.3895, -0.1978, 0.0269, -0.0122, -0.3214, -8.9368, 6.4889, 1.3553, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c304e823ed70b20c4c65524cb22f8089672a2a6615f9985efc1c50844a0f94f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88171880def4ec3fb25d90b65e95f1c310a1aef858e5e7dbd9681fed36dbd20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ceb297cb24ccb65b9cb7b0854582d14eab74d39327244aa883445a03bd49ea",
      "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 · 2.748 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 1.4197, 0.7399, -0.0849, -0.5728, -0.5091, 0.9948, 0.7345, 1.7649, 1.1851, -0.3073, 0.4961, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3521 left_y=-0.1416 left_z=0.1145 left_yaw=0.0871 left_pitch=-0.0521 left_roll=-0.0156 left_gripper=0.9948 right_x=0.3888 right_y=0.2427 right_z=0.1124 right_yaw=0.0904 right_pitch=-0.1886 right_roll=-0.1094 right_gripper=0.0604\nstate[joint_eff]: [-0.3761, -6.7214, 9.1829, 1.4872, -0.4078, 0.0659, -0.0024, -0.294, -8.9368, 6.4889, 1.3944, 0.3297, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.8069, 0.6304, 0.387, -0.543, -0.4892, 0.996, 0.7345, 1.7649, 1.1851, -0.3077, 0.4919, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3739 left_y=-0.1381 left_z=0.0085 left_yaw=0.1082 left_pitch=-0.0845 left_roll=0.001 left_gripper=0.996 right_x=0.3885 right_y=0.2432 right_z=0.112 right_yaw=0.0935 right_pitch=-0.1909 right_roll=-0.107 right_gripper=0.0604\nstate[joint_eff]: [-0.2803, -6.3248, 3.5077, 1.4579, -0.2027, -0.0317, -0.0024, -0.0889, -8.9641, 6.5573, 1.326, 0.1783, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4881, 0.3843, 0.0604]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3882 right_y=0.2438 right_z=0.1117 right_yaw=0.0978 right_pitch=-0.1931 right_roll=-0.1068 right_gripper=0.0604\nstate[joint_eff]: [0.0889, -6.612, 3.8359, 1.3895, -0.1978, 0.0269, -0.0122, -0.3214, -8.9368, 6.4889, 1.3553, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c304e823ed70b20c4c65524cb22f8089672a2a6615f9985efc1c50844a0f94f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88171880def4ec3fb25d90b65e95f1c310a1aef858e5e7dbd9681fed36dbd20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ceb297cb24ccb65b9cb7b0854582d14eab74d39327244aa883445a03bd49ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFXNI9ZZLfUSmQL_RD72yRYL1_hIp758pFTh-WzYKK52hKXvNGkR7hCU5FQCdVLgA9rBlvwRffv4ZvYkehGJaRG3fKgZxOU4W5_czxletuDyfsTZ7DCL9NDMLaIuFRDc7n9A-ETDaZJKv38Q01I-J-yaRg5Sx0aJ3BrZKFDV4UaueAeKHeoqEaoxgv0NXHkTjttzzwPpSba0Si5hN2aCTURmc5Dlrblfl6QKRGeCPm5yDnPpddEJDLxPNhCFLVMAdzjhM6tPDNSKsbmPspZj4-I5AObk_dJLPHsLl0cGwX1_BFSO8sfgDbFsNkV3Pu7S6IK8hqxVG9gWb7tVZxF06QLE4YTYnnu26l8n9EjD2WTQwi5ujmbujderHpr-manWZsM9hbgGrVZH68cwA85xd1c1c-iSGSY3zF4UdIvkArwNmKJNFhFjAxgnMtHgL3XN4HhNCCqSwWcxP5MGyT3UzmaKsv-VcjH6AEXZc3icpIVy_N1wmIjy816zBCSR4l_6Mr3ErPFZNHhmeQJFlxgKqkbxlhhtKkdicSHwLaXppNNjA73ATY9dZjsNFYBUECUHePXMv4g9qLT_7NbqapGHkqaMsmtnactwJBDDGJ4S9QSMaknHWszGQTMN8IWRiHzIQJxYUJnd6-xcFRykajJL-gn9tqtfJr4rhnGOfJ7rSwmI99DxRgj5lHxQecXnjDLggndh6ZAKY59OjvJXvjLd_XFF4iVJcJGIM22bsmXZkUPi8kkefkuSThSRT1H--bf04MSeSUglaxlCHRDk1FImfuoA-GBPaGJya3VLrc8gC-gr04jany1ul9k5vj8KE9s7v59w7hdoiNdwc7dyfKiKnXPB6O0phIGjMfT7S99nfWfhleCsgB3eKqjBSejARL3_XVk-9Pp-z-F98-vpiTeaY4lOsvAevoy4LPwg40UiZ9neqDKSuzPBJUWZ3HatVWxNA1aJ4TQWBLEhN_0PoGW14MnABoO5PHy8jnTCm-FOhKMOoqh0KGeSvTVIZmSAypAg-9Uv-I4W50gUAgwV8trd5mEnbDcW8ypZ-klFTlEJAMSyay0gWhLbyu8q5kcUKnRxxvwKftfvy-kNvkDg4Ub3py2KCGGZtbeYZ7mcS8vQyiFpPQrqbXU8pVh-E-MgjpZCvgA-mhtpoihMxaMRbXFgZ0tZ1c3ByU_SaTKqf2B_quKPabV28QWH5bKGUv-psqmpOag0YCbvennCngE4hG9cgglFsADNQiUe6ohoUhT2StQ3Jkbuxhs-VpFedZ_roGOHCsqOpc5Ii6w2dmA2hZC6oSeLUrTZPYN0akbhK34pnUmY3v562TnCzm8MzG4QVIo4K9fxp44fM1zl3rAk_dnAnrRxEL6vrZT2f8DPrTYjNXVG7f5u13qs7qnZ4g0PcGyJGqPt5x2BfHMFKeyKSfM726e57Xc11S70d7J3Arn1RDt8N_NQzTvrhn-cL2sr7sTTWcOPfcUgUEmnoAY9laYKds3cYvqrPr8UjHPJuFnccR_qLyl-ToYepZ5p8dhkv_t43ogKpm-UPo-WI9f15OmZWIZsm6v56sRIgpY9UKuLRReIPTMiRxmnjhUBFZzp-UfV8sAJm9nFqUO2ZSj52HhQUgnMpDxBMXLmhCU0nm7pQypD6Cyzy5H16f8NmmAczt-sfpPh4jdDUp8JtKPuHSDcQ3vEQAnyGS3bhUNupAp_aAkXPbVcBMWpRLdsmLX8HJbfiNPHTMKD9XSyQyj4Ifheezsig==",
  "id": "rs_094f36e649ad9dd2016ab421553b4c87d0b81bd60415445bdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.005},\"note\":\"The last short command mostly lowered the gripper instead of moving it backward, and the cap still sits at the wrist image’s lower edge. I’m requesting a larger backward-only correction to get its body up to the jaw tips.\"}",
  "call_id": "call_lqo5IRAfRJxVl4Ab5IlMwI3C",
  "id": "fc_094f36e649ad9dd2016ab4215672cc87d086c264493afdd835",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lqo5IRAfRJxVl4Ab5IlMwI3C",
  "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]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4877, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3881 right_y=0.2438 right_z=0.1117 right_yaw=0.0983 right_pitch=-0.1933 right_roll=-0.1069 right_gripper=0.0654\nstate[joint_eff]: [-0.0889, -6.7214, 4.1368, 1.3504, -0.1929, 0.0073, -0.0073, -0.3487, -8.9641, 6.4479, 1.326, 0.149, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27f9d7c4902dd640c792f176de0ebfa508e4bf676d2dbdfcaa5d95abb92412b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b642ae5ea65e84eeba5a8450811e6022c7e52b99d4573c7f43d1ae936d2d5d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d8f0ef91235cf680be0f3a90f12974c649c5831f4061cb2c2c1cf9ccc41dae",
      "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 · 3.363 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.7435, 0.6399, 0.2756, -0.5423, -0.487, 0.9959, 0.7345, 1.7649, 1.1851, -0.3096, 0.4927, 0.3874, 0.0604]\nstate[eef_state]: left_x=0.3672 left_y=-0.1337 left_z=0.0174 left_yaw=0.1089 left_pitch=-0.1143 left_roll=0.0274 left_gripper=0.9959 right_x=0.3883 right_y=0.2429 right_z=0.1118 right_yaw=0.0925 right_pitch=-0.1921 right_roll=-0.1084 right_gripper=0.0604\nstate[joint_eff]: [0.5128, -7.3778, 5.012, 1.619, -0.0904, 0.2418, 0.1001, -0.3487, -8.8, 6.4752, 1.3846, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4881, 0.3843, 0.0604]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3882 right_y=0.2438 right_z=0.1117 right_yaw=0.0978 right_pitch=-0.1931 right_roll=-0.1068 right_gripper=0.0604\nstate[joint_eff]: [0.0889, -6.612, 3.8359, 1.3895, -0.1978, 0.0269, -0.0122, -0.3214, -8.9368, 6.4889, 1.3553, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4877, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3881 right_y=0.2438 right_z=0.1117 right_yaw=0.0983 right_pitch=-0.1933 right_roll=-0.1069 right_gripper=0.0654\nstate[joint_eff]: [-0.0889, -6.7214, 4.1368, 1.3504, -0.1929, 0.0073, -0.0073, -0.3487, -8.9641, 6.4479, 1.326, 0.149, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27f9d7c4902dd640c792f176de0ebfa508e4bf676d2dbdfcaa5d95abb92412b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b642ae5ea65e84eeba5a8450811e6022c7e52b99d4573c7f43d1ae936d2d5d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d8f0ef91235cf680be0f3a90f12974c649c5831f4061cb2c2c1cf9ccc41dae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFaTX4btTuzQQrUsidiFhJpcuvhuqn1LZbsbg_1JjGLom73BRCx_akpWwkQEULcESXzZr5UMLlkW-v55XuOkYHJCZPUKs8wnm_yAvmKTx-dlaD7MOAIXB5lFUq4-kLppORBvxlChiYjUAo94h7ZIscQrg7r-5cZeZZVpX3dznAvlOo_EU3dePgmnCirvqfmnTILJro7aneMYPRqHZ8vL77Orx-cAb1qwW0dDKtqN6FTIu05ObvmWE4-zMlBz2Jlh2-ttJ--Ku8_ZReO1DUAJxvtla-G2zW8ANh-e2hu7T21KhFFkslJ3rl5AUptok4nN07tOP4YEXh68pPe0Ok3c5KD-JyF_npE8I_ttZa0v63bNA7UXc9c8SfsXxcWz1NePHnlDmYFjgdNdAzHder9FOcH7Xrk8vQMwr1R0yuF1h5U7a0xHn6Fzvo7DYKhnyCEWd7eskRNW2GOKO3ZyWL7fWEoj2MlnrdFevdCPrpNvmVBJUhaC2CoeMjUNdgXFsnnlxY5M3BXVnP83-G9HrwNdZp_CLpN4ys_f5BcYtSQg8NTQ8ocCw4bqpfmV868bmQRDHgiJJORIRPL8JcrphB4v-PTtAh8ufWpOvlFnktrWUYHbh-KhHAYAwuE8CFWaJOTcCeTdzkNv8jJ0ZWXqcpGF88XK617btfE8DJxTGXFni5QRTc3tNpUiwnk4JgH-KYxIkNORXa2Ql1G9bQqZzgT1hEGjV238Raimlt9aY6rQ7WYw_vOB8eZlPI9wnQQLSe7Yd7zPhkaoVIBJ1HWmoDBlZ68dcg4UuOfDFgkbxHJs3dJrPU5N7hphOUX6o4PGngUEeJlRtLDUKFaI12yrGJHzOUurl_Ov_8sxgeObhr5AQP4_lk6Em7E7VCz6BrRVdQQ2WZGel3IP2eLMaHNj9sL1SJeixWO3yD7QZ5h14ItDCLY-lpVQBDzCsu0cYURQbuW79n3MVbGykrcQEQjuhbX497VuPUIhyjc4vqQgaNj1G1jB-ObU_TmVizY9HV8l2axGAsw1ugQYh4Va9ifO6IbfP9FQSD9yBWDgTfvKSp8tLRQI_WIXMT-d7Rd6eQkUrKdjWmBIei7Kkptn2AtVPeXpl8bQJEyU3Hzyap4k8AgZ1gMj2XfvJJFlSM8Ja9jDwbYJA0m9r-b-al3oNfXzw-MnJbS8V6CuQsh-lD8iRV3sECuQTGteJaLejnmtxUjzAiGZOLR9PqZ9cVler_U3Y8Ghr-x3Qqu1Gabi5nxdJHcZqX5KHAGdwyBjChc91VPU5-uqcavyfrBwcj68A7S3RaMDSj4yaHmUmI6jl4noqP5WYQ61nC5POMz1I9-RdJ4Vxn_9WITpKdc_CWNjs9vBezH0hL41__1JgdsDR7JlvyW8D2gjyKM8NXcLvTFbvIHBOiSwB8oJoMSFYIz4R7Eq07HPDFBsOGo0NuPWimHeiM8XFL7iaBq1hypjE-iPCxtY4Wg-IkWhOgxzVi266zs1ZsvIVAnw1JZJV51aA5pkzKVZr7RrjX3YNq0Nu-9hkq-O-sEzRbl4WlvP6IxhHuYEQvnw8uWew==",
  "id": "rs_094f36e649ad9dd2016ab42158a6bc87d0bd216a1dbfcf5c79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_x\":0.335},\"note\":\"The low-height backward move did not track at all, so I’m not repeating it against the table. I’m lifting the left gripper first and retracting in free space, then I can descend at the corrected position.\"}",
  "call_id": "call_ItV3MSd8FnMJR01ENUlkBf2f",
  "id": "fc_094f36e649ad9dd2016ab42159708487d0b44eda1a7569fd0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ItV3MSd8FnMJR01ENUlkBf2f",
  "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]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4843, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3879 right_y=0.2443 right_z=0.1115 right_yaw=0.1009 right_pitch=-0.1949 right_roll=-0.1047 right_gripper=0.0654\nstate[joint_eff]: [0.1026, -6.7214, 3.8222, 1.3407, -0.2222, -0.0073, -0.0122, -0.1573, -8.9368, 6.5026, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e4037058949619012495e816426d5ef782d82d209232fe75ca7e7a78f0a964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a24ce970d610e853f0c72c977cd1793fbd8c3959952076b52189d3ff817310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a379bac09ab4c616feba4c0cf002707f1aee04160650145b593562f47d932c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.665 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5941, 1.8069, 0.6304, 0.387, -0.543, -0.4892, 0.996, 0.7345, 1.7649, 1.1851, -0.3077, 0.4919, 0.387, 0.0604]\nstate[eef_state]: left_x=0.3739 left_y=-0.1381 left_z=0.0085 left_yaw=0.1082 left_pitch=-0.0845 left_roll=0.001 left_gripper=0.996 right_x=0.3885 right_y=0.2432 right_z=0.112 right_yaw=0.0935 right_pitch=-0.1909 right_roll=-0.107 right_gripper=0.0604\nstate[joint_eff]: [-0.2803, -6.3248, 3.5077, 1.4579, -0.2027, -0.0317, -0.0024, -0.0889, -8.9641, 6.5573, 1.326, 0.1783, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4877, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3881 right_y=0.2438 right_z=0.1117 right_yaw=0.0983 right_pitch=-0.1933 right_roll=-0.1069 right_gripper=0.0654\nstate[joint_eff]: [-0.0889, -6.7214, 4.1368, 1.3504, -0.1929, 0.0073, -0.0073, -0.3487, -8.9641, 6.4479, 1.326, 0.149, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4843, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3879 right_y=0.2443 right_z=0.1115 right_yaw=0.1009 right_pitch=-0.1949 right_roll=-0.1047 right_gripper=0.0654\nstate[joint_eff]: [0.1026, -6.7214, 3.8222, 1.3407, -0.2222, -0.0073, -0.0122, -0.1573, -8.9368, 6.5026, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e4037058949619012495e816426d5ef782d82d209232fe75ca7e7a78f0a964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a24ce970d610e853f0c72c977cd1793fbd8c3959952076b52189d3ff817310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a379bac09ab4c616feba4c0cf002707f1aee04160650145b593562f47d932c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFeY0ZRT64qVESrCKakVOX_K5DCAuMaBekyoYY7vPwfEm2gKOXEpIOZqLqkopJMZVLfP5FwV7VrR3Y5Ia2KDDP3ZzRf5wlbpr5yw1QBm7uBxkq5IFCKR-Z2mgidDBLGmPhn834E0g3bpuObAOSxsVfqGlk2TOp4NobRveqqsRpFGnuvaxFiYMjM6Xa6mYYIOvg68XS9M4HtpON6bNZoShjiZ37xE0l5D1rK_YpYnV28GxOmNFfaFpL8JXrUW_fwYxK4QpVieLGMr2knZBRWUwToWyfZ_DjmXTTZBqVXkUZ0sdEtw3eOytNIHgsar0FFxI3tGC3jvKIWRijLDhNGd7Y6G7dYKBw9w-jWae8_FT_Dw__kI4IJQkLVJmQZcApDyDl956OQa0avFRMddEoqn3MBRn7v0bmHFGNpPBL9WKjNpQzB2c-E_33HeLc8tzm_30THLsxz5ku-AJxk7miL-hsdtiapGl7mu-qTxQJvXDwRazpfa_20o4PUktUyoq6sH5W_8fOgYhnYY0lO49JFxuRvlI9ocJ42CITy3L4r5w1hKWKsE0DZe7teko6iA8ZbVcaXGyetSXR8OiH_8gq424JVcINl7NPmFgOob6-6-Vg10VSsrgUFHF4WJmWeGh0D7sAoZv3Qs4a6p8heji7HCkUqIvoNmp5xZsKJIO1Duk0RVd2erTJnoC7R_R5RNOvIdstEJjVRz3c9AFwXKRyMRyRJxVlfadrJg7JHLsQsSNskNWEotLTZQ_pSyiGOcjJuCJTiGiyjPBJ84Jc4p5x1PofIeIBdB_dXsLS_ybygVZhRa3DssxVkhZOyKESnHmeUoxbxXQU64XDKKc1TvsS1P4ItkSeZw8Y5xOOfVaSTBTQid4RcAtB-0WXE5GcUyttbFOOUIUMBtyYh6vBd8ItkW2HkfCj9hs-haW7pKgyE9PlPRuNnwySanF2JrDOY_uyn1kMSyQRrjhbjBbBPzbjA8oHMJrHGKXrxBvcxM1TH6kDuAZXIv4-T67xFKJHZm7shbAO0a4VUnpRz7fu-4t1rez37m-kS-wjExXDDeUebmbS4gZBeVch2_iDjnCIf_SEqNE3Rx3rYEwAQfmGwNlcAGh5JA9etrlAA_BohzDO-NJszxxHHDJnFgOqErhe2f2MCAeyVFIrpK3QjGTdEzCmk1VyJ8A43yi0-zaU79VlMFPWFtBzA7HplTdVCCrVDhFgxDZfQDTszX_7KD7-RnDjw35Fp-B203wubL-UJzdlZ9bMKxzj6CsxCcJmiIrsTzdHgTxskjae5Ydl6wpAslI7RWF5mgekILOhm2_8Mf-L5AnfihxmzRdKSSp7au2ou5DjVy6_Gl42mvpM0YoFCPpKzxL7HdWMHp8VcZqx5mHEPZnJwog6f7w-icyzZ8AUdB7dNK_NEx5nb3M60RWhSDcqeP3SRVADvzqEMBz8TdASjrdOolJOsrTDDOctDUFc4NsMeLrX_WOTAC3g3BMBQQO_QiXwUYWXxJPfgX1yws7Lv9tW8vGuozs0Z91FOA2l1rgTNriGYhHlO9Qm_VzvcqqCt2kcdKb8lpgqJPPbT0x-awhVSBynIjM1K-fyf2qf8oKusnZ71kOAB1Ct86jtwNXpktSirw6IjE1qLRKSY1wqHZ3yDXXNPPIrdQN2q9t4WOrjAVBpAolG7REPyAnr8gMHaYReh9Z9lkuzsqEyYvhc45vjoL_2QsQr4NnV9EL5Clb6nZcu3JGQEp2h4kpn04xyBEXR8UmY0wV0ENmWMChDZAchUPE8GE8Ifjt_CSZMhy9uY3YBHU3TB32ZlP4s9drK2AVjvflZU3XT4WLGSGy4eY_VJ1mFZASg5w_VLQkdtTaCVoPDsayXbOLVVwk1B1nOeCA1X15tEEGk4rG4iuJZf0kaqgVg50UPIYjdQpDJGnQgOAUQC",
  "id": "rs_094f36e649ad9dd2016ab4215c146087d0a275628faedf78f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_z\":0.14},\"note\":\"The left arm is still holding its exact pose despite the combined lift-and-retract request. I’m trying a vertical lift at its current horizontal position to get clear of the table before changing its reach.\"}",
  "call_id": "call_IbYqdCZDHJkg9Lgf2WpRiyIu",
  "id": "fc_094f36e649ad9dd2016ab4215d86e487d0969ebf12bc29b2d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IbYqdCZDHJkg9Lgf2WpRiyIu",
  "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]: [-0.5953, 1.4979, 0.8631, -0.1673, -0.5461, -0.4969, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4755, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3742 left_y=-0.1383 left_z=0.1196 left_yaw=0.1142 left_pitch=-0.0926 left_roll=0.0048 left_gripper=0.996 right_x=0.3873 right_y=0.2456 right_z=0.1108 right_yaw=0.1074 right_pitch=-0.1992 right_roll=-0.0993 right_gripper=0.0654\nstate[joint_eff]: [0.0068, -8.1846, 9.2923, 1.4432, -0.2906, 0.0513, -0.0122, -0.2667, -8.7863, 6.5026, 1.3748, 0.232, -0.0757, 1.0281]\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,$blob:eb04dea7f1bdb282d0e1580ef83a00eacdf59c184969bbfedbbff159ed44caa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f28c16bddc3dd0b07be617c0ae33ac2a60f8e4baffdf83a572969e4632be23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c17b903c73fcd6988d3e779ed3ce4a7c1a542b89f6b38161575e07d8ee9577",
      "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 · 3.765 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4881, 0.3843, 0.0604]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3882 right_y=0.2438 right_z=0.1117 right_yaw=0.0978 right_pitch=-0.1931 right_roll=-0.1068 right_gripper=0.0604\nstate[joint_eff]: [0.0889, -6.612, 3.8359, 1.3895, -0.1978, 0.0269, -0.0122, -0.3214, -8.9368, 6.4889, 1.3553, 0.2027, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4843, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3879 right_y=0.2443 right_z=0.1115 right_yaw=0.1009 right_pitch=-0.1949 right_roll=-0.1047 right_gripper=0.0654\nstate[joint_eff]: [0.1026, -6.7214, 3.8222, 1.3407, -0.2222, -0.0073, -0.0122, -0.1573, -8.9368, 6.5026, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.4979, 0.8631, -0.1673, -0.5461, -0.4969, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4755, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3742 left_y=-0.1383 left_z=0.1196 left_yaw=0.1142 left_pitch=-0.0926 left_roll=0.0048 left_gripper=0.996 right_x=0.3873 right_y=0.2456 right_z=0.1108 right_yaw=0.1074 right_pitch=-0.1992 right_roll=-0.0993 right_gripper=0.0654\nstate[joint_eff]: [0.0068, -8.1846, 9.2923, 1.4432, -0.2906, 0.0513, -0.0122, -0.2667, -8.7863, 6.5026, 1.3748, 0.232, -0.0757, 1.0281]\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,$blob:eb04dea7f1bdb282d0e1580ef83a00eacdf59c184969bbfedbbff159ed44caa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f28c16bddc3dd0b07be617c0ae33ac2a60f8e4baffdf83a572969e4632be23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c17b903c73fcd6988d3e779ed3ce4a7c1a542b89f6b38161575e07d8ee9577",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFi7Ooe0in-DGNiA03JCW3JTUNZA1KtTf9FwqiPkbcRkYdXkSekRPTMWjSZd8J_JJ1qVDreDH6a0dBerffyLFOullQ7MuxXml68vZkMALCwDOabkSZ_WhEPbEntn6rDy_r8vYmvwl5U_vlgTVpCzOhODY176g0rJBu5jT-IytZWJazdFZMcvukVAfQYJyfzeF5wlWJT7KMOhogFdo4lZ7g3XzbAk9H4PSeny_rG4Vxi_-DBDKncwFNJTz0RNpc4ICeHWPL-OtGFqDFfZmEx5Fi4cbG2QzaagiJfoV9tPETLWjGUm3Xzqi_p4Diu5hmLgZiroENa-23fFZk8SS6fVuXhY1ulVkryFnReSp7-ps3mZsD0A0f76rtflgPXA1NSrtXlq16spSa8kEEGgoFO9fVBRr7AApjp5e5x0AjkN75jP0Kvo2WumZZMboIjS5pAsic7a6et7HzeTGgY7V1TRaiNWx_YS1GVZjedgp4GrLR2bbkp8GbX0qoJhtG93Tvo5KZikuLksqLHEkKpqQsAYOnbxwpo3LGjIkHgVFP6y5CrW1WOZH8JOmmWsQSegsa-uC791iipe10Vgaks2E8McqeZeE8djoEJvuc7Jsev-hhLVbN8PNbnEvaRm1fjxF9hXw5N4YCIC6kWpYF43ErNj7ckdPqDwsei9l_yOmI60nCTbiXlFI3nCVMX5_MASZys6K2-FOKjAs31XdQQnD4J9nxJNUIZAUmCgorf40wowRoZuIGK7zpTldkD6BPMvnnPn2CzgO5VnMVgwqU9Grh-EYjOd30rrz5PJVYDsrFEYdtmz729kDVTSZWlSbP430QGvCukfxRl-SwymegiN8gNs8Q-OfHtcJKYKzQ6FswRPfDx8-YO62p8g9w4Mnqe53LlZvwKChu9tmbax91a6m7bieBz0Fb2Mc9zNJ5VCR-FiYSMpzRPqZJPklvzR8U0BQNrsNWn_iRaLJQXqKaSmkSqd2kiVZd8VVFTZhGWZAgmrrteyOBCcx08t3xAXsulxBTADwtKLdJ5brqYUOK_-Vh8r92ryQo5leZ8JA5W2bgq_fbJHgedK2PvR2B09rWmItIMmOwrSXi7iyi80kcNCA51LBJwDTW5Umygr2XT-JZQDxWz9QuOhj8_w1E3E-iSHQo6dXqh-s4u-Hj4nv7bXX_2-_rfNy8EM8C-v25Hs19mit9a1ACtV0urFsIjXBaRR1eG0ImJO5U3WSHa49gPPizfM-HsUdU-l3lhhzh_v9y1cTu622zmKQ63SW6b3nmZ469B_fwAaGLKQUdvhTwwtNQHRShTfXN0Uzihf3ScmewGiTzBFPD5NQBeih1EQA_7a_S3G-23eiOBWHoPcciLJn2yZWuBwerFxsXhWYpqs6I4AbU-2RtKqfpMCiw1swqVa0Et4CbDwJxD88j0l99nZ2WW2yk03aHk8N_HWoGBeBz1XcD1PRsmqB3mUUjOUOIEM9TepV-gatWa8dUxZNMCk83DLdBS7h3oADL0LbAgkdzLjOvuA_IqtvK8TxnlviBue-JXqmUGhwfSS8kyvM321TOk_vZQJFfq6zSbXwlww1JavqytvdjoXjMmQj6y55BCVHVzfTb5twaVky-FV2z8IqKhUVwxZQ==",
  "id": "rs_094f36e649ad9dd2016ab421602d4487d096fa4bf5ce249667",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.12},\"note\":\"The vertical lift worked. The cap is still near the bottom edge of the left wrist view, so I’m retracting a few centimeters now that the hand is safely off the table, to bring the cap forward into the jaw opening.\"}",
  "call_id": "call_V3pbmgfT0iRL80IlwGeonPkj",
  "id": "fc_094f36e649ad9dd2016ab42161fdcc87d0a1afcc6ba7708793",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V3pbmgfT0iRL80IlwGeonPkj",
  "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]: [-0.6594, 1.425, 0.7891, -0.226, -0.5663, -0.5346, 0.996, 0.7345, 1.7649, 1.1847, -0.3069, 0.4694, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3425 left_y=-0.141 left_z=0.1097 left_yaw=0.0899 left_pitch=-0.1269 left_roll=0.0266 left_gripper=0.996 right_x=0.387 right_y=0.2467 right_z=0.1106 right_yaw=0.1122 right_pitch=-0.201 right_roll=-0.0947 right_gripper=0.0654\nstate[joint_eff]: [-0.0342, -7.5145, 7.2137, 1.4969, -0.4322, -0.0855, -0.0122, -0.0068, -8.759, 6.6393, 1.4481, 0.2125, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3603c0b5b4d54dd0b46557e170eb93412cd18edcde1d2b6f6312649b8e78d3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7d10a199dfd575b00ea0ddb7106e474148c2725a4753ac83d5070b131a2cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de8940d47e0083791d52a45c20321b5b63f064a99cac14843d96bd4d0731f79",
      "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 · 9.784 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4877, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3881 right_y=0.2438 right_z=0.1117 right_yaw=0.0983 right_pitch=-0.1933 right_roll=-0.1069 right_gripper=0.0654\nstate[joint_eff]: [-0.0889, -6.7214, 4.1368, 1.3504, -0.1929, 0.0073, -0.0073, -0.3487, -8.9641, 6.4479, 1.326, 0.149, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.4979, 0.8631, -0.1673, -0.5461, -0.4969, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4755, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3742 left_y=-0.1383 left_z=0.1196 left_yaw=0.1142 left_pitch=-0.0926 left_roll=0.0048 left_gripper=0.996 right_x=0.3873 right_y=0.2456 right_z=0.1108 right_yaw=0.1074 right_pitch=-0.1992 right_roll=-0.0993 right_gripper=0.0654\nstate[joint_eff]: [0.0068, -8.1846, 9.2923, 1.4432, -0.2906, 0.0513, -0.0122, -0.2667, -8.7863, 6.5026, 1.3748, 0.232, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6594, 1.425, 0.7891, -0.226, -0.5663, -0.5346, 0.996, 0.7345, 1.7649, 1.1847, -0.3069, 0.4694, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3425 left_y=-0.141 left_z=0.1097 left_yaw=0.0899 left_pitch=-0.1269 left_roll=0.0266 left_gripper=0.996 right_x=0.387 right_y=0.2467 right_z=0.1106 right_yaw=0.1122 right_pitch=-0.201 right_roll=-0.0947 right_gripper=0.0654\nstate[joint_eff]: [-0.0342, -7.5145, 7.2137, 1.4969, -0.4322, -0.0855, -0.0122, -0.0068, -8.759, 6.6393, 1.4481, 0.2125, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3603c0b5b4d54dd0b46557e170eb93412cd18edcde1d2b6f6312649b8e78d3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7d10a199dfd575b00ea0ddb7106e474148c2725a4753ac83d5070b131a2cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de8940d47e0083791d52a45c20321b5b63f064a99cac14843d96bd4d0731f79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFmzz601Sd12sqD7THqFbPrMftXSTPOPppS8j6iU_Us-hpY2nH7RxNqK4BKN57_w7Typjbi5LnDCKmwY6q2OFEb4DIMmzLvvwqcwUtkU_WK1YQCSgHCCEEyOb-1Wuq06NY0-Qb-IZklbE47MRCRfg49KyJGSvBbRwd93Jq5-p0hwsMA-dsdIBVwnd0dXqOwmPJGSh5lh7v78qGkSZFmEP6RNrv6myPAVOpt7lFHXQaKUVs82bINGDRYxcz064IrjnuE34ep8ty2DDXgZ4ibAEMJ7HdFSWtZvz78qZPCi8SQUsDcCQFGSj0NEobJIMnd43HaMJCX9RwOXKL2xr1FHkUyijRWPpQdb7l2gkGZf8CXzhyGTkmBaCf3a2kwYGbPRcQ-ZKR5WwHCRxEXuIvuX28uYW2WCCJv_3309kZzGP-7i4Z9x0QDU8mD9HNGP2QYi78zEqCS5_hXI3eCrR9Axm_90Tz7KYSFKgQ28wHHR8riFkevf8ijgR8HdvuTVCmf1_A6XR3wD2BpJsZte45OwPYPl6xEBy1cCeN0TnnC6G3UGyG0V08SjLQJeBV85rTKNb7wmb4oKXM1n3lV4N6jTvZD545czkNOKud7rFGOLE8oEHR35FAkm3npR4qIhFWpDsrF-QOisi0vebY3PDA4wWjB3JwxNl_rXIhbAaZNDyoExJitYiEjnWmDOH4-83YyJPtaxI-J14rJBzby2fEFIPtnZYKgPdOGHOw0Rrt26aSn6meb0AwIdkGqg6n5ql01gTUJZF4-27MR1mJR5AUr_YIkmn4htiHYvcyNz-XlqL9aIffXI2IuUAXE5mxjbKVYUG6OdYv5GTHVoweEpCwZvt43ZFuZZ1sV-tdOlcG3NKaq8nExaa2Qd4X6NowUZ2U7KmTFM9yjltNaQSdf621UQ6eGmoJ4jc_PAm6P9WA7Ji9BYXgFIivhLPg6gyhSG6F3WtXfCCPm9dVRh3n7sJ4HQ7SRIyWrI0yAS4FHy5P74EPIWHZ4hUJjlCdWqfnENZiovB5aLhreUpzJzHpy3nfY3LEhmt6l8Uk5IRweYmFSj5Ei4jKIbQiQSoYxB4DYZc0Uaht1KfJPlRUXErmlPhdHmQ1LYWkCWnSchx0yJm7d8xhVy3JzhMfOXHxcXgVzZQOTVG2dnHrDlCPOSApUXW2mo9XMdcd7ofvMRvtsMo-BRXR2wKIPZpHec4b1FvpCbuhKm72R2JRTECW9TIki7Ch6KU862Iw0I60N_fdlLmicx2JDy36JZnXZiPjNsd3dE6sRmrkDhFQS42ijSzDJwwaaImMnQtYjKL1Ahq7ajcbhP2jaod83OiUvoSj4eyoqlEKfEj6af8FqqehckmKVt_xToXPxkPl-o3I5yGO_cifStISu6qXyRx51Bbqi0x80d2x0TXZShSl5hkl6W1GuWV4QepFFlpHJrhgUGQTUatUDXkN_xt9TBGIwMwF794v6UhlwznAKnJRf4knLiMB3Be1ZSoqyWA7nXHkRQyXtKPie8LCUQsF019ROyvoJupKvdEL4Bl7sIXU_zS_hwF2iUwnNQo-R7u0_qow8agOJM_FSnDiWy0uRWI1LOvVlMxST9vccuSHrb2B6szxmz58WmFCqvKtKIpsuVBrwK_JMRlaYnV_kPKgS23A4cuQIikunZgoNtFX8lFyzZ9bMhrFh0gsuvdpa_4g1P6ZBIYx740_8xDlvS6NDWJncCkBrM0VmR5S7fWfyzZy9wFmBl5E-u_3qGM9_D5U9ALvbDOfUA0wEoSgklyekwf1awX1K2k9W1VSxRLs_Zafkk1f-eA-NvGmmJ_rWSkUle-YfpVam0SDszF1-De4rI1Zs2kEne6310TkIB58OWsCLBhvXxTK2I0NnL0sm62H6yIm3hg3w-NgacVY86qGv5_MyYneBqky7cQdORiWp3T7Y4H0vQcBdhQcV6h6vKfrCGfG0BY2ot1ZdWAn8NH6v_vFZ5Ok2_wbkEDKozvjotSs1t3wQWIsDkdjRFiaC1UF9IzhnMvLKNrNoxo4XGkER6q-NO0tA5_QxlRqBlUx65xZDuBBwRdLgOyOdG9MTG7uqNZkKcJVEJkwPhQUoyns9DbWY4nK1tTsM5tVpVgkd",
  "id": "rs_094f36e649ad9dd2016ab421642f7887d096f35a6a5371e853",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_z\":0.05},\"note\":\"The cap is now centered near row 180 rather than cut off at the bottom of the left wrist view. I’m descending halfway at this fixed horizontal position, checking whether it stays between the fingers before the final approach.\"}",
  "call_id": "call_mgSHdSApKTLukJrvepR5Aen1",
  "id": "fc_094f36e649ad9dd2016ab42165f2a887d091e4965651d9324f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mgSHdSApKTLukJrvepR5Aen1",
  "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]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.3077, 0.466, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3867 right_y=0.2471 right_z=0.1103 right_yaw=0.1147 right_pitch=-0.2032 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -7.4051, 6.8034, 1.409, -0.5055, -0.0659, -0.0171, -0.0205, -8.9368, 6.4479, 1.3358, 0.1783, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a224301edb24435a8c06fd98136e6fd0b2bd95f16d5d31828bf378a4c259f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf83e11fb15cb75e711dec53311c664894aa87a3d4df4c6940aed15482aabbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76a5bd17859ef21193b0e482189f54883521c8e236dbd12d87d6e814fba1058",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.8339, 0.6212, 0.4152, -0.5503, -0.4927, 0.996, 0.7345, 1.7649, 1.1851, -0.308, 0.4843, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3724 left_y=-0.1367 left_z=0.0007 left_yaw=0.114 left_pitch=-0.0872 left_roll=0.0075 left_gripper=0.996 right_x=0.3879 right_y=0.2443 right_z=0.1115 right_yaw=0.1009 right_pitch=-0.1949 right_roll=-0.1047 right_gripper=0.0654\nstate[joint_eff]: [0.1026, -6.7214, 3.8222, 1.3407, -0.2222, -0.0073, -0.0122, -0.1573, -8.9368, 6.5026, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6594, 1.425, 0.7891, -0.226, -0.5663, -0.5346, 0.996, 0.7345, 1.7649, 1.1847, -0.3069, 0.4694, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3425 left_y=-0.141 left_z=0.1097 left_yaw=0.0899 left_pitch=-0.1269 left_roll=0.0266 left_gripper=0.996 right_x=0.387 right_y=0.2467 right_z=0.1106 right_yaw=0.1122 right_pitch=-0.201 right_roll=-0.0947 right_gripper=0.0654\nstate[joint_eff]: [-0.0342, -7.5145, 7.2137, 1.4969, -0.4322, -0.0855, -0.0122, -0.0068, -8.759, 6.6393, 1.4481, 0.2125, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.3077, 0.466, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3867 right_y=0.2471 right_z=0.1103 right_yaw=0.1147 right_pitch=-0.2032 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -7.4051, 6.8034, 1.409, -0.5055, -0.0659, -0.0171, -0.0205, -8.9368, 6.4479, 1.3358, 0.1783, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a224301edb24435a8c06fd98136e6fd0b2bd95f16d5d31828bf378a4c259f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf83e11fb15cb75e711dec53311c664894aa87a3d4df4c6940aed15482aabbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76a5bd17859ef21193b0e482189f54883521c8e236dbd12d87d6e814fba1058",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFpytsAhpnojfWUQKDjVIXdIRs0zHtRhUumE7WA0zF4YbiZ0h0oycJCQ2bg2G3VdAuTovbl5ESx5ArOWiag3QGR0MFN2ALM6vFwzHo3p7Up-VV1S3ACCg5b7MK4IyW_ifZx8fn5-lNMkN4LRuVGW7daf0SIRa4_1O2NncFICVWpPc7DRNTThKNjQGIbwYYi1UhBfm7tNTp3w0DYRWPFXqHstF5mVQuplWsahw-2djwkPuPWa-GAFjthMMhlmoEKsy02O6eT0xBo54SfFNlqCKdr7ODCQkuSb3c6v6dHsv9UnFSkK6MJLAkYrJ-7QjG4e7o3lXogkhclTO49fdcTEZYuIxrERBRGYht0G4-H0y7PoieWylOXfVVADJZZ_f-KQ5kQIqqPBoTIugF8kiMFGJPrnD2CXDUSqlb7BvuhXECEvdDLIYWAP86DAt2aW3L3rKK9ij4BjZ1k30R5Uk_XXCfIRY8Z5kGpqKEoy0J4qTSctYaazX1TI5zF_0yftlBbk4AGXmZomc0LaR1TWN3xFcLzxxATmlYAnEtfIMlDuf8ss0lvPRb21iaebcB5s7L1r8xdZmFgFlZu9UnCFNB7UkEPL0tKZZZurbbl4xx67mGxy6G0ddcichSdl6VrhPIfcha6JRoZ3wtiRFRIH6YnAHbm4F42Bc-oIRTYAqnwJvrzawYNg9lJhvxFEsC11h3z9MUWanTd9AZ8uJ8LeHmLBd3bFGqpOIdq_KXDEABfm_zL7ioPPKa6vGZIwDk8zDoAWEt4ocpc32uAdeYmMWV1245t8Ia2DisGQRf_SwUzgodNjweWoFBsJZZ4TWW7KFDrgvjS4ALkhM-CSsirwVaAKkuedUPV7ZcGIrgCVkgWMION_lEHvB6Ta6ZdX9BhhO1jQKBPSCPw4gtn8d4gJpykHOg9CQa9G5K2tzT9AvKFHwppJFIN7BdcS_8ABnJscLv6wJebWe_kQiNr7Zw3r9HylRth41Tj9ey9cnwDQHXDNK3sOVA6kEJg8cwCARiy9oUiRJauqV7fP0n236Z2DkTjdMD0U-RaFS7Sn7PE6e4ZV8a8zynY08FwbSuSxYnyVq5JnejjqjYCFsnllWNFYenP_NZ5IzlvzF62xzlaIfxW6eG6TwyQ3XJCYoCBxQ3OQEfN8LIpIsXPDtkPNrTLc-bfvr3EXWJighGSloc1YpUhWzATVQMjNuqbeGcLNIm2xbOeVa2nEIq73SOBN8Q6j6uJtCdZuuD4uZRPthtUfeqcmf5bfO06oh70AqBFTvGqULccCgEwRkVg6nfEK0SNnazpyUkv8GYngT3VOfHlZTZLiYqAmnHOwKzCZNkfxkkvvPcbKdRxqwEt9T80wUSRFMQVzNHUrw3i8QwDLmrBYbjtbvdqOV3qYhwDY6qWgerXt8OMqf2p",
  "id": "rs_094f36e649ad9dd2016ab421683e3c87d0b212b40d7baa1675",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.005},\"note\":\"A purely vertical descent at the retracted pose stalled, although the cap remains clearly centered ahead of the jaws. I’m moving slightly forward while lowering; this arm tracked that combined direction on the earlier approach.\"}",
  "call_id": "call_Ag65vxVW2WKQNGskFnr13pco",
  "id": "fc_094f36e649ad9dd2016ab42168c6d087d0b955052c11de535c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ag65vxVW2WKQNGskFnr13pco",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4656, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3866 right_y=0.2471 right_z=0.1102 right_yaw=0.115 right_pitch=-0.2037 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.1983, -7.241, 6.612, 1.4139, -0.4664, -0.0513, -0.0171, -0.253, -8.9368, 6.6803, 1.3309, 0.1294, -0.0757, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce20fb95c2afd07c0877a6467cfbe55cbfded2f661ada69c0cb7ebf459cec35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e08799373cf0364edfd66cca3ec4a3ac3aa9f77efc149df416002b538e3dc13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87390e1d0549743437de089e2933b347757ee6737b57fde6623a55791583e3",
      "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 · 4.075 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.4979, 0.8631, -0.1673, -0.5461, -0.4969, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4755, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3742 left_y=-0.1383 left_z=0.1196 left_yaw=0.1142 left_pitch=-0.0926 left_roll=0.0048 left_gripper=0.996 right_x=0.3873 right_y=0.2456 right_z=0.1108 right_yaw=0.1074 right_pitch=-0.1992 right_roll=-0.0993 right_gripper=0.0654\nstate[joint_eff]: [0.0068, -8.1846, 9.2923, 1.4432, -0.2906, 0.0513, -0.0122, -0.2667, -8.7863, 6.5026, 1.3748, 0.232, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.3077, 0.466, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3867 right_y=0.2471 right_z=0.1103 right_yaw=0.1147 right_pitch=-0.2032 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -7.4051, 6.8034, 1.409, -0.5055, -0.0659, -0.0171, -0.0205, -8.9368, 6.4479, 1.3358, 0.1783, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4656, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3866 right_y=0.2471 right_z=0.1102 right_yaw=0.115 right_pitch=-0.2037 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.1983, -7.241, 6.612, 1.4139, -0.4664, -0.0513, -0.0171, -0.253, -8.9368, 6.6803, 1.3309, 0.1294, -0.0757, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce20fb95c2afd07c0877a6467cfbe55cbfded2f661ada69c0cb7ebf459cec35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e08799373cf0364edfd66cca3ec4a3ac3aa9f77efc149df416002b538e3dc13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87390e1d0549743437de089e2933b347757ee6737b57fde6623a55791583e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_094f36e649ad9dd2016ab42172a20487d0a0b37254ab2042c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.12},\"note\":\"The arm did not track the combined descent from its tucked-back posture. I’m returning to a slightly more extended free-space pose that has previously allowed it to descend, while keeping the cap visible for alignment.\"}",
  "call_id": "call_ZSNKGwpankfpo6bc52XfY8qf",
  "id": "fc_094f36e649ad9dd2016ab421746b1487d0a58d7d50f94c56ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZSNKGwpankfpo6bc52XfY8qf",
  "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]: [-0.6136, 1.5772, 0.7593, -0.139, -0.5407, -0.5266, 0.996, 0.7345, 1.7649, 1.1839, -0.3084, 0.4622, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3493 left_y=-0.1304 left_z=0.0573 left_yaw=0.124 left_pitch=-0.2107 left_roll=0.0828 left_gripper=0.996 right_x=0.3862 right_y=0.2474 right_z=0.1096 right_yaw=0.1175 right_pitch=-0.2062 right_roll=-0.0914 right_gripper=0.0654\nstate[joint_eff]: [0.1573, -9.8803, 11.7949, 1.8926, -0.2271, 0.0952, -0.0122, -0.2803, -8.8821, 6.5846, 1.3553, 0.1587, -0.0806, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9cdaa860c5f8b2c6eff8318a9f0a16bbea698d12ba4810e2bded057e1464d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f508e53c54c7a9327fd1b2eba3482dc8079dcf49ad05a5b51a25ca536e4b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b314a1a0c2c70dd45663a6f478f400604267eef7d224d234a79dcbbaba6a17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.906 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6594, 1.425, 0.7891, -0.226, -0.5663, -0.5346, 0.996, 0.7345, 1.7649, 1.1847, -0.3069, 0.4694, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3425 left_y=-0.141 left_z=0.1097 left_yaw=0.0899 left_pitch=-0.1269 left_roll=0.0266 left_gripper=0.996 right_x=0.387 right_y=0.2467 right_z=0.1106 right_yaw=0.1122 right_pitch=-0.201 right_roll=-0.0947 right_gripper=0.0654\nstate[joint_eff]: [-0.0342, -7.5145, 7.2137, 1.4969, -0.4322, -0.0855, -0.0122, -0.0068, -8.759, 6.6393, 1.4481, 0.2125, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4656, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3866 right_y=0.2471 right_z=0.1102 right_yaw=0.115 right_pitch=-0.2037 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.1983, -7.241, 6.612, 1.4139, -0.4664, -0.0513, -0.0171, -0.253, -8.9368, 6.6803, 1.3309, 0.1294, -0.0757, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6136, 1.5772, 0.7593, -0.139, -0.5407, -0.5266, 0.996, 0.7345, 1.7649, 1.1839, -0.3084, 0.4622, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3493 left_y=-0.1304 left_z=0.0573 left_yaw=0.124 left_pitch=-0.2107 left_roll=0.0828 left_gripper=0.996 right_x=0.3862 right_y=0.2474 right_z=0.1096 right_yaw=0.1175 right_pitch=-0.2062 right_roll=-0.0914 right_gripper=0.0654\nstate[joint_eff]: [0.1573, -9.8803, 11.7949, 1.8926, -0.2271, 0.0952, -0.0122, -0.2803, -8.8821, 6.5846, 1.3553, 0.1587, -0.0806, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9cdaa860c5f8b2c6eff8318a9f0a16bbea698d12ba4810e2bded057e1464d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f508e53c54c7a9327fd1b2eba3482dc8079dcf49ad05a5b51a25ca536e4b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b314a1a0c2c70dd45663a6f478f400604267eef7d224d234a79dcbbaba6a17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCF5dyyg-AYxIaOqWeEs-zdQ_l9eulAM_UQFgG61Y_RxFCjhzyTb5xeJZs0ogl-bS1F6SJh8ULuVMWt8VvbDcHxrKhQo9StrTkEgxZRzXYtAooyrtEjFMZzXIFrK4DhaAF6gztq63aCM0nZzc2VRPjLFgYw834UPIOJSpbmUfvTDIP3WQ9Ym04Yp8hUamPV4qzHa8DUNBFN5JVAOWo-29mIJxKnOKpWeoE9LER9jh03l64gAr56RJuDSfPJW3BNlRqnhGCU59c1xDLFCYbs6DtTcOZWTXBifeuuTkAazIzWSM59nVjj5pHks9rzyL26Py89C0OJ1BN37YIiY9lGEI0GVXJcLV8W3C3CBRDjnq26-w7DuVrnwbNnGKOoOoYukZ6xUPFM0mCQy7Bmh4Wg5lLrpWCq_GulUiiXaUw22P2BrwJ9e-142xeHowUjUK9MU7u6u3EGa-m2e2D5cT1RHClTmvLCVmzS58TsyRj_IYiDHtkyyuXLGqxt_Q-gRY_NIvHUdetSmKPXoU3aYRfnRAbkuemJEwQQKgHAsaJUI7AyVIVH29L1DAIaFBu_9urDbKixr02b5r_aA3tPsu3VkwVREcVRYn2EbD_YJhgm4M_dOkYCtlfW0uHvLPFn8r2Nf_E0--wKdx0AtCdMfpTb5wfj-G3TXfy7AwDpX70aYq_fuWhRTSp9xGjBSoFMlN46R-rbMo-mLXoySU1FNUflD4D1J2RAyWLvY53qgp02m6H4NSRghw7uoXdWg7zCtNjggMVznLVrd_trH9VYJgKeTNH6unf7vVypS99HP91pW3HTtdDi_WTsY40YZUBs_ndMw8sNSXukhq2-wiB6q1CVniaoOkGTuzOQ90Yab2r2cNeLGBAczc8pD7DJ20ar9UkF233adJhQnETA5igg8FJ05eghVwXEIc38unLw9p9QjsogwDS0pd7ogTTFB1hx561GYE23NFMmVXs6-O6uto0GrNfU9vrKxD8So2lmZZ1cj0eZrw_K-tzXXoqmzvTB4IaSSZbzSutZLamUitNn6tkYx99v4-ymleGwhrR6-ttHV7quEIn0P4JK0iavvXLkvWGSoyqOhFWxIY9L-y10GW6kHFUUwWU1Hw9Q0WI5vdtkDkp6mETqeQQzLTDp-SwCxdZrQNIk1UaYxIa0l_bJrb4HAiI9YZ452sZ1omc0HzYn6-uKfnRIiS4zQThLXsiME7X31mHR0YneonREy3MJ2x_qx3XaJTf7QefObrIxmGOQ5mAFDHZUXMsbylvLV5QRza0UPr8Aw3d4NfMcbN701FFtwCU56YH7T6vyYJIkxoEWzrZLEwniJ_1ji4l0J2yamy4hCQhYu4vmrWB3hlmog-urIRuLMW913SXEgvWuihUC7KksyDpLB_c0GSbCj5txVNlHL7KrNH_13T1Tef8CH77lpmLvUzIZXlSUuByCHfBB4hXBUzYD951nPWJcDfNgVLG2wmOlXYTxluqnb_1PBi5jW48UR7hy9krCeO6_kw_piFM9UJpg=",
  "id": "rs_094f36e649ad9dd2016ab42177bb5c87d089ac97116ee96cbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":-0.005},\"note\":\"The left gripper has now moved down to about 6 cm over the table, with the cap’s black body centered between the open jaws. I’m dropping the last few centimeters almost vertically to clamp its body at tabletop height.\"}",
  "call_id": "call_N3S2MyruMIjJfLQHEFXvFl6P",
  "id": "fc_094f36e649ad9dd2016ab42178799c87d0b18c0507b57f8004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N3S2MyruMIjJfLQHEFXvFl6P",
  "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]: [-0.6147, 1.7416, 0.6666, 0.1062, -0.548, -0.5388, 0.996, 0.7345, 1.7649, 1.1816, -0.3069, 0.4583, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1291 left_z=0.0033 left_yaw=0.1363 left_pitch=-0.2148 left_roll=0.0866 left_gripper=0.996 right_x=0.3856 right_y=0.2478 right_z=0.1087 right_yaw=0.1203 right_pitch=-0.2085 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.1709, -5.3402, 3.8085, 0.7888, -0.1636, 0.1343, -0.0171, -0.0205, -8.9231, 6.6667, 1.3407, 0.1734, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ebb59df9765fe9652338e92b38bfb2747049d88dc2831c15766d13d7472687",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a079954054dd95b00b5d30c3ba40ee8f5e2fd2739cd2ac6b40031d22d74dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d7e2a406c5d92883f5c53c1ab45b73f43ab1dc30ba4ee201bd6e4e63a8b460",
      "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 · 5.186 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.3077, 0.466, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3867 right_y=0.2471 right_z=0.1103 right_yaw=0.1147 right_pitch=-0.2032 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -7.4051, 6.8034, 1.409, -0.5055, -0.0659, -0.0171, -0.0205, -8.9368, 6.4479, 1.3358, 0.1783, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6136, 1.5772, 0.7593, -0.139, -0.5407, -0.5266, 0.996, 0.7345, 1.7649, 1.1839, -0.3084, 0.4622, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3493 left_y=-0.1304 left_z=0.0573 left_yaw=0.124 left_pitch=-0.2107 left_roll=0.0828 left_gripper=0.996 right_x=0.3862 right_y=0.2474 right_z=0.1096 right_yaw=0.1175 right_pitch=-0.2062 right_roll=-0.0914 right_gripper=0.0654\nstate[joint_eff]: [0.1573, -9.8803, 11.7949, 1.8926, -0.2271, 0.0952, -0.0122, -0.2803, -8.8821, 6.5846, 1.3553, 0.1587, -0.0806, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6147, 1.7416, 0.6666, 0.1062, -0.548, -0.5388, 0.996, 0.7345, 1.7649, 1.1816, -0.3069, 0.4583, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1291 left_z=0.0033 left_yaw=0.1363 left_pitch=-0.2148 left_roll=0.0866 left_gripper=0.996 right_x=0.3856 right_y=0.2478 right_z=0.1087 right_yaw=0.1203 right_pitch=-0.2085 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.1709, -5.3402, 3.8085, 0.7888, -0.1636, 0.1343, -0.0171, -0.0205, -8.9231, 6.6667, 1.3407, 0.1734, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ebb59df9765fe9652338e92b38bfb2747049d88dc2831c15766d13d7472687",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a079954054dd95b00b5d30c3ba40ee8f5e2fd2739cd2ac6b40031d22d74dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d7e2a406c5d92883f5c53c1ab45b73f43ab1dc30ba4ee201bd6e4e63a8b460",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCF9LbDGN9r1W6cwIpCfWvy6a8UuNecxSmuxLp7VUhMC52A3LrvainvQ2dnlP3djmFJJTNkCeQ82wnwIvA6sFuR73_kaPAakfpsvaqbncu6GNelUGNVrb3e1rQis3EBXft5goZ57e_KXOqZJKXi7NA2_hLMhLPN38qojDeduP7TEWtVEXZo0c74iqyz9VnSXUmoRZzlcR6N-B7ncf70ECkkc5VeCJ44dkZReQUQnDeba9-6Yxh8YRr6JRCO1o51_zUD4l2hZM5kk3DRgAZKMn1qToMQNOZJ4J9vXtZ4gSDaU4csZt_IB3FqJ2yFSCd4Q5U_A-Ec8S6nIqHC8eFhyXShvGllD8mELug-IgYgr9w2lU0_GDGNIpwraTNtqsn1Eb88zLCLWqESYE8-LE3vIH6r5pMliFxxeT_5KsRaN75NPRVb1xT9gsSSriQblzfy7gDdaBjci76GBms734eqACpk_x0hRrsYFKLOk0AA_tOspEqCZbN5RWnl_7QSOUv1PDhAGdZRtr2yBX9XZIROXsSSxYtF6FyyI58zUgb83bkuOy4rryCzZxVjhwaBEsvpqkcOKtD2Q8lfA6peXc74PETG9MJfPYGhrCrZGQxGXcAraH6d_xEdWBj3OwAMFcfjsTCw2vgEeRF2FGIXG_5Bj3mg3-qlPsZYThCFs8IXUFGsbSu40Haj7IRrNJwAS4B08_ztThP5fT7xcHVFLOrhng9Q_zU62fdAYQ_F8nZy4agDKV4JmRBFn2-NHbJwn_UlR--K_nbGDx6VPFfrJKKu7q7Jxv1LDx_m9H0zNAR-evCETvaKaNOKGS8H-TsZTAHQUBZYNeZc9pW9wsqTLdV02GrIew_YMf1xqq_2lu15BXOlwQE0-kTuojn98VYwB3PNLnTJz0LznFmbb6ZQEggeKNmJZzckf2NDXBVHk2XosUbRGgmTDnnofaTS3_DThOY_tPJtygxsA4xKnT4eeACSOJaP3Ky2bIXm-IlESioN1hQmfU26LQU1qwcab8SgPaSElTgBUOjqZoRSMSaTOy8errNbAYRejMyE2KKYNgNEjAJDyuQYT7LELMP9JDKBCKn7obSGRxZpqozWCoOVAnuSVNo4QhsOKyvCOWhHBIh95BOcT3jT4pdGVQDAixM6FznsA9JgYlaq3EJhIoKMSMSPkK_rgAIQWkhYQiKhUQ9sRSFh96J8wmNdZKblh05PHUW3EerGLZBQe-L25d1STNNo-g3IznYlImpkfwUiJK4Gox9eSqufBNmcwX89gX9ye-_baRK8mnNXo2zMHm2VMnQ1HSaF8PqCf2Obzlf6X0z0vAgFqm4WxBalzwvCg0eHqCEGH6oVXXfDSOsW-RlacoeFP5MdlL8MFIIwpsx5_ujJYk2Z5WWsLKsiHyPs16hBlx-e-N8l6X6dR9auvv_JPbs3BIPNXLH_GFMA1STY6f6jtpKte4UgrgMHseoT-twVL8YKkoS6Gu_BawtgSXY4mmn7sCFlae3ddrqC1OsmhZHNAE_ToyOOxpAGRuIl-jQyhLiTh93uf5oIIywZjLH3Xcah5xiKFpQVyvCBHzhVVK6L1-drHFv8G0_S5t9E5dCqCMal1nnS3l7sNDFJXJT-s7NziU3iAfmP6tiFr5ZLMFMfQ3A9RsJcsk0YHk2LrIoo-5uwo-wF6",
  "id": "rs_094f36e649ad9dd2016ab4217bd91487d0b5bb44a578026740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table height the cap’s thick black section is visibly between the two left fingertip tips, near their closing line. I’m closing now and will check whether the jaw opening remains larger than an empty close.\"}",
  "call_id": "call_EJtdSKCVmBeHps8u1fL5KIR5",
  "id": "fc_094f36e649ad9dd2016ab4217ce5cc87d0b248bf8d7c741fab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EJtdSKCVmBeHps8u1fL5KIR5",
  "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]: [-0.6159, 1.7531, 0.6609, 0.1265, -0.5468, -0.5438, 0.0078, 0.7345, 1.7649, 1.1816, -0.3077, 0.4576, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1299 left_z=0.0002 left_yaw=0.1367 left_pitch=-0.213 left_roll=0.0801 left_gripper=0.0078 right_x=0.3855 right_y=0.2478 right_z=0.1086 right_yaw=0.1208 right_pitch=-0.2095 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.0889, -7.8838, 5.4906, 1.0476, -0.315, 0.0122, 0.5641, -0.0889, -8.9231, 6.5299, 1.3309, 0.1587, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f403e9028293e9fad83f995a7db57a0ef5b1535099cc47704e60acce3347c153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb2c87f5842df51adffb631b9465f420cbb3951b7303820249fd3450d865fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82acdaaeafcb8f186b64b513adfeecaf8926f14699ad3ccaf49a00ec0679e20f",
      "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 · 4.097 s

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

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6739, 1.4128, 0.7765, -0.2363, -0.5774, -0.5602, 0.996, 0.7345, 1.7649, 1.1847, -0.308, 0.4656, 0.384, 0.0654]\nstate[eef_state]: left_x=0.337 left_y=-0.1411 left_z=0.1085 left_yaw=0.0981 left_pitch=-0.1284 left_roll=0.0204 left_gripper=0.996 right_x=0.3866 right_y=0.2471 right_z=0.1102 right_yaw=0.115 right_pitch=-0.2037 right_roll=-0.0929 right_gripper=0.0654\nstate[joint_eff]: [0.1983, -7.241, 6.612, 1.4139, -0.4664, -0.0513, -0.0171, -0.253, -8.9368, 6.6803, 1.3309, 0.1294, -0.0757, 1.0379]\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]: [-0.6147, 1.7416, 0.6666, 0.1062, -0.548, -0.5388, 0.996, 0.7345, 1.7649, 1.1816, -0.3069, 0.4583, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1291 left_z=0.0033 left_yaw=0.1363 left_pitch=-0.2148 left_roll=0.0866 left_gripper=0.996 right_x=0.3856 right_y=0.2478 right_z=0.1087 right_yaw=0.1203 right_pitch=-0.2085 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.1709, -5.3402, 3.8085, 0.7888, -0.1636, 0.1343, -0.0171, -0.0205, -8.9231, 6.6667, 1.3407, 0.1734, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6159, 1.7531, 0.6609, 0.1265, -0.5468, -0.5438, 0.0078, 0.7345, 1.7649, 1.1816, -0.3077, 0.4576, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1299 left_z=0.0002 left_yaw=0.1367 left_pitch=-0.213 left_roll=0.0801 left_gripper=0.0078 right_x=0.3855 right_y=0.2478 right_z=0.1086 right_yaw=0.1208 right_pitch=-0.2095 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.0889, -7.8838, 5.4906, 1.0476, -0.315, 0.0122, 0.5641, -0.0889, -8.9231, 6.5299, 1.3309, 0.1587, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f403e9028293e9fad83f995a7db57a0ef5b1535099cc47704e60acce3347c153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb2c87f5842df51adffb631b9465f420cbb3951b7303820249fd3450d865fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82acdaaeafcb8f186b64b513adfeecaf8926f14699ad3ccaf49a00ec0679e20f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGDxLLi0kTjmbecqteYRYGGsnxx7r9ujGz7UFPnr_3UXDZojQOcXe9yONHG1hEcC0kE121JriM_1Ngw51KUnu9Z3yZOOWLyGJlzv9OVUpSfdx-AOd6FsPe6lpU1XYuljfJ5cna0WOlWumKcnIcYzbsXRCvp38OneywtCCI2m34t0n7Sy1UgOU_wd7oXRmLIpTTjEJxaEeNLj9xw268qmf9oylJ9Xx28Vozb95snHtsujjqIRRPnZkwt7u5-YtQuxNSHc7ezIbsb2zlf88QBvJhDrmJdzAzfZTCchMttA5lzqYFj3d6AU7mRMUvemi-I7aTWQ6MCXunfYmrVkBxpVRKnHxtIHqxilp8GXHUuayFVRsYi5MJt1GduuSGmvyqaoXloqETGteVLdB8xBlGfr-kAR0Z1AYmjiaqbggJlggSN4JAW7cfxafOaQeIFAeDHcMkTRUSxrXmgahK3V8YQtMqFrIn6V7RlMS2lLSo7sT2bkqnhxrzqqo1W4D0M445j82CGel3PPYPT7Y70EQGHqo8b05w8NlCwV8gh0ToE7WWHUCK3lShYddkg2NygBoDky_2J1fU8n1bhOsqOOhy-bpv_-v1waV5OkQDFg8M-3n2DloAb-3-x5l9ZSZFdwSncHXP5n6VW01RqplZBFtG5R82OVPS7aJDoOJ1b7OyflOrMTukldRbGjlfm1yoSMjnoQuWM7zKPD14nzg3_LzT5AJbGS_wgbo7WoNAL3rU3EQdBqjxbc607Cj_2gEts4r0XzoKUf7kSOo9dFJej3i7P3CR1EYVcYZWYyCon8Y7_JBNSxSnhOko-ZWzi2N8K6SGwf_lL9S5NfUPOp51Pl2tmySiLnLd7B6BHPpxlcaKSTyyD54rxsVr7EUaQRIR51wo5O6ZczKwS5-G2m9q9yJxLXtvFeuzXL6qO3q0UeW8j7un799gyW-XExJpfyMsvBjRPFs4tdPgSFEsl4bhUOdOzUwO5wFUUZC3j-nn-CJHo0WINBYxMzJDg44QrEG5Yc_vo4sU-GM0eINBs0vblIKMEKcVyQcggaqnMO8_AncEXR9kSWKoDMhxe66XWbV5caD6QNZIgNI1ZIvXhVnOtT9TtTiDOi9DoxiFqJI-WatysGyFJfWTSCzU5rOCr8CfEPkTmInwRe6c2GHWxGJ6sw343zgz2DKC5YbWufYPrgjiigph9IyEvL1E5yxOKNou9p58RhddGGRsbNosr2lps0RRhdXB16v5lORt8JJvlefUKmHAHwR76B7iSI9B04oEKjsmbyQOwtqLja75g0v7PcZtAAZeNQpSkkZFCbjzBTNOZSirwL9M7FKZb0ptbsanqmYMZA5908J2UDO0eWYs8SWjjGPm7mw6_24njUSjDNHMUwRsXe_vlLK4PzXtM6lKkAxHf3qykX3waWdV65eC5z5WCCegzliFFP6LtcSFdgbh5nrRRX7kc-sA-_MKJIVraCHGXBbrLLhN44ypJQf-XjJrEnlIx0OWRsQVHuZhN2e2monE_oTzJf8e2PxAKpv1DdAqJH8Ul10rnZK6iQR670unZk4my8XKem5YXOeUeGl36-PaIfPJeejSevgERIEDSkGIwpExcEWdhvugwJe83Mf-k-y0cZO6hZgdxZXyBRY5nlNelnS0ziC-C9SJiHVADep5X0ev2BXQb4xYjJVPvU9-jJYUWIxKv8YvcqUQdD0XyzfNG3DanWNUuR5m7pMbkFM4hlQQQa2BkT9ogFe1PSOlqlLa6Jxyo4MFM650eG05c2I2QpeeMYEeudcxl9cSH89pSj6J07vh6NgtFVaF0rHI0daVlHzoViAxliVktZR8VM-iEe_tHsLMKRuyf2cesm4BAHQqiEiAIl6lucpo3_MSi_QB3iKhvCa2swPl-5WAs_U9Z4JZYDU8SLIoRiCA_jo2duVla807GsBsHCs9cpQFljRPUIw1t4Udi5rsg-MggEKSKJizWU7W5YTIgVW101h_7MXOw1OEZN-S2a-7Q09OpG4GATu0UJ1locu0G3D5NsMKjhwlZ5u80aMqk8JfIoOnOwnj31hy-LNMEhcqGs3RPQflbSEPBWkVvCld3jh9EyvijngyrUu-At1GSBGkGiDm0CVMS3BTsfomfbl2DdYWBOtMn4Fn3cAa4HzrKMOVwE5c0fmFEyJthfq_Hlprd9-doHGftXPFfu0Wv1j1xqFR7q06BQ7PGsGPEIrTdJdWdN6wAG1Q-5wW8sPOtKqFfUb5sH4L4YoUgcCzlK1dqVY2u70SuZxeypETzQGaYi0qleV7sVGI=",
  "id": "rs_094f36e649ad9dd2016ab4218045f887d0af5b65214e4f16a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_y\":-0.113,\"left_z\":0.004},\"note\":\"The cap is still on the table: the left jaws closed empty just behind its thick section, which is visible a little above and left of the jaw tip. I’m reopening and shifting about 1 cm forward and 1.5 cm sideways to center the cap’s body on the actual closing point.\"}",
  "call_id": "call_gvOojW7OHQ58C9iDvmbjO28K",
  "id": "fc_094f36e649ad9dd2016ab42182bda087d098601922ea351b68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gvOojW7OHQ58C9iDvmbjO28K",
  "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]: [-0.5488, 1.7508, 0.6605, 0.1619, -0.519, -0.498, 0.9952, 0.7345, 1.7649, 1.1812, -0.3077, 0.4503, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3612 left_y=-0.114 left_z=0.0034 left_yaw=0.1536 left_pitch=-0.2021 left_roll=0.0709 left_gripper=0.9952 right_x=0.3849 right_y=0.2488 right_z=0.108 right_yaw=0.1263 right_pitch=-0.213 right_roll=-0.0848 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -8.1436, 4.6701, 1.2283, -0.0952, 0.1832, -0.1978, -0.1573, -8.7726, 6.4615, 1.3211, 0.2222, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e04ecd20f345fb7b4b6597123f782c20de1946b9ed48fa8a693205b28a9de4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cf96e04e867ba30f00defd7a0961256e16cbdc13310631f93b4112787a1221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38995944db84eb8d1199cd95790c213d7c6194a313704c0c98995bab4f9cbb92",
      "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 · 2.521 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6136, 1.5772, 0.7593, -0.139, -0.5407, -0.5266, 0.996, 0.7345, 1.7649, 1.1839, -0.3084, 0.4622, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3493 left_y=-0.1304 left_z=0.0573 left_yaw=0.124 left_pitch=-0.2107 left_roll=0.0828 left_gripper=0.996 right_x=0.3862 right_y=0.2474 right_z=0.1096 right_yaw=0.1175 right_pitch=-0.2062 right_roll=-0.0914 right_gripper=0.0654\nstate[joint_eff]: [0.1573, -9.8803, 11.7949, 1.8926, -0.2271, 0.0952, -0.0122, -0.2803, -8.8821, 6.5846, 1.3553, 0.1587, -0.0806, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6159, 1.7531, 0.6609, 0.1265, -0.5468, -0.5438, 0.0078, 0.7345, 1.7649, 1.1816, -0.3077, 0.4576, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1299 left_z=0.0002 left_yaw=0.1367 left_pitch=-0.213 left_roll=0.0801 left_gripper=0.0078 right_x=0.3855 right_y=0.2478 right_z=0.1086 right_yaw=0.1208 right_pitch=-0.2095 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.0889, -7.8838, 5.4906, 1.0476, -0.315, 0.0122, 0.5641, -0.0889, -8.9231, 6.5299, 1.3309, 0.1587, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5488, 1.7508, 0.6605, 0.1619, -0.519, -0.498, 0.9952, 0.7345, 1.7649, 1.1812, -0.3077, 0.4503, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3612 left_y=-0.114 left_z=0.0034 left_yaw=0.1536 left_pitch=-0.2021 left_roll=0.0709 left_gripper=0.9952 right_x=0.3849 right_y=0.2488 right_z=0.108 right_yaw=0.1263 right_pitch=-0.213 right_roll=-0.0848 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -8.1436, 4.6701, 1.2283, -0.0952, 0.1832, -0.1978, -0.1573, -8.7726, 6.4615, 1.3211, 0.2222, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e04ecd20f345fb7b4b6597123f782c20de1946b9ed48fa8a693205b28a9de4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cf96e04e867ba30f00defd7a0961256e16cbdc13310631f93b4112787a1221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38995944db84eb8d1199cd95790c213d7c6194a313704c0c98995bab4f9cbb92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_094f36e649ad9dd2016ab421868a3087d0b32dd0e8e38ce0a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.344,\"left_z\":0.008},\"note\":\"The cap’s thick portion is horizontally centered now, but it appears about 2 cm behind the finger tips after the advance. I’m retracting slightly at low height to line its body up with the jaws’ closing line.\"}",
  "call_id": "call_KcxoaQdmIONtnnnaOMb8081n",
  "id": "fc_094f36e649ad9dd2016ab42188015c87d0afd97c0290da6aaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KcxoaQdmIONtnnnaOMb8081n",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5663, 1.7248, 0.6319, 0.1562, -0.5247, -0.5098, 0.996, 0.7345, 1.7649, 1.1812, -0.3077, 0.4469, 0.384, 0.0654]\nstate[eef_state]: left_x=0.352 left_y=-0.1147 left_z=0.0034 left_yaw=0.1478 left_pitch=-0.205 left_roll=0.0714 left_gripper=0.996 right_x=0.3847 right_y=0.2494 right_z=0.1078 right_yaw=0.1289 right_pitch=-0.2145 right_roll=-0.0826 right_gripper=0.0654\nstate[joint_eff]: [-0.5265, -8.6222, 5.0393, 1.1941, -0.3834, -0.0317, 0.0464, -0.1026, -8.8821, 6.4615, 1.3846, 0.2027, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed62e69eba3170af1db481c9ccc83f56699978b647ea911a7eef3837b674834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f243cd269ae0ef06c5818ca4daac7b150251da37b45300e3fe26bef3dbf6cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57e3714ffdd874120375fe7d1397f39ac6596445b7bfb28a9077428dbe80b9c",
      "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 · 12.63 s

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

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 1.7416, 0.6666, 0.1062, -0.548, -0.5388, 0.996, 0.7345, 1.7649, 1.1816, -0.3069, 0.4583, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1291 left_z=0.0033 left_yaw=0.1363 left_pitch=-0.2148 left_roll=0.0866 left_gripper=0.996 right_x=0.3856 right_y=0.2478 right_z=0.1087 right_yaw=0.1203 right_pitch=-0.2085 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.1709, -5.3402, 3.8085, 0.7888, -0.1636, 0.1343, -0.0171, -0.0205, -8.9231, 6.6667, 1.3407, 0.1734, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5488, 1.7508, 0.6605, 0.1619, -0.519, -0.498, 0.9952, 0.7345, 1.7649, 1.1812, -0.3077, 0.4503, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3612 left_y=-0.114 left_z=0.0034 left_yaw=0.1536 left_pitch=-0.2021 left_roll=0.0709 left_gripper=0.9952 right_x=0.3849 right_y=0.2488 right_z=0.108 right_yaw=0.1263 right_pitch=-0.213 right_roll=-0.0848 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -8.1436, 4.6701, 1.2283, -0.0952, 0.1832, -0.1978, -0.1573, -8.7726, 6.4615, 1.3211, 0.2222, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5663, 1.7248, 0.6319, 0.1562, -0.5247, -0.5098, 0.996, 0.7345, 1.7649, 1.1812, -0.3077, 0.4469, 0.384, 0.0654]\nstate[eef_state]: left_x=0.352 left_y=-0.1147 left_z=0.0034 left_yaw=0.1478 left_pitch=-0.205 left_roll=0.0714 left_gripper=0.996 right_x=0.3847 right_y=0.2494 right_z=0.1078 right_yaw=0.1289 right_pitch=-0.2145 right_roll=-0.0826 right_gripper=0.0654\nstate[joint_eff]: [-0.5265, -8.6222, 5.0393, 1.1941, -0.3834, -0.0317, 0.0464, -0.1026, -8.8821, 6.4615, 1.3846, 0.2027, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed62e69eba3170af1db481c9ccc83f56699978b647ea911a7eef3837b674834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f243cd269ae0ef06c5818ca4daac7b150251da37b45300e3fe26bef3dbf6cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57e3714ffdd874120375fe7d1397f39ac6596445b7bfb28a9077428dbe80b9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_094f36e649ad9dd2016ab4218a2dc487d0b282b99544655000",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thick black body now crosses the left fingertips at their visible closing height, and it is centered sideways. I’m trying the pinch at this corrected position.\"}",
  "call_id": "call_mc6iGN64OgKh60mR4quXVkMI",
  "id": "fc_094f36e649ad9dd2016ab4218b153c87d08254f2a0e220a6e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mc6iGN64OgKh60mR4quXVkMI",
  "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]: [-0.5697, 1.7161, 0.6151, 0.149, -0.5236, -0.5148, 0.0081, 0.7345, 1.7649, 1.1812, -0.3077, 0.4431, 0.384, 0.0654]\nstate[eef_state]: left_x=0.346 left_y=-0.1125 left_z=0.0004 left_yaw=0.1484 left_pitch=-0.2169 left_roll=0.0773 left_gripper=0.0081 right_x=0.3844 right_y=0.2499 right_z=0.1076 right_yaw=0.1318 right_pitch=-0.2162 right_roll=-0.0801 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -5.9692, 6.1333, 1.3211, -0.2515, 0.0317, 0.5495, -0.0752, -8.8684, 6.5983, 1.326, 0.188, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc39171ade0e352de15f04913f591fc507e88dd7b63afaec2350ba108efafc54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bc0fae9b2da1e3362e38cff6fb3ebf9339d6acab2833eb49210613026854fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b4d6b9d4efaad89fbf9a82c68497a0ae57c53e5d68e11031292eb2872978b6",
      "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 · 6.851 s

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

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6159, 1.7531, 0.6609, 0.1265, -0.5468, -0.5438, 0.0078, 0.7345, 1.7649, 1.1816, -0.3077, 0.4576, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3487 left_y=-0.1299 left_z=0.0002 left_yaw=0.1367 left_pitch=-0.213 left_roll=0.0801 left_gripper=0.0078 right_x=0.3855 right_y=0.2478 right_z=0.1086 right_yaw=0.1208 right_pitch=-0.2095 right_roll=-0.0893 right_gripper=0.0654\nstate[joint_eff]: [0.0889, -7.8838, 5.4906, 1.0476, -0.315, 0.0122, 0.5641, -0.0889, -8.9231, 6.5299, 1.3309, 0.1587, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5663, 1.7248, 0.6319, 0.1562, -0.5247, -0.5098, 0.996, 0.7345, 1.7649, 1.1812, -0.3077, 0.4469, 0.384, 0.0654]\nstate[eef_state]: left_x=0.352 left_y=-0.1147 left_z=0.0034 left_yaw=0.1478 left_pitch=-0.205 left_roll=0.0714 left_gripper=0.996 right_x=0.3847 right_y=0.2494 right_z=0.1078 right_yaw=0.1289 right_pitch=-0.2145 right_roll=-0.0826 right_gripper=0.0654\nstate[joint_eff]: [-0.5265, -8.6222, 5.0393, 1.1941, -0.3834, -0.0317, 0.0464, -0.1026, -8.8821, 6.4615, 1.3846, 0.2027, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 1.7161, 0.6151, 0.149, -0.5236, -0.5148, 0.0081, 0.7345, 1.7649, 1.1812, -0.3077, 0.4431, 0.384, 0.0654]\nstate[eef_state]: left_x=0.346 left_y=-0.1125 left_z=0.0004 left_yaw=0.1484 left_pitch=-0.2169 left_roll=0.0773 left_gripper=0.0081 right_x=0.3844 right_y=0.2499 right_z=0.1076 right_yaw=0.1318 right_pitch=-0.2162 right_roll=-0.0801 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -5.9692, 6.1333, 1.3211, -0.2515, 0.0317, 0.5495, -0.0752, -8.8684, 6.5983, 1.326, 0.188, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc39171ade0e352de15f04913f591fc507e88dd7b63afaec2350ba108efafc54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bc0fae9b2da1e3362e38cff6fb3ebf9339d6acab2833eb49210613026854fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b4d6b9d4efaad89fbf9a82c68497a0ae57c53e5d68e11031292eb2872978b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGZmWolzbV_VbIUOtUZ_yP4YwaHMkogzuURHTg8-OXXDHmauV62pz2o7baDaQ9uiR9sW7kOFqTOAhTM_q-e8RQwP-fK98NWqSlyUCbefUyxOwuN6yry82_zrkRusfxYm0ov-wjbSFHSWisjdksfRuE9H5ZTDtgzhPuzwvCcskyhfmZwiTnKQYM0EdtJXQ2DeAxaL45px2S6oCEzPtx6Y4Qg6hnVKSFjAM9VcrrmVRXPpACeS49Fry5EpOssZyTp299lsQVKOT_raim0d8njcp_ufedgEyqdD85nfNATlcLsyYSlp3cv0h2AAtoMOolZFDBrOdgSQsOdzySsl5vTPlFbgPO5ijQ1o46TL9_LkW2Jitzy2EX7x4hLfv1JZ4GEMvZ51bKUkL1F6DL-kxmuNALWlNnn1cxn1KPw4Ixfe8TgzC6nR330Z0KfyXXNCxf7-YhiXqLQ93VJ9I8W1hv1g1MZuz8ZYletvUt2Uhxgz7Dr_aaLb4ILg2Oel-EU8KXSxoBPEClpmKgI95CbYbuQO4_xV5WnHnzYt2XkOgQFYJpSwJo4NSI2bIDu2NBJq_OTE4Y3X4q6UhsxnkG0a9wsqcemZCHk6lRlhotpzHO7Dno4uzKEclcicSJwucGh5A5ZCujHrzYqVVUYPnICbBloLrGnd6-6NvilqoAbDCHjEYF7rMPX1mJGaRp-uh-JrdKmud66uvkAkXMQImovGvuxQiwxp1VR7H3L651qwRKABDZ-2iOcWDPHGc6WrD2EHZNoxUPTSp5PFaFwy6tEoIgvATt-Xg64I4TokeNs5USzIiM27JLa1R45qnVF1A4fDBHMODqLKO4L_MG2DJQiY6qUni61aKCbFIa3d36GttNyTzj9dyctfSnj30fP9U6zWsaLMIvKmAlIGDL2ulEKUtHOjkyY9GFObmhqT0fUmXMPREOzDqJi0f9ZXp3xmQQfjl48h6N9PpiLEjfWscmMFPXALjgpk_gH1CPys9E-WjZUO0x8VdvxojlMP4UcrnP_VtftM7fyPVOkPikSX4WwOP9RxDlYDQbqNzFjkxGIQu77dj3fkwBen8iBpGPr6KLoxDL_ChXmyBfGhIBq5IWeku60Bx4YRCCj1gts7ZCufO_ZDkfFvGt0TDELKPvHfV0aNzWySqsK5eFg13ZfVZeX85oqD1lWxIY5dw-sY9NhmvThSDdtVpzo3T-J1AZ6EBOi_8JpHvbqqySFhQr89QKsMmGieD8CHHq3CSfcP_QMtViyT6-dDiNBPA3JjyvBvgI-e3F8QDCOkEhKlstguo6Wew9RaiMMzSW5dl5wTf_wLOAJ3tB336FSOJ-a4rH_uuvrKnQinKmW60X3tlIXJUOtgwFJ3LvnXJMQ5G6agVAldcFEuDRtRUR5at6Ggm0nYeykKa-5PS03lEQT7tiXpjhvOBsEvW6n0S0WUdHUJm1wBoZWNya-Ajd0l-3gI5EAs98psdCF17xZE759SSZAizRTpwSx62dtzQH9JBWHftqp_2mx1__4G1Jr_iVl4SZU2rtk7e4O1Nb6BAzNsFeYbl_Xpj3v0Q6Bfb2yLQeWSyahkrCMDhIpKLT8DxTqqHVWLJ5dhb2vVyesahv2oeUM9F-2VNyydcgZ70wPWk7AOp8CacWc6pf6Y7TDAKBgz-j-9ww112p4qYFmmLRl879efAzqX6_B6WwBdu2Alh9lHdbDnral3KA0AphrfGTl4AKfqOE0PpJyQgaie9I9aZPKfabXFP1hhEAjbCSRNbaDG-xSTrr4iC1Vfch9VGpGQq1RxtKjc0vcFhua7EKRS_laB1qPFcL23SLUnHAQguigqw_d-br60VlJq4oTCfGmyEidR5sat3IuZoyd3Dwz4YrmIRZAiXZPqxpHM6O5nznuuOaPjZgt29Dyvt0RlRFyPhYduvdClM7CeCcOgnOpjP6Ae8qz7BG1hUOl8d65pkIigIhNaewjSF08eGGPEjmfhUE_2OeUVMuER2B91ZKVAgHu_e-iVogwzy5jF-fW4fdM_RhJYrhWh-ucIiMRQQBuLplhXJK88RDq_L6fGdWFrDXB8yJbyVkpHQdVkQ7tuzX_-7P7bZlOEvnGhgj38-iMbHVp5tIfPfLRnNFtHPQSVvzqXElGOmkIN9yFdzi9-z7GaRfpwnBQsNyga-XHyxOumpMcdOan2jM_nivkRlGgs8nLfTnTmKrhIF_FkDuiR9UckRREpbC6kx6Yi8U6GMKSlJawuDxDOHMWeslcXlDFoRU0lrcA_T-7XJiiJyVMgkF6dxsZzCZc1MrhNlAmMbzkTMMOrFtCdbTkGRb-kKWzcRGWN8nTu79RdKS1BJP7YD37nyacLGMH9fc3y4I50liFbB-RHiBFyss0sLKHjR9_0I6G4uLKPm0maTYUlouHwHnXUJmmHSotdJgMfhnydL3ZLg7nA__dOywSJ6wvoKmloBSEvG-8nC__V1FwlUM4k6laOeyq7s7XX_b0h2ZfsZN6DaAZ38IsLJaw6K6URcIQIhKSW1tSOQlUxCSeq7Bx28ZFNj1uRiSfx2zM6Wk7I9bgz8rQK9k0ePfpPQ9EopQVZGx-9PnE5A5VV-fR8IbMMvmmgov6BvD0nTwGjde_vun0gUHMfotGheOaq_kKsWaw4AeX_tcLGsx8g9Dvaow0Vcus32vn2Te9Xb9UzeUolvggW1d8NwF6B11zQhsGzm7CottXG-6X2iYFt57LdK08j8dFHsU0FEW3mMdYKWxhTizXLYop_hBjA6J0IXgmHQLLvAu1Nn3RA5BT-iHo298TAo0Rp0DDff0li6Xo2KiOE_QTKQoP_FYZaDQiLCSqFutGNC77LNH0HAkRgr3fAixBG6DVeGgb8Ct9YghhINagYPu2t0fM4KtdS1xnY34pj7yPWjHR4KiG2LnX69ncpLpTdng7gnLIbjV5GKzh7CTDLf4Bm7ozukpJ7ihNB1yOUZUY6foJdOsG8NXfTBSfjyTdHZuNjvU1EgepCv50GT_Zi5bnfEbmE2T4VLJqreERA7Y64GskxttI4OHGmY8c9jm1-4Q94ztdI9A1GU2xb44_lit8FC-vw8GeCwRPSVKDkKeaXEXKKkOnwfK6yDIhHqBQSeu01d94nyMAM5T1RqQ=",
  "id": "rs_094f36e649ad9dd2016ab4218f06e487d09653e668a8b068c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.355,\"left_z\":0.008},\"note\":\"The jaws still closed empty, and the cap now lies just ahead of the point where they meet in the closed wrist image. I’m opening and advancing by only about 1 cm, keeping the gripper low, to bring the cap directly onto that point.\"}",
  "call_id": "call_F8YedlgQ54Hup2ptku2EOB5W",
  "id": "fc_094f36e649ad9dd2016ab42197859087d092545f5b81c1f0ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F8YedlgQ54Hup2ptku2EOB5W",
  "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]: [-0.5564, 1.7157, 0.63, 0.141, -0.5201, -0.5148, 0.9947, 0.7345, 1.7649, 1.1812, -0.3077, 0.4397, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3509 left_y=-0.1106 left_z=0.0036 left_yaw=0.1583 left_pitch=-0.2133 left_roll=0.0703 left_gripper=0.9947 right_x=0.3841 right_y=0.2504 right_z=0.1074 right_yaw=0.1345 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.0654\nstate[joint_eff]: [0.3761, -6.9812, 7.241, 1.0281, -0.1832, 0.1245, -0.0122, -0.0752, -8.8957, 6.4615, 1.3211, 0.1538, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460f059a78cc59f451e4033fb79f20e13517c3299f16c4854f1ede188e18471b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8381c2935ba3d631e526f2826082838587d5a4760210499f5894e1ba4d31772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1ddcca48824c0dbbe67bf601449e39a26d7cf9d10d58a5b473ef7557612d6b",
      "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 · 6.702 s

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

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5488, 1.7508, 0.6605, 0.1619, -0.519, -0.498, 0.9952, 0.7345, 1.7649, 1.1812, -0.3077, 0.4503, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3612 left_y=-0.114 left_z=0.0034 left_yaw=0.1536 left_pitch=-0.2021 left_roll=0.0709 left_gripper=0.9952 right_x=0.3849 right_y=0.2488 right_z=0.108 right_yaw=0.1263 right_pitch=-0.213 right_roll=-0.0848 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -8.1436, 4.6701, 1.2283, -0.0952, 0.1832, -0.1978, -0.1573, -8.7726, 6.4615, 1.3211, 0.2222, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 1.7161, 0.6151, 0.149, -0.5236, -0.5148, 0.0081, 0.7345, 1.7649, 1.1812, -0.3077, 0.4431, 0.384, 0.0654]\nstate[eef_state]: left_x=0.346 left_y=-0.1125 left_z=0.0004 left_yaw=0.1484 left_pitch=-0.2169 left_roll=0.0773 left_gripper=0.0081 right_x=0.3844 right_y=0.2499 right_z=0.1076 right_yaw=0.1318 right_pitch=-0.2162 right_roll=-0.0801 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -5.9692, 6.1333, 1.3211, -0.2515, 0.0317, 0.5495, -0.0752, -8.8684, 6.5983, 1.326, 0.188, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5564, 1.7157, 0.63, 0.141, -0.5201, -0.5148, 0.9947, 0.7345, 1.7649, 1.1812, -0.3077, 0.4397, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3509 left_y=-0.1106 left_z=0.0036 left_yaw=0.1583 left_pitch=-0.2133 left_roll=0.0703 left_gripper=0.9947 right_x=0.3841 right_y=0.2504 right_z=0.1074 right_yaw=0.1345 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.0654\nstate[joint_eff]: [0.3761, -6.9812, 7.241, 1.0281, -0.1832, 0.1245, -0.0122, -0.0752, -8.8957, 6.4615, 1.3211, 0.1538, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460f059a78cc59f451e4033fb79f20e13517c3299f16c4854f1ede188e18471b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8381c2935ba3d631e526f2826082838587d5a4760210499f5894e1ba4d31772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1ddcca48824c0dbbe67bf601449e39a26d7cf9d10d58a5b473ef7557612d6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGgmfHLs9VoXDxtoE9p3SgQHSOcb9b-reHRJ_XdGeJlM5GohgiM9x8sUZGhVS-DYXg8HUWwCaOJHuy2drhY7G_husx3u7Ki6z3w9OC5x2XPLlTOno-xy_2Sr5_uW1U_PMzWw2LZZlcAwms2FJDug3vnBrQGK_P7NtD2T9mnIiXs2ydk6m8Dbfxn79cAMMQOYlcKKS2qWX-zKxlf6qERuwEzA5JT8EzSoiF2w84TIlkTgZK6kRjGhyq7tFYfoUoHXSJ-1J0_ZF6UeS-54bcdC0HehTa4pDnRjdU5YJLbdceMxbQU0i1aQAz0ZXikNYQqM6I4t7oBcFrBXVdqE5XKnu6jj3L_hzEsC4lHqzyXBGjyoVLdvxU5xkODHQNn9zWuBK012rkTyuUILS-6sTEN1TP9PsfaN5nDxPc1D5RNQB239oj6HUAyclj0QUdBNm1XwOTbePwg_3n1H_oLIRS8sRRKOapTmZmczBdM3g9zcdLhfSU-8Iqa6AwTCroxPdP4CB3kaDNf5CoXqV_SfNaC9wkUuGzTkELF1sPmjRZyTzfNWshlKes_AxPzL8mL2vldwt_NwadJQd3VPEMGwwJYSuvhWQERbcdAWg7P-TfLp5P1_BUr34HIY7RFd18WgHoa7bh-72vDsLirvU01zxfpPWRaLWvWaRtiuPNBbeEc5F4U_ZqBbX9lQAxzdgLTqIZC4m4sLzX0hkWoA4ZD1wVXOjOvIj9I7qTO9YVmD2uQeReWFbVlvyTuHsL4QJsjUw9dQZN7gK-XJ3307xsyxfGpkUsfjno7VugvsuskzgA1VcAS6F7n1Y5J7ZJ44ndiRdmVp0yoSKYLM3m1XkGCWlmfAiXBHz3DaWn_RhixmT9cJHOhc84gjYkmijBkkihZ1g6zGGl4ZC5P3mHGKjWInciGA2OJUjh06homzZdDtmHzY3y3siozUJF1_re_Ty5lYWhoJZdKtI8qFBJ1HPxqegmzx6AmJNzZYcYX31XOzQjp-uN-WQ4W29UGwk7dRCTeyJQbP47w3vf8OmOytEGhTvcn9YeHS5gxfq7mRIvmAKxkeJdmizHvGlSUf-_m-fnOhzYTl_WmUditgm15F5yZkg62zt-YFwoF6mI8dKI6qiKyxjPCYFQajQa85a6yn07USLBz0VLclYfbXPtFWJU5CqLPNwnNx-1r30tQWTiEooHjfSfI5KY6UzQaAlftyyC6JBoFDRfcZ19plsM9CSpFVxkuDK1-LLZISqcXmhbHDa9WQ46PMzmwbeSuuzXsFjDamnsdR3F1LWTtQ0fWQs0WcckrYUkelPL-UjIjGC3lGesuaBffkMCCaR7cnQ-t9sE0QjFlbPSt4oN2fa_xlI6cFCj1uC6O2i5IvbQ20nW5trnMn_f-Zip7zS7FF4prcvuw0VyKYrru3cJTbd0UTmVROoFnBddPP4mN8b1JBF5JzWs6wY0MgpdeDaobkX_hdaKWWtDdFxDhhr68aHNbAO76eUda2fXG9yhFQb4yjZwipUIyBu9jeu31J5S1gGqReWMOwvDwnCsjWMPMbQ0_QMreEj6mbVvYHzyuIkpj631-N606JdQcb3AP_lsjvR7zbusK1AJ8o470ugm6PvUF8gd7X_uZMI4HMz7J280_jOZaUIsKZptZ-3yhZO3AZZbFitCn_FqO4efIoZ22EUWBe-nlyZaBRuvHS4QQjn8FnUzZxjXGAcHRiMBqlJ2KTzxVYmk7ZXzBhnG7ugUeCS5D6CfadSC7RyiY6iAhv1BAS52E-vunjwz3C-Y6yzbHJPNaE6XPfw8DMJKHhOuo55Yz5UrAWopVjFAitbgg4GgvQEkjexhhEl1jJZgn7mJm9B0UNIhlPJ83QKnenKxdyemFMM4ZBgaWmUXmIYAQRV5rp3WG66w8Zu0xZULMF1dtXhSlcimwj9ORFuFUwTHlRuJhUTZIYeb224b24uWyh9Lv1FkHovaziE6_A1-ErnandDML1268Eys6yr3cJIiJLcZNjCMCW4bIHHNa-s8ugESncwGSxtwgDtJrVb4zuDl6DDsTqN1ZKEwrCqz_iIfYXaw7mECUi0qIImEEuLCwJ_G1GAU9B2MPxuWwu4SuAODZrG4cEJevyZl18Qa86zaQUQENfAE8a4lFfcgWuIXUK68EikKNZAu0Yv3MIwIW3YxwDF-vwBhqYpgDZnVX6KjUDPZRhtTTYwPv8FTRZwRfIF4_w5_F4E78HnAzXTGfp9ecy7MPpxeN2asodcwyr3wpfosXznRN68I_kcuh-yKhzEUkPu1WieZ-wOCuAtPfurTB1Huj2ZX8X8LjpfQjOI1pIVTHdciEM2Wl5-ULbO8J6o8CqmVe4hVBoPBAMLKqMWnPQRZD2aULz3ZhkSvPd0MBnHcdW__TdWtZEQaRULQ0OQdyMHhtag6W0OsNSg17fKTnmpKrwwGq0zeyhdKO7EZiufItVYkjFtdJGsL6iTaqMEhBpeW9SDyCXnY_8PeQ04ONHlELJPIe7-M34AKsXfFLAwmehxKn4IE6mREDoRXoIfqpOdTeq40WJvrhDns_ehGg2rc0fKTvmJO7fQWCJoXu0JKMgdTLZVBKoNGdWdhRZh4SZqKtN_TfqPpgkUl05iLh3qk8lg8rjbwrFNco9XVkJdUqBL7a24p1f8Y9CHipxW2GCNIQnPEjoyMVBvTQJd-rwMGSvixfZUdAT4iHBllt1LzNIr0U0DTrb-5wv4ZNjl3ixMsUdmqaT205qX35MzT2OAhKfCH4tiv5oeredY2JXRB6Kt4QaYT9Mx_7D0l2RhqVC9WqGtzrGUKdWxsBHz8-DyIfQgxQPjENCYjM1pAHypk1wwkFFbnv4tmxplNLetDiVkw6McnqtDBU-KYFaHtr0UHOXhOf5Jvr4zGFZXvyv1dfHE78AaRQZqz9eYqrYjNLfi5olndx5AbXHzJNHvYq6s0U59nWeKFcNRWANkIcd-194e1_01houJR_erNGfA4mVvRiSxErl_Xii9_97gnkgyfnOxxC2uh54qy3ZtgYn05tb0nGucjkdl5AXf_3mirkoclHVl-QNpInXoPT0MdqzVxvNpm42PTC6UQSgLm_Qz1uimkT6qZ4165FZw2ik1UUyvdTDHOBNBmV3w5GWjb78U95mi0ye34sKurTZrdlZGP2lq9ja-f5vSMaCZTXq-fH7wY-LsvoVOLP59p2o96czx_l9wyiv5LpYvZ2zyA_ljXRPmmOpE3yY9FiQMNvPXrNM1RvEZScS1gFZvRUS2hSBOqex3Jtbm9hXc6cl4c9iwDyyzeHaVjazshx1cnNXkgn4kuYYv9zoTig_YDiPnNlGp9xYo0wQLq0HbuPWYgNBPgWunYqsttmWr26bDhoQ1md7r9rehqyHSle3GY3k5jWuQn2BUTj288_9uGRb5QI_G8wyAYOTMNZ7HHtDUR37o-TiHlwZD3eup5mBS3xI9GmH701JNMfaeVVnZy_J0_KeMGDuMxB1rvROTi35EwZC7ck0dEQYH1qkFl2EM1GqMNOyTC84npANxSIG6Z2ZOT7-WP_gC9EXwGU_k2oyQ==",
  "id": "rs_094f36e649ad9dd2016ab4219bdd7887d0bbdc3be13d7d9d3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_gripper\":0},\"note\":\"The cap’s thick end is centered directly at the left jaw tips, with its lower edge touching their closing line. I’m advancing a few millimeters while closing to see if this centered, low pinch can hold it instead of skimming past.\"}",
  "call_id": "call_j2UVCC1gHnrlXWpokph4gUqU",
  "id": "fc_094f36e649ad9dd2016ab4219fee7887d08de76c31a831460f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j2UVCC1gHnrlXWpokph4gUqU",
  "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]: [-0.5491, 1.7233, 0.6346, 0.1329, -0.5163, -0.514, 0.0074, 0.7345, 1.7649, 1.174, -0.3077, 0.4355, 0.384, 0.0654]\nstate[eef_state]: left_x=0.351 left_y=-0.1083 left_z=0.0011 left_yaw=0.164 left_pitch=-0.2237 left_roll=0.0758 left_gripper=0.0074 right_x=0.3824 right_y=0.2498 right_z=0.1044 right_yaw=0.1368 right_pitch=-0.2255 right_roll=-0.0792 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -6.0103, 6.4205, 1.3797, -0.1636, 0.1197, 0.5641, -0.1846, -8.9231, 7.0085, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90898d2048ed31a346a1d25d912bde44d6a723d989cf3287d4320677db353dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c9de6969de64f3c12047585d24b5eaf2d57b8445bbef39cf6cfb327ac4c481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c77d90e1ba591139a1350c26678763ef1d6f66c0a1357ef0e3a5741decca88",
      "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 · 5.845 s

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

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5663, 1.7248, 0.6319, 0.1562, -0.5247, -0.5098, 0.996, 0.7345, 1.7649, 1.1812, -0.3077, 0.4469, 0.384, 0.0654]\nstate[eef_state]: left_x=0.352 left_y=-0.1147 left_z=0.0034 left_yaw=0.1478 left_pitch=-0.205 left_roll=0.0714 left_gripper=0.996 right_x=0.3847 right_y=0.2494 right_z=0.1078 right_yaw=0.1289 right_pitch=-0.2145 right_roll=-0.0826 right_gripper=0.0654\nstate[joint_eff]: [-0.5265, -8.6222, 5.0393, 1.1941, -0.3834, -0.0317, 0.0464, -0.1026, -8.8821, 6.4615, 1.3846, 0.2027, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5564, 1.7157, 0.63, 0.141, -0.5201, -0.5148, 0.9947, 0.7345, 1.7649, 1.1812, -0.3077, 0.4397, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3509 left_y=-0.1106 left_z=0.0036 left_yaw=0.1583 left_pitch=-0.2133 left_roll=0.0703 left_gripper=0.9947 right_x=0.3841 right_y=0.2504 right_z=0.1074 right_yaw=0.1345 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.0654\nstate[joint_eff]: [0.3761, -6.9812, 7.241, 1.0281, -0.1832, 0.1245, -0.0122, -0.0752, -8.8957, 6.4615, 1.3211, 0.1538, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 1.7233, 0.6346, 0.1329, -0.5163, -0.514, 0.0074, 0.7345, 1.7649, 1.174, -0.3077, 0.4355, 0.384, 0.0654]\nstate[eef_state]: left_x=0.351 left_y=-0.1083 left_z=0.0011 left_yaw=0.164 left_pitch=-0.2237 left_roll=0.0758 left_gripper=0.0074 right_x=0.3824 right_y=0.2498 right_z=0.1044 right_yaw=0.1368 right_pitch=-0.2255 right_roll=-0.0792 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -6.0103, 6.4205, 1.3797, -0.1636, 0.1197, 0.5641, -0.1846, -8.9231, 7.0085, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90898d2048ed31a346a1d25d912bde44d6a723d989cf3287d4320677db353dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c9de6969de64f3c12047585d24b5eaf2d57b8445bbef39cf6cfb327ac4c481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c77d90e1ba591139a1350c26678763ef1d6f66c0a1357ef0e3a5741decca88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f36e649ad9dd2016ab421a3400087d09c8cdcc77f69c414",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.12,\"left_yaw\":1.2},\"note\":\"The cap was displaced by another end-on pinch: its long axis is almost parallel to the left jaws, so it slips out rather than being clamped across its width. I’m lifting and rotating the open left hand to approach the cap with the jaws across its length.\"}",
  "call_id": "call_YtUZC8nQEXw5okN5y5CVmrw8",
  "id": "fc_094f36e649ad9dd2016ab421a6eb7487d085a65e7e954da449",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YtUZC8nQEXw5okN5y5CVmrw8",
  "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]: [-0.6468, 2.0842, 1.702, -1.3697, -0.7315, -1.7645, 0.9949, 0.7136, 1.7649, 1.1683, -0.3378, 0.4572, 0.3965, 0.0654]\nstate[eef_state]: left_x=0.3628 left_y=-0.1216 left_z=0.1082 left_yaw=1.0696 left_pitch=-0.2541 left_roll=0.0582 left_gripper=0.9949 right_x=0.3837 right_y=0.2338 right_z=0.0993 right_yaw=0.0873 right_pitch=-0.2445 right_roll=-0.1059 right_gripper=0.0654\nstate[joint_eff]: [0.759, -9.2786, 7.2274, 0.1245, -0.5006, -0.0317, -0.0415, 1.7026, -8.7179, 6.8581, 1.6142, -0.188, -0.2222, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1839fef39221cb555fc5339210ad310ecb003a2ab02f70fe98da42c54dfebb34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a2ea6deb18bbbc4c0a4569a2561ceefd330659327edf2709aeadd93fdc5c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9020f016aa7119097f171b25740d3447825bf67b794512a283086202e7a7e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.325 s

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

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 1.7161, 0.6151, 0.149, -0.5236, -0.5148, 0.0081, 0.7345, 1.7649, 1.1812, -0.3077, 0.4431, 0.384, 0.0654]\nstate[eef_state]: left_x=0.346 left_y=-0.1125 left_z=0.0004 left_yaw=0.1484 left_pitch=-0.2169 left_roll=0.0773 left_gripper=0.0081 right_x=0.3844 right_y=0.2499 right_z=0.1076 right_yaw=0.1318 right_pitch=-0.2162 right_roll=-0.0801 right_gripper=0.0654\nstate[joint_eff]: [0.2256, -5.9692, 6.1333, 1.3211, -0.2515, 0.0317, 0.5495, -0.0752, -8.8684, 6.5983, 1.326, 0.188, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 1.7233, 0.6346, 0.1329, -0.5163, -0.514, 0.0074, 0.7345, 1.7649, 1.174, -0.3077, 0.4355, 0.384, 0.0654]\nstate[eef_state]: left_x=0.351 left_y=-0.1083 left_z=0.0011 left_yaw=0.164 left_pitch=-0.2237 left_roll=0.0758 left_gripper=0.0074 right_x=0.3824 right_y=0.2498 right_z=0.1044 right_yaw=0.1368 right_pitch=-0.2255 right_roll=-0.0792 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -6.0103, 6.4205, 1.3797, -0.1636, 0.1197, 0.5641, -0.1846, -8.9231, 7.0085, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6468, 2.0842, 1.702, -1.3697, -0.7315, -1.7645, 0.9949, 0.7136, 1.7649, 1.1683, -0.3378, 0.4572, 0.3965, 0.0654]\nstate[eef_state]: left_x=0.3628 left_y=-0.1216 left_z=0.1082 left_yaw=1.0696 left_pitch=-0.2541 left_roll=0.0582 left_gripper=0.9949 right_x=0.3837 right_y=0.2338 right_z=0.0993 right_yaw=0.0873 right_pitch=-0.2445 right_roll=-0.1059 right_gripper=0.0654\nstate[joint_eff]: [0.759, -9.2786, 7.2274, 0.1245, -0.5006, -0.0317, -0.0415, 1.7026, -8.7179, 6.8581, 1.6142, -0.188, -0.2222, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1839fef39221cb555fc5339210ad310ecb003a2ab02f70fe98da42c54dfebb34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a2ea6deb18bbbc4c0a4569a2561ceefd330659327edf2709aeadd93fdc5c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9020f016aa7119097f171b25740d3447825bf67b794512a283086202e7a7e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGvXO0YUJAkD2TF4WOUqID1KmRFNtb3OGhCBX532D9PFKlseE8BVWgq9wgg8yFQ5e4VunCzp59VjS_IsRRRRCUrCkx4kYMrhPAVwnIXbPKZhJpKA2-CQpinEPh10jDTlyktN_7X0vrhDgn_YtPYBUR2L6SXqMEgDj0dAwHFYviLFvYqE2SSuuZqGDTLdna7__MGLuE2px1wc1Njr9GVaa3nxMHTkuK3rMJE8eYll3qpMu6LL2LCpadRQ7QtfW9rBrVgztxuDVhtG3lzTS5gpx3Plyk5Ht_sOthVYhR8QoQx2JqtD74Z6kG4g3Py-dol3Q0igGQVj2D1Wy6mYzHCc04q59ehwdh8xQRr1TmiuX39dvH3TcQ3t-I33AaSsc-PrFb0LxBiY6WvDZqKrexAsWudKhUO9PNlh4G_2_HW9RujcKb4-MwAPdNxVmEntRdwBVqBD6m0dSxhxImohsvEGYHNE7mPiDIini0stQVgJ_IeJ_Aky4FHHYT90AamgpxPBJnob-F2rDG77W9FP1b9zcoE8Bfq29x0_U1KadScmeX13kbzKeFD-UvRNPnQWrYCP3e0VF6wHjgERxLDXL7WneLpxGuDIlxLVwSbBI6nfAdNn6l71DKFoytk15P0Pbo6QYMnEROiKhPgZUoV3q9MP8toPdxR67_5BNZuMrIB8Qu5jV-fdQya4nXAYo1kTv3Bn1GaXWMiOTWnRVJwUGVh9wUrki_WD0R7w-5AQcyo8prrWHi_rldayWVeJ9BuzagBsTTt8D9irZ9j5fZ2-Xly2d82adS-V1CXscejAYnr7Rp78T6vtKm20sCZQZzkipytGSNfqL6h-HGBqH1gtJZzKR-vVarYGKRTy13ojmtfNR0ozEpza3zQ1efs-aAqITsc7bMKxk9WGAFdaIUj7IE_jilBE_XZG5ZpfsXjDTQVm96G3Y_ttfp-EhDfQksL1xwRBX1qsW21irzBsVV8VmUJpdD28y-iMR6FVl02FBSk_s0dpFLphiAtdNQMRC9xwYe4qaw6QAdVpL3uHwTEUVrkH2bp2k6ebYFMULqVBUW1HlBJ05arSRbQ24325ZOwFJ22TS_6QdB88E72NVFnLnIBEpkzdh6nB4Q4onOop9bqFI_IGsm-thi3eXH8b_cySjk3Ace-iWnc9X_6Q1SQ8yZM4uk_ZqLJQXHtJ6FAj1Aja7vMG1JwEF3KVAHoaAOsDq1F8aA46GqEWDt7O76njxlD-SmazzuXMjmrgQj02_GfnL9xJi1F1hnj2dHdZcTIoLkz2QNs7miXyH3ZYXRTG8BI3HOsy2qrMX6yvkVWyQKXkFg73WqSUTqkCEzVt7W8rhHbZBPdwsYJUmnh26PI_X6ee3NuFVqYIbMtPFfKKsMXDd_6qhsArTH0_pgUx1wavSVIwEVCa4Xaak2fcAAXvIHv3proTITHAoHsrDTiuJLSiUSRq7uEgFZZsrEURPW-Kx-_XzTx_M1cqMGzsRFYapIsE86zZxj-uOUAWyQpcNtt8dKZsUXtSTQ1_A_VBLUHMwA2aD9fwENlKFr0HJhmgF8wqYdFjc0QOdNqSOKu-5trEFU3JPXcwMfXAhOeTx6K4y1z4yGCvFuYNxQQaG-7JkZd28Xi291KprhEYssg_I5TPoqNH3GM_WB6h3faVJJp5G0t-CEhXTzIfgV8cq2pMduKjWtl1-JLMDbcD-IadpD4TsN7Kyfsk5QBHB37BzvpojuenR1UAV8kmoJE0hIbRkSb1KTiAvnOKIPRzpaxxgy1RTx0Aym0iagIIrk01pgnPkct25u_yLFZBQ7ZS9K-by96LFTnoM0L-uWedm_dQsMinRAnLBwVFJ7e4lkQH4qOqNISUR_0IqBPH9G5e0CUvmEcYd09QClzriAaYEiwywYail1oQ2a3ZF_IC-83Sxtm58m41L6W90c3uhC175ch66Ru5xl_BszFK9PlKoKx6H84O5AytCA=",
  "id": "rs_094f36e649ad9dd2016ab421ab953887d0ba9c5f301f5ca2f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_yaw\":1.07},\"note\":\"The left wrist has rotated successfully: the cap now appears lengthwise up-and-down in its camera, perpendicular to the jaw-closing direction and centered around column 110. I’m lowering vertically toward its middle with this better grasp orientation.\"}",
  "call_id": "call_1vdB9kfj9Cj2kFSCoTPw3l5o",
  "id": "fc_094f36e649ad9dd2016ab421aea83487d08693340f0e9e946e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vdB9kfj9Cj2kFSCoTPw3l5o",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.162, 1.5028, -1.1046, -0.7258, -1.7702, 0.9959, 0.6979, 1.7691, 1.153, -0.3939, 0.4706, 0.3889, 0.0654]\nstate[eef_state]: left_x=0.3595 left_y=-0.1179 left_z=0.0303 left_yaw=1.0821 left_pitch=-0.2577 left_roll=0.0672 left_gripper=0.9959 right_x=0.3768 right_y=0.2162 right_z=0.0857 right_yaw=0.0534 right_pitch=-0.2992 right_roll=-0.167 right_gripper=0.0654\nstate[joint_eff]: [-0.7316, -9.1009, 4.7248, 0.0855, -0.4664, 0.022, 0.0952, 0.9504, -9.1282, 7.5692, 1.7411, 0.0806, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8bfa6c79c9638af6df52583f3e7432f1b7c1c3753700a68f8fa5164decedbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da9476e1879499e63e432e272635f740066f1d44af2807b123599db997382e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55d784fea01fb20c944b38453cec1d301c16173c0ddcf70bdaca513b5a8fb43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.256 s

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

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5564, 1.7157, 0.63, 0.141, -0.5201, -0.5148, 0.9947, 0.7345, 1.7649, 1.1812, -0.3077, 0.4397, 0.384, 0.0654]\nstate[eef_state]: left_x=0.3509 left_y=-0.1106 left_z=0.0036 left_yaw=0.1583 left_pitch=-0.2133 left_roll=0.0703 left_gripper=0.9947 right_x=0.3841 right_y=0.2504 right_z=0.1074 right_yaw=0.1345 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.0654\nstate[joint_eff]: [0.3761, -6.9812, 7.241, 1.0281, -0.1832, 0.1245, -0.0122, -0.0752, -8.8957, 6.4615, 1.3211, 0.1538, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6468, 2.0842, 1.702, -1.3697, -0.7315, -1.7645, 0.9949, 0.7136, 1.7649, 1.1683, -0.3378, 0.4572, 0.3965, 0.0654]\nstate[eef_state]: left_x=0.3628 left_y=-0.1216 left_z=0.1082 left_yaw=1.0696 left_pitch=-0.2541 left_roll=0.0582 left_gripper=0.9949 right_x=0.3837 right_y=0.2338 right_z=0.0993 right_yaw=0.0873 right_pitch=-0.2445 right_roll=-0.1059 right_gripper=0.0654\nstate[joint_eff]: [0.759, -9.2786, 7.2274, 0.1245, -0.5006, -0.0317, -0.0415, 1.7026, -8.7179, 6.8581, 1.6142, -0.188, -0.2222, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.162, 1.5028, -1.1046, -0.7258, -1.7702, 0.9959, 0.6979, 1.7691, 1.153, -0.3939, 0.4706, 0.3889, 0.0654]\nstate[eef_state]: left_x=0.3595 left_y=-0.1179 left_z=0.0303 left_yaw=1.0821 left_pitch=-0.2577 left_roll=0.0672 left_gripper=0.9959 right_x=0.3768 right_y=0.2162 right_z=0.0857 right_yaw=0.0534 right_pitch=-0.2992 right_roll=-0.167 right_gripper=0.0654\nstate[joint_eff]: [-0.7316, -9.1009, 4.7248, 0.0855, -0.4664, 0.022, 0.0952, 0.9504, -9.1282, 7.5692, 1.7411, 0.0806, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8bfa6c79c9638af6df52583f3e7432f1b7c1c3753700a68f8fa5164decedbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da9476e1879499e63e432e272635f740066f1d44af2807b123599db997382e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55d784fea01fb20c944b38453cec1d301c16173c0ddcf70bdaca513b5a8fb43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG0PJ9o8GYL5iEeseZ870q6aQUVXmseEM9fzk8cBcaQpe9xLMedPVCE4NN3id9RsezJcYUEY2QaFduoP4RUDRRSJD8oAbh9tkRIrNEk5sLK5AAEPusz9VG73QwxO15-CPuZmtZ1YqjY7SVnaMFOvQOs2bIH_rxUDXjw8OEFoh_AqfHJR3VSGWttOdYEOdk-tdASywi1UzPUdBIYySS1P9Ib0W-RmLkeZtq9zC1bCYC8W6j6f2DChy6IydjaoHQ6CRHjW_YSZDhZWw20qoZZZytcXY1-11PF9B6IYFklmakwyrb1vcfuyYTIl0ULfK_cdF9DPYbkw0mxSo236HNmRvJ8vg-sPHJtdcFXwfMG9A18KTYZ9gXoLgg3Q02hQHBeo6aFeEjKDB2MN5Ql0jvLZiwOc5SCe6l-dC4imGdUFyk2BtCzqEsA9ibhfTPKeBbvjkXrIpOKckYNUR-iDXrJ6rSZr9VoLAOTcgQ-VcsWFTx3R9oOUYLDpNBECdKgSw6zg31vjKQw2oRTNpBxKN3URQicwaNi9_edLFAmlvOMTM_4mPzVQ6y62V-G0klLwuLIIBkoCCx9PEKAdlRBImue3kOFfqaus7MEp0Cb1aCEnhYRFPCX9_ijNNOEczUW7NcyW1VB_FMFbCFsStJlekkseXh0vEMYG9HSx-F-GH4tfqcIdwx0-M8KFTqLZMjd_dBJ7fYyHhCYYNha-WNflwOyrqPxEGjVme5wlf2fyq4UlpCX47hBuFqcCA_wmahRO1CAY85-NevorPo6KUed-V8TD-R8LJWweR0EPqosI7YUBULT2mEJbCF7h_guu4hSlm0QaXf8rDfqbYdYyCD8paePUJFnbBg8tykYwsQNeATpfjzORIplkvXqIFGbqfDoY7Y0efDvoWqgQovlsczXmH13EWU23WROqe6sUMkM7IoDqFvmzvaujqeoOYOhKmUP5wJEU_x1JgbITGBJr8b3Fy4_VnM_aCuQwf6STjxlNFl_WNEHNzw-vEzSv79Q4manlqc3RYqcU7wu9pMh889dzp6pImwr2Hh9HpMfk24JApfY58eBO9rCgvD5MX2bW7XSr0ojKfRUXwHWg4K5iyx4tm3hK5xPZ6wUd1rNQYP606wFawL1_OrmI1-yHO9kGT3p_2HlXUL_uLPRy9GRT0vF2VtjuLLGu_q3Cbq_1nljrBO2_kwQZcJyYxAsR0GIavynjvJLyzWjS79xSYRot7a6n5O-KYs5-Gn6JwVZqSGSm068iWRIAo3qjDCYaQk15Nooq6Jz8u1e_EBanAq4-KEe340Npu2ja3mBpb73EmlBQvKIZ21V7RMajl_yoERxlhiCxrDLzBIwgel6MNbXWGOBDCJRagLHECd4tknX4IxWyHvOdKzeKlmzUykuol7I6f9sormqLWOuwsen-pxNh1I7qRSzd69yeM_i-SiyztEIWPqQpKFJXSDj-Ii3yqT6-x3aSFVQEQvAKC5K3gwErqnpqIScruZyops2FVLKdM9g9jYtcPI5vAXQqKJlZ1uLupBLlie0_i_SB0duwX3-VB9NDoQXBkxgroRPAb-CBC5il_Ex-NgKXc1RuOywSTp52d1ZkZ7Pclm4xWhN-yY3ltVGCj0HCulmm0zn9KQsqKm3hfII4drAfG019kuMXprZAq-xL1S0xzsBLZ42r2j9LZ4OsG-R2WVXzGSNHblIkd0eEuYtGLMGEOCi2CMGzrsIesewSRQhFi9FT5HhdIwkFlq-WCaYqg2s0OEnzoJ6LTar0YZV2Lu56sYkgYUNostAdEUh_2muLkpSw0hb7dZ9usbOpt-lWTFPUSJbvf2kM7fiWG97BvaCxflciH6sHh-ntBNuthq52I4oCbG-4za4SqNP5_Qb6cDCphYOXl6a0_Fqj5M1RL8d48Xww5w3ttMyxDR60gUhLH-zuxupd3ZLJShHnVk_wK_U_jGAogzMlLX-WO9vbNANdXTEUipw6EbpaIMl58byF9gCtVjQVxZ8_wnHHKduK8sRaC2M1x4gK5WGhHehxf3y_MV55kGr3q1qXINgDbsfnGI5x8eVSvoj0I1bXbgRwSnjM4yI_fls1ZPWtGvMdfvNklZtnXCKPtJ0Jd4a5GgwXWr0_4i1MKOsxsuQgoOu_d_ic4Yres6DPPBcHjrIaQx661eW7xSp89IU92Lbws5aiu6d0KyXE1GEVvNfXW7r09ZYZaB6oG1VocRb-emK26L915UFJ57Iujgdu8NPKsbM8Uei0ImDy8FrtPP7FLqOCB280e1ty1Y6Qg5fm9eKAxUiRVd0xAQMKYeS-J8-hjt7DgIiURyBCWZrVGPV2KZ4kLZoaJ38sE51dhK624pjNGf8pd3g4ES4TqtNySRFLuxYcpN_",
  "id": "rs_094f36e649ad9dd2016ab421b1145c87d09f3d67655b9a6106",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.378,\"left_z\":0.001,\"left_yaw\":1.08},\"note\":\"The rotated cap is centered sideways, but its thick section is slightly ahead of the finger tips while the thin clip trails behind. I’m moving the left hand about 2 cm forward and down the final 3 cm so the jaws meet across the thicker section.\"}",
  "call_id": "call_c3ssVGMHy3rtZGLs9D3vkdBC",
  "id": "fc_094f36e649ad9dd2016ab421b394cc87d0bab91fb0b9cb2e92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c3ssVGMHy3rtZGLs9D3vkdBC",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 2.2215, 1.5063, -1.0481, -0.7258, -1.7599, 0.996, 0.7052, 1.7687, 1.153, -0.3717, 0.4515, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3663 left_y=-0.1176 left_z=0.0084 left_yaw=1.0881 left_pitch=-0.2582 left_roll=0.074 left_gripper=0.996 right_x=0.3772 right_y=0.2245 right_z=0.0873 right_yaw=0.0796 right_pitch=-0.2907 right_roll=-0.1403 right_gripper=0.0654\nstate[joint_eff]: [0.9094, -9.5932, 6.7487, -0.0806, -0.4957, 0.1197, -0.0024, -0.8137, -8.6769, 6.2564, 1.1502, 0.3785, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b67b96564ea3ca70459e65abe96ca57ae70c0962c3fbc85855622e95a13d052",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4972ceb794cfb153bd3b2190338879e088c477581eb72aefcfe1156aeed6c999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73036332a2ad6f8e906079135316acb1d37960f0816f09de55925c2db95fc77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.515 s

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

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5491, 1.7233, 0.6346, 0.1329, -0.5163, -0.514, 0.0074, 0.7345, 1.7649, 1.174, -0.3077, 0.4355, 0.384, 0.0654]\nstate[eef_state]: left_x=0.351 left_y=-0.1083 left_z=0.0011 left_yaw=0.164 left_pitch=-0.2237 left_roll=0.0758 left_gripper=0.0074 right_x=0.3824 right_y=0.2498 right_z=0.1044 right_yaw=0.1368 right_pitch=-0.2255 right_roll=-0.0792 right_gripper=0.0654\nstate[joint_eff]: [0.4718, -6.0103, 6.4205, 1.3797, -0.1636, 0.1197, 0.5641, -0.1846, -8.9231, 7.0085, 1.3211, 0.1783, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.162, 1.5028, -1.1046, -0.7258, -1.7702, 0.9959, 0.6979, 1.7691, 1.153, -0.3939, 0.4706, 0.3889, 0.0654]\nstate[eef_state]: left_x=0.3595 left_y=-0.1179 left_z=0.0303 left_yaw=1.0821 left_pitch=-0.2577 left_roll=0.0672 left_gripper=0.9959 right_x=0.3768 right_y=0.2162 right_z=0.0857 right_yaw=0.0534 right_pitch=-0.2992 right_roll=-0.167 right_gripper=0.0654\nstate[joint_eff]: [-0.7316, -9.1009, 4.7248, 0.0855, -0.4664, 0.022, 0.0952, 0.9504, -9.1282, 7.5692, 1.7411, 0.0806, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 2.2215, 1.5063, -1.0481, -0.7258, -1.7599, 0.996, 0.7052, 1.7687, 1.153, -0.3717, 0.4515, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3663 left_y=-0.1176 left_z=0.0084 left_yaw=1.0881 left_pitch=-0.2582 left_roll=0.074 left_gripper=0.996 right_x=0.3772 right_y=0.2245 right_z=0.0873 right_yaw=0.0796 right_pitch=-0.2907 right_roll=-0.1403 right_gripper=0.0654\nstate[joint_eff]: [0.9094, -9.5932, 6.7487, -0.0806, -0.4957, 0.1197, -0.0024, -0.8137, -8.6769, 6.2564, 1.1502, 0.3785, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b67b96564ea3ca70459e65abe96ca57ae70c0962c3fbc85855622e95a13d052",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4972ceb794cfb153bd3b2190338879e088c477581eb72aefcfe1156aeed6c999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73036332a2ad6f8e906079135316acb1d37960f0816f09de55925c2db95fc77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG3O-ub8uEiHuYmj2N3UXtQBP7ngemCK34kogH2JphsPjGSVuopm6j2tAd4RJSW9J8uXDWofOddX5PiomzDIX6hgbMjEhatwA3ybw27cWQggBdupZeHO0MH7FOvj0uZqSQ1fZWv8ORCDF7hXIEl7S4OGKtual-ymYkU2v9fqjxH_98YM5OqY332_1MhwEAAHyXu8jh4upbpcD6kQ45Tp8z3Pd3OKwOsmV6540M-PA8avOHdWC3vThMlZrtPFrEkHbNMRQ45ZO8KjQXc1eP_c21rZq7w4g0Tn-jKn1D-QFfdDYt9D1ZR_LvOmogkV5Hf7y2iulBBWJyGTXly3uDZuFU4oWY7dMCGJ4jbw6-0mHgfeE2o9AG7v37LDD0f0OehilMwfqS4k4xa1g6BShkcRq7XiNpP6ZExgchMX_Il8iUGkSX9jfCHT_ZgwynbwIiNDzm3Tkat6p8aEALG9CWFf76Vncm5-HeCn5QRlU8IB-7VmPHfxcqEoRjnv5JuhWKcaJomtNc4z0ixFUn2Z2gm9Owib6_fOnHqSCBO2Yvr7kaoKODhrDnUm_JMawAMzGIiIFlL1wMy7clKVSPKVkgRrVnhprtDDpdxy7E4tNgM-FqLwdC_y7GV199XMYlM9v5y_X4E6ZmP9hgQK6BmLYIZ0Uhkg2uPVwZgULE9n_WD0MIPNHWaB22NImOdOGGD8wVdB7_zuSSGj81t1yV47k-Tdl6WgoVzT2LgKxgneur8ZQLbe2q6os4rdZYuOLRdi1yzhaxGefnAT2Glt8UofFRwKimFLbeZ8IB36TxLdR_MdpL1_lYpuekUkD3bHHzib3aoq8O_gfUyaTvqxCkyVWT4owdZl-uhnfZv63M9_TAxEYdzqTnW42qZ8SiIRlaAv8sKEhhsJjbB-KlLy62FZARVVYYzlYD9HYqvjkQSuccTbMXdH_iL36CbQOv4NJRhj75KUG0q7Ry9rvUVfa994PWjDpVq0PCNAzlikgo2-s7ucN_tULBh08xNTAuBgnQSd4UcOmED3BD8i8TqHP6fj8ENs5WWLh0ZwT55V3JwdnbfxMxNCb3nrPUnUO7CAyAJbM_u2qoB611kRmQLM5iA0w8iOiFFeRHAfotsYDVUGJh9ZTMaVl0u7z3hNxAIRC9uo6l_6b04ImBwId9UyOQYYrETaY1V0Sn1laqKJHXSyYDR2TLnrFoYuAHTISO0jMWEkquKzniXF5odFZ_RsURGTVB1TJizQ0rKyD9troh9j8aYs3H6jN6vfDPQctAJd30dTMfqgQaFbtAIDRs6l4iS_2GeAsNpC1KWl_cUP72MLv7HG4fFroLfo2E99JpmU_E43AePyQN8xCKpLfmzSwtKBAiHBkzv4m4HGodKpkNj-4ge3WzQid98_Wsj_1UBg3dDnqs-ey9T9xap7CQisSE3bx98MOXpo1EzLPhmJfaUkvTkeTYcRG_zIbeOgUxHnd0NdhOmNA0y20xkfHmI_61p8LboVUm8Y_w08ipTDc11bj-vBJsJIfH_dOdu-S6DjdnpBpqsq2ncSDS0oLzI06Oo68DjuusIaxwQnCkGq7EoVP07u4R9stGg6MbwXrDKtgsGuPtI4VBG-pdQDFV7gYbMefFzH9v_ITPu2i6ymrjar52OTbbE5RvB7MCFOkXhETCoAsO2seawJnF5JsdVprc_lN3gw5dIMstgoCwHMWqmVV5OmNvBnYTfkJEF48oy06NuxjAO4Kc3",
  "id": "rs_094f36e649ad9dd2016ab421b6652487d08b9e9edc963a2c9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.387,\"left_z\":-0.004,\"left_yaw\":1.08},\"note\":\"The thick black cap ends right at the finger-closing line; a little more forward motion should place that line on the cap’s middle rather than its thin clip. I’m making that final small advance at tabletop height.\"}",
  "call_id": "call_liY0edp87KRUhW89NN7dzEqa",
  "id": "fc_094f36e649ad9dd2016ab421b702c087d0b6f30ceb92cca061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_liY0edp87KRUhW89NN7dzEqa",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2398, 1.5196, -1.0279, -0.7338, -1.7512, 0.996, 0.7021, 1.7687, 1.1522, -0.3882, 0.4477, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.374 left_y=-0.1145 left_z=0.0047 left_yaw=1.0936 left_pitch=-0.2529 left_roll=0.0634 left_gripper=0.996 right_x=0.375 right_y=0.2217 right_z=0.0848 right_yaw=0.0765 right_pitch=-0.3065 right_roll=-0.1484 right_gripper=0.0654\nstate[joint_eff]: [-0.253, -9.894, 6.0376, 0.0659, -0.4322, 0.1734, -0.0122, 0.4034, -8.7863, 6.3248, 1.4042, 0.2418, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01648d248b87a81a974ee35a83bc5be55dd2dc1d62f9e57cde7aaa3ed894f794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42a01092c18c812a060eb9de470802b2b05b789bb4419034cba034283cdb63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb72604c12878b17c2d616ab2c9eafb023e9a214594dcdcfb41f187e15fac78",
      "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 · 3.432 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6468, 2.0842, 1.702, -1.3697, -0.7315, -1.7645, 0.9949, 0.7136, 1.7649, 1.1683, -0.3378, 0.4572, 0.3965, 0.0654]\nstate[eef_state]: left_x=0.3628 left_y=-0.1216 left_z=0.1082 left_yaw=1.0696 left_pitch=-0.2541 left_roll=0.0582 left_gripper=0.9949 right_x=0.3837 right_y=0.2338 right_z=0.0993 right_yaw=0.0873 right_pitch=-0.2445 right_roll=-0.1059 right_gripper=0.0654\nstate[joint_eff]: [0.759, -9.2786, 7.2274, 0.1245, -0.5006, -0.0317, -0.0415, 1.7026, -8.7179, 6.8581, 1.6142, -0.188, -0.2222, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 2.2215, 1.5063, -1.0481, -0.7258, -1.7599, 0.996, 0.7052, 1.7687, 1.153, -0.3717, 0.4515, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3663 left_y=-0.1176 left_z=0.0084 left_yaw=1.0881 left_pitch=-0.2582 left_roll=0.074 left_gripper=0.996 right_x=0.3772 right_y=0.2245 right_z=0.0873 right_yaw=0.0796 right_pitch=-0.2907 right_roll=-0.1403 right_gripper=0.0654\nstate[joint_eff]: [0.9094, -9.5932, 6.7487, -0.0806, -0.4957, 0.1197, -0.0024, -0.8137, -8.6769, 6.2564, 1.1502, 0.3785, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2398, 1.5196, -1.0279, -0.7338, -1.7512, 0.996, 0.7021, 1.7687, 1.1522, -0.3882, 0.4477, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.374 left_y=-0.1145 left_z=0.0047 left_yaw=1.0936 left_pitch=-0.2529 left_roll=0.0634 left_gripper=0.996 right_x=0.375 right_y=0.2217 right_z=0.0848 right_yaw=0.0765 right_pitch=-0.3065 right_roll=-0.1484 right_gripper=0.0654\nstate[joint_eff]: [-0.253, -9.894, 6.0376, 0.0659, -0.4322, 0.1734, -0.0122, 0.4034, -8.7863, 6.3248, 1.4042, 0.2418, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01648d248b87a81a974ee35a83bc5be55dd2dc1d62f9e57cde7aaa3ed894f794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42a01092c18c812a060eb9de470802b2b05b789bb4419034cba034283cdb63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb72604c12878b17c2d616ab2c9eafb023e9a214594dcdcfb41f187e15fac78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG6FkWsmUqdCF22HvVawxArZeZ4R4uQikuKGLB-aH2WVDQ5Y-1NLUQNv7H85QXT46MU8gf5YnyDcF3d0uHkHEpHAU-guFfN7tRheTQvZKkKzHjdnBViAhMb0Uickcltz-CIiBnH3lfL_cbtNBF2sUhVRpifQ5Q1f1xY6NFqfTgISkb28KTFSnpy1xXLWSEjNwYne-GaLPg-XBih4C1pPKSERH0TPwvIChF6jP4t92eaDgU9Fail5pFv0Ki_Lo98ZPb1KHv9lf9Y0w8YWEzqU0xUv6okcF-_L-teAg6FjHAao_uD7tDbm-q98ImCN9lXFu0bIc8ER0eP0A1FDmNWZ3QWyb73EW5XssP5bqqHpY995paiPmXU03f_Wsiy9Z052tZmHYFBaU88yFiFe1SwMqseSH6QoCgBJ4vUzTBJDBaggb744HDkraD6zi9yJcsDMyUfJL7xhLTZ_qJQjNWvkKIIc89Sz8-TrQkINBGiCYWBrZgFF_zCYmZkyF_hSRkaAIIBV3drtN5DLlLT4KrNgXSLvMDloqvlqgmAvc2-A9pJxdRXyStWtFD-sUo_KCrc9zN6-xVT9jmo86Ewq-fKlh4rPqyMEpfP_PeLcCfimS271Jw7hB9eZTsFsyM6zmAS-jjnTR0gXwZkOaUYARZb0elwtv2all5L-ZuPt5-shjKptESem3nZ4810CqKGCXrtXZHLEczH7csu813O2-mkWxVaPYq5FzhGy3iLWj_cG9bv-1_pXiepbnGKd_N_roxjaTae0EwZFNVzppcvxvq2boKI6D9FFpUkmOAVHkZeyFF0DSA-KPIM57LqcNVjKAlAlOKXBybRdzYswiSgEIrHX6mVSB7rrU45coyu8-5TJeg13QLp9Oyh9u63jriDV7E2sIGV3mRihhHYMYZ6dlvZFAKjU0VTqCFzycmsT5OFCiI4_-hHzyaqJ5ynO8fgwky-Qm8RLOmJIRS8_DhgI_safyFvxE919laqlYvU_Jl9g4kB1ZiDEfC866gQM51-JP9t81IthBUhEaMuoxquTxQrKZF0ly83vDE_qdsVlQB-1vFOgTPJgY5BVDvr3kVoB1zSqdEjZYfRCVSnO0MhQbv1nbzlhFfproxo8EePmWjA21i13Mimcyynu1yfWd6f0XYLJttT-EFbJjU4ETyPDkYWkzH3Ax_o5nXR8U9NFK8NjVoWDorhCaU9k1TxcxyvWV8uwS1KAkujrrWUucdcI3tJOXeg6KTz21heCW-heLpakIszyY_M8cirVC7dOkeLrMK1n5Ks",
  "id": "rs_094f36e649ad9dd2016ab421b93e4487d0a7a6505ed4f5c006",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the gripper rotated, the cap’s thick section now crosses the left jaw-closing line near its center, instead of lying along the jaws. I’m closing across its diameter and checking whether it stays between the fingers.\"}",
  "call_id": "call_eC7utJO8pDA4VS0i9h21C7mJ",
  "id": "fc_094f36e649ad9dd2016ab421b9854487d090e4479fea2ba416",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eC7utJO8pDA4VS0i9h21C7mJ",
  "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]: [-0.614, 2.2417, 1.5192, -1.0115, -0.7254, -1.7451, 0.0092, 0.7017, 1.7687, 1.1522, -0.3893, 0.4431, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3757 left_y=-0.117 left_z=0.0024 left_yaw=1.0882 left_pitch=-0.2632 left_roll=0.0544 left_gripper=0.0092 right_x=0.3746 right_y=0.2221 right_z=0.0843 right_yaw=0.0792 right_pitch=-0.3097 right_roll=-0.1455 right_gripper=0.0654\nstate[joint_eff]: [-0.0752, -11.5077, 4.9299, -0.1245, -0.4567, -0.0708, 0.652, -0.0205, -8.6769, 6.3521, 1.2772, 0.2076, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971bfe77913dbdb0bfad1ade91c42e0f608f0bb9e5291706ab48d124e6f82f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdf750387a4af8d157c40ee6f01277bcab070614c7c522e8bc9c2d63cb23a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea13b26b56c9f2c99e39a84eba80fcd95cf86ec6111b58eee88f66fd8a30a9e3",
      "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 · 4.818 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.162, 1.5028, -1.1046, -0.7258, -1.7702, 0.9959, 0.6979, 1.7691, 1.153, -0.3939, 0.4706, 0.3889, 0.0654]\nstate[eef_state]: left_x=0.3595 left_y=-0.1179 left_z=0.0303 left_yaw=1.0821 left_pitch=-0.2577 left_roll=0.0672 left_gripper=0.9959 right_x=0.3768 right_y=0.2162 right_z=0.0857 right_yaw=0.0534 right_pitch=-0.2992 right_roll=-0.167 right_gripper=0.0654\nstate[joint_eff]: [-0.7316, -9.1009, 4.7248, 0.0855, -0.4664, 0.022, 0.0952, 0.9504, -9.1282, 7.5692, 1.7411, 0.0806, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2398, 1.5196, -1.0279, -0.7338, -1.7512, 0.996, 0.7021, 1.7687, 1.1522, -0.3882, 0.4477, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.374 left_y=-0.1145 left_z=0.0047 left_yaw=1.0936 left_pitch=-0.2529 left_roll=0.0634 left_gripper=0.996 right_x=0.375 right_y=0.2217 right_z=0.0848 right_yaw=0.0765 right_pitch=-0.3065 right_roll=-0.1484 right_gripper=0.0654\nstate[joint_eff]: [-0.253, -9.894, 6.0376, 0.0659, -0.4322, 0.1734, -0.0122, 0.4034, -8.7863, 6.3248, 1.4042, 0.2418, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2417, 1.5192, -1.0115, -0.7254, -1.7451, 0.0092, 0.7017, 1.7687, 1.1522, -0.3893, 0.4431, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3757 left_y=-0.117 left_z=0.0024 left_yaw=1.0882 left_pitch=-0.2632 left_roll=0.0544 left_gripper=0.0092 right_x=0.3746 right_y=0.2221 right_z=0.0843 right_yaw=0.0792 right_pitch=-0.3097 right_roll=-0.1455 right_gripper=0.0654\nstate[joint_eff]: [-0.0752, -11.5077, 4.9299, -0.1245, -0.4567, -0.0708, 0.652, -0.0205, -8.6769, 6.3521, 1.2772, 0.2076, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971bfe77913dbdb0bfad1ade91c42e0f608f0bb9e5291706ab48d124e6f82f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdf750387a4af8d157c40ee6f01277bcab070614c7c522e8bc9c2d63cb23a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea13b26b56c9f2c99e39a84eba80fcd95cf86ec6111b58eee88f66fd8a30a9e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG-9BJoDmZzHDX7PcHlPd5ljs0-7xFoR4nSx-5sx-yHmJ8BzqnEb97-N6pL0FOBNTS3Yn4-7VKF71awhgHFD4UxFAw_qpSBcwrsx_EW5mS58ZrLpW6LXfs9jMNsIN__hvkZio9E2fgJyXgRZj3q1qc62lfjRm7ECwDucGTXgJFAmawSDSSmFV1V5G9ynR9XpsiGFNrknt6LpTgA5RkcLslq4rs7-4kRIU76MxSrHpM9FNjPk9gmBEgdpjpWviMJPpVHtCykBl9aYG9fI2f2Yw8ucf6xMnogFLH-NxRcJxmrYZOBLt3vwsxllXJ7WUoqFIRQzPuGfnxgQdbf0QXx83rtzyEV2ogWobsl8Unsp_ZucbMKT_UXyP7RyB-9FJ1VFu2WLljDlP5eZ0FRLjoaANxS7KDXiTeVKAFEOkKh7YIttRI9RHkAOj2bKsVwaIxYhmZ8CVh7zoVzylIl9ZAfT2bigRN4q9Zy8mm-I8F5GdaLxL4eKPrn4PF1fnJuO2utM79dQan15rURFRUyidcN2gRmQpcS8UdY5EOKwB-Z4j7emUGlOukrQeRRUwxjVikST47RZtC9StUM2pZFftcO0pCR32HjCskuE7T9TlR_93EerM0e2uqD1pI9ztq-_Yfks72pcKxb3BgcC018C5FvjSxWq-pC7tC8HD_v9uH1Y4zoAfiSGNp0sUfkuW1iEkuc6Jht8gDRHc582pxkuXkFK93dYNfho7EXcDQ8MOdZgZmoUV82cvK898pbHN_rrV_S1XMWEw6am_lqEOi6GyPktplZDgvuWls8OyYB8qV__pKXiRueZ5ILKyQ2MDVwnD_P3RIgMcy9oZ912J9OV_3Z4iUcMdKlJxb6NQBdDY6KS3Ny3i0CPSpwZGR3RjuZ9twWDsHEEoeKpkvewP2kRHcrnBMi2l7OBj4RU47P6QZVxlPC0WCeoj7uG5wgMdfwt44uQErF8595P6E9t-uyhxScLKBF_6O_aiIPKTs_VJ6kXl9rJ5XOf2ejqVZumgyU0aBFmJZ7Irpp0qQwpmooP-DiggMgO-5od4KLiHOZpWv39_IRHpOIivnmeaHPITOKIEIOab02R3Vx-H4_VDyRCzhHhbIqX-OhL8hYc-dfhDW11e18a6XAvMURQ8D85OouraP88Ize36MMhmGsmgHbzMhzkxg7y-7CvrJZOxpyXOwera3MRlnHP88sOM1fyQ2VN-RMOxJ8BX-3Yktp_SgL1v4CcgomJHpXUe8ePZx87pqAZRK4GunN4cQP_9iWZmqZyK6pX_g7VhkEhdbT1Wn4K6vR5IWAjgWjCFpOvrcQLesTYOUeyD5clOURYg7bVHCI7lkB0h32Blz0LRHeaqu2w2TA_0ET1AGmMcd-6Zt3ktajPMltTA0eOOB_3omunM9IPSqnsqY9OusUvm_dlYl730bIDNsYuhHZ7i-XZbZLTMnijCHBa1V-Lk8PNEy-yYdW-P6vGLy3BymUEjjNAGi9RFY9m2FHjmuPlq6FUUcSTxHaxuOnJhbJBZEy2oiLtUe0KaY_QpN04Gbji3k3rb1lisEbpbs20RA7T22yaGLPU1Tp4viMgqjDISFOwKkm_Rj00KR0OZz9FAeKofIo6DnOxYPgaB_Mz4CM1ObK5qiGCcn8Rj1yVhMYCBO26aP5bV-Co11et0jr5hXW2oBShtaaRKc8g_2zW5tMaDUZbTMjpJlEip-CTD9wJN5Nu99G7qvg5j8800m1063dU3YAwvBa4HS6PyTEXFJL_BZkF6MWBz8fhtgPvDGNbRkb8lq0qXjM7yCTzwCuu6bT8dx0GaqvWk_lQMn0VA==",
  "id": "rs_094f36e649ad9dd2016ab421bd8ba887d09ea62dbac698792f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.4,\"left_z\":0.004},\"note\":\"The rotated jaws still closed empty; the cap remains on the table just beyond their meeting point rather than between them. I’m reopening and moving forward about 2.5 cm so the thick cap body, not its end, sits inside the pinch.\"}",
  "call_id": "call_ZW089x4DikG78t3QmJMkMoyw",
  "id": "fc_094f36e649ad9dd2016ab421be306887d086ae81ef99c62500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZW089x4DikG78t3QmJMkMoyw",
  "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]: [-0.5865, 2.2837, 1.6073, -1.0328, -0.7261, -1.7222, 0.9947, 0.7017, 1.7687, 1.1522, -0.3901, 0.4397, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3944 left_y=-0.1169 left_z=0.0051 left_yaw=1.0961 left_pitch=-0.2662 left_roll=0.0447 left_gripper=0.9947 right_x=0.3742 right_y=0.2225 right_z=0.084 right_yaw=0.0818 right_pitch=-0.312 right_roll=-0.1438 right_gripper=0.0654\nstate[joint_eff]: [0.6359, -10.2222, 7.159, -0.022, -0.4127, 0.1392, -0.0464, -0.0068, -8.6632, 6.2564, 1.1844, 0.1685, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d1091d52d3b5e4ecba612ba166562152e0625127e389b1d72e09342f84774a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c805e534013eb71f3cb12cab8bad64e3d8ec952db2aa067133faa80b244752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3153f549166f8b15ca34fb4011c1fa1d1fb89d8e2a27afc56d27b5741592d5",
      "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 · 3.261 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.63, 2.2215, 1.5063, -1.0481, -0.7258, -1.7599, 0.996, 0.7052, 1.7687, 1.153, -0.3717, 0.4515, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3663 left_y=-0.1176 left_z=0.0084 left_yaw=1.0881 left_pitch=-0.2582 left_roll=0.074 left_gripper=0.996 right_x=0.3772 right_y=0.2245 right_z=0.0873 right_yaw=0.0796 right_pitch=-0.2907 right_roll=-0.1403 right_gripper=0.0654\nstate[joint_eff]: [0.9094, -9.5932, 6.7487, -0.0806, -0.4957, 0.1197, -0.0024, -0.8137, -8.6769, 6.2564, 1.1502, 0.3785, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2417, 1.5192, -1.0115, -0.7254, -1.7451, 0.0092, 0.7017, 1.7687, 1.1522, -0.3893, 0.4431, 0.3878, 0.0654]\nstate[eef_state]: left_x=0.3757 left_y=-0.117 left_z=0.0024 left_yaw=1.0882 left_pitch=-0.2632 left_roll=0.0544 left_gripper=0.0092 right_x=0.3746 right_y=0.2221 right_z=0.0843 right_yaw=0.0792 right_pitch=-0.3097 right_roll=-0.1455 right_gripper=0.0654\nstate[joint_eff]: [-0.0752, -11.5077, 4.9299, -0.1245, -0.4567, -0.0708, 0.652, -0.0205, -8.6769, 6.3521, 1.2772, 0.2076, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5865, 2.2837, 1.6073, -1.0328, -0.7261, -1.7222, 0.9947, 0.7017, 1.7687, 1.1522, -0.3901, 0.4397, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3944 left_y=-0.1169 left_z=0.0051 left_yaw=1.0961 left_pitch=-0.2662 left_roll=0.0447 left_gripper=0.9947 right_x=0.3742 right_y=0.2225 right_z=0.084 right_yaw=0.0818 right_pitch=-0.312 right_roll=-0.1438 right_gripper=0.0654\nstate[joint_eff]: [0.6359, -10.2222, 7.159, -0.022, -0.4127, 0.1392, -0.0464, -0.0068, -8.6632, 6.2564, 1.1844, 0.1685, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d1091d52d3b5e4ecba612ba166562152e0625127e389b1d72e09342f84774a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c805e534013eb71f3cb12cab8bad64e3d8ec952db2aa067133faa80b244752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3153f549166f8b15ca34fb4011c1fa1d1fb89d8e2a27afc56d27b5741592d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHEPucvYbyzvYap1V5Kr72rIDKQK2ELqHFtwpLyrIKY_vjQEi5LA7Pnw8hdwSwhH3RtlI1li3EmSEiBdn6r0wVhisr8Ja0pdMWekVnXEkSW-HosRXViw0waYG64NKqo3EL2tl76gbPk3lt3JQiv4Acm2NmFPhWH8DuwQlIVk7JeWgqnWsY7d_d2F1BQYVRcrF3YYche1RWXpMnWr5sCuCLE2iF3zh_4HYVMaCtdnhaJhEbdFdDrAsB4A4y0LTYUAX17p6CC4olgBvfggsqGP7W_7yeUulMwHXZTMWLxit-oy76MFHmZW4-Z7joGJBPQxUcISVZHARwESQQP3_FBSGYykerkri9o5FZ2J0AYO1Jjp-S1H7L9jJ7LBV8cG9bzTKAEN8Iep_G9g9qg6djH01eMWx7Bs7-gBnvKkAFhAKWuuTmq3f2H_GHLgAOS6CR0nlVkDsw9bxvfFMJ3NishwcouhNbUUqgvrG2eZw-jg46nb9Vtk6nD3rPzyxl-YMft2cCHNeQOSb6Yp7CZMHw_LLYewAAbED-GRpHTGvgJsxyfG3UjmdfU35lzRpI1MC5skdiFq8bOYVTWdc1WcndHygdxfP--rejoTF7RsUJekXYtWbt6d3tubv5gDLiLyoOqyBwpr0tiggJSkJ-ix9g1aGLkKN1JfZ0nzDewf2agb-rsq8Gm4DkotGRh2-o82ptDqVtwQwRiqVPrDWu7f_hsnyhc9ojmvNaKbBeeIh3NKqWtCZKdw6ore5YmDWLyBKMlUjr24tla16v4SBT3MHJs4PgXtsqvY1AB4Mxe0r4i8iTwCIMogNvgklPCW9ojeijfVATnyVjcs2mJBQABCmhPO75993kDriQeOaLFPMq2PmAmtce9_6zxsoZ79QoSlVoKs8ZRGP9IgL3xWcL4-C_7YhL_dDV36raBIDs32ML-1F0GjqJjcxfs6STFOQhFgwUA06kniajAl203v77AIeNWVBMMThnI7iVjDDDhC_l87HPg1cWsHoz2LvsR9EXWATdoYt8v30PKNp0nLdSHfQL5cTxNL_q_EgEDvBEb7vANlDcU2d1_9Is8UX5QrOVIHYvtnWeF7K4XCukn-agQ4582iSnGfGlxSnfXLGLWqohYwlvMjJ0Ktk_TpYHVA-44AqAv1rqS3tV6HL2l8GKCwxPZA2SNmuVT3_9e7UdU3BDdWydR8DqIHSJUD7CiLN3CxWWhpLlG8VS19t7Gh_9lC2MT7jjsPLDJ5hDxFzMmweWGZ0VAJThbr4lnnzFRo7MOVbHUWXIbB2AQ8f0W_8Jpwpvp4ZM_34x_x3h0C5JBiF3EjFmmRdjDzYGltX2WLK_OpCGde8DxrqdGCxWmYgxoXPkL3CbVppLY47PKFfeiPNSvHjk7b8tkkRIBBQJftqyWMSqH2x5sB1_05fllV_OdbF7qMm4N6RA2-3WXaUFtl8QivW6k1y9mYGViliWwsgkCrCVT91dpntKlzpswCrIf1z-ZbENb22dXamxCyuc2-tKA4WEFzQWfwVad-2PEI5rhdisGZOI8lw3vQR2Hbi4krGwlXQjHOYFBZhEr9XDiDkcH-iYmv6ftWEqbU6-CswqoU3WkjhpTGmkBILCZMoCAbvBg9wnv1Mwe3NnolbxERYlxbKSFBmajetLLxmV9gg-GFY7860CZn3-smrQzjuCgWz5EuIy1cLIj-B4ZBeCe_2aQpVoAEoryppXxnbKTJ7GVvbJr93Q9pdRMHCajD2_PAykkTq4s1oaNviF9tnuKBOxiur40v0clIYQZJJXANRhReKkUzJq8_VXZ1VBOW0yFMEFfkKmQtZ0QR1nmpET_9gR3gZxTTNiUv7rATdbCbZn52NHodj4MaLL-H3CkPhzsLo6SU8n61LaVC7dtgml5M8BeYngSr8Gxwr83xXf_9x_AvggjltauTwUm0EVjqHqxH8cfGZ4W4N7LEYL4oJ-d1VeW2NzGo44Q56agCPayxbYFc7tUAaJa-QggpbATU4V_NoodVdhTPacIchHcqqXMg1XuZL628XvFEAcvyZS7H6nYrNZuDScmWD9NN98ex7qFVc2j3kBMLHjODlMhP8tS3n5XcW-qiqQ6inzh5wPRINehRelqVg6LK8vzGgM_XVNEHDuEQ8rKGKH8ucT__lnf67L-BziqvIa1SLfCplpxZwFku6msSadmTP25yh8XXuRQbqtSvewEq9kbpPl0vIeoz6TCYuYUw00nmemHazu6h01wkdX62OiFqa0JJUyR_z33i1LvFXWQJ_W1Zzyk2cXFe0KiZTf13khBfo6XvyWMocAEWq9S6E2D36z6baLEdiZCF2zPit2yLT8pSBnULPRbpGTTEgWuwBvqHWMkxmhDpm_YlVlvYXCZAbgV2MHe1EFnKjOVqgzSufioxDybhhkbN5Rfj2UpuH6M2H2S7HDR5IoN1PJncB-8tG1DUvlevTYp_5pbLdnZdte5popChRWDpP_s0wp2kx7s4Wt72Dmw6UMXfnL-ShW22lyWXaHOa5NGkD13axxc1YY4Oc8tlpIEUg4iDgm_iBagHH-yTFUNDCsnNRJAejJGwJcmTVYCADcV39cQs3NNijn4JNlGPDogBh1wL1rXwppoHNNyWbAQ2-u0CITAA05Ajfq7ymsS2OcKyPwCEgFZzuRe4_4653ozUlUiiY47iwGKTphrJ6eRt44xQ0bph2hflS8Z8OePES1ay-fGPesiH7Q7MzyTqx_4k1tXXMsOEjswvbmK7mAoLRdB3aIW8tV8fB5ZWQceR_aFyJLxwWKNiA==",
  "id": "rs_094f36e649ad9dd2016ab421c0c79887d0be890bdc5a7751ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.077},\"note\":\"The forward move brought the cap to fingertip depth, but in the rotated wrist camera it shifted about 3 cm left of the jaws. I’m correcting sideways with the gripper open before closing again.\"}",
  "call_id": "call_BMtHew8beZYr181QkhddrAQP",
  "id": "fc_094f36e649ad9dd2016ab421c3d00c87d08a73f7a533239723",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BMtHew8beZYr181QkhddrAQP",
  "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]: [-0.5148, 2.2181, 1.4807, -0.9218, -0.7517, -1.655, 0.9959, 0.7017, 1.7687, 1.1522, -0.3897, 0.4385, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3946 left_y=-0.0805 left_z=0.0041 left_yaw=1.1139 left_pitch=-0.2469 left_roll=0.0381 left_gripper=0.9959 right_x=0.3742 right_y=0.2228 right_z=0.084 right_yaw=0.0828 right_pitch=-0.3123 right_roll=-0.1427 right_gripper=0.0654\nstate[joint_eff]: [0.2803, -12.4923, 4.1094, 0.1441, -0.2418, 0.1538, 0.105, -0.1573, -8.6085, 6.2291, 1.2381, 0.188, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfb2e5421325d57ea378d412569c16dca2db990a99375ce1fdebb348476e893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb19df281b37c0d4c7be89249bf53ecf91e555a152e7e350823686c36ddc3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c039fbc0ff1299a7f1ae3cac4c218fbdbff4d0a5aa867e3e6d35657d54f119",
      "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 · 3.514 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.614, 2.2398, 1.5196, -1.0279, -0.7338, -1.7512, 0.996, 0.7021, 1.7687, 1.1522, -0.3882, 0.4477, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.374 left_y=-0.1145 left_z=0.0047 left_yaw=1.0936 left_pitch=-0.2529 left_roll=0.0634 left_gripper=0.996 right_x=0.375 right_y=0.2217 right_z=0.0848 right_yaw=0.0765 right_pitch=-0.3065 right_roll=-0.1484 right_gripper=0.0654\nstate[joint_eff]: [-0.253, -9.894, 6.0376, 0.0659, -0.4322, 0.1734, -0.0122, 0.4034, -8.7863, 6.3248, 1.4042, 0.2418, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5865, 2.2837, 1.6073, -1.0328, -0.7261, -1.7222, 0.9947, 0.7017, 1.7687, 1.1522, -0.3901, 0.4397, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3944 left_y=-0.1169 left_z=0.0051 left_yaw=1.0961 left_pitch=-0.2662 left_roll=0.0447 left_gripper=0.9947 right_x=0.3742 right_y=0.2225 right_z=0.084 right_yaw=0.0818 right_pitch=-0.312 right_roll=-0.1438 right_gripper=0.0654\nstate[joint_eff]: [0.6359, -10.2222, 7.159, -0.022, -0.4127, 0.1392, -0.0464, -0.0068, -8.6632, 6.2564, 1.1844, 0.1685, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5148, 2.2181, 1.4807, -0.9218, -0.7517, -1.655, 0.9959, 0.7017, 1.7687, 1.1522, -0.3897, 0.4385, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3946 left_y=-0.0805 left_z=0.0041 left_yaw=1.1139 left_pitch=-0.2469 left_roll=0.0381 left_gripper=0.9959 right_x=0.3742 right_y=0.2228 right_z=0.084 right_yaw=0.0828 right_pitch=-0.3123 right_roll=-0.1427 right_gripper=0.0654\nstate[joint_eff]: [0.2803, -12.4923, 4.1094, 0.1441, -0.2418, 0.1538, 0.105, -0.1573, -8.6085, 6.2291, 1.2381, 0.188, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfb2e5421325d57ea378d412569c16dca2db990a99375ce1fdebb348476e893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb19df281b37c0d4c7be89249bf53ecf91e555a152e7e350823686c36ddc3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c039fbc0ff1299a7f1ae3cac4c218fbdbff4d0a5aa867e3e6d35657d54f119",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHIRQJeU3kp2HuFO_-HWuT6H1P4Smm0mQTWzZcahomPSHx-Vyl_3O-9I-pZaWRPOZQ83qPOUcm2SQ9wW99oh3JyNA2RjdoymsexuBJ-um5XCiTs3NkVRNQp2dniB80lO6s2bQ5sENHtNGLdMfcAfgY2zE3iFLVW6aKDejKAh44B-sD7b68fPHgAu2XrdKldKrU7f5-RvAuSfbG0wQ5ybKkjUSCrSv4pUuZPl3cvpjgKbWRquuxwQEi_RoBwQHqECHOOqX0OPkd60aAg09tGTFfUljVMPHS34-ZZ99gyrYVI5qLzcRofBs3sZmySSyaEpUAmhDw4D4GlEN5SHb6lFtOy0JcR0a8NS0Ny6vDrDJpcHAysnmXQI2Ep6iCpBPtiz-8QG6OPWzykNiemBGLtq70OyYQNvsN5MmJxCx14PgGNYCT1iHFYDNiykiH6cMPCf_8f9LP2rwt9uCu5PT1b3fFnC3p3xuusUUurlp7ka69CH07p9zfRKtrVakoHsTBYJ-3REEQpkOXEtaKP7JvKqNERIE3HgV8Uc9E9rWMcIdER-7B4IhWZrrImU_7WJ6xMHnahaZF2SoTYx82wi-XjGhBWIgkvBdm0bXAFiqSwb2a5v7Hfz5bImVN-ozdfIOP8thbNZUv9ExH35se6ILSy4lkTUiTrwviXYUWGyusPlkezEnR36fwE84wY_DNUgHiAucu3bBFCZigC_sR790NZ8Taika76xA3oT9TD9SJgbmIX90vpuQ1EiI11iT_ETlk5kMkPDkIpjq_rBw8AFRa6yRx0Z_kuTzSmGNCJrKYgEFpzGbN14J4ii0rJtuEM39PPMF9rmMjUyWkUDnNgUZQpBR0rUZK3fAAYXld031tb-uzRxwnHA__VCbVN8vsLeddstV_1mSSGHtvARENiZe7qHdre-ubcLu5g1hr3UdoBFo2c81cx4xKOHCwNXhySqTy4La0YiakCkHDMilpWQAvDVaMDLja_vgx9EqkOlt4Vh1_dV0HH62PFigrvNId7Lei_TT1QMJxJ6Y5fuMVTFMS1ZsYicX0uc_LmySvJj9RoaPv6Ao8bKSW84_YKWM2OssFxstPLP-kp3izdNettJBcFvcTgRBRlLNTAOrD_JSVvosMuTh76qwjRrWQnggswuMXWtxoSIo0Pxh2n7Eq9xUJfLS_6jV3a6wYHA69spE_liled8DWdhA5CqhVy_e_iEQXIW7b4vxxonitwCGbag0kxo1JqcGt6W0jX_NJbLdBhbHpiEAuloqX-AK9Q9rBHUbU-uZvS6Cjhy5gPCxKLfpx2WC9YNmtpuAXUdCnigsKbj9K4W3s5R4ljw1hFHm533ZL_YSJGFxr_SFV2SQ6t9EE3iLV5YdzGazrqkOpg54ip4I5NkKYL4T1b_rHYQqWt8XHartLlMxR9lYzUjclR0cvOeMACC4mgff1dosKY_g9j7ihHvuR262tNYmQlDtU4fzwheEtDKFTVdSgjuwEdx8uzcdGOtDr3kLr0fjG85rQIOHo9sl15IkoOIggXj67Ra0OXaKK8nE7xqQfIVr-u-9L6qhGw1nqdQ6Z-PWa9BwwrhMQSlv2ujHtgOtKp321L6fw_jg2CsPhAXJ0oz5xPUumlP2RJuySeDW5zA3cCK_XuZOmfpp2vjzwhSJtnr8sGurqiV4_3oQMPXXVwJltGncSKl4-qeZWLHD3QvHLzvEo7ooHevF4D6pbdpivHszTBHNHDWB8-Pys86Hz-JbGFU7XLlrWZnuXANZM809eNNS0D3xqd_d5S-knRgT8QJQUw5qSxh0SKGIo9VyyNEh54xJTR1SbkVAYJjS8LA1efru_3cAeNIsXEvD0h4uhSETUpS8UJ_qFhgONrHB1X3izR7KdQz-EL2A==",
  "id": "rs_094f36e649ad9dd2016ab421c66bd887d083b519ed8fe2f136",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.367,\"left_z\":0.01},\"note\":\"The lateral move shifted the cap down to the bottom of the wrist view but only slightly toward the jaw center. A short backward move should both bring it up to the fingertip line and shift it right into the closing path.\"}",
  "call_id": "call_DskzRzyh5OgWmnnPuVwHdJc6",
  "id": "fc_094f36e649ad9dd2016ab421c7487087d086394497deb41599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DskzRzyh5OgWmnnPuVwHdJc6",
  "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]: [-0.5411, 2.1696, 1.3899, -0.902, -0.7593, -1.6825, 0.996, 0.7017, 1.7687, 1.1522, -0.3893, 0.4355, 0.3874, 0.0654]\nstate[eef_state]: left_x=0.3757 left_y=-0.0797 left_z=0.0037 left_yaw=1.1075 left_pitch=-0.2371 left_roll=0.0412 left_gripper=0.996 right_x=0.374 right_y=0.2233 right_z=0.0838 right_yaw=0.0852 right_pitch=-0.3135 right_roll=-0.1403 right_gripper=0.0654\nstate[joint_eff]: [-0.4034, -12.5333, 4.547, -0.0415, -0.315, -0.0122, -0.0024, -0.2803, -8.6085, 6.3521, 1.243, 0.2173, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b50ca5e7bf782c8854b0d58fb60fb7e9489af6b1b5454e6715d19ae6c96151a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb5f46b07cf645bdb9d96505b93f090722b3eeaa1c860c50659f14fbe5cfbb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5292ad0dd0f64a385026ea6f7d9184fb56df5c8aa8c75a95227e2093f94e8a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]