adhoc - adhoc_a40afdfd.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: 248.2 s
total steps: 348

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe pen lies diagonally near the middle-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen, angled along its length, to check the grasp position.

move_to

right_x0.4000right_y0.3000right_z0.1500right_yaw0.5500

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, 0.7921, 0.6018, -0.3798, -0.0219, -0.025, 0.9993, -0.0166, 0.7902, 0.6075, -0.387, -0.0257, -0.0154, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.294 right_y=0.0033 right_z=0.1812 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.388, 10.5504, 1.7558, -0.0708, 0.0513, -0.0855, -0.8821, -1.1282, 9.9214, 1.8877, 0.0464, -0.0024, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.40,"right_y":0.30,"right_z":0.15,"right_yaw":0.55},"note":"The pen lies diagonally near the middle-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen, angled along its length, to check the grasp position."})

tool

executing move_to over 25 steps (2.5s)

step 25

assistant

agent noteThe right wrist view shows the long pen near the right jaw and the short cap farther left. I’ll shift the right gripper slightly toward the pen and lower it to prepare for a mid-shaft grasp.

move_to

right_x0.3650right_y0.2600right_z0.0850right_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]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.6655, 1.7008, 1.0588, -0.0139, 0.0853, 0.0479, 0.999] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3858 right_y=0.2883 right_z=0.1252 right_yaw=0.5541 right_pitch=-0.0835 right_roll=-0.016 right_gripper=0.999 state[joint_eff]: [-0.212, -1.812, 6.9265, 1.707, -0.0659, -0.0659, -0.0171, -0.0889, -8.6906, 9.812, 2.0781, 0.188, 0.0757, -0.022] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.26,"right_z":0.085,"right_yaw":0.6},"note":"The right wrist view shows the long pen near the right jaw and the short cap farther left. I’ll shift the right gripper slightly toward the pen and lower it to prepare for a mid-shaft grasp."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe pen is still to the right of the right gripper’s jaw column in the wrist view. I’ll make a small sideways correction and lower the open jaws close to the tabletop before closing.

move_to

right_y0.2300right_z0.0550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8017, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.6266, 1.673, 0.849, 0.104, 0.0349, 0.0105, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1774 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3603 right_y=0.2576 right_z=0.0731 right_yaw=0.5776 right_pitch=-0.1498 right_roll=-0.0182 right_gripper=0.999 state[joint_eff]: [-0.0342, -0.8957, 7.0769, 1.7118, -0.0708, -0.0757, -0.0171, -0.4855, -9.2103, 8.2256, 2.21, -0.1587, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.23,"right_z":0.055},"note":"The pen is still to the right of the right gripper’s jaw column in the wrist view. I’ll make a small sideways correction and lower the open jaws close to the tabletop before closing."})

tool

executing move_to over 3 steps (0.3s)

step 31

assistant

agent noteThe pen is now clearly visible but still sits just outside the right-hand jaw at the grasping row. I’ll shift the gripper a few centimetres right and bring the fingertips down to the pen’s height.

move_to

right_y0.1950right_z0.0200

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, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.5663, 1.673, 0.767, 0.1696, -0.0059, -0.0238, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3588 right_y=0.2336 right_z=0.0532 right_yaw=0.5708 right_pitch=-0.1668 right_roll=-0.017 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.1692, 7.0906, 1.7363, -0.0708, -0.0464, -0.0171, -0.3077, -8.0889, 5.9966, 1.8535, -0.2369, -0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.195,"right_z":0.02},"note":"The pen is now clearly visible but still sits just outside the right-hand jaw at the grasping row. I’ll shift the gripper a few centimetres right and bring the fingertips down to the pen’s height."})

tool

executing move_to over 4 steps (0.4s)

step 35

assistant

agent noteThe pen now lines up with the right gripper’s jaw column. I’ll lower to table level and close around it, then check whether the jaws actually retain it.

move_to

right_z-0.0050right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.025, 0.9993, 0.4614, 1.6989, 0.6441, 0.2771, -0.0647, -0.0765, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9993 right_x=0.3537 right_y=0.1926 right_z=0.0176 right_yaw=0.5454 right_pitch=-0.2059 right_roll=-0.0131 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.7363, -0.0659, -0.0513, -0.0171, -0.4581, -5.9556, 5.8188, 1.9756, -0.1978, -0.1099, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.005,"right_gripper":0},"note":"The pen now lines up with the right gripper’s jaw column. I’ll lower to table level and close around it, then check whether the jaws actually retain it."})

tool

executing move_to over 10 steps (1.0s)

step 45

assistant

agent noteThe right gripper stopped slightly open, consistent with a thin object between its jaws. I’ll lift it and check the overhead view to confirm the pen comes off the table.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.4541, 1.7653, 0.6224, 0.374, -0.0795, -0.0814, 0.0472] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3556 right_y=0.1932 right_z=0.002 right_yaw=0.5535 right_pitch=-0.1962 right_roll=-0.007 right_gripper=0.0472 state[joint_eff]: [-0.1709, -1.265, 7.2547, 1.6972, -0.0806, -0.0659, -0.0122, 0.5538, -5.4769, 4.2735, 1.5409, 0.1001, 0.0366, 1.2088] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The right gripper stopped slightly open, consistent with a thin object between its jaws. I’ll lift it and check the overhead view to confirm the pen comes off the table."})

tool

executing move_to over 11 steps (1.1s)

step 56

assistant

agent noteThe pen moved upward with the right gripper, so it appears securely held. The cap remains on the left side of the table; I’ll bring the left gripper above it while keeping the pen clear.

move_to

left_x0.3700left_y-0.2000left_z0.1200left_yaw-0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6033, -0.3805, -0.0219, -0.025, 0.9993, 0.4538, 1.4422, 0.9615, -0.305, -0.0811, -0.0872, 0.0553] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=0.0 left_pitch=-0.0122 left_roll=0.0002 left_gripper=0.9993 right_x=0.3564 right_y=0.1937 right_z=0.1398 right_yaw=0.5579 right_pitch=-0.2128 right_roll=-0.0084 right_gripper=0.0553 state[joint_eff]: [-0.1162, -1.3333, 7.0359, 1.7021, -0.0708, -0.0659, -0.0171, -0.212, -8.0615, 8.9094, 1.6337, -0.0317, 0.0024, 1.033] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.2,"left_z":0.12,"left_yaw":-0.65},"note":"The pen moved upward with the right gripper, so it appears securely held. The cap remains on the left side of the table; I’ll bring the left gripper above it while keeping the pen clear."})

tool

executing move_to over 18 steps (1.8s)

step 74

assistant

agent noteThe cap is centred between the left jaws in the wrist view but still appears ahead of the fingertips. I’ll advance a little and lower the gripper so it can grasp the cap’s middle.

move_to

left_x0.4000left_y-0.2000left_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4229, 1.4612, 0.6994, 0.0738, 0.1402, 0.0727, 0.9992, 0.4538, 1.4433, 0.9607, -0.326, -0.0811, -0.0872, 0.0607] state[eef_state]: left_x=0.3554 left_y=-0.1831 left_z=0.0933 left_yaw=-0.5929 left_pitch=-0.11 left_roll=-0.0247 left_gripper=0.9992 right_x=0.3529 right_y=0.192 right_z=0.1354 right_yaw=0.5585 right_pitch=-0.2355 right_roll=-0.0059 right_gripper=0.0607 state[joint_eff]: [-0.5128, -6.188, 9.4154, 2.127, 0.3394, 0.2173, -0.0171, -0.1162, -6.3521, 6.8718, 1.6777, -0.0904, -0.0708, 1.0232] 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":0.4,"left_y":-0.2,"left_z":0.045},"note":"The cap is centred between the left jaws in the wrist view but still appears ahead of the fingertips. I’ll advance a little and lower the gripper so it can grasp the cap’s middle."})

tool

executing move_to over 4 steps (0.4s)

step 78

assistant

agent noteThe cap is aligned sideways, but its body still sits ahead of the left fingertips. I’ll advance at low height rather than close on empty space.

move_to

left_x0.4150left_z0.0140

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4187, 1.755, 0.7403, 0.2089, 0.1444, 0.0769, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0807, -0.0868, 0.0651] state[eef_state]: left_x=0.3733 left_y=-0.19 left_z=0.0186 left_yaw=-0.5981 left_pitch=-0.2256 left_roll=-0.0452 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5582 right_pitch=-0.2447 right_roll=-0.0049 right_gripper=0.0651 state[joint_eff]: [0.1846, -9.306, 8.841, 2.0342, 0.1148, -0.0122, -0.0073, -0.335, -6.3795, 6.694, 1.536, -0.1001, -0.0757, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_z":0.014},"note":"The cap is aligned sideways, but its body still sits ahead of the left fingertips. I’ll advance at low height rather than close on empty space."})

tool

executing move_to over 4 steps (0.4s)

step 82

assistant

agent noteThe cap has moved closer to the fingertips and sits slightly right of the jaw centre. I’ll make one more small forward-and-sideways adjustment before grasping.

move_to

left_x0.4100left_y-0.2100left_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]: [-0.4175, 1.7813, 0.7513, 0.255, 0.1387, 0.0765, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0811, -0.0868, 0.0651] state[eef_state]: left_x=0.3827 left_y=-0.1925 left_z=0.0197 left_yaw=-0.5907 left_pitch=-0.1959 left_roll=-0.0358 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5585 right_pitch=-0.2446 right_roll=-0.0047 right_gripper=0.0651 state[joint_eff]: [0.294, -8.9094, 8.253, 1.8828, 0.1001, -0.0366, -0.0122, -0.1846, -6.1607, 6.694, 1.5165, -0.0806, -0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.21,"left_z":0.008},"note":"The cap has moved closer to the fingertips and sits slightly right of the jaw centre. I’ll make one more small forward-and-sideways adjustment before grasping."})

tool

executing move_to over 3 steps (0.3s)

step 85

assistant

agent noteThe low-height approach stopped short, likely because the fingertips are touching the table. I’ll lift the left gripper, advance over the cap, and then descend vertically.

move_to

left_x0.4300left_y-0.2100left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4168, 1.7813, 0.7528, 0.2554, 0.1387, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0811, -0.0868, 0.0651] state[eef_state]: left_x=0.3834 left_y=-0.1925 left_z=0.0203 left_yaw=-0.5898 left_pitch=-0.194 left_roll=-0.0355 left_gripper=0.9993 right_x=0.3508 right_y=0.191 right_z=0.1325 right_yaw=0.5586 right_pitch=-0.2496 right_roll=-0.0041 right_gripper=0.0651 state[joint_eff]: [-0.1026, -9.1145, 7.9385, 1.917, 0.0855, 0.0024, -0.0122, -0.2256, -6.2838, 6.7897, 1.536, -0.1001, -0.0415, 1.0379] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.21,"left_z":0.08},"note":"The low-height approach stopped short, likely because the fingertips are touching the table. I’ll lift the left gripper, advance over the cap, and then descend vertically."})

tool

executing move_to over 4 steps (0.4s)

step 89

assistant

agent noteThe left arm did not track the raised target, so its low pose may be caught at a joint limit or in contact. I’ll back it away and upward to free it before trying the cap again.

move_to

left_x0.3400left_y-0.1700left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4168, 1.7817, 0.7528, 0.2554, 0.1383, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0807, -0.0868, 0.0651] state[eef_state]: left_x=0.3834 left_y=-0.1924 left_z=0.0202 left_yaw=-0.5895 left_pitch=-0.1944 left_roll=-0.0353 left_gripper=0.9993 right_x=0.3509 right_y=0.191 right_z=0.1325 right_yaw=0.5583 right_pitch=-0.2496 right_roll=-0.0044 right_gripper=0.0651 state[joint_eff]: [0.0068, -9.1282, 7.9521, 1.9219, 0.0659, -0.0415, -0.0171, -0.335, -6.106, 6.694, 1.5165, -0.0611, -0.0122, 1.0281] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.17,"left_z":0.14},"note":"The left arm did not track the raised target, so its low pose may be caught at a joint limit or in contact. I’ll back it away and upward to free it before trying the cap again."})

tool

executing move_to over 8 steps (0.8s)

step 97

assistant

agent noteThe left arm retracted successfully, confirming the previous low approach was the problem. I’ll move above the cap at a safer height, then lower straight down.

move_to

left_x0.4200left_y-0.2000left_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]: [-0.4126, 1.3735, 0.82, -0.2237, 0.1387, 0.0772, 0.9993, 0.4538, 1.4452, 0.96, -0.3416, -0.0811, -0.0872, 0.0651] state[eef_state]: left_x=0.3425 left_y=-0.1726 left_z=0.1214 left_yaw=-0.5862 left_pitch=-0.1981 left_roll=-0.0357 left_gripper=0.9993 right_x=0.3502 right_y=0.1907 right_z=0.1317 right_yaw=0.559 right_pitch=-0.2537 right_roll=-0.0039 right_gripper=0.0651 state[joint_eff]: [0.5265, -6.5299, 9.8256, 1.5116, 0.1197, 0.0513, -0.0171, -0.2393, -6.2701, 6.8991, 1.5653, -0.0562, -0.0464, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.2,"left_z":0.12},"note":"The left arm retracted successfully, confirming the previous low approach was the problem. I’ll move above the cap at a safer height, then lower straight down."})

tool

executing move_to over 6 steps (0.6s)

step 103

assistant

agent noteThe cap remains visible ahead of the left fingertips, slightly to their right. I’ll advance over its centre at carrying height before descending, avoiding another sideways scrape along the table.

move_to

left_x0.4600left_y-0.2150left_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]: [-0.3985, 1.6775, 1.0649, -0.2436, 0.1383, 0.0769, 0.9992, 0.4538, 1.4475, 0.9588, -0.3511, -0.0811, -0.0868, 0.0651] state[eef_state]: left_x=0.4009 left_y=-0.1913 left_z=0.0977 left_yaw=-0.5749 left_pitch=-0.2759 left_roll=-0.0498 left_gripper=0.9992 right_x=0.3485 right_y=0.1898 right_z=0.1288 right_yaw=0.5591 right_pitch=-0.2666 right_roll=-0.0023 right_gripper=0.0651 state[joint_eff]: [0.3761, -8.1436, 8.8547, 1.6337, 0.1783, 0.0757, -0.0171, -0.0205, -6.2291, 6.7624, 1.6142, -0.0562, -0.0317, 1.0281] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.215,"left_z":0.1},"note":"The cap remains visible ahead of the left fingertips, slightly to their right. I’ll advance over its centre at carrying height before descending, avoiding another sideways scrape along the table."})

tool

executing move_to over 5 steps (0.5s)

step 108

assistant

agent noteThe cap now reaches the left fingertip area but is a little right of centre. I’ll shift laterally and descend over it, leaving the jaws open until the alignment is clear.

move_to

left_x0.4600left_y-0.2400left_z0.0340

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3977, 1.8996, 1.2949, -0.3222, 0.1375, 0.0757, 0.9992, 0.4538, 1.4487, 0.9588, -0.3595, -0.0807, -0.0868, 0.0651] state[eef_state]: left_x=0.442 left_y=-0.208 left_z=0.0761 left_yaw=-0.5768 left_pitch=-0.3455 left_roll=-0.0631 left_gripper=0.9992 right_x=0.3471 right_y=0.1891 right_z=0.127 right_yaw=0.5591 right_pitch=-0.2762 right_roll=-0.0015 right_gripper=0.0651 state[joint_eff]: [-0.1846, -10.7419, 9.4974, 1.4921, 0.0415, 0.0073, -0.0122, -0.0752, -6.3521, 6.6667, 1.5214, -0.1001, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.24,"left_z":0.034},"note":"The cap now reaches the left fingertip area but is a little right of centre. I’ll shift laterally and descend over it, leaving the jaws open until the alignment is clear."})

tool

executing move_to over 3 steps (0.3s)

step 111

assistant

agent noteThe combined sideways descent barely moved the left arm, so I won’t repeat that target. The cap is between the open jaws in the wrist view; I’ll try a straight vertical descent at the current horizontal position.

move_to

left_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1356, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3595, -0.0807, -0.0872, 0.0651] state[eef_state]: left_x=0.4479 left_y=-0.2102 left_z=0.0792 left_yaw=-0.5708 left_pitch=-0.3358 left_roll=-0.0638 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1266 right_yaw=0.5593 right_pitch=-0.2773 right_roll=-0.0017 right_gripper=0.0651 state[joint_eff]: [0.0342, -10.865, 9.5795, 1.5165, 0.0659, 0.0513, -0.0122, -0.0205, -6.3111, 6.7624, 1.4286, -0.0659, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_z":0.015},"note":"The combined sideways descent barely moved the left arm, so I won’t repeat that target. The cap is between the open jaws in the wrist view; I’ll try a straight vertical descent at the current horizontal position."})

tool

executing move_to over 5 steps (0.5s)

step 116

assistant

agent noteA vertical descent also stalled, indicating this extended, rotated pose is difficult for the left arm. I’ll retract slightly and rotate the wrist to a less strained pose before approaching the cap again.

move_to

left_x0.4200left_y-0.2100left_z0.1200left_yaw0.0000left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1352, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3599, -0.0807, -0.0872, 0.0651] state[eef_state]: left_x=0.4479 left_y=-0.2101 left_z=0.0792 left_yaw=-0.5704 left_pitch=-0.3359 left_roll=-0.0635 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1265 right_yaw=0.5593 right_pitch=-0.2777 right_roll=-0.0016 right_gripper=0.0651 state[joint_eff]: [-0.0889, -10.8513, 9.4427, 1.5214, 0.0464, 0.0171, -0.0073, -0.212, -6.0239, 6.7077, 1.4628, -0.0855, -0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.21,"left_z":0.12,"left_yaw":0,"left_pitch":0.2},"note":"A vertical descent also stalled, indicating this extended, rotated pose is difficult for the left arm. I’ll retract slightly and rotate the wrist to a less strained pose before approaching the cap again."})

tool

executing move_to over 18 steps (1.8s)

step 134

assistant

agent noteWith the wrist straighter, the cap has moved to the bottom of the left wrist image, near the grasp point. I’ll lower vertically now and check whether this pose reaches table level.

move_to

left_z0.0100left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6773, 1.7588, 0.8444, 0.395, -0.5316, -0.3363, 0.9992, 0.4538, 1.4506, 0.9569, -0.3599, -0.0811, -0.0872, 0.0651] state[eef_state]: left_x=0.4165 left_y=-0.2154 left_z=0.1037 left_yaw=-0.0645 left_pitch=0.1276 left_roll=-0.0386 left_gripper=0.9992 right_x=0.3466 right_y=0.1889 right_z=0.1255 right_yaw=0.5597 right_pitch=-0.2803 right_roll=-0.001 right_gripper=0.0651 state[joint_eff]: [-0.5402, -9.0188, 5.4496, 2.0, -0.3297, -0.0513, -0.0122, -0.1983, -6.3932, 6.7487, 1.4774, -0.0806, -0.0659, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.01,"left_pitch":0.2},"note":"With the wrist straighter, the cap has moved to the bottom of the left wrist image, near the grasp point. I’ll lower vertically now and check whether this pose reaches table level."})

tool

executing move_to over 7 steps (0.7s)

step 141

assistant

agent noteThe left fingertips reached table level, and the cap’s dark body lies between the open jaws near the bottom of the wrist view. I’ll close on it and check the settled jaw width.

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]: [-0.6861, 2.1052, 0.7311, 0.8566, -0.5655, -0.3065, 0.9992, 0.4538, 1.4506, 0.9562, -0.3607, -0.0807, -0.0872, 0.0651] state[eef_state]: left_x=0.4119 left_y=-0.2103 left_z=0.0024 left_yaw=-0.0616 left_pitch=0.1391 left_roll=0.0013 left_gripper=0.9992 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5595 right_pitch=-0.2818 right_roll=-0.0012 right_gripper=0.0651 state[joint_eff]: [-0.294, -9.2103, 3.6991, 1.5165, 0.1978, -0.3004, -0.0122, -0.0479, -6.188, 6.9402, 1.3895, -0.0562, -0.0366, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips reached table level, and the cap’s dark body lies between the open jaws near the bottom of the wrist view. I’ll close on it and check the settled jaw width."})

tool

executing move_to over 10 steps (1.0s)

step 151

assistant

agent noteThe left gripper settled slightly open and the cap disappeared from its wrist view, consistent with a grasp. I’ll lift it to confirm it leaves the table before attempting to align the two pieces.

move_to

left_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6861, 2.1227, 0.728, 0.9001, -0.5728, -0.3122, 0.0582, 0.4538, 1.4506, 0.9562, -0.3603, -0.0807, -0.0868, 0.0651] state[eef_state]: left_x=0.4134 left_y=-0.2101 left_z=0.0026 left_yaw=-0.0506 left_pitch=0.1597 left_roll=-0.0148 left_gripper=0.0582 right_x=0.3464 right_y=0.1888 right_z=0.1251 right_yaw=0.5592 right_pitch=-0.2815 right_roll=-0.0009 right_gripper=0.0651 state[joint_eff]: [-0.0752, -10.7282, 4.0, 1.2527, -0.0855, 0.2857, 1.6777, -0.0889, -6.2154, 6.694, 1.409, -0.0806, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_z":0.16},"note":"The left gripper settled slightly open and the cap disappeared from its wrist view, consistent with a grasp. I’ll lift it to confirm it leaves the table before attempting to align the two pieces."})

tool

executing move_to over 11 steps (1.1s)

step 162

assistant

agent noteBoth objects lifted: the right gripper holds the pen and the left holds the cap. I’ll move the pen toward the table centre and turn it forward, leaving room to bring the cap to its exposed tip.

move_to

right_x0.3000right_y0.3100right_z0.1700right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6861, 1.6596, 0.8783, 0.271, -0.5728, -0.3164, 0.0696, 0.4538, 1.4506, 0.9558, -0.3603, -0.0807, -0.0868, 0.0651] state[eef_state]: left_x=0.4115 left_y=-0.2085 left_z=0.1385 left_yaw=-0.0497 left_pitch=0.1471 left_roll=-0.0093 left_gripper=0.0696 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5592 right_pitch=-0.2818 right_roll=-0.0009 right_gripper=0.0651 state[joint_eff]: [-0.3761, -9.5658, 9.1556, 1.8046, -0.2027, 0.0317, 1.033, -0.1983, -6.2154, 6.7214, 1.4579, -0.0513, -0.0464, 1.0232] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.31,"right_z":0.17,"right_yaw":0,"right_pitch":0},"note":"Both objects lifted: the right gripper holds the pen and the left holds the cap. I’ll move the pen toward the table centre and turn it forward, leaving room to bring the cap to its exposed tip."})

tool

executing move_to over 11 steps (1.1s)

step 173

assistant

agent noteThe pen points forward near the centre, and its tip is visible beyond the right jaws. I’ll turn the held cap into the same direction and bring it partway toward the pen, stopping short to inspect their alignment.

move_to

left_x0.4200left_y-0.2900left_z0.1700left_yaw0.5000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6674, 1.6577, 0.8795, 0.2543, -0.5694, -0.3161, 0.0761, 1.0466, 1.6836, 1.1881, -0.4965, 0.7589, 0.7158, 0.0685] state[eef_state]: left_x=0.414 left_y=-0.2004 left_z=0.1364 left_yaw=-0.0352 left_pitch=0.135 left_roll=-0.0021 left_gripper=0.0761 right_x=0.3035 right_y=0.2892 right_z=0.1448 right_yaw=0.0371 right_pitch=-0.0842 right_roll=-0.0781 right_gripper=0.0685 state[joint_eff]: [-1.6205, -7.3368, 6.3111, 1.8779, -0.1587, -0.022, 1.0281, 3.8085, -8.3487, 10.2496, 2.0049, 0.1343, -0.3199, 1.033] 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_x":0.42,"left_y":-0.29,"left_z":0.17,"left_yaw":0.5,"left_pitch":0},"note":"The pen points forward near the centre, and its tip is visible beyond the right jaws. I’ll turn the held cap into the same direction and bring it partway toward the pen, stopping short to inspect their alignment."})

tool

executing move_to over 8 steps (0.8s)

step 181

assistant

agent noteThe two arms crowded one another during the approach, and the pen arm was displaced from its target. I’ll withdraw the left arm immediately to separate the grippers, then reassess the pen and cap.

move_to

left_x0.3300left_y-0.1400left_z0.1900left_yaw0.0000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7383, 2.1181, 1.8198, -0.54, -0.9443, -1.0832, 0.0788, 0.767, 1.5593, 1.2037, -0.5087, 0.7547, 0.746, 0.0691] state[eef_state]: left_x=0.4873 left_y=-0.2451 left_z=0.1938 left_yaw=0.5572 left_pitch=0.0929 left_roll=-0.3048 left_gripper=0.0788 right_x=0.3671 right_y=0.1907 right_z=0.1959 right_yaw=-0.2506 right_pitch=-0.0196 right_roll=0.0568 right_gripper=0.0691 state[joint_eff]: [-13.5726, -4.0137, 10.4137, -0.3101, -0.4615, 0.0269, 1.0281, 21.9556, 3.1385, 5.8735, 1.5409, -0.6813, -0.9109, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.14,"left_z":0.19,"left_yaw":0,"left_pitch":0},"note":"The two arms crowded one another during the approach, and the pen arm was displaced from its target. I’ll withdraw the left arm immediately to separate the grippers, then reassess the pen and cap."})

tool

executing move_to over 13 steps (1.3s)

step 194

assistant

agent noteThe arms are separated again, and both jaw readings still indicate they hold their objects. I’ll park the pen farther back and nearer the centre line, creating more space for a cap-first approach.

move_to

right_x0.2300right_y0.3200right_z0.1800right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5827, 1.153, 0.7677, -0.2028, -0.4015, -0.6331, 0.0809, 0.77, 1.5883, 1.1954, -0.5491, 0.7311, 0.7433, 0.0691] state[eef_state]: left_x=0.3374 left_y=-0.1354 left_z=0.1879 left_yaw=0.0784 left_pitch=0.005 left_roll=-0.3138 left_gripper=0.0809 right_x=0.3614 right_y=0.1911 right_z=0.1747 right_yaw=-0.2341 right_pitch=-0.0766 right_roll=-0.0015 right_gripper=0.0691 state[joint_eff]: [0.2256, -3.7402, 7.8564, 1.8046, 0.0562, 0.1294, 1.033, -0.4581, -9.5521, 7.2821, 1.7021, 0.5348, -0.0415, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.23,"right_y":0.32,"right_z":0.18,"right_yaw":0,"right_pitch":0},"note":"The arms are separated again, and both jaw readings still indicate they hold their objects. I’ll park the pen farther back and nearer the centre line, creating more space for a cap-first approach."})

tool

executing move_to over 11 steps (1.1s)

step 205

assistant

agent noteThe pen tip now projects forward from a safely retracted right gripper. I’ll rotate the cap while the arms are well apart so its opening faces back toward the pen tip.

move_to

left_yaw0.6500left_roll0.0000left_pitch0.0000left_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5793, 1.1595, 0.7544, -0.2153, -0.3889, -0.6304, 0.0809, 1.285, 1.6772, 1.2846, -0.7502, 0.9058, 1.0435, 0.0691] state[eef_state]: left_x=0.3344 left_y=-0.1344 left_z=0.1769 left_yaw=0.0702 left_pitch=-0.0247 left_roll=-0.2975 left_gripper=0.0809 right_x=0.2347 right_y=0.3184 right_z=0.1734 right_yaw=0.0164 right_pitch=-0.0265 right_roll=-0.0027 right_gripper=0.0691 state[joint_eff]: [-0.3214, -4.1778, 8.2667, 1.7753, -0.2906, -0.0708, 1.0281, 0.3624, -7.3368, 8.1709, 0.6032, 0.6422, 0.1441, 1.0281] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.65,"left_roll":0,"left_pitch":0,"left_z":0.19},"note":"The pen tip now projects forward from a safely retracted right gripper. I’ll rotate the cap while the arms are well apart so its opening faces back toward the pen tip."})

tool

executing move_to over 4 steps (0.4s)

step 209

assistant

agent noteThe cap is rotated toward the pen’s axis, but its opening is still well left of the tip in the overhead view. I’ll bring the left gripper only partway across, keeping its fingertips behind the pen tip.

move_to

left_x0.3200left_y-0.2400left_z0.1700left_yaw0.6500left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.778, 1.6131, 1.2514, -0.7418, -0.8413, -1.0996, 0.0809, 1.2434, 1.6737, 1.2652, -0.8299, 0.9169, 1.113, 0.0711] state[eef_state]: left_x=0.3557 left_y=-0.1606 left_z=0.1777 left_yaw=0.4649 left_pitch=-0.0695 left_roll=-0.0914 left_gripper=0.0809 right_x=0.2431 right_y=0.2909 right_z=0.1647 right_yaw=-0.0701 right_pitch=-0.0431 right_roll=-0.0405 right_gripper=0.0711 state[joint_eff]: [-3.3026, -6.3111, 8.1709, 1.5507, -0.7546, -0.0366, 1.0232, 4.4786, -7.3641, 8.4991, 2.3223, 0.2613, -1.16, 0.9011] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.24,"left_z":0.17,"left_yaw":0.65,"left_roll":0},"note":"The cap is rotated toward the pen’s axis, but its opening is still well left of the tip in the overhead view. I’ll bring the left gripper only partway across, keeping its fingertips behind the pen tip."})

tool

executing move_to over 8 steps (0.8s)

step 217

assistant

agent noteThe arm links are crowding each other again before the cap can reach the tip. I’ll pull the cap arm back and instead place the pen on the table, so the right arm can move completely out of the way for capping.

move_to

left_x0.2900left_y-0.0800left_z0.2000left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8684, 1.9911, 1.7592, -1.4494, -0.9123, -1.6604, 0.0809, 1.1934, 1.6611, 1.2186, -0.9722, 0.8906, 1.3373, 0.0748] state[eef_state]: left_x=0.342 left_y=-0.1823 left_z=0.1782 left_yaw=0.7486 left_pitch=-0.0849 left_roll=0.0479 left_gripper=0.0809 right_x=0.2418 right_y=0.2472 right_z=0.1454 right_yaw=-0.2474 right_pitch=-0.1008 right_roll=-0.0289 right_gripper=0.0748 state[joint_eff]: [-11.4393, -6.2154, 7.8701, 1.2772, -0.5836, 0.0171, 1.0183, 3.7402, -6.3795, 9.7709, 2.3565, 0.7399, -2.4786, 0.823] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.08,"left_z":0.2,"left_yaw":0.4},"note":"The arm links are crowding each other again before the cap can reach the tip. I’ll pull the cap arm back and instead place the pen on the table, so the right arm can move completely out of the way for capping."})

tool

executing move_to over 10 steps (1.0s)

step 227

assistant

agent noteThe cap arm is clear. I’ll position the pen near the middle of the table with its tip pointing forward, ready to set it down and free the right arm from the shared workspace.

move_to

right_x0.2500right_y0.3300right_z0.0750right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7357, 1.2652, 1.0374, -0.9478, -0.8322, -1.0149, 0.081, 1.1973, 1.6634, 1.2076, -0.9787, 0.8707, 1.335, 0.0763] state[eef_state]: left_x=0.2869 left_y=-0.0787 left_z=0.1926 left_yaw=0.4631 left_pitch=-0.1013 left_roll=0.0412 left_gripper=0.081 right_x=0.2376 right_y=0.2459 right_z=0.1389 right_yaw=-0.2414 right_pitch=-0.1229 right_roll=-0.0478 right_gripper=0.0763 state[joint_eff]: [0.2256, -4.506, 6.694, 1.3504, -0.4615, 0.1294, 1.0379, -0.294, -7.3641, 6.735, 0.6081, 0.6276, -0.0415, 0.7546] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.33,"right_z":0.075,"right_yaw":0,"right_pitch":0},"note":"The cap arm is clear. I’ll position the pen near the middle of the table with its tip pointing forward, ready to set it down and free the right arm from the shared workspace."})

tool

executing move_to over 8 steps (0.8s)

step 235

assistant

agent noteThe pen is centred and points forward, with the right gripper still holding it above the table. I’ll lower it gently until it is supported by the tabletop.

move_to

right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.269, 1.0222, -0.9371, -0.8116, -1.0122, 0.081, 1.253, 1.8683, 1.1213, -0.4763, 0.9131, 1.0672, 0.0759] state[eef_state]: left_x=0.2858 left_y=-0.0802 left_z=0.185 left_yaw=0.4562 left_pitch=-0.1222 left_roll=0.0441 left_gripper=0.081 right_x=0.2477 right_y=0.317 right_z=0.0747 right_yaw=-0.0339 right_pitch=-0.0432 right_roll=-0.0623 right_gripper=0.0759 state[joint_eff]: [-0.4171, -4.5607, 7.5829, 0.7985, -0.6569, -0.0806, 1.0232, 1.0735, -8.294, 5.0393, 0.8913, 0.6764, -0.0659, 0.5495] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0},"note":"The pen is centred and points forward, with the right gripper still holding it above the table. I’ll lower it gently until it is supported by the tabletop."})

tool

executing move_to over 5 steps (0.5s)

step 240

assistant

agent noteThe right gripper has reached table height and the pen appears supported there. I’ll release it before pulling the right arm away.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9417, -0.8032, -1.0122, 0.081, 1.2552, 2.0266, 1.0195, -0.2527, 0.9058, 1.0527, 0.079] state[eef_state]: left_x=0.2847 left_y=-0.0806 left_z=0.1835 left_yaw=0.4533 left_pitch=-0.1314 left_roll=0.0461 left_gripper=0.081 right_x=0.2443 right_y=0.3121 right_z=0.0037 right_yaw=-0.0232 right_pitch=-0.0607 right_roll=-0.1073 right_gripper=0.079 state[joint_eff]: [-0.2393, -4.2188, 6.6256, 0.9255, -0.4957, -0.0757, 1.0232, -0.5128, -9.0188, 4.7521, 0.8474, 0.4664, 0.0806, 0.7497] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The right gripper has reached table height and the pen appears supported there. I’ll release it before pulling the right arm away."})

tool

executing move_to over 10 steps (1.0s)

step 250

assistant

agent noteThe pen remains on the tabletop after the jaws open. I’ll withdraw the right gripper toward its own side so the left arm can approach the pen tip without the arm links meeting.

move_to

right_x0.2200right_y0.0200right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9421, -0.8028, -1.0122, 0.081, 1.2545, 2.0369, 1.0164, -0.194, 0.9043, 1.0649, 0.9949] state[eef_state]: left_x=0.2846 left_y=-0.0806 left_z=0.1834 left_yaw=0.4532 left_pitch=-0.1319 left_roll=0.0463 left_gripper=0.081 right_x=0.2469 right_y=0.3194 right_z=0.0025 right_yaw=-0.0276 right_pitch=-0.0487 right_roll=-0.0534 right_gripper=0.9949 state[joint_eff]: [-0.3214, -4.0547, 6.4479, 0.9011, -0.4713, -0.022, 1.0183, -0.4444, -8.8957, 4.5333, 0.8571, 0.4664, -0.0171, -0.2369] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.22,"right_y":0.02,"right_z":0.2},"note":"The pen remains on the tabletop after the jaws open. I’ll withdraw the right gripper toward its own side so the left arm can approach the pen tip without the arm links meeting."})

tool

executing move_to over 25 steps (2.5s)

step 275

assistant

agent noteThe right arm is parked, leaving the pen exposed on the table with its tip toward the far edge. I’ll bring the held cap above that tip and straighten its orientation before lowering it.

move_to

left_x0.4200left_y-0.3100left_z0.1300left_yaw0.0000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.269, 1.018, -0.9421, -0.7956, -1.0119, 0.081, 0.3458, 0.5461, 0.6548, -0.7845, 0.3775, 0.2375, 0.9959] state[eef_state]: left_x=0.2838 left_y=-0.0811 left_z=0.1814 left_yaw=0.4504 left_pitch=-0.1394 left_roll=0.0473 left_gripper=0.081 right_x=0.2225 right_y=0.0148 right_z=0.1889 right_yaw=-0.1109 right_pitch=-0.051 right_roll=-0.0422 right_gripper=0.9959 state[joint_eff]: [-0.1573, -4.2598, 6.6667, 0.9841, -0.5299, -0.0464, 1.0183, 0.0479, 0.3214, 8.9778, 1.5751, 0.2808, -0.0855, 0.0904] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.31,"left_z":0.13,"left_yaw":0,"left_pitch":0},"note":"The right arm is parked, leaving the pen exposed on the table with its tip toward the far edge. I’ll bring the held cap above that tip and straighten its orientation before lowering it."})

tool

executing move_to over 21 steps (2.1s)

step 296

assistant

agent noteThe cap gripper is now horizontally aligned with the pen in the overhead view, but it is still high above the table. I’ll lower it near pen height while holding the forward offset.

move_to

left_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]: [-0.865, 1.9762, 1.3903, -0.3042, -0.7422, -0.6109, 0.081, 0.3428, 0.5491, 0.6521, -0.8043, 0.3626, 0.2245, 0.996] state[eef_state]: left_x=0.4098 left_y=-0.2913 left_z=0.1136 left_yaw=0.0468 left_pitch=-0.0424 left_roll=0.0781 left_gripper=0.081 right_x=0.2197 right_y=0.0157 right_z=0.183 right_yaw=-0.0956 right_pitch=-0.0783 right_roll=-0.0552 right_gripper=0.996 state[joint_eff]: [-0.6769, -10.7829, 9.1966, 1.326, -0.2466, 0.2173, 1.0183, 0.1709, 0.6222, 6.694, 1.7753, 0.2613, 0.0904, -0.0024] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025},"note":"The cap gripper is now horizontally aligned with the pen in the overhead view, but it is still high above the table. I’ll lower it near pen height while holding the forward offset."})

tool

executing move_to over 6 steps (0.6s)

step 302

assistant

agent noteAt pen height, the held cap still sits forward of the pen’s exposed tip. I’ll draw it a few centimetres back along the pen’s axis and slightly toward the pen’s centreline.

move_to

left_x0.3770left_y-0.3100left_z0.0190

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8646, 2.125, 1.2469, -0.0685, -0.7265, -0.6044, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3614, 0.2237, 0.996] state[eef_state]: left_x=0.4033 left_y=-0.2865 left_z=0.0224 left_yaw=0.0366 left_pitch=-0.0874 left_roll=0.1202 left_gripper=0.081 right_x=0.2195 right_y=0.0158 right_z=0.1826 right_yaw=-0.0943 right_pitch=-0.0807 right_roll=-0.0561 right_gripper=0.996 state[joint_eff]: [-0.1846, -10.947, 5.5863, 1.4188, -0.4615, -0.0855, 1.0183, -0.0752, 0.6769, 6.5709, 1.5849, 0.0757, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.377,"left_y":-0.31,"left_z":0.019},"note":"At pen height, the held cap still sits forward of the pen’s exposed tip. I’ll draw it a few centimetres back along the pen’s axis and slightly toward the pen’s centreline."})

tool

executing move_to over 3 steps (0.3s)

step 305

assistant

agent noteThe cap is close to the pen tip, but their visible long axes are not yet parallel. I’ll lift the cap slightly and turn it before making the final insertion approach.

move_to

left_z0.0700left_yaw0.6500left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9287, 2.1468, 1.2465, -0.0952, -0.7486, -0.6651, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3611, 0.2237, 0.996] state[eef_state]: left_x=0.3816 left_y=-0.3035 left_z=0.0115 left_yaw=0.0223 left_pitch=-0.0979 left_roll=0.1224 left_gripper=0.081 right_x=0.2195 right_y=0.0159 right_z=0.1825 right_yaw=-0.094 right_pitch=-0.0808 right_roll=-0.0559 right_gripper=0.996 state[joint_eff]: [-0.1846, -11.2205, 8.3077, 0.9841, -0.5104, -0.0415, 1.0183, -0.0205, 0.7179, 6.5162, 1.5995, 0.0806, -0.0611, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.07,"left_yaw":0.65,"left_pitch":0},"note":"The cap is close to the pen tip, but their visible long axes are not yet parallel. I’ll lift the cap slightly and turn it before making the final insertion approach."})

tool

executing move_to over 4 steps (0.4s)

step 309

assistant

agent noteThe wrist rotation shifted the left grasp point sideways instead of lifting it, so the cap is now slightly past the pen tip. I’ll correct the horizontal position and feed the cap back toward the pen with a short, gentle move.

move_to

left_x0.3700left_y-0.3250left_z0.0270left_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.984, 2.5221, 1.9564, -0.6876, -0.9394, -1.2549, 0.081, 0.3428, 0.5533, 0.6464, -0.8181, 0.3573, 0.2237, 0.996] state[eef_state]: left_x=0.4142 left_y=-0.359 left_z=0.0191 left_yaw=0.3885 left_pitch=-0.0259 left_roll=-0.0496 left_gripper=0.081 right_x=0.2175 right_y=0.0158 right_z=0.1772 right_yaw=-0.0918 right_pitch=-0.1012 right_roll=-0.0626 right_gripper=0.996 state[joint_eff]: [-0.2803, -11.9726, 3.3709, -0.4957, -0.5836, -0.0659, 1.0037, 0.0752, 0.6496, 6.9675, 1.6484, 0.1587, -0.022, -0.0073] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.325,"left_z":0.027,"left_yaw":0.42},"note":"The wrist rotation shifted the left grasp point sideways instead of lifting it, so the cap is now slightly past the pen tip. I’ll correct the horizontal position and feed the cap back toward the pen with a short, gentle move."})

tool

executing move_to over 4 steps (0.4s)

step 313

assistant

agent noteThe cap gripper has reached the pen-tip area, but the overhead view is partly occluded and I can’t yet confirm engagement. I’ll make one final short axial push without pressing harder into the tabletop.

move_to

left_x0.3600left_y-0.3300left_z0.0160

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0, 2.458, 1.8065, -0.7155, -0.96, -1.3521, 0.081, 0.3428, 0.5564, 0.6464, -0.8185, 0.3576, 0.2237, 0.996] state[eef_state]: left_x=0.3898 left_y=-0.3326 left_z=0.0102 left_yaw=0.4334 left_pitch=-0.0264 left_roll=-0.0147 left_gripper=0.081 right_x=0.2176 right_y=0.0158 right_z=0.1765 right_yaw=-0.0922 right_pitch=-0.1043 right_roll=-0.0643 right_gripper=0.996 state[joint_eff]: [-0.6359, -15.8974, 5.3265, 0.6813, -0.5397, 0.1587, 1.0037, -0.0752, 0.5949, 6.5709, 1.58, 0.0806, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.33,"left_z":0.016},"note":"The cap gripper has reached the pen-tip area, but the overhead view is partly occluded and I can’t yet confirm engagement. I’ll make one final short axial push without pressing harder into the tabletop."})

tool

executing move_to over 3 steps (0.3s)

step 316

assistant

agent noteThe final short push stopped at the same position with increased arm load, so I won’t force it. I’ll release the cap at the apparent engagement point and withdraw to inspect whether it stayed on the pen.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0019, 2.458, 1.7996, -0.6903, -0.9489, -1.3403, 0.081, 0.3428, 0.5564, 0.646, -0.8234, 0.3576, 0.2237, 0.996] state[eef_state]: left_x=0.3896 left_y=-0.3362 left_z=0.0077 left_yaw=0.4222 left_pitch=-0.0345 left_roll=-0.0246 left_gripper=0.081 right_x=0.2169 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1091 right_roll=-0.0666 right_gripper=0.996 state[joint_eff]: [-0.5128, -15.9795, 6.0376, 0.8034, -0.5299, 0.2369, 1.0037, -0.0615, 0.6496, 6.8855, 1.6581, 0.0806, -0.0317, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The final short push stopped at the same position with increased arm load, so I won’t force it. I’ll release the cap at the apparent engagement point and withdraw to inspect whether it stayed on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 326

assistant

agent noteThe cap has been released, and a dark pen-shaped object is visible directly ahead in the left wrist view. I’ll move the left arm clear so the overhead camera can show whether the cap is seated or lying separately.

move_to

left_x0.3000left_y-0.1100left_z0.1800left_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]: [-1.0019, 2.4584, 1.7996, -0.691, -0.9413, -1.3441, 0.9955, 0.3428, 0.5564, 0.646, -0.8238, 0.3576, 0.2237, 0.996] state[eef_state]: left_x=0.389 left_y=-0.3367 left_z=0.0064 left_yaw=0.4226 left_pitch=-0.042 left_roll=-0.0277 left_gripper=0.9955 right_x=0.2168 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1094 right_roll=-0.0667 right_gripper=0.996 state[joint_eff]: [-0.335, -13.5726, 5.641, 0.5983, -0.5495, -0.0024, -0.1099, -0.1573, 0.8137, 6.5299, 1.5556, 0.1001, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.11,"left_z":0.18,"left_yaw":0},"note":"The cap has been released, and a dark pen-shaped object is visible directly ahead in the left wrist view. I’ll move the left arm clear so the overhead camera can show whether the cap is seated or lying separately."})

tool

executing move_to over 21 steps (2.1s)

step 347

assistant

agent noteI picked up both the pen and its cap, but I could not seat the cap on the pen. After releasing them, the overhead view shows them lying separately on the table, so I cannot claim the task is complete.

give_up

hindsightOn this rig, rotating the left wrist near table height can shift its actual grasp-point position by several centimetres and stall vertical motion; rotate and align at a safe height first. Moving both arms toward the centre also displaced the uncommanded arm, so park one arm well clear before attempting a precise insertion. The pen and cap were separately visible in the overhead view after release, making the failed insertion clear.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6456, 1.0649, 0.749, -0.3866, -0.5423, -0.503, 0.9964, 0.3428, 0.5613, 0.6456, -0.8318, 0.355, 0.2237, 0.996] state[eef_state]: left_x=0.3067 left_y=-0.1125 left_z=0.181 left_yaw=0.0598 left_pitch=-0.0176 left_roll=-0.0669 left_gripper=0.9964 right_x=0.2158 right_y=0.0156 right_z=0.1729 right_yaw=-0.091 right_pitch=-0.1223 right_roll=-0.0708 right_gripper=0.996 state[joint_eff]: [0.2393, -3.4803, 6.7077, 1.4921, -0.2271, 0.2125, 0.0806, -0.1983, 0.3487, 6.5162, 1.6923, 0.1734, -0.0317, -0.0073] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both the pen and its cap, but I could not seat the cap on the pen. After releasing them, the overhead view shows them lying separately on the table, so I cannot claim the task is complete.","hindsight":"On this rig, rotating the left wrist near table height can shift its actual grasp-point position by several centimetres and stall vertical motion; rotate and align at a safe height first. Moving both arms toward the centre also displaced the uncommanded arm, so park one arm well clear before attempting a precise insertion. The pen and cap were separately visible in the overhead view after release, making the failed insertion clear."})

tool

give_up: I picked up both the pen and its cap, but I could not seat the cap on the pen. After releasing them, the overhead view shows them lying separately on the table, so I cannot claim the task is complete.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 9.105 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, 0.7921, 0.6018, -0.3798, -0.0219, -0.025, 0.9993, -0.0166, 0.7902, 0.6075, -0.387, -0.0257, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.294 right_y=0.0033 right_z=0.1812 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 10.5504, 1.7558, -0.0708, 0.0513, -0.0855, -0.8821, -1.1282, 9.9214, 1.8877, 0.0464, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b480bd623709cd82de7dce226b331580c34a6c63a62e8893dddeafca7c2f34a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b3516ce4abe2bd84c43da0579c1cf118b6bc4dabdece30c2e98e3249e0fb46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5f09ac4e424cb097eaa4b34777a48057b35d468763b7237506015cede081b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.251 s

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

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41b88d80487d0865250eca0a69d23",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuQ8G8oHh2LRBTyq_hlgWenPxUpsIU3-onAAHtlZqyUXIFB4Wa3vVJKS9ukr225HuL3fcD9Xp8P1gS0cvktfXkfXKYfKG15K2X9EvFrYTvU6azAsZxnRIu32-xGzSZUOg4ACvXgB2EGAmDNKcRylHvYk0DTsJxlNDpAGuce2WvhgqeZ5gDSrxEFXlbNXdEU-I34xumFHlmvPnSnFU2Vri65CyHV4OkD9ax33ZKuCQmm5pW52FB5bW83Sqqcc12knkRyiVDDxrDdcs7MjpZnyJBUjRpRB703WLSGhcXE5qsf4s_g-zIT8EU-Xsu4jUwcsyLRMkuWQDJLmlFpUyed2PSMuj7QyAL9oSCs1Vx-iomFd0TWNJ29OMPq5g6WCtFgL08Ignfza6iuAXu0GXL4p6ca00JNeWWXXKJMVRZupm37bPAJkqTzwtqMSfJa3TPoC-nK9Bhbez0_eV3-rPG75aXDKEV1lby5d4lKNboUC45wSq_N43kiBIptwBqHNixEqCytAQdQ-5Vyxl5pjHvkE-YrN7He994Rb58AbEgK5YzqyBQZC0V_5DXxs5lcKs-uUYvrV7VaHD8AZRnD8at9IMVP_I7td7e0ML3wajmZA9xujxHm72wPhX2l276QVqklDnXxEwYlMQC1ytmqabBaJjR6_WXGnw4R_AxRPiBiU8XDULzftgnKBYPuA-ZuopjpzZoWoxHBDoMhecjYSndUlQU1MqdUzaaeTaUm-btt5oj2163ohcfN1A_oqy5A7M232PivVznBYmFHL-1urKNN3TCoFz9Q3q2hlGlDAEWdttyHpvu00sVjpZ01izR3keuXPzbdiVKedfmUwcFoQxgRS37pHqxr93oohsrOfaeVZV8GKf_-Ny3sVIapTWwu3YCMm8Ky7YH_EiCV-5z9Jp7cfwNUE4CKMNJF2qxdtDv8yYgghSN98u8y8-rUtTpxwIX5aNEvOBU_jeS1_o-eeum9lhUFnK9oC4Dlpld45XjaG253wtwwposMNjsVWO05l2j2qxNRk40bLiZzT53POpgcMQutpQqBjM6qtNK5OWSOWlbgzGCALUnSllR7Tv6_Cs2JdjFvyjupsqMfuAdX16k-GTDXcSsgLy-H98AwRUdda_SfC38NMWYIwf7tR74RaLUdfr2v7lLlE-v57ypG38tmovaZ76Gti3daIdyxTnWv20c27vGF5QTupMal0cKgsSWxQrbJK8qN1ZhW8QDsHf140d8jcV4jvHJUHGBq_GAaINRdOEur1xcK3xSDaljiHVknwWSY6TkhXVcmgmiiH6xCv7-ULeLy_ujFX3M6DXkbw_ttJMpOF1C0tkOUFEVvJNG2LrWHDk74NM_sWC5ZQ3FiiQKrQRYXToOi4D4tdFMfCRx4ryclpOzKhCsrUfCFVdHrdQCAjP7PugvBqQYsmJg6dZca6ZsA2XeVQaxxX2E0GIrM02i1tA8iF2vmsLj_67LkRPolnlJio1RVnOt4xHVWNWwEg0LR9-rekCS62JvhiidnlzFAJyHjb_VU9nuwxtfbe0-xrvUKM-Xmae2ZPfqyBhnwFQqVryHr2P1jtsREQI4Xip8TGNeKqMaGxNYFBZoJkzK8lNqwcjkOjFsamAUbSCL_NLeRS9K94ZiSBBCUQQwXZfJ5pzeKRrOE1i0rvFEAMYGf5_6CN2RERN1jyN5h0lmdKomdeeHn27M7zCgEMFoMxLGGHNGTvLwFuvUFc-K2docywDSNA2p9FVcFmD7_Nu94AgYfY1Qv-LbxTOl7nelpoESj8mvXrNSjeQN_1CpWh_7ZutPy9lbtgU3e-IYEkkZtr3Fwof8nPyLUq03w0DEXFARULLWMVKGDufbOc305fop4I3dur4FlSSt8vIx8DTHJVGXJVlpTBITuIFrkdpJU9Y5jc4w4VJT6jaTYAML4nOpj",
  "id": "rs_05b5239c888a54be016ab41b8d8c6087d0a5c4533e2d5e07ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.30,\"right_z\":0.15,\"right_yaw\":0.55},\"note\":\"The pen lies diagonally near the middle-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen, angled along its length, to check the grasp position.\"}",
  "call_id": "call_yw7EY4uIFBnWwGsg5FO6IOPU",
  "id": "fc_05b5239c888a54be016ab41b8f9f2c87d0b88ce553e97712a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yw7EY4uIFBnWwGsg5FO6IOPU",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.6655, 1.7008, 1.0588, -0.0139, 0.0853, 0.0479, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3858 right_y=0.2883 right_z=0.1252 right_yaw=0.5541 right_pitch=-0.0835 right_roll=-0.016 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.812, 6.9265, 1.707, -0.0659, -0.0659, -0.0171, -0.0889, -8.6906, 9.812, 2.0781, 0.188, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e8205d56c725f8ca37a42e0a218ae4e3f0975d6bf4555647b8ad175c79ab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f837095584fab104b899283411c4e1db83a8cfe23c8ff77146ff8be1cf6570c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa1c59f6a434513c9d185eef4bb0d69e048d41047bc4ad5a1d18bd5d4ef528b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.255 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, 0.7921, 0.6018, -0.3798, -0.0219, -0.025, 0.9993, -0.0166, 0.7902, 0.6075, -0.387, -0.0257, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.294 right_y=0.0033 right_z=0.1812 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 10.5504, 1.7558, -0.0708, 0.0513, -0.0855, -0.8821, -1.1282, 9.9214, 1.8877, 0.0464, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.6655, 1.7008, 1.0588, -0.0139, 0.0853, 0.0479, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3858 right_y=0.2883 right_z=0.1252 right_yaw=0.5541 right_pitch=-0.0835 right_roll=-0.016 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.812, 6.9265, 1.707, -0.0659, -0.0659, -0.0171, -0.0889, -8.6906, 9.812, 2.0781, 0.188, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e8205d56c725f8ca37a42e0a218ae4e3f0975d6bf4555647b8ad175c79ab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f837095584fab104b899283411c4e1db83a8cfe23c8ff77146ff8be1cf6570c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa1c59f6a434513c9d185eef4bb0d69e048d41047bc4ad5a1d18bd5d4ef528b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41b9416bc87d0b8d702db957b8846",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuZovKkToJxzSFH4N6TwNKDYM3qMWEfxoBa5NThTPy-vkkv1QJovJdyAocSdAkmG2E9MpaqTLnLXaFDCKn992IlCt-94SLYpvyz-NJH66OEodEWqKBaysYvqendf0AAEpn6UgLpaSw-nPDOf70NpkF_IHTnI93xwQozyhtiqr-GSCuCreGbSvmYgU6GiBDTgcXvYJsqBZILjdalA6-pHE6QGoDxfFgMKRw0hUxytdyfKi8LWSGunZXY9lTipBKXwHbOIdX4spIFGMtQo8UKURMIoG72gA47RJ2xBmGPvQYPo4WkTAgUiLKGlIwaM_tXnoERj2KACGFwdyhhAhRAOEMUvpX4vo8k_NLkBRc3oipUGG9z4BxAsdkrjsBcHXHoXqjP-1F-U0MWktzXCDVDUD5spFGTUNMNhxZ_d7m57YWeiyFjq0_u6h_1tbvdysV2rRk2gtsAVZrDoAHDDWAvY4hES6an8kxbx2CD__RniEjc2HPQHhFJ-1ISNTC-wOqEuMgSryrLNreK_HTX1fXYR8hO9PckjhCmboFDf5xE61ilP1mcUhlYz96aT32saeiJBEREf7eDKrXE9STAEk7SED2lOxiSAdCogh9-7z6GafZ2ZI2S3pt72Vs3yrrrl97XZyWqaOyQcIecuIOg3M3CdjzbBnDzjq6nhf8_WSklffPUd1tk_LvHov6kdQBTehxTFRnnRRcl2FOJ89Em7X18kXojgR5ERRWoGVcOHsJEMy3yZha3vYJcr1HSmlctrDvmgvFlxoXpR_QXugMapbZrKvXWtcFMReg8B8KsxY6Ms2P8p0YaJ122jVANIXNkz2wPUeXUWEF-kOg8fW5qzXMILu260l3qkcSVioocS2MMgiEIN-EJHBIBrYDoQxImBnJHyZz5sY-Sd8LiP-tRH7WSSUErIgHfYohUWKJY8nOAzaf1IjO9LLJy2SttrP7Vg_H3pxvjl4NId8VSUO3vq__25nTgL4r3bgNAzFdDakGt5wYkvR00gahy4hXDa97KG3XHL8AnA6TcKr9n7EpLx0tN0INFqPtWgu2-2dFTuyv7BEtKmPlZhlVzrPKQFF7VndDhB2qfnOWSXiqaWdsdB9uB4sAz0-yWgDrROiSfe0sbqxOAvNus8ds_5IyPjtbjDb5mAJ9zvTHofG6lQAvqdf0n0cknM1hvaTbGCP3vYDZDPJgB0zVHKtMGwevi-9tOrt8iY1iK_H6ZUI6pmy8FzH8ALZona7sG9WqWoyUveSYgmDWP7KGd03y8_9inY7Ao8CeOqEIkdM1s-TPaDhCrlk1vyIwIq135Pam5hBURohYv4_w_FvWT-ZLHSChsF2rZAtKxhHMpo41waWl0aOKeLYnCWiPqMwkITa1t1aSRB0u77_yNM1oifq30JcbXK3LxKlnZr5S0",
  "id": "rs_05b5239c888a54be016ab41b9851e487d0bf5dd42707524b61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.26,\"right_z\":0.085,\"right_yaw\":0.6},\"note\":\"The right wrist view shows the long pen near the right jaw and the short cap farther left. I’ll shift the right gripper slightly toward the pen and lower it to prepare for a mid-shaft grasp.\"}",
  "call_id": "call_oQROefxyRcaVmgtMuET0DfVO",
  "id": "fc_05b5239c888a54be016ab41b98aaa087d0b5c42a8b532475fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oQROefxyRcaVmgtMuET0DfVO",
  "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]: [-0.02, 0.8017, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.6266, 1.673, 0.849, 0.104, 0.0349, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1774 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3603 right_y=0.2576 right_z=0.0731 right_yaw=0.5776 right_pitch=-0.1498 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.8957, 7.0769, 1.7118, -0.0708, -0.0757, -0.0171, -0.4855, -9.2103, 8.2256, 2.21, -0.1587, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495a5bba9d9c8b1c417472c548f70d1105ad9af326132ae482567d04a6be8351",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a05bc0f2af3a5bdce5995f598df14c7fa30bda490b85fc38bea0a2135d8b378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8751a02c251e10f6537b7042757ee490116444b99c3eea21ea5b98481e4010b6",
      "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 · 3.068 s

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

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.6655, 1.7008, 1.0588, -0.0139, 0.0853, 0.0479, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3858 right_y=0.2883 right_z=0.1252 right_yaw=0.5541 right_pitch=-0.0835 right_roll=-0.016 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.812, 6.9265, 1.707, -0.0659, -0.0659, -0.0171, -0.0889, -8.6906, 9.812, 2.0781, 0.188, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8017, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.6266, 1.673, 0.849, 0.104, 0.0349, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1774 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3603 right_y=0.2576 right_z=0.0731 right_yaw=0.5776 right_pitch=-0.1498 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.8957, 7.0769, 1.7118, -0.0708, -0.0757, -0.0171, -0.4855, -9.2103, 8.2256, 2.21, -0.1587, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495a5bba9d9c8b1c417472c548f70d1105ad9af326132ae482567d04a6be8351",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a05bc0f2af3a5bdce5995f598df14c7fa30bda490b85fc38bea0a2135d8b378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8751a02c251e10f6537b7042757ee490116444b99c3eea21ea5b98481e4010b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBueGx_pYAjjrG8ONY4ZznhKNEFyhBhE9klzMHfYNCI-sQ5tPdtiqPhXkRJXCW9htI-Z5PUwN7ALZHUiXFAgvDHs5NVY9Ob5CgeV2FjoMoUFpY9awwVxAojQ7SlEjc0AiqXbavt2PVnrNqRgASKkGuLus656N2g3xwmA3_CyJ4cVboc8kavptkWIEjNmX9dsgPXRF-9l-l_LISZLcqwqUEU9Wl3oQ8FZnaFpnusa8mVjF9-PjTr6KxWPASw7fD5X4TG54_UWXld2Dz0Z4aWmwoaRJiq0QB4Mk9_JbX6p8GwIgrFRPDkq-ctcM-k7M3dJsmiRsdzXeSS1xYkwULi3v9vfushsrRHboCrzZIPjwDRe3MyJ7PDFZyWGqiLL_JdMVtGZ41LiWigb64I2fAhMxSwCSdbyw9mgoI0U8BV24oe0PF5VgQ5n-HVtnDD1novQNJcdDa-QbaAx7Wpzp1rYfmkhfALRyweuf1L122HvDMunjrik68-8Ty3s_iYzT-cGHAm01oX6AJ8-7R0eq08owSVUZ0j1_Yfw8jATxGCKcZHS1p2ODPYJa3V0WYNYfvKncfgTeu4R7YF9QtWH0B8jNeB1EZBZ14oEdioyY1JR0KOK1wcakW09S-uwRB2mxVIwI2hZC3MNClWgliERhKlBMngpFnI288moyTlY7ha8fD3-fXxL1lQUVwitEKBs_GZ1c-DkHITfbMN59tGhU_9QLiiLwEcAwCp_ysCmtBWp7NvbouqY9FCyAdP6yZGrcpt77_GFLXOHyCKZB3EQqVWcNbV5LythH1PbiZJ2IOg8dbgzUrskujxB-2ILTrgWYSkjxI6kWEygoBeDadnLsrxP__5fBqNSdw1bcaRL-QOu_oWXcx0n4LnW3e7-trbM0tJLUP7HKbJ69MwxMCn216WdplSQb1bELybymolZWpSI-xMYqX55Efqu_LMltVkJLgfhKp_MmUn5KrRoQVXh-eZ3zv2z35cHiJABoRL6jM97GMDl6EDNAM6DR8mLOZubsSp2VE4nvdRelfCTTxKmhlbCrn_sSkwWzFhCynEVdldC7dUcCxuqoA3v_0BGojAFWgW3YfoYtH8AHUUGyonohEE5ObBwlQ3WPMWetkYddgPFewSxrrPdaXE6AA9_5_lIkXbowPqlAgcR9v6hVxS2OEimOMtcNP97bt43EEhxNBGHvhIkXXLeKsbZ2HjeXS1nXditT9Kr-2rdX6pPQcAIeetzq9hOJUevZ9kwNLxlPsALPsrC_LBuSH3ThstC2E301yQG46NV1Vz--Tv2JuhAGi8sadYsT8e0a4ZXsSLSV6ox3JTq7_5spWE6HEH-wtvS1T5ReLZ85CG3fHrpHdhug8qajs1g4nATITLsuUCjdOFH4JDHVo8ClTwCfV0N54p4357OJkvZaR1fQdwQL-zopkscUaN79nDdLaEXiY_LE90HYX2q85ubLZf8dS2BXPl6vzjneKvg6lkjE81RjFuFLtXYWdID7RqSQn1KzILXnuGSUoQYiFVrvypyjYBam6wBngij6JXVI7xV8xmzYRuNktM8ShVybMRqDtiNI8bcCYrDzCOUWONvLLTdAr8bIrdR8nSLdDSlYpaYnmbyvgqRiUzI-VLnCWhOReSqIVLwFh1tItJHzr5ZWEWu1SeGP3gBJRWaSsZSvcN6DgbWSh4xSlQ7G6rrnGLNvl74MFR2jlMHCvngNi7F2QIu941sl9d3aT-ZmTIzUJcuh1KE167kTbH9R4FARGI0eOtI9VWPgqJ7_u8ocCu78WMKD34A-90qY7fYjSyj27PJG0fKjMuF9vboNTaJrdGPM3XvohFV5-jeE9nEOaaI0EXnHE6LU9AZuDqPIAYUVUnY_yXpxVdndHnBOVm29uzxSXkxKImo8xbCXegOtADVWPNnbG6HYyFfE-5ONNlAR14Nl7h3cdMuP4Xta9-8koeOZZrLXbJqgRG3ZTXXr0kVRXxPNotL17YPX22Qx75t7CqUnjlxrifrbJ7Ab4rLQ2Mn9vYgzTuoKHTKpnOO53g0J8SAqvg4AZdXKu5OrkdVJSxL5qPF4q-UktnMDIk1TX0C8iKIVzHSZBeiSO2RF7VvgGpcLvpUhX0pN8XzOZaa-UqspfCbKQIZewPzrWwjy--C5bXaW46inSv4FO7H0Y634UjLPe-NTgyFQKU6pH1rg9MG7OQzmu0RoxN-hGuCZGtCmlhueEM4jc_hlURrArP9LJUMyZhojRcNy-6GFipHMy8zwOxD3IC_uZwri6gyLKWA_KkfoplAG1N4SJ0v9OBRAccJWepdmbuf4--6ifES2zZWr1YMrB8FujNZxhEZzYhkc_pnUc9raTVjEO2cB6tkaP5cN3MzAmRPCeX0aZ9a-p24paGMn-2Mjy_gZCXyndk1jP1kHIdO7ZHAXpDnTdIaGOAj9FFhU3cBOb5mHsOQWeYeCEUlsY7CNpc0vXPUqsyQpnaH_zqe4ItQu05tmkmnGGvepD0JnvNK0HglVFS1q8OG2S6FX8NlLK8WxaUJdA_7eFyeKR9YVXPX6tfkdGdeT2kbmDOzP-PUhWco8DV670iQWZj0tVKuv-kG2TvzKixx4DcEpScR5UzAAO-vUDjJ_iTXAapaaRTX7gJdmf7JZFwlpgveS4YocM782Jttoq10n0VQA7ot7nYfvw0wPbohzDzhsNVsp2DuwMRFLKvM55C3oF6Xs9qI7Bn8pmcGccJ7UYqlk_nnn2GCz8v27JGdWqK1Fi5uaXX_QnMNY9FXVRZrYUfxfJ4kxCF0CcG5FJt1nj-0ZXVx8AyKr_XSkuzNRCGox6U5rtpvkBBduO4QM6RN5AkH2p24as9AYgUx3QgSNFO1e_g39sRYZDvuEnynmAT3W8CQ2iQzGm78AQC3sn0GfkZBEOWBZn5C_7w4bHf9qXYIgjkIAxS2NQoLUarcG2MyoFdqhyJeedfm4DY4xBuuji21s6tmN9iDky4a2CNXyASa5YZNj5aUys8znxNwyg27q_d_sHLO9NgYzcFJRloB3UKfhaqS-kV5V5KZmJJV7U3bpCOzVYHcciO2690=",
  "id": "rs_05b5239c888a54be016ab41b9a8cfc87d094c71b3ddce8cfb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.23,\"right_z\":0.055},\"note\":\"The pen is still to the right of the right gripper’s jaw column in the wrist view. I’ll make a small sideways correction and lower the open jaws close to the tabletop before closing.\"}",
  "call_id": "call_jwe09XGj4DzQbZgRHXggnfwz",
  "id": "fc_05b5239c888a54be016ab41b9e20a487d09941b1f6e891a5e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jwe09XGj4DzQbZgRHXggnfwz",
  "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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.5663, 1.673, 0.767, 0.1696, -0.0059, -0.0238, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3588 right_y=0.2336 right_z=0.0532 right_yaw=0.5708 right_pitch=-0.1668 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 7.0906, 1.7363, -0.0708, -0.0464, -0.0171, -0.3077, -8.0889, 5.9966, 1.8535, -0.2369, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f7e29c90057b398a3730a3b4eab74bd7b4487adec4cece07899401fbfa10f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92aeefcf5bd83866bfa8f59b032469de49f333c74347c54d20e7e7e650300b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c1d9cb4ae8e92884a4279bb78591754ad58bfafe48a37f04cc210751e5df02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.544 s

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

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6018, -0.3798, -0.0219, -0.025, 0.9993, -0.0166, 0.7902, 0.6075, -0.387, -0.0257, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.294 right_y=0.0033 right_z=0.1812 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 10.5504, 1.7558, -0.0708, 0.0513, -0.0855, -0.8821, -1.1282, 9.9214, 1.8877, 0.0464, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8017, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.6266, 1.673, 0.849, 0.104, 0.0349, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1774 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3603 right_y=0.2576 right_z=0.0731 right_yaw=0.5776 right_pitch=-0.1498 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.8957, 7.0769, 1.7118, -0.0708, -0.0757, -0.0171, -0.4855, -9.2103, 8.2256, 2.21, -0.1587, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.5663, 1.673, 0.767, 0.1696, -0.0059, -0.0238, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3588 right_y=0.2336 right_z=0.0532 right_yaw=0.5708 right_pitch=-0.1668 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 7.0906, 1.7363, -0.0708, -0.0464, -0.0171, -0.3077, -8.0889, 5.9966, 1.8535, -0.2369, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f7e29c90057b398a3730a3b4eab74bd7b4487adec4cece07899401fbfa10f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92aeefcf5bd83866bfa8f59b032469de49f333c74347c54d20e7e7e650300b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c1d9cb4ae8e92884a4279bb78591754ad58bfafe48a37f04cc210751e5df02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuij-Cq9nrbUO_KZQxuPjYKYEdGDTw5oken-dMdGel0OZaPR_PG5ba14m4bkQEfV9a5FuIrWq212BrAjoyQKRN4_dDZErTaII64EwEdmo8vGUq1sabhJxdZZaAZvIyhE1hWZJDULSSf_LHYbkdfwyAlxhE4miQxBLtr5mGPikfrRIn_qeKsuYhp2WpJAIQOPDa0zFq9pUj9VTeXFi_b9wGyO09gHkMJLlc8IzyF1XckQWnqK4PgPMonZTCoVD-nCxa0c8qPQK0K6tnKBFf4H1_u12zzcAPI0loEkG0OhFSd2xkPOl_CpPZu-bhp4FDZL7N8h1fHnHq5zVGUMYihXg7zzSlhsQPOn9uRJoyStx4SaZ6PpkMSUk_Omb1BpllmSIMj7qYAVAy0NqAP_8RdY4j9pSQ9M7sVorlLw-OqbY7HrrXmeeL1eCozNioo7qqLbtnChjmkx2iB_RSZWpz9G0bravrAwqHQimnh7PEzpMwGap9mIVKdynkPLl7FcTddw9ID2eE-w9393aUCwh-LnPvSudJp7KK55ST8O17pf1QURFCMZ_1uNoSZ2bFhai16OBh9KUTWXZ7NrEFTFI1n6fc2R8F54ZnFLXxuHMxN2upEmThTjfKMKtrLLTusUhgjK9l9MBTQ9FameDwPK23t1hXm6j6SZp-NRa_R0zZ9TlBBvheNWe9aJIshkcEcasaMXbogsCAn94ukwMDxXrQJtJhHrKncdIEZ_Cvh4o9tZstr-AHjQl2l_a8btNVZP6btrhza1ZkriBEXDRGKON0ZQrkNb92eIw4HUMRZCzMysx_xssDGKwqAq4GT82kBR9lhY9J4gL1ztWRea67hvLfpMQMMhjURcbYnH2nO4KZtwGaJLjxAflE3LM4L7f97GNQQ0eYJYvyhPi-zjohZ5CHqZU4UForRZbfjBRIL4pV4DsLGgy9Ly4X7ARV1yuVANtfZKlcGs9uWoANpu-UMR_PIi3PrjGrXuEy5vrokGzFH-rOq3a_9B6_C_8f6zhjhL2kFXRoBY4pp4mxqkkK8s4QyrMCBUk4kBB7hJuY4NYuV_oE35sSoSjSaXJCiG4gtJtB8i0H2xclNisU3xJvY4RPND_txG_43jlTIhkITIDMyxeV4jxmZjUmnwi6J-AqVNhmwkMamzPFY3beszNjUzXF6TFOJNJEFCwRbd7NXoyXnuabh92slXYrRxgjWv4rN4cUIYxsuGAq5B0GxxlxfWiDhjacu7509NDXS1XBsxBethdAith1ncGwUgz9-mN2zHk-TD39ZNMjtkeOxtFgrc4cYrZxEh4l_4lznanvevpDWGIbPG_sg6JMcQYY8MzRhBcgDS98m6mfkpuEo_0Xe6hbU1LUOrOpp4no2qXqYHlZU1w3cV9--HPjJnUu321WklMVV31rSB4fPU3yBi3JomrzRhH470JLhRnG_uO6gSXceMlPcnU1a5nGLfag6pCnaFCToK0s7sfO0C210kP3p3tP6IFCyZCBpWXwVoCQ6X-Pj3-RAPBD-iUOb1uapiCTkjQz3un774RuA4MpukWbOgvhm7-RykkzIN454PYhcIU1z34Pmx9EFMdb9sIwBMorhajKVovHhAOaJMEe47lWmeOt-dpcQAsUItjwz3w_D2limrW1UUXMi00lxdMPbuo1ntvT4ELb6Wlj11NkGLyRlf0XBHopcpQ==",
  "id": "rs_05b5239c888a54be016ab41ba032ac87d0abdbf7655f139f7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.195,\"right_z\":0.02},\"note\":\"The pen is now clearly visible but still sits just outside the right-hand jaw at the grasping row. I’ll shift the gripper a few centimetres right and bring the fingertips down to the pen’s height.\"}",
  "call_id": "call_LPdVdvll6OXp9AFsV7heqXpB",
  "id": "fc_05b5239c888a54be016ab41ba139e087d08d573835e9c67284",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LPdVdvll6OXp9AFsV7heqXpB",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.025, 0.9993, 0.4614, 1.6989, 0.6441, 0.2771, -0.0647, -0.0765, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9993 right_x=0.3537 right_y=0.1926 right_z=0.0176 right_yaw=0.5454 right_pitch=-0.2059 right_roll=-0.0131 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.7363, -0.0659, -0.0513, -0.0171, -0.4581, -5.9556, 5.8188, 1.9756, -0.1978, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbc6cd8f2cad2edf3f956d6b71877d64b61cca5249cf1faf6bb693b6d1062a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc81c56a81c2e68c8b19af050c73d0c2aff1527ab0ebd0ff8d4b4df4556d2808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bfe37b46199eaa4cb5b6653e2408879b31638c40e845a58cabf57dc9b25237",
      "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 · 1.899 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]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.6655, 1.7008, 1.0588, -0.0139, 0.0853, 0.0479, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3858 right_y=0.2883 right_z=0.1252 right_yaw=0.5541 right_pitch=-0.0835 right_roll=-0.016 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.812, 6.9265, 1.707, -0.0659, -0.0659, -0.0171, -0.0889, -8.6906, 9.812, 2.0781, 0.188, 0.0757, -0.022]",
      "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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.5663, 1.673, 0.767, 0.1696, -0.0059, -0.0238, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3588 right_y=0.2336 right_z=0.0532 right_yaw=0.5708 right_pitch=-0.1668 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 7.0906, 1.7363, -0.0708, -0.0464, -0.0171, -0.3077, -8.0889, 5.9966, 1.8535, -0.2369, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.025, 0.9993, 0.4614, 1.6989, 0.6441, 0.2771, -0.0647, -0.0765, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9993 right_x=0.3537 right_y=0.1926 right_z=0.0176 right_yaw=0.5454 right_pitch=-0.2059 right_roll=-0.0131 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.7363, -0.0659, -0.0513, -0.0171, -0.4581, -5.9556, 5.8188, 1.9756, -0.1978, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbc6cd8f2cad2edf3f956d6b71877d64b61cca5249cf1faf6bb693b6d1062a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc81c56a81c2e68c8b19af050c73d0c2aff1527ab0ebd0ff8d4b4df4556d2808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bfe37b46199eaa4cb5b6653e2408879b31638c40e845a58cabf57dc9b25237",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBul2fTDtS90TjZlIbmWCNhD9bjCjLZumdZIpoZD_nXFKiUwZMCLbmDQ1h0wCf6x3I8T6wSuqRCzpVrI9nettyddUCu93VhoYe4Wgi0Oaasvb4c6hmF6pZMuNnl0dG8fdcIdRHG3iZeqpwLtiJJHxtbGJ6QJlbSkIrLh7NaQ2pH7rVnyDhr_B-DfTTPoPLcqZo7QxqfiXpT6w--V4JvUetkoXZ5BZSMNO6uKb0l-5a2uOFOy8xO50V4TIqpesnrgVeCfruQxAgVOABBcEwCCj9icPSpBkSelEk1IFvPBF3DGtJR3mtzLYYHp4iEJQOXkibVVIPhmLi1HjZQ_bsqxDwkG0bqgF67OTizgvEI3ZGRCIydjwXcYfJ9DgtsXe3x6eNho2d1mMzfs32-sZDmTRHW517JPcKRs52suAtnhqPMCOdXZsXrRdQNT3AcREstkYjDU2rmdGKuEEt-WcPHsXI022lX4wc35dzOjgtSaL3Lzw48Tf7uYMGtYhGlxAvWoNQQ-FoWqJeuK66qJSBX9b3t8aiQXtxdk-LZb_sqPmuu0qcg8BNy2z7NwQuLw1S8vcW6YQkdFnS1BywoApvw3a1IxFv3WrG6tsLVgYUTC-odCcIT4FqfN4C4wbKMZv-wX_13mvcMwrRqsH-vybI40j4my0oVIemfI7Pn0EXVRXe4Prm_hpfVLu1KCCUs12iHqeVNbv9HzRanU7Rk9G0oUuSYKrR4tbrA4i4lShSG2F4zILEefKGzAArxI0TC7LwWuzJbiYhA-pn4mtT4Ch5r6aQrTVhxPQKLVyQk3de1gim_FBRX5bjy_Qg7y9ZQumNIDD9iWQi54hEwt2Q384G90LVSA3JhCVJ3BhOo07h3T8fUq3IWBQ93VgR_Aiv5VO16pj5MWv7AQzyhhoFk83Cmp5qvzILiTyPCUbtjzIDMWh_SzY_87ujH0XVN_ooGSQIapJLBXDu-uIr0alwe7ZpShqlmEo-b69oSdFiMcSV6fBaUsBN2BcfOao3GI8D29ZhuOvpOVA2ZxmwBARR22302bDiSdn2niMhOT4ZaArKn_fEMfzZC20oRZfLDzWlDZAcByUmWKgLh0WceL_ybMHnDYdPSAUVMkEnCVETGq7YmUAArygqpiOmfWIosSKpHC5yHTe_UW8IOCxuJixZX-P6WWSvTbyGpH9BxtNabctNrpycPt-uihsfj83HQP2BDQKiDZU8ff23znLkSlsF3nn5ZhqgXFYvKyaCrBUDkbCE4yrHFxZNxRfyBwda8KPltgZPEaOGixrGgoaHK8o1A2eZyLjuZefBq8bGgfSdKinNSKauQLajVwJIEGhxjsYmS8mxBs2MpwgFRFwSiRgXzDVlXhAeGUTiYB9msQdhsQHsyf1n-Mqtki3C7v0qL_gQ7T7QhgzxI7Nwgd0MDofeXdpfRZs41BhIy1FvnyD7O87WcXJrvwbwAypxhon96mxweUlIDef0pez1b65wnUj2txmARoWgq7SnhFZgbFZ3Dr3cw1uphDvaRsALvEc53gRbVS_a6kusM8",
  "id": "rs_05b5239c888a54be016ab41ba3a63487d08709da001981e1cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.005,\"right_gripper\":0},\"note\":\"The pen now lines up with the right gripper’s jaw column. I’ll lower to table level and close around it, then check whether the jaws actually retain it.\"}",
  "call_id": "call_JFJLJNA4tPXUxc7amrW3FJl5",
  "id": "fc_05b5239c888a54be016ab41ba452f487d09f51e3c0bf4177ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JFJLJNA4tPXUxc7amrW3FJl5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.4541, 1.7653, 0.6224, 0.374, -0.0795, -0.0814, 0.0472]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3556 right_y=0.1932 right_z=0.002 right_yaw=0.5535 right_pitch=-0.1962 right_roll=-0.007 right_gripper=0.0472\nstate[joint_eff]: [-0.1709, -1.265, 7.2547, 1.6972, -0.0806, -0.0659, -0.0122, 0.5538, -5.4769, 4.2735, 1.5409, 0.1001, 0.0366, 1.2088]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aced8388fb2ae6be9c3dbcc08a55ada6ce761669c09b74267fd8ca36766c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee7d36e368275537dc26537963241779e539325df386d03d24b8c27d7752fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d430121913263c15abc746952468744d90b3025938855b12a99ed3a013b201c3",
      "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 · 6.376 s

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

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8017, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.6266, 1.673, 0.849, 0.104, 0.0349, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1774 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3603 right_y=0.2576 right_z=0.0731 right_yaw=0.5776 right_pitch=-0.1498 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.8957, 7.0769, 1.7118, -0.0708, -0.0757, -0.0171, -0.4855, -9.2103, 8.2256, 2.21, -0.1587, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.025, 0.9993, 0.4614, 1.6989, 0.6441, 0.2771, -0.0647, -0.0765, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9993 right_x=0.3537 right_y=0.1926 right_z=0.0176 right_yaw=0.5454 right_pitch=-0.2059 right_roll=-0.0131 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.7363, -0.0659, -0.0513, -0.0171, -0.4581, -5.9556, 5.8188, 1.9756, -0.1978, -0.1099, -0.0171]",
      "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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.4541, 1.7653, 0.6224, 0.374, -0.0795, -0.0814, 0.0472]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3556 right_y=0.1932 right_z=0.002 right_yaw=0.5535 right_pitch=-0.1962 right_roll=-0.007 right_gripper=0.0472\nstate[joint_eff]: [-0.1709, -1.265, 7.2547, 1.6972, -0.0806, -0.0659, -0.0122, 0.5538, -5.4769, 4.2735, 1.5409, 0.1001, 0.0366, 1.2088]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aced8388fb2ae6be9c3dbcc08a55ada6ce761669c09b74267fd8ca36766c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee7d36e368275537dc26537963241779e539325df386d03d24b8c27d7752fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d430121913263c15abc746952468744d90b3025938855b12a99ed3a013b201c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBunU_OquvGqdvHlg49e5Ax3yAxZVLzos3hyMC946jmNqMF7pCECNHNhlVDRxT6Iwv_GZDdmy5W5jvTFYS5OGJ9sCihuGNC4W3HxRl20DmP8kldytHC5H6wvMPDvv93Lvwb3xoMetwVGXkZze2ISi7mwlwCP19PhtgFjatCYy_fxDTKOuSyffbm5vfqDqWexSERIaO9nq6wlMmWpUTZ2CbAB_3RJlJh2ryN8lhOQh5Dz08JShOfk1pd2ZzE9TAo9x8YjMej4Gnxd7ijwYq1itXz0oa9mA5rqFiFcocNfvsehnExr02WCfXwz75ywKNNL-cGiaNPHOvdAFmDDhLYh1H4Rw9vRr0fzOlA-9Wa2thyBMZcrv4eqaTa-OYhf5Xl8nf38GVISSuG69kyXTvuvwIqolCQIrx3BL4FkQndfPfv2KYYlJp5TL1n3UyBKxwFcGtUBPXL2gEv9PN9n96VFAakBfSBYZ0-gNkTAP19xyluqawYiR9DvBEPaGG3DgS9dUkBeqCVqgffXoxNPzBjFb53RJC9pDWWdnB_gpikIHCNfJanEwDB0FNZ7nmvRqDd66GJRdqkASvwdXaYchcvCsEul5gGlW--1wUmI0r5XhDWThOX1BY4S1b0MQNypMbZZqhpvh2xqZoj1knec70FEdGzXPfDr8g9B8aynETiPOM4hxx4qMceVhb1iViPCQoXyXNlCkCRlPBOya-R1DXeBtStQnddgsxdD2xr0SxGlX2NxLk5SwsQwr_P7Vo_7iThnI23YBS0akJTUVWi4z-FBK8blw_mMZi7kUlb28OZzBu_COgIW0Gi4qHPHuULmIVCWe1-A2sR6dunSKyrPunXZMeHQM38kgdRemkftZL6EjUVYWLXnS510hJuuMtXLpDGdvdJMgrRu1HlNxfVL-ZVHskCwgOQ7H8wgm998pcQ9bPWTkAKWyvQjMODTvDn21UAxV99kKlqpwmSbiScuXxTuW5uNQVayyPoVFDbwTrYpASmlm1y7kbI7S8uNmqR56uq9mfiA1h3LPGlimaRkGOWqJHD5i2pCl6tLgt-I6apfHJJXgQDyjFXwFCiOyxRYiR930el8qiPClUzyqM8FNzdsM6belCk3EXWZEy7hheT0jxrB8IHe-4FY2BjdUpnQvhHEB3SxMULIBE14HgJ_5_uXBQ-lX57yP0lVpjdccJhIFfB9TIXOf6OI8i0GD_lU4YDUojaDefqc3B9GzJsOk3i3-YkYOGD38pXER36LcZwhg3Lux7KAx9XT0_lvv6UD9505IrHpEUTUqMmKCufzlQ-Ws_e7OQ==",
  "id": "rs_05b5239c888a54be016ab41ba7004c87d090deff0355fb8bfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper stopped slightly open, consistent with a thin object between its jaws. I’ll lift it and check the overhead view to confirm the pen comes off the table.\"}",
  "call_id": "call_WYLIVSVOZMmOIUUfLxir6xFX",
  "id": "fc_05b5239c888a54be016ab41ba744a087d09807c988bd455d50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WYLIVSVOZMmOIUUfLxir6xFX",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6033, -0.3805, -0.0219, -0.025, 0.9993, 0.4538, 1.4422, 0.9615, -0.305, -0.0811, -0.0872, 0.0553]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=0.0 left_pitch=-0.0122 left_roll=0.0002 left_gripper=0.9993 right_x=0.3564 right_y=0.1937 right_z=0.1398 right_yaw=0.5579 right_pitch=-0.2128 right_roll=-0.0084 right_gripper=0.0553\nstate[joint_eff]: [-0.1162, -1.3333, 7.0359, 1.7021, -0.0708, -0.0659, -0.0171, -0.212, -8.0615, 8.9094, 1.6337, -0.0317, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37604d20f7b8d4bf44bb6a8eafaf38ca404ef1f02b420c8ce9ac9984580f8471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2601d4f09926fa438e5f14c02d48f7405f462b6dfde02214c329cb9803a442a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe02cd8a18e158cbe48d51bbac7c80123475228e292b2dc7d3654afe3a447549",
      "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 · 10.76 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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.5663, 1.673, 0.767, 0.1696, -0.0059, -0.0238, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3588 right_y=0.2336 right_z=0.0532 right_yaw=0.5708 right_pitch=-0.1668 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 7.0906, 1.7363, -0.0708, -0.0464, -0.0171, -0.3077, -8.0889, 5.9966, 1.8535, -0.2369, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.4541, 1.7653, 0.6224, 0.374, -0.0795, -0.0814, 0.0472]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3556 right_y=0.1932 right_z=0.002 right_yaw=0.5535 right_pitch=-0.1962 right_roll=-0.007 right_gripper=0.0472\nstate[joint_eff]: [-0.1709, -1.265, 7.2547, 1.6972, -0.0806, -0.0659, -0.0122, 0.5538, -5.4769, 4.2735, 1.5409, 0.1001, 0.0366, 1.2088]",
      "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]: [-0.02, 0.8051, 0.6033, -0.3805, -0.0219, -0.025, 0.9993, 0.4538, 1.4422, 0.9615, -0.305, -0.0811, -0.0872, 0.0553]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=0.0 left_pitch=-0.0122 left_roll=0.0002 left_gripper=0.9993 right_x=0.3564 right_y=0.1937 right_z=0.1398 right_yaw=0.5579 right_pitch=-0.2128 right_roll=-0.0084 right_gripper=0.0553\nstate[joint_eff]: [-0.1162, -1.3333, 7.0359, 1.7021, -0.0708, -0.0659, -0.0171, -0.212, -8.0615, 8.9094, 1.6337, -0.0317, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37604d20f7b8d4bf44bb6a8eafaf38ca404ef1f02b420c8ce9ac9984580f8471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2601d4f09926fa438e5f14c02d48f7405f462b6dfde02214c329cb9803a442a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe02cd8a18e158cbe48d51bbac7c80123475228e292b2dc7d3654afe3a447549",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41ba9f87887d0a300f23de755bb37",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuvM_biVQsibVhtXU2XKK44OPwa7fI-wDWWWiw645SG5wbbBf1OBG8Eb3Tpz_PWwirSP691Mk12IEeiB3ogM3THsfOjdREx5kSXLZQIzTKzcy3gaeGGQK9-ub1-GI6TD_ERLiDFbbG3Tiq6zEBcNB1vsUvylyF_BElO4VFKRIH93MjADK1AcC0iYRhxeir3fflVSfAL5y-E3qSHaZiENv2toueBUmWawaCUu1YmAGvefAkxWO1Y05L3Zu-uvI-K8PSrj5XgfdTNyjhavFG1ZjQN6AUriZ9bo6LhhideFfhUOXPN2sbBhq64-kI4gkqhP4IAINI_58IFV8Dnwqm_R5NeSehrIFZsUvMzDEoV5yn6nDoXGXzgBLlL5P02QTEMUE8RmG2rHfsk8GYrqirmrF23tZ-8em-3aq5caKVJIWCvFXhKu4O1A1_USozsewpihb-b1boBiUKVGF7GhCCWwmwiS2TCYOygYI75JbyRowdPAXqSLnRW4ciI80uwuWG0qWWYEG1UjaVxjq5F3SR1gz44veXGK6JgIjK-mQvAd19JNGX5EdyylHKEEQ06MOlx34XmDp0-vbMt4nuAPRp4od2Kp6NzCNLqbLGHDdIqc9rkkTrotkDhE-KgWdUl_ropXrm2-epM7aRz7ysr3mD9hwnBW7xF1ap-vUdsNlvPNk5m10M_mAUj2vC7dXZSOUjwH0vsxTqaqm-GjYdKvFLgbZMff3-7NooFuskzaY6qLZf1JyJIPqVNWtPXSmj3j1zZu_BVH1UKSNQ9hssYv7xFDSAtu62S1DViuTF1OMfMe4Ulen65xDeIJOuo3f1CThzq9XVrrpM4reFf5AENTUcoOns7SKflaBL_9DN1ZbsKzLgD6fU_TwG9jU7mYe0jGVPspkiZfgZigEry58meO4bk4PNLyAQQ2eAaKKQV5EcODCEEa_QvHPAJV11Mc2rI-X2aiqjcz3tHs8JSgKP7xEcIdwFiZT4MyeC6SlmJFBGIBo_C9NoS6Aa2oGL7POC8thbY1ThyQtyBCcuBxs86TBak4OdbifEZ5iPOtWrsqxqbRlxT2Ica3mis9KSB2HrMkvtJZxh0p2v3xLF5axjJ4Xd_1X0a67kQcHvsRO-vZ1UwASvLFMvENlNPBL31gc596nIwm7TFsY9E6HwilCyv-Qvd77kKjpckuk05ekZTQU0Vr7MJub62yyEvx-UEseMml2vfPO6rcAAxRX3T1-KI4e3QFz-JlE48h4jRF9a9BuEWsGMMmZxi0QCONWMxpMve3XJQBaUCiMInerBS5GeIBkMT0IWv3Q==",
  "id": "rs_05b5239c888a54be016ab41bae455887d09029d374d2030003",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.2,\"left_z\":0.12,\"left_yaw\":-0.65},\"note\":\"The pen moved upward with the right gripper, so it appears securely held. The cap remains on the left side of the table; I’ll bring the left gripper above it while keeping the pen clear.\"}",
  "call_id": "call_BvCVyx6v9FhfaldOq60S62rF",
  "id": "fc_05b5239c888a54be016ab41bae895087d08a80fdf58bcb0e7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BvCVyx6v9FhfaldOq60S62rF",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4229, 1.4612, 0.6994, 0.0738, 0.1402, 0.0727, 0.9992, 0.4538, 1.4433, 0.9607, -0.326, -0.0811, -0.0872, 0.0607]\nstate[eef_state]: left_x=0.3554 left_y=-0.1831 left_z=0.0933 left_yaw=-0.5929 left_pitch=-0.11 left_roll=-0.0247 left_gripper=0.9992 right_x=0.3529 right_y=0.192 right_z=0.1354 right_yaw=0.5585 right_pitch=-0.2355 right_roll=-0.0059 right_gripper=0.0607\nstate[joint_eff]: [-0.5128, -6.188, 9.4154, 2.127, 0.3394, 0.2173, -0.0171, -0.1162, -6.3521, 6.8718, 1.6777, -0.0904, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2012804e805eb9b91cffd48b23a8f3e592540417404fb82aac367f07375c7d34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4177bd9a2f149cff6a698840062460b217866247da422c0a5754d727b98b4cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98d5deda43a1f9e8a9f17438e24310b85d6bcca4e5bc213c62cb0c6f1dcab75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.444 s

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

message 20 changed as sent

message 28 changed as sent

message 33 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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.025, 0.9993, 0.4614, 1.6989, 0.6441, 0.2771, -0.0647, -0.0765, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9993 right_x=0.3537 right_y=0.1926 right_z=0.0176 right_yaw=0.5454 right_pitch=-0.2059 right_roll=-0.0131 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2786, 7.0769, 1.7363, -0.0659, -0.0513, -0.0171, -0.4581, -5.9556, 5.8188, 1.9756, -0.1978, -0.1099, -0.0171]",
      "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]: [-0.02, 0.8051, 0.6033, -0.3805, -0.0219, -0.025, 0.9993, 0.4538, 1.4422, 0.9615, -0.305, -0.0811, -0.0872, 0.0553]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=0.0 left_pitch=-0.0122 left_roll=0.0002 left_gripper=0.9993 right_x=0.3564 right_y=0.1937 right_z=0.1398 right_yaw=0.5579 right_pitch=-0.2128 right_roll=-0.0084 right_gripper=0.0553\nstate[joint_eff]: [-0.1162, -1.3333, 7.0359, 1.7021, -0.0708, -0.0659, -0.0171, -0.212, -8.0615, 8.9094, 1.6337, -0.0317, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4229, 1.4612, 0.6994, 0.0738, 0.1402, 0.0727, 0.9992, 0.4538, 1.4433, 0.9607, -0.326, -0.0811, -0.0872, 0.0607]\nstate[eef_state]: left_x=0.3554 left_y=-0.1831 left_z=0.0933 left_yaw=-0.5929 left_pitch=-0.11 left_roll=-0.0247 left_gripper=0.9992 right_x=0.3529 right_y=0.192 right_z=0.1354 right_yaw=0.5585 right_pitch=-0.2355 right_roll=-0.0059 right_gripper=0.0607\nstate[joint_eff]: [-0.5128, -6.188, 9.4154, 2.127, 0.3394, 0.2173, -0.0171, -0.1162, -6.3521, 6.8718, 1.6777, -0.0904, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2012804e805eb9b91cffd48b23a8f3e592540417404fb82aac367f07375c7d34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4177bd9a2f149cff6a698840062460b217866247da422c0a5754d727b98b4cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98d5deda43a1f9e8a9f17438e24310b85d6bcca4e5bc213c62cb0c6f1dcab75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBu7vEAoyfcHzqv11KmeW68hf_OKe98yzjk9s5kApCnK4jF-FV3yeUJ8UzaVHZyDqNmImKi159Hfis4hs4wY6z_Vft0oiW2DUowMYL3apWPMTl2mQxzSTJXTPgLPrI9mvUPMrEZmTsw_nY-hGMoSFjOvkIU0fuNucJZaQi5LSescaVTmX--zg0hvQfavOmEIMoi3USBMtzijPkOp-t_-I78otenVmCQHYe1f5aPPW_QWtq114BscpoXQjom0S7-5hLAzOD7dILsrepVF3dE2fGgVpflNPnZ-2Gn4yc2Mr7_4fsSwbV0UNwxQ8NH9WeHIgIS8RwSu8_OvkqL9s5OsCiQON2ryNr5jYVk102kkYa2jz43X0dTrCsVLzLF2SZEfKtqGQxHfYiGoDBTlgNa_InTMfTOZ941Swhbdb7sRO2jTpDV1NOz-Z2-BKtHFyscWvBZEv_55W4R-oBBZFw3g5KlzLLcERRkli8kyHNTFv5NfbaRFYnpNgEM-Q_0U0mrZYL7jnqxGO-YFDe3OeTalNGHKMJjq9a_3PmYnVG_A8xKRgRXbg0VUfkio9GnkwoqyBXB6RoMWvI26ZDnAgxp3aIRb1loSht2vaEpvDZLlCIe1JiVGHKPH0L9yuwkhtXlDg0ao7bLXOukecvogh-ced9yzhF8posgakNd1WY49Tl8iroLbHnyjxQKLNGuyjMWWiCaz2sm6uMg_8rlM6uPPMuDQW_dHhP7KADU8rcA8TTPeiXGr7JHwsCPSG68Glub40Xtv4KBrKgo4eKvQzVd4UVjw1GfFDyNHrjff0CovNWE7K3E0F70HUXqEm49_5uMREDh6Rm0r-uqzB523HyFxhx28bI9KHJdzqOePez_hJJqg5BjGfHvYot1ikeDhzqNaIs-3a2wHCfEqVqTC6hRLKWKni4XJmEDGPXolXK3WPpsEybeFjSGt12LyZyvEXogi6bZ3UlfNIOF8j6tdAE3vYc0w3et-yamcJarsjHMuyFArXi5O3r5hRK_R0Ie2jqH0I6zdi3T200V_4JKZmWsPawqYoSpoiKWyGnNAercy1WLnbeVsahNx8iFizSYX3xpO_FXfxNFDnF9F2N5a0oXWHWpsQCUQHXFxFWXHMzZNWFLcLUdD0ZZCY7DWgGhlpkszKTxLdvP4S4PFtT1QGJHRVEVYhUZj4Z679_IDhVw65Evnl_0gBurIzw5poHsJWOv1HUHykO-bm3nax7fdll2mU_aU3K2_zJqvBcnkZqC4da1ESv-1QonfYnA9WR6pxftd6Yxqg55AVj9ARispa7GtFV4qissAbSYhFovH-4et9qHeKG3KO3LkqUSGtgOVlBM4YvRzU86sSMzWC2qgGKaTJhlCqtQA78ZV1sFkppIkzG1cIUlwdVKVQP46vHudQN7o1z7V21hp2kcnuIN1fdAcA8JRES3ZtVxIP1JgwisbziFBJ7A06uFWWaltIDodubWv7bKChe5s0fOkdVY2H60DYnm4p6zjuKbxa-cwSa8yC9Vd_P7aBad-XyNGCbxeH1oAen4ximkBAc4HJqFz768oVlr-YK4gkjnIuLOegYZga5ebDaG8XVYRfaI7_VgEPiecAw4ilEJUdKUyMR60rZrk-_k_6d4OSB1HELVyY0pgKtXZjf3JnryfCkwlSbLtxv-gpkvZGeJ2WvZDQnd025vNgSJxjSpmrHYkCG2Z7Pp6SE-uWqz1jflmU4Pz0Ppgh3bI9bITgJCIjvhYaaL0YH0UoGkZdAGU41kzmz-tfE66crHmlrvbZtulQxmXfFuEdANXB3BsVYLho0LqHrlXVr1oXOviI2ve6PHlsQgIulrkVUzpTO2kPMufRKYyftq2YROQXgYvdq4FxeecN1MssN-lNvok7Z6P_yrEpukK1g9tmoI5np4=",
  "id": "rs_05b5239c888a54be016ab41bb9451c87d08f39d5eb9e75e237",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.045},\"note\":\"The cap is centred between the left jaws in the wrist view but still appears ahead of the fingertips. I’ll advance a little and lower the gripper so it can grasp the cap’s middle.\"}",
  "call_id": "call_j3O9epF3lnCjxf4qaGfdt3ss",
  "id": "fc_05b5239c888a54be016ab41bbac50487d0886aa7203954d836",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j3O9epF3lnCjxf4qaGfdt3ss",
  "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]: [-0.4187, 1.755, 0.7403, 0.2089, 0.1444, 0.0769, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3733 left_y=-0.19 left_z=0.0186 left_yaw=-0.5981 left_pitch=-0.2256 left_roll=-0.0452 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5582 right_pitch=-0.2447 right_roll=-0.0049 right_gripper=0.0651\nstate[joint_eff]: [0.1846, -9.306, 8.841, 2.0342, 0.1148, -0.0122, -0.0073, -0.335, -6.3795, 6.694, 1.536, -0.1001, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5748460f733bdcfcabc696ac3cb30ef5bc255c05bf3afd8faa5791a0602b4e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61370afb1bc92636731c04df87e376d2a9c82675ff2282d591edd0adeef65be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78411f7ef5a628ec96e0ca2b0cab94f2174b9ae62496a7cb5fb8ebdf584c6d34",
      "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 · 3.851 s

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

message 24 changed as sent

message 33 changed as sent

message 37 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]: [-0.02, 0.8013, 0.6033, -0.3809, -0.0219, -0.0254, 0.9993, 0.4541, 1.7653, 0.6224, 0.374, -0.0795, -0.0814, 0.0472]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3556 right_y=0.1932 right_z=0.002 right_yaw=0.5535 right_pitch=-0.1962 right_roll=-0.007 right_gripper=0.0472\nstate[joint_eff]: [-0.1709, -1.265, 7.2547, 1.6972, -0.0806, -0.0659, -0.0122, 0.5538, -5.4769, 4.2735, 1.5409, 0.1001, 0.0366, 1.2088]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4229, 1.4612, 0.6994, 0.0738, 0.1402, 0.0727, 0.9992, 0.4538, 1.4433, 0.9607, -0.326, -0.0811, -0.0872, 0.0607]\nstate[eef_state]: left_x=0.3554 left_y=-0.1831 left_z=0.0933 left_yaw=-0.5929 left_pitch=-0.11 left_roll=-0.0247 left_gripper=0.9992 right_x=0.3529 right_y=0.192 right_z=0.1354 right_yaw=0.5585 right_pitch=-0.2355 right_roll=-0.0059 right_gripper=0.0607\nstate[joint_eff]: [-0.5128, -6.188, 9.4154, 2.127, 0.3394, 0.2173, -0.0171, -0.1162, -6.3521, 6.8718, 1.6777, -0.0904, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4187, 1.755, 0.7403, 0.2089, 0.1444, 0.0769, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3733 left_y=-0.19 left_z=0.0186 left_yaw=-0.5981 left_pitch=-0.2256 left_roll=-0.0452 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5582 right_pitch=-0.2447 right_roll=-0.0049 right_gripper=0.0651\nstate[joint_eff]: [0.1846, -9.306, 8.841, 2.0342, 0.1148, -0.0122, -0.0073, -0.335, -6.3795, 6.694, 1.536, -0.1001, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5748460f733bdcfcabc696ac3cb30ef5bc255c05bf3afd8faa5791a0602b4e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61370afb1bc92636731c04df87e376d2a9c82675ff2282d591edd0adeef65be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78411f7ef5a628ec96e0ca2b0cab94f2174b9ae62496a7cb5fb8ebdf584c6d34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvAyBsrTzQrS0CjyeptEUeDPtjKBiwnBROxUVXGs7h1pQr7fOSzaF2KT6ieLMZ7tgiy9gXaZfA_zqGjYpXoiMajuqMmUeUaPHQgK4dMy5cPOLb8Q8sXq3GWwc-D3WzYOKm2WCTaps9SDMOb6zbLumFHYnhPV-XE56mJVQRSwCOaFHU2pBAcNwkuknSz6FTiPNv_GFf-SQ5eGM-r7kDxL2KxIX3cGzMeApxjwUYUhzufNvp7FD_ZIMM4hV2o_7p0M6ynYo7Tew3HXMCSru-oqHLjVBYjTs35nIMDGUbxKEpnYN9Mn3-v6hIm4V5KyWgw7io1kKmgMgqEmT0I42HeHXmqm-c23cUm5S79LzsMKBEHwJk8z5prQKmdhUAQRV5XMA6-cZ5WuksDFSXrdLgv5Ys8jg_-SOkjIqS3UF1LMEhMHx02eneOhAVxXh_wy5X91tcxRtD1NMakQybanyTB9aOg4Ut8ZdDWV7wGxRKTdNtKAJGlix-UlEWJwKVGwbYd48qR40IPu7U8aqc765zLUFn5PSmW5tKpC76P_6FlHplEjtp9hqEBj4GYbSNpFDYWvJ-AervT1hcuGu7xseHxinK8eby69rXcQRhiAmPnHLub1ewOsILcPzSnD15RnEG6AJB5-Sbu7vwt6n8rq1SnmCct5Zk6JEqkIj8NwwyPuK6sWQtfTSZlvNH3U2Kfmbfl35GCYnrhWO6gm-GDG48MgsVOBcFI-bbaQ_2w-tDx-V0IP1tcp_aZC2BrkJCqmcKpPnJJff8mp_zLAAzRyqVeR9c5cgmaw1iXzNaRIQ7xkwV_NisVAnX3kRl03KqI1V_bCOWo-_rkhkGX2ekUnH6D3yggaiKrrZ-Yb3YpafdBlkl4bTamt2h09-ies0GLAx6ouWS-eDbvT83Bl66PKJuND7BDGOQ7OxrIg2slqBoRgaPpFzjBU1Iv3u1XCU9T--RqzVXeMJixMapiv0BJktjS063cFGUQbWcdt9R6_00AfFAzsyiwX7vlzK79tehOw0OQjFnAX-AP3jNisr-ej9YtL18NRi8D0J13yT4rSCHq9xcoaJJyeszilBHZ9qjFgYbfyDDDLbIXMGViHz9_tX7w0BsSY3BJrwizeIArbmifTJrGt7RgmOgMAJpbbDWx4P0ITE9BaebloJnzr-yHB5RLdvYaA6QEs0cbZy03gqzIqLF7UQH0Y3JqjG59QLE0yeqzrXi1jBZhBIu6gXw1WSeKV0Fu6nbN6TR6viaTYiUBM6W0wKeQARsBvh_iPbUDBjfXndNSrQvnmoaklYIT2nhy38D1UYCHW-2BrJZliQ0IlF8LIDgpkXTAylEEm99BzTqxnuPkN6Gw8tFOnjff4Q8PZ1FqGB7KEJTfuosm25iBdsUkO8fFPvaAkHj0fgbaBxnCg1xN-bhT7JxS_fg87-_lfKqWKuxpsL8GlMI2WY92j4MMaf6NYURkfyoM8YX_q1UA9xVakUPzO0p4vJWpxiGCgVJ1394bpEes4qncJgT9Xc7K9U3OhZs_KgxDadPx6OBya01MvI1_-luusAHY6ipfx0YBdJmuI8Ch0qy9l6eNeUIHRk2cc_AP6vnXBQD_cdzsdpt7rolUMXY_AKF7vCuDed4l1-dLHX61Twz5Sk81nj5QJ_ttvO_g9bzqBAAYbJgFL79QwTioHFAMh2Nn3XjCmea71g3Mbiw4CFmhdGNIQgsCjzxP7oT-pq0ULapkDeIxhAMng8zU2K32wqjvAGsWrVPh1g86CAqLX6ggU-uyN2-7nDrMHP0LYRj8RNwFIBDQv9RKDuI02G4MpDrCgrL2g3w7kmBbyIokO90s20kgpcIZSMlPI0ddtWy5uNCm3JC9i_6j-YAz_YEAIxpwcadI_9oJ8oRJrpnLYa1mXSlN26_IuuBhTJmeVMKtPNcxkWgjR-obNIXBZR9Xm_cM2v-gGtodQ1X30e-kcHe-KonVHavDLTttsEQMY9pl-Yg66EwukJP_DIyO2wW6UvY0LW9nrIYZuEOzosXBIPZcm-IvQjOb0QPi2snjewGzvJXvOWXQ5ZLsHXntMEiZIi2Xup2fEROrrdFVhpPkvfavnaRH_vUftOEEtZ9Q4E4AiaRgzrZgS8TQzAqlB08RBczaXkhlKaGMpkXhTMb7G3gHA4RIM1jbvWEa1_2JiDJn-19jN0TCsRVa0deb9LOd0kquAxd0Fr0XsrpFrkyIVx8GOoIdhgRtiUFpatqtKkytMNtrD0lpOGvnbs-b2no1uSWEOuvNO7BtKSjyjTIvoIppcknZ3jTmiD2hmAfrVTk6Kil5U9SncHrDTlL6V6AMms9gVzASXB_21qSSyzsgXP5FnS8QqJ3lqhI=",
  "id": "rs_05b5239c888a54be016ab41bbd851487d0aa179ef6387be8a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.014},\"note\":\"The cap is aligned sideways, but its body still sits ahead of the left fingertips. I’ll advance at low height rather than close on empty space.\"}",
  "call_id": "call_5wXDfC18FcAX1BqzxB3F1rj1",
  "id": "fc_05b5239c888a54be016ab41bbf99ac87d0888409332eff5390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5wXDfC18FcAX1BqzxB3F1rj1",
  "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]: [-0.4175, 1.7813, 0.7513, 0.255, 0.1387, 0.0765, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3827 left_y=-0.1925 left_z=0.0197 left_yaw=-0.5907 left_pitch=-0.1959 left_roll=-0.0358 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5585 right_pitch=-0.2446 right_roll=-0.0047 right_gripper=0.0651\nstate[joint_eff]: [0.294, -8.9094, 8.253, 1.8828, 0.1001, -0.0366, -0.0122, -0.1846, -6.1607, 6.694, 1.5165, -0.0806, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aff4398f60503b579860541c160261642150649514f2eefbdcb19ad6d437c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71e7604f1dce6ddefda4400822673b42ff00ad9aab7238668d9b1487fbe2078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c7020fc6b4333aa72a78aae94644de288367da0a3e254b3a267ce485b6741c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 2.89 s

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

message 28 changed as sent

message 37 changed as sent

message 41 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]: [-0.02, 0.8051, 0.6033, -0.3805, -0.0219, -0.025, 0.9993, 0.4538, 1.4422, 0.9615, -0.305, -0.0811, -0.0872, 0.0553]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=0.0 left_pitch=-0.0122 left_roll=0.0002 left_gripper=0.9993 right_x=0.3564 right_y=0.1937 right_z=0.1398 right_yaw=0.5579 right_pitch=-0.2128 right_roll=-0.0084 right_gripper=0.0553\nstate[joint_eff]: [-0.1162, -1.3333, 7.0359, 1.7021, -0.0708, -0.0659, -0.0171, -0.212, -8.0615, 8.9094, 1.6337, -0.0317, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4187, 1.755, 0.7403, 0.2089, 0.1444, 0.0769, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3733 left_y=-0.19 left_z=0.0186 left_yaw=-0.5981 left_pitch=-0.2256 left_roll=-0.0452 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5582 right_pitch=-0.2447 right_roll=-0.0049 right_gripper=0.0651\nstate[joint_eff]: [0.1846, -9.306, 8.841, 2.0342, 0.1148, -0.0122, -0.0073, -0.335, -6.3795, 6.694, 1.536, -0.1001, -0.0757, 1.033]\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 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4175, 1.7813, 0.7513, 0.255, 0.1387, 0.0765, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3827 left_y=-0.1925 left_z=0.0197 left_yaw=-0.5907 left_pitch=-0.1959 left_roll=-0.0358 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5585 right_pitch=-0.2446 right_roll=-0.0047 right_gripper=0.0651\nstate[joint_eff]: [0.294, -8.9094, 8.253, 1.8828, 0.1001, -0.0366, -0.0122, -0.1846, -6.1607, 6.694, 1.5165, -0.0806, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aff4398f60503b579860541c160261642150649514f2eefbdcb19ad6d437c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71e7604f1dce6ddefda4400822673b42ff00ad9aab7238668d9b1487fbe2078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c7020fc6b4333aa72a78aae94644de288367da0a3e254b3a267ce485b6741c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvEVcahuudP5KbCwC1l8Oci9eo1NCSlVb_nUkpmBXJ2SZ9TWkCoRDCZS31OZGksRWftlF8e5YHIxKA37xrfvdKCsPUE7rmdAeO4fFEKlXZKburPiqNvQWYpT4Mt0RYtqbN1fAD2KNScMtjp3QfAjBOdKHRrkpeqw_NmD-VFzIcqJl-14z8RZaTbErQXp7Aeot07nwwi_fHooeSYsfggFG5PBgI9VrDnd8gaEnsqsHAFYx7-B2gynJc_t2aYSxM4CKylFxwZiQLO7k30yZbJDAoHqhN5ggv9AiD33XiRXg8f5FXii9cqdrWPLTFn3l-6_tuCm-gKnijM3aU-nQYBE8NwcqfKbGocueuZhmjEnBWD_1GZLnOP4X8Xhpnln-F2sUu2cF2Rr3UjqNinWwCj5sIRtK0oD_yDkS8_2jn00KMOxxnKaSe_XLzNZx90bx33JIrP_JkPWaKi5b8IdWWdl__eTsSDMGwPhhB2usxqK1WTe8AHd8Uabs9AuHgFad-zMbO_HmP5C8feWP33Lqz5BUzZw0sNtO2Xasy1vBbbFPZPNAHs86S6nVxkxU-AGIzDeM20wq4l204pEFyUkZNyHkL_3Mu7Z01f0ZUGvtwcqL2lSoaSebuiy0jFvrTw-LjcZXCEFMYZeGd3q2q_RDPP5tnE-MdV2Nh-V-9SFMZEWy80vSl9kDtxFoCB59bgFzlIo0nRY7rGRbFche22OjgNgiuDVqg7yqahEs3UBqkKxQay1X_TRJ8b0zu0oEPFNDHx7SDteF1VHKBeeKqDWA_zxSUVUKueyXBMK28Ai_VjuIuEeiw5zoG6P8WIgtqujj8djB-XJ_RmNZkPFKrRQ3Gqh-IJWeVJlDp7sv2I5HyuwPq_lEZCMcHL4GtZDdwaKyYp1MWgvw6o4OQFeBBTtF4QhoxNlUwGjU-FVmpYr4Dw3jNjOB_2H7VWfhLzfP8oPuY5RmCtTfXszZXejTBB6GA3AdivYTv6xIz1-3lLraLq7334vCQZagKp0WsUJ5WiVK-W1HhufQYZEup6dreAZjELxzmGKdILFjqclKg7cct1s9QKCA7ObfInxtIdioUZZfUd8CK8afVkqydQsb_ktScm0t9yGvoqwE0K7ZSCPvpJai7ymLotqMmUTsPZIdv0Iim_0zhn2z2_uB1D0sDBcH2a4AMeSfa_xgWf7VGTKmwr4n5k8cK_qWax1bHw4QzKcei2-FC1twMfa_ZQpdbM0P4aXSpf7twN9gcTEb9hOqqJCnokw8ePMY79rgPdpL5dzPuBmJFa1yZocm4iLNnI6cig5k1BT2zqriAJR5QUuOfI4o2QuH98P1HBEggo6osnunt1T_6yvMm6Xk6NM7sktrqydIfeUc_1Kc62gRuYfjviIzutRS4TXBNnN8aWOr--BUeo7hgH3VVNdFjPfXmNR7Hpkd5RBuWy0xzMyKMqqe-asenfSEtQ0lS7UWYRXHW_28ib2HbYy2BQCTES5FOu_QZGSZi-PC3LRSURORM8TUANCaRxL_fdGm9LKTHZEkUMOY3Q4u_fQC07kUUJliI9KaidZ9tofXdNtUQpbUgHqU1jb4AHqIrYjA1T_5p_fIXKQx8vA3w3cZ4yOCCuDnJpCcuW6fA99BZ2nXzH_UxajACrcSs8OphwKfEAwSkWx9sw295eIy5MHASzoQ1BmXEvUJyPLgGcep9nA54LvyogxEtIFE-7CVo7vBYNTR6QWDaOJYb-nITJX62v-3tmKOwVGEtmNzR_z_Ieiv6bTkcK4wJAosipfgoKkAFQlmAj4falxAZQ-O95I2N3AwOjYhMggwC4BTXXfPGFisLHAOiuaMn6Kzd924ta0yfA7kEGKU1mPAWavurnf8x_WZdRGIQoyIW72um84pnxM1mzjR7zjnDpKlBmzxEzyLuszo_by4BR_x-bf_Uim09_AoORPx68omz3OEIaUcbXOd5XpqgcNUmkuDByh2yN_VAdDS2bccMbwx0IGWAtLU2K-0QpTe5Tr0c_RmvXxNW1t2yEUiLVPwVVKfVNIbtl1KRpLKVgMloDlXugK2IhWT8XMzSIorQcct27zOo7dQ==",
  "id": "rs_05b5239c888a54be016ab41bc2445087d0802d037616954336",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.21,\"left_z\":0.008},\"note\":\"The cap has moved closer to the fingertips and sits slightly right of the jaw centre. I’ll make one more small forward-and-sideways adjustment before grasping.\"}",
  "call_id": "call_G8Hg81grGNwCbnBq07tROkyu",
  "id": "fc_05b5239c888a54be016ab41bc3f37c87d0a0716ed3cac2a6e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G8Hg81grGNwCbnBq07tROkyu",
  "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]: [-0.4168, 1.7813, 0.7528, 0.2554, 0.1387, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1925 left_z=0.0203 left_yaw=-0.5898 left_pitch=-0.194 left_roll=-0.0355 left_gripper=0.9993 right_x=0.3508 right_y=0.191 right_z=0.1325 right_yaw=0.5586 right_pitch=-0.2496 right_roll=-0.0041 right_gripper=0.0651\nstate[joint_eff]: [-0.1026, -9.1145, 7.9385, 1.917, 0.0855, 0.0024, -0.0122, -0.2256, -6.2838, 6.7897, 1.536, -0.1001, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b135f6831af9fc3ea375e8c2abc1d938126782169c29455b856abc2239ca92dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d24a7373028155b69b7c246c153aa2e20889edfa9e14c7dd4a6a45b79fdb70b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e7125c75c62374b9775cd16694659188c7eed0c4f3b52d41d122cdc155ee94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.094 s

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

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4229, 1.4612, 0.6994, 0.0738, 0.1402, 0.0727, 0.9992, 0.4538, 1.4433, 0.9607, -0.326, -0.0811, -0.0872, 0.0607]\nstate[eef_state]: left_x=0.3554 left_y=-0.1831 left_z=0.0933 left_yaw=-0.5929 left_pitch=-0.11 left_roll=-0.0247 left_gripper=0.9992 right_x=0.3529 right_y=0.192 right_z=0.1354 right_yaw=0.5585 right_pitch=-0.2355 right_roll=-0.0059 right_gripper=0.0607\nstate[joint_eff]: [-0.5128, -6.188, 9.4154, 2.127, 0.3394, 0.2173, -0.0171, -0.1162, -6.3521, 6.8718, 1.6777, -0.0904, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4175, 1.7813, 0.7513, 0.255, 0.1387, 0.0765, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3827 left_y=-0.1925 left_z=0.0197 left_yaw=-0.5907 left_pitch=-0.1959 left_roll=-0.0358 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5585 right_pitch=-0.2446 right_roll=-0.0047 right_gripper=0.0651\nstate[joint_eff]: [0.294, -8.9094, 8.253, 1.8828, 0.1001, -0.0366, -0.0122, -0.1846, -6.1607, 6.694, 1.5165, -0.0806, -0.022, 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 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7813, 0.7528, 0.2554, 0.1387, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1925 left_z=0.0203 left_yaw=-0.5898 left_pitch=-0.194 left_roll=-0.0355 left_gripper=0.9993 right_x=0.3508 right_y=0.191 right_z=0.1325 right_yaw=0.5586 right_pitch=-0.2496 right_roll=-0.0041 right_gripper=0.0651\nstate[joint_eff]: [-0.1026, -9.1145, 7.9385, 1.917, 0.0855, 0.0024, -0.0122, -0.2256, -6.2838, 6.7897, 1.536, -0.1001, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b135f6831af9fc3ea375e8c2abc1d938126782169c29455b856abc2239ca92dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d24a7373028155b69b7c246c153aa2e20889edfa9e14c7dd4a6a45b79fdb70b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e7125c75c62374b9775cd16694659188c7eed0c4f3b52d41d122cdc155ee94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvHvZAf1s5UVAltOVn1JjkTWcOj7xrF1JWm__7gE53hWwROVKsfMAKFN1ABcvH3eQY7-a-mWJMB7jFIv85FiUY37o18XJX9kP5V99PNIC98za5gyWMx8MKLLihH0tvoR6_YnVl9GDkkIZeGR_KhQjhdOgmt5ErUvTsPe3zK4EeME-cdFwMGbVtRMMNbl2rbJXe5qOXBhi958y81CBoVshlCRjcTO0pxipOyP40J6MjFX57dDB_OM3rOpTlaImNtYLrqWnZ8yiNuopjtZtZi_mZS4cL2xlHDT3A8GHTRXnbog-nsY_ANo_cowyoMSRhKoJ2v5GQZtaa9TgDJ3FcjZ8tfIQ48ODR2m8jL23YpRyacQjk0SkZwSswbNynpd83niGljE1VwR0aPvEGbCewRX6uEAphf8ze60lcliWkLRmalkwT9xCeDHCty6IE0lN5y4kP5TLczjmEqvpmHljj-IP0Uz2u420NFZ3ZZu9DM9tnpvLKeLvEwNuVIgXoVMeLynMzmFzM0XYFKl_HWW3gI-yOO4teb3n7d6Q9RLKFoFHjgPP_21oqqeOV7Yc73g06nwtYcHeSrnkyBcWVTIPaFvKaY_mGZoygnIK0y-VgS1UhTRlTf5jENR5iq295pI6x-PbjiunchQyBQBwKqZ441Lh475c2DfY3bov81sPjc0SUulxV-Q09-Trbw2S1fszLZevlh6sR-17j3M30Xfv8My5_fJHsP2HrrhFeh2xE8HvgXkGSB8iP-gThiVzGC7_rLslVX-t6uGkwAAPnu5JCmQ1bWYuE-kBhSKUMc7ID8aODA_602Vd-Ms0CcLli4cGd9qH5_D98MGCM1F0vEJy_R1jIkzrRn_K8ptseU5LeS1qbWSwf0VYA2mcH77soN_LiGJE2S__o6Z_3xYAvH1hPp2xjwIXL4XLBsZNoPwrQoZqX4oZR3WR_cNQfrZdeC2ZWwil7qqb1__17ltTeYGEiXONbDOigWpshp26Pk4FFXQ3BejiVJR8B9a7lRPZHiVDptmxtjbCAkGousp9pVdRkG_kAYNsyQ5HTQX5SxFJdl13bxxOnd_F8BSahB2G3qSiC9JqTZP3qfCkAJOn03N6QQou_Wmrl3-ZrdG_I9o62PzUO174ImPB8E4oL1EwZxoKg4CRzrmRQZEpM7bqDDZJZoFch1WSR8WpxRsEeIjgBtwTTx-Bk3seGR4B4W5jl5EmbI-rdRX87KMELIqgZWvgwF0w8dIDdalP3V6o1ofzR43dUlpwqqKD-i3kRNXZN-WcbG0QIdc9rtiGrAkAKtVBlC9Gsft3BS9R0kWipVZXdCKq6AJ5iFPfSnK9cppBAa5fH8YRHEMOwdefitZx8rAq2wrrA-a2l_fD98xWnCv1IzqTDEKNe9JWQnd_I-eF-fogVBjLIxBwh9d2JL5h8Qq6CYi-1jCBN8Outm1rF2P8_QOm-XrouLtoH6vZBOSvi02IVwEYyrQZcaJn0KGBhOIcxgR_BQ_uQqWq9wo-1CsoABeid2Y6R2m01NneH5MNz0_uNeUkmuE3FEFxOk2oAIvTxWJaYhNyHzXm483DxgLuWHZ1BWgFz_6AdjUeEhXs73d4uGSeScAItQgYKJwjF_NwD-Ovy8yVZxTs01h3p-KAVzMD41-JhElWe_Sz7rdEVK39CSVKFVN5t44-82Jt2wCtA4Lk05z7hjaBPC7yAED1apJQocOAeJPx5P19ynGvwQWQ_uTR2j17K-ZyntJyK4LDp6jBiUxUcZV7W7r38ToeUQNsjaiMQ3eTrUfJtaczr2I4vOQ2Z-_n8cXGfl7lw0UUGYYvokam1yFuDAQ2qEzHt1h7EoJAj6m5oB4_hZVb8aIpE7eSVD",
  "id": "rs_05b5239c888a54be016ab41bc5fb1887d09458256c9931db84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.21,\"left_z\":0.08},\"note\":\"The low-height approach stopped short, likely because the fingertips are touching the table. I’ll lift the left gripper, advance over the cap, and then descend vertically.\"}",
  "call_id": "call_GoCR9gWvVEJV1ZcqNnCmOysA",
  "id": "fc_05b5239c888a54be016ab41bc72f1c87d0b828f739720948e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GoCR9gWvVEJV1ZcqNnCmOysA",
  "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]: [-0.4168, 1.7817, 0.7528, 0.2554, 0.1383, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1924 left_z=0.0202 left_yaw=-0.5895 left_pitch=-0.1944 left_roll=-0.0353 left_gripper=0.9993 right_x=0.3509 right_y=0.191 right_z=0.1325 right_yaw=0.5583 right_pitch=-0.2496 right_roll=-0.0044 right_gripper=0.0651\nstate[joint_eff]: [0.0068, -9.1282, 7.9521, 1.9219, 0.0659, -0.0415, -0.0171, -0.335, -6.106, 6.694, 1.5165, -0.0611, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea5a9ccd7839814360e1d6891504ec7091ec7ad05f93dd621fc1e41223d29ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04502f26a2c372cb78e49fd2bdc89188b7fec9ab1348dc73e7036ea86d922737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6d7affab4f8025bd7ed0c9f50547d37a11bb352fda93b52fd0db41cdefdcf9",
      "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 · 2.91 s

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

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4187, 1.755, 0.7403, 0.2089, 0.1444, 0.0769, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3733 left_y=-0.19 left_z=0.0186 left_yaw=-0.5981 left_pitch=-0.2256 left_roll=-0.0452 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5582 right_pitch=-0.2447 right_roll=-0.0049 right_gripper=0.0651\nstate[joint_eff]: [0.1846, -9.306, 8.841, 2.0342, 0.1148, -0.0122, -0.0073, -0.335, -6.3795, 6.694, 1.536, -0.1001, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7813, 0.7528, 0.2554, 0.1387, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1925 left_z=0.0203 left_yaw=-0.5898 left_pitch=-0.194 left_roll=-0.0355 left_gripper=0.9993 right_x=0.3508 right_y=0.191 right_z=0.1325 right_yaw=0.5586 right_pitch=-0.2496 right_roll=-0.0041 right_gripper=0.0651\nstate[joint_eff]: [-0.1026, -9.1145, 7.9385, 1.917, 0.0855, 0.0024, -0.0122, -0.2256, -6.2838, 6.7897, 1.536, -0.1001, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7817, 0.7528, 0.2554, 0.1383, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1924 left_z=0.0202 left_yaw=-0.5895 left_pitch=-0.1944 left_roll=-0.0353 left_gripper=0.9993 right_x=0.3509 right_y=0.191 right_z=0.1325 right_yaw=0.5583 right_pitch=-0.2496 right_roll=-0.0044 right_gripper=0.0651\nstate[joint_eff]: [0.0068, -9.1282, 7.9521, 1.9219, 0.0659, -0.0415, -0.0171, -0.335, -6.106, 6.694, 1.5165, -0.0611, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea5a9ccd7839814360e1d6891504ec7091ec7ad05f93dd621fc1e41223d29ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04502f26a2c372cb78e49fd2bdc89188b7fec9ab1348dc73e7036ea86d922737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6d7affab4f8025bd7ed0c9f50547d37a11bb352fda93b52fd0db41cdefdcf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvL18QVBU75T3IlUKye7wumWyqQAXByTCmhf0mDUhSkhkK5jQD6nll0FkgBJSDu_bhqyKmA2uOftFOGih6efjefC4Gji7xUybzHDLJcc59ZTgqRB-o1SG2lpsD-Tt-wM3xI0uB0wqHfELLtiZMe2G43stHyx_chNFYTHWvxuB9l0fGkU5bnWBEGrvwD0fsV2IOvbOkRVXhr3joIm_xOqHEQeJd4kne6lTlaaUqNt98zJbx1e-_J-OM0qwy5euFR5qD6oLva8kPzpwAcCBq1uuts8X_lWAYBv8lXmcuBn0WvXSwKA4BHiog-4rzIQnzJKY2QUe5rmKHvmUUlUOz7BQDAC_0FYbKub986yEqOIT5Vi4TQlkEobiNfTs12dthZKHYrD3dferAfMojcrtA4sKO7gVKUfL6gVmZaDOLblJu0I9U8qQVXRuKvJjh-izkV7G5pnZE6zidAWLscQiFhm6dDaNPrKVltYirRtvv2ifFqOXBkTyckeHbSC7EtwkLqGiQ6TU5U64Soq4GsK8bIXurPh-4d_FuyIonioSVHTyE2LhSiI7_K4csWWejpicAtMXHuKY98EAUZ9LLV-IDaf4tvuu4oA3TrhwzcFaNfYtFGAtMRSr1X4bPjazVS_XFPHf9MuNl_kSJh_PJ7x581plcyxfQMRwXoekqKFGqeX4ywWL0TjfCN9DF5SdMCRYlTYx9vINa4nVOcsmG2mqTcMUsSLJJcT6cH3z_E6NeuNc6goMARkqk6xzv-KWea2Kl-kGhEaWtnxkEL3J8G8Wc3d5b2mKN0AziHuIbfdjYKGPhOEJt2iwSkaxRMczb-iGMSUgZ2qSWS07dJ6WpY1d8vLDDpd9GV65vap87BK2gaHt16QF1HMB2vTVuSPFCXqzNR_EIXulfpAn7aUzbzBVLH2BwQ6n_lyNF21kDa1opPlEdjvXKR-cH2XWwvlr-eiV7K9ElDlNldFSHNgUz8hITMQPwOg79GMvqPwyTcYymTg4nJxIi-xKghFnrIvezNNxNkdr14peOlTfwetYti0PnJGIVG8oGy2kfgpHQscCTeNSisDgHiIq_ThQwqsf6YeI3vFCfX5TnoXM1GXosQf1totSzRlVjYLjHUrqYPS4gwlNxItJX41ud3CTrqrPAyXsrYHDMiumB79EVVtpOXuRLQRgdGQCBu-4G5_P4S30R30DPePVGSy6AK2tSdka_1nlLDIew2abdZ6uFs7RHBGcYWWCBtNUVUGv44kZfxTTF9JODoMbKfjbO5MB6djWiChqo_h2aDbryqaaRPqpFJ5r3Boqm1obRMHVCyGqNgVr8-e5Hyn--D6yknCuIm-55iWkUS6Q15boiuik7AkCQTMN6JXbmRs-JmQod8eJwrcf7FrQduZzq7KWGasQVCosV6L_Udcn_GBs8MsyXhrh_OVFjsPnZNq7DRTGFUzlarHp2hmwzd8enm3E0CGFZryE2zNoEb3p8dzq2rWjG7QzN_OlfvoI1unqrRt_vCC-FSlKC3ZXoy28Jxh6hPaaqblAn6qsBhFeCZF6srJ4szLEM9hTzIi_TBzF3oT2L3Chui__81Fr1v3P4L6-OABhZKxAmzfAYom2pgSebUqYGlTQExjzpmvHdTBKUmjyZ2cKgimkBBnBihmMsBbDqPEbsGH_tW7jpXHhiDnSLguzQJgOM_j6bUeYIFpcXOCxH1D7H3jWNFOg0PbVCDwNw1UHXnSFX8BbRkv0lK0FoDqUmkXR_XM3a4KccXMVpL2ZLuG21qr056yUP23Yq4NkO8SxKwlUaaKpagWVkUKGJPHtwPwaQf-BIh6Cc0--GX5DyQE-y-LMPgmKiUn98=",
  "id": "rs_05b5239c888a54be016ab41bc9432087d0b0fd76361eeaeba8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.17,\"left_z\":0.14},\"note\":\"The left arm did not track the raised target, so its low pose may be caught at a joint limit or in contact. I’ll back it away and upward to free it before trying the cap again.\"}",
  "call_id": "call_5Cc6Cwp6EyWAOnqxRcpofnno",
  "id": "fc_05b5239c888a54be016ab41bca64ec87d085d5152ef90e9282",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Cc6Cwp6EyWAOnqxRcpofnno",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4126, 1.3735, 0.82, -0.2237, 0.1387, 0.0772, 0.9993, 0.4538, 1.4452, 0.96, -0.3416, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.3425 left_y=-0.1726 left_z=0.1214 left_yaw=-0.5862 left_pitch=-0.1981 left_roll=-0.0357 left_gripper=0.9993 right_x=0.3502 right_y=0.1907 right_z=0.1317 right_yaw=0.559 right_pitch=-0.2537 right_roll=-0.0039 right_gripper=0.0651\nstate[joint_eff]: [0.5265, -6.5299, 9.8256, 1.5116, 0.1197, 0.0513, -0.0171, -0.2393, -6.2701, 6.8991, 1.5653, -0.0562, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47699cfabf23a610b6d40e978cb90834acbfe96143160002fae0d949061d8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b90f59829a2e388aa4b4b2f872cfba91d3d9f1ac0cebeded790465409013b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f410dca1c3c4c84aa28bcc3651565ff3dc4a79e3a02f142866617e21cb24b4",
      "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 · 5.062 s

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

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4175, 1.7813, 0.7513, 0.255, 0.1387, 0.0765, 0.9992, 0.4538, 1.4448, 0.9607, -0.3336, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3827 left_y=-0.1925 left_z=0.0197 left_yaw=-0.5907 left_pitch=-0.1959 left_roll=-0.0358 left_gripper=0.9992 right_x=0.3517 right_y=0.1914 right_z=0.1335 right_yaw=0.5585 right_pitch=-0.2446 right_roll=-0.0047 right_gripper=0.0651\nstate[joint_eff]: [0.294, -8.9094, 8.253, 1.8828, 0.1001, -0.0366, -0.0122, -0.1846, -6.1607, 6.694, 1.5165, -0.0806, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7817, 0.7528, 0.2554, 0.1383, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1924 left_z=0.0202 left_yaw=-0.5895 left_pitch=-0.1944 left_roll=-0.0353 left_gripper=0.9993 right_x=0.3509 right_y=0.191 right_z=0.1325 right_yaw=0.5583 right_pitch=-0.2496 right_roll=-0.0044 right_gripper=0.0651\nstate[joint_eff]: [0.0068, -9.1282, 7.9521, 1.9219, 0.0659, -0.0415, -0.0171, -0.335, -6.106, 6.694, 1.5165, -0.0611, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4126, 1.3735, 0.82, -0.2237, 0.1387, 0.0772, 0.9993, 0.4538, 1.4452, 0.96, -0.3416, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.3425 left_y=-0.1726 left_z=0.1214 left_yaw=-0.5862 left_pitch=-0.1981 left_roll=-0.0357 left_gripper=0.9993 right_x=0.3502 right_y=0.1907 right_z=0.1317 right_yaw=0.559 right_pitch=-0.2537 right_roll=-0.0039 right_gripper=0.0651\nstate[joint_eff]: [0.5265, -6.5299, 9.8256, 1.5116, 0.1197, 0.0513, -0.0171, -0.2393, -6.2701, 6.8991, 1.5653, -0.0562, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47699cfabf23a610b6d40e978cb90834acbfe96143160002fae0d949061d8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b90f59829a2e388aa4b4b2f872cfba91d3d9f1ac0cebeded790465409013b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f410dca1c3c4c84aa28bcc3651565ff3dc4a79e3a02f142866617e21cb24b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvOByPZpZ25PcEGNnMvPuHruqZhAe7td2qsZJuB7qA3V-aDhMsNOsXzGFRAKAD0Fiy3eJHHrXF5EUCuYZIbsrsLHrQinxMZrm9bL8D9xJv2i4ChwaDdAT8A_nN4Vnu2Yve_ao6R0r4ZWEiZddO8h75bcbJ72mcmFWL88hMcUtdawA9QfugbQTPxalUfycPygWtux3NPbP7yP1HzfF253aNo4LuNGMKhsVrqxL_WL_FlS4mHV1BnAFd917RonAFsDIyMdXA2PPI8XUJzB6pQqBFgHS3UPxIt0ayiVV7DAvbzY6rPQ5k4O90vQFtQaNokXocql-qjba5uMYTDsiS5TbF1OkUfEOPBJz4i37OVDBUT-akFk4MwecaSQFomQEy3oEUhGzrflXmUB8sm-cn4HHyFdObnZCZvRK-wHCFN38SC4atLJ456vbpeL7bQW5a8FcudJiivD80vPF2htIrLZmElUIWqTfiHSt9Y9iMxgP1msfWqfUVPRJzFtLDKBQhRTNU09ezvO6R8VhyNNRseXAaHWf9JpBDVllxjob2XszWAlzJUczJfV0VHXXNsVU07C21c5yE1O0F_nAgg_GfjP-95fIeGlAZHMB_QIbAXAoJceGfFkrRDSIb4OU-53xQz48L4taaM8csX8v3jV3tAlLN8U1tfkDnFk6SqsicuXPygwC4CaXOLBFqvTZ2aRGlezUyXS8rdUeDqx9COHHRE3cyOCWxX2hVkiRrAjbDd05KZHVTNOPBEzLte8V6H8hn9kYUYiaA2ndal2aQw9lAsz5ybU2xTJfz8g6xkxSryxLYdRyHhc7BYeUJZjWAytarde6doJ89-1qUcn5B1zr91N-bD4ftmyLn4vqFmW0AzU-MHrx1qWbv2aBT75A-O04Ywcb5D3v29Udcygj4zaE8jLZdn0Ae4wBHx-cCKg4DoaTuVD1YIwexqyv1kLQEtJCmk3VtbwEqTlP6hd4890tshFfkE9XLj8e9DEsmUfi-814UvyKdeG7jgKMQrRJLEJFG3oJIb7GQ1UxmfL3Jx0Z5jIu5ANrWRGdpZmL6Wk0GVkqJVXGaTkY4iUcFWpZXaCFyBLEcF72EjPccuzCEkWZAQT2kXiNLJT6ztZqQSarENcVrY2UUuB0MvIlkwHQuB58ebI9CWsKU0Tmt9e8OWfKLqU0LVg0nEC8tLD3QYNmBIWF1JYZ-9_lY2RMoSJdBWY0f93rUEUnaiqNVla4-dEhQdV6ZKiInhOcpCNEaCuxQmmUoV3lPmxf63HtFdhT4FeCdAaVkqGfRkg5L54GoeZGDgid8cq3eKaPLT-hkGxfGW_cpu4gmHiHMJQOi7cfgCohPqu48tqfv3Zc-jFY8Lx2qF8mNaV7p41tRGoVwN-m3N43PqfOlN1xWiG2psm72Xv0ePuKqDLZCLK3muCvaA0wAHrQ0LyVerGQdzI5bJTpuc84vkmwegdceuG9oWZdLX-uIt3hydv97KJU_FpyT0E2c4bHFbf_nxQLw-y390j1Wo_8kUSlENdx0rrHVGIjAmOfcJh7ylRFLfVEsMTmX0wsfB5t1Cmw==",
  "id": "rs_05b5239c888a54be016ab41bcd139887d089ff6f7482e596e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.12},\"note\":\"The left arm retracted successfully, confirming the previous low approach was the problem. I’ll move above the cap at a safer height, then lower straight down.\"}",
  "call_id": "call_KSm0rmTN0Uy4N3P6csvE670q",
  "id": "fc_05b5239c888a54be016ab41bcdcab087d0bd4cd9e4aa5b0147",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KSm0rmTN0Uy4N3P6csvE670q",
  "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]: [-0.3985, 1.6775, 1.0649, -0.2436, 0.1383, 0.0769, 0.9992, 0.4538, 1.4475, 0.9588, -0.3511, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4009 left_y=-0.1913 left_z=0.0977 left_yaw=-0.5749 left_pitch=-0.2759 left_roll=-0.0498 left_gripper=0.9992 right_x=0.3485 right_y=0.1898 right_z=0.1288 right_yaw=0.5591 right_pitch=-0.2666 right_roll=-0.0023 right_gripper=0.0651\nstate[joint_eff]: [0.3761, -8.1436, 8.8547, 1.6337, 0.1783, 0.0757, -0.0171, -0.0205, -6.2291, 6.7624, 1.6142, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b462ec0924a325763be8849e7e8a5c33ab0d7c8b306a798309d9824cdf3eb695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9092421360f6e735fd3be5ea0646aef8cacabb132daae1c7ebfdf1cdd2d278d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81e7cf2a3eaed024e2a73749986b5a360773bf659506aa7758e050f32e735d6",
      "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 · 3.809 s

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

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7813, 0.7528, 0.2554, 0.1387, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1925 left_z=0.0203 left_yaw=-0.5898 left_pitch=-0.194 left_roll=-0.0355 left_gripper=0.9993 right_x=0.3508 right_y=0.191 right_z=0.1325 right_yaw=0.5586 right_pitch=-0.2496 right_roll=-0.0041 right_gripper=0.0651\nstate[joint_eff]: [-0.1026, -9.1145, 7.9385, 1.917, 0.0855, 0.0024, -0.0122, -0.2256, -6.2838, 6.7897, 1.536, -0.1001, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4126, 1.3735, 0.82, -0.2237, 0.1387, 0.0772, 0.9993, 0.4538, 1.4452, 0.96, -0.3416, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.3425 left_y=-0.1726 left_z=0.1214 left_yaw=-0.5862 left_pitch=-0.1981 left_roll=-0.0357 left_gripper=0.9993 right_x=0.3502 right_y=0.1907 right_z=0.1317 right_yaw=0.559 right_pitch=-0.2537 right_roll=-0.0039 right_gripper=0.0651\nstate[joint_eff]: [0.5265, -6.5299, 9.8256, 1.5116, 0.1197, 0.0513, -0.0171, -0.2393, -6.2701, 6.8991, 1.5653, -0.0562, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3985, 1.6775, 1.0649, -0.2436, 0.1383, 0.0769, 0.9992, 0.4538, 1.4475, 0.9588, -0.3511, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4009 left_y=-0.1913 left_z=0.0977 left_yaw=-0.5749 left_pitch=-0.2759 left_roll=-0.0498 left_gripper=0.9992 right_x=0.3485 right_y=0.1898 right_z=0.1288 right_yaw=0.5591 right_pitch=-0.2666 right_roll=-0.0023 right_gripper=0.0651\nstate[joint_eff]: [0.3761, -8.1436, 8.8547, 1.6337, 0.1783, 0.0757, -0.0171, -0.0205, -6.2291, 6.7624, 1.6142, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b462ec0924a325763be8849e7e8a5c33ab0d7c8b306a798309d9824cdf3eb695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9092421360f6e735fd3be5ea0646aef8cacabb132daae1c7ebfdf1cdd2d278d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81e7cf2a3eaed024e2a73749986b5a360773bf659506aa7758e050f32e735d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvUsAHwNQ682l8FPx9YZgzNCrSLNY1cxhcsh8UOjWpPIGSsj7Qo2a3xCVYPdIvYXJ1Muu5nnFsD6QnKrW2cjhkiPWQZbNltNw3OrMFZjLBfW-qINX91f9FyCbv0k0fgKojRpeH2IaBZf_EOiMqOjdw4ImWGl6RDhootJCjYbjVfkSLHHrffoqYniVNS0SSJhi7nilKQepwVKVCddn3yTT5g0cCgyol9V6L3VUZ6g-TMHtvYatibNyS_0S1kEge4s57a3M9BgEGisv5nzm8564lIpR3WPrtqCiG0GEtZe4CfbbMfZH6xMgN593_SjvC1FMehlKyBVHDylhV40cIHrrTsjcOEPiN7PGmh-dpvLcgHuiA0Dq9CTUnqE6SY02gBnb8g8Fw5ghk8sdbgv9iCX04YmLCXtFQqC9h21SDTIBWCpWjORAWB4u7vEBrwajCrwhJ_hBLpBb2wEyee-ntPHNujriHth4eUVgTXQlg3Ucn50NZq4_ijDLd7O_SYBoxQWxuwE98zxCpWE_NpqkFjsEjx413rpoaGIqxMpA0sks9EtBFlXxyAIxE-L3vE-ufEZY58VMdhzWhX4375bQgHJZMeGDOCsgQywIbGYPlg42PffMjNqEtciYb_5cNS7881NDkxA3UKyI-kaobP5GrQl941cwZnumg7JVwYHZ7dLSXB2twJuKGtHJLCaZcji939Jb6Fts6bdczcXlgBXThY3ro6gzFb4UXzJM-_VJjDRe_7bBo1CXrYwNVKGA15ivC28-LJjdktRfMQkWsHm3exEuqcaZGqTByUKloJ43GmzNwtqiDyQkdTl0hGkQpzcsaeBuwmdc4jZyCfTSjMn29whwluWWEacPWnhdTD3cvnmI5mw1ZfDJXlgodueyhWq7-BKjHxML44aCu5ZSatG1gWCHIg9p7_lVqdYrpc2I-qsL_vcxC6UeMzro1TgWZZLeuzUyghCwG0GOQSDG-m-VRE28yo5N0LNFeLpbu6oLsTBXwAlQJmihU-ZuD3xdhyITrTXQy7SFgbS6i89alFF5ICMmNwEf9aiO5cKiCI6FuOX6SQOkCAFSvUMxzPzaZT4VSMtSgIPPv_lpmIDuIM3AfzEv_eEo5xWCHXRtolD3fbmydg58zoYiKhpIczS_4CEdUau6noS4jvxXuwg2WyEBYlOLKOga8F87czsdB6azyD8WUThr6qsPJlk1HI9dfZhVUNpJ94hMVQtf-uMBxA0DcWmhoO1bVe_Zij4srFRc1Pp8jqlPvgvJDk8Ues1fsGPDCsIVhknx9cubiFh1G6okBGWjNsxmNfthb5PdvnubPXd1LoetfSCgDXLmijIiZ0EYVXplEULGyIvqeVdFHAzOBmwLZPNwxZZXo-efnbJFKypYAbAaTFxwNcmTvYibb1JmnV4ywdo2QchSlVM2SY6fIVgbwMsQzB9C70HUwXGsRB0ozkcxwab-69EXRz-49nnGMY-aN5Kb4xEW6mJgQN8ZKjG1KCtOGyC7YfvV3pG7KH4e8VOWowM1I_mUk_UrklgF-YDy8jV5EcyruAvL9kyy18CR35e1mXRvBVBvYAg-u8DzaVDk-0coMdfkOKLXnd9ofafFIduXeAKt9qNBpWLKL74b32D3IVJyD62lCEoq7zRZ_UJ19EFUh_1xTFPj1b07mZxJf7Op1g0jQXB0E44-_ySwLnouWuqyYhl8-OzRkDAxB-vTzFAZeO2vhGLFWjDRyjvMLF77UtLEKDwFJNXIrSJaXjF_hNafdhAA9p22Q_v8dfst1Jc9os_KXQ2owMIF8mUXi0eIn3_0ViEScewrXA9JUrAg==",
  "id": "rs_05b5239c888a54be016ab41bd08efc87d08624df683c909f30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.215,\"left_z\":0.1},\"note\":\"The cap remains visible ahead of the left fingertips, slightly to their right. I’ll advance over its centre at carrying height before descending, avoiding another sideways scrape along the table.\"}",
  "call_id": "call_rrABnd3uXAu7DUnvtlbijaJn",
  "id": "fc_05b5239c888a54be016ab41bd2bdec87d09b95e5e26da55ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rrABnd3uXAu7DUnvtlbijaJn",
  "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]: [-0.3977, 1.8996, 1.2949, -0.3222, 0.1375, 0.0757, 0.9992, 0.4538, 1.4487, 0.9588, -0.3595, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.442 left_y=-0.208 left_z=0.0761 left_yaw=-0.5768 left_pitch=-0.3455 left_roll=-0.0631 left_gripper=0.9992 right_x=0.3471 right_y=0.1891 right_z=0.127 right_yaw=0.5591 right_pitch=-0.2762 right_roll=-0.0015 right_gripper=0.0651\nstate[joint_eff]: [-0.1846, -10.7419, 9.4974, 1.4921, 0.0415, 0.0073, -0.0122, -0.0752, -6.3521, 6.6667, 1.5214, -0.1001, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6a3f8f94df3ad8ba902bd8f51947af7a7c29078656666ee72bea45a39f1b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bad22ae57c09ab359236202cc4f895f810d3c01a810863bdc2eff7b914c63c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f295e294bddf552974a64d2b97a0e6c76ac554c07161c5292da3608d686819",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.106 s

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

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4168, 1.7817, 0.7528, 0.2554, 0.1383, 0.0765, 0.9993, 0.4538, 1.4448, 0.96, -0.3378, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.3834 left_y=-0.1924 left_z=0.0202 left_yaw=-0.5895 left_pitch=-0.1944 left_roll=-0.0353 left_gripper=0.9993 right_x=0.3509 right_y=0.191 right_z=0.1325 right_yaw=0.5583 right_pitch=-0.2496 right_roll=-0.0044 right_gripper=0.0651\nstate[joint_eff]: [0.0068, -9.1282, 7.9521, 1.9219, 0.0659, -0.0415, -0.0171, -0.335, -6.106, 6.694, 1.5165, -0.0611, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3985, 1.6775, 1.0649, -0.2436, 0.1383, 0.0769, 0.9992, 0.4538, 1.4475, 0.9588, -0.3511, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4009 left_y=-0.1913 left_z=0.0977 left_yaw=-0.5749 left_pitch=-0.2759 left_roll=-0.0498 left_gripper=0.9992 right_x=0.3485 right_y=0.1898 right_z=0.1288 right_yaw=0.5591 right_pitch=-0.2666 right_roll=-0.0023 right_gripper=0.0651\nstate[joint_eff]: [0.3761, -8.1436, 8.8547, 1.6337, 0.1783, 0.0757, -0.0171, -0.0205, -6.2291, 6.7624, 1.6142, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.8996, 1.2949, -0.3222, 0.1375, 0.0757, 0.9992, 0.4538, 1.4487, 0.9588, -0.3595, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.442 left_y=-0.208 left_z=0.0761 left_yaw=-0.5768 left_pitch=-0.3455 left_roll=-0.0631 left_gripper=0.9992 right_x=0.3471 right_y=0.1891 right_z=0.127 right_yaw=0.5591 right_pitch=-0.2762 right_roll=-0.0015 right_gripper=0.0651\nstate[joint_eff]: [-0.1846, -10.7419, 9.4974, 1.4921, 0.0415, 0.0073, -0.0122, -0.0752, -6.3521, 6.6667, 1.5214, -0.1001, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6a3f8f94df3ad8ba902bd8f51947af7a7c29078656666ee72bea45a39f1b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bad22ae57c09ab359236202cc4f895f810d3c01a810863bdc2eff7b914c63c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f295e294bddf552974a64d2b97a0e6c76ac554c07161c5292da3608d686819",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvYbaQK1oO3hOD4wf-9bn5I6Ab2yr8Ezg2z2jJy2-oveDM0Yg5JAcM3Pm_ICt1SL4RV18wuXi6_4ESDRzFFUtYJB2njxjzKy7fBZqo7TukxRhW---IHB6V_74n_G_UsAx0CFFz1XKmHkEBmzcGE4bmJpFgyhY5zzZAXqAEL0FXme96w3ku7sluqcnluPfX9Q_HHKo5qcuDM0pkuKENCSQeD2363qj18fsSDiIMrWhx-OQa-ggB-lT-vO7p-0AxWK_PFjIcoZ-WCtGvCucMGEecl77J6hNKmaqoXeJwk43t1o5uALEi3N6M1R-EFt4wnZz6ghiY79SlcmIXqZG2_oomSBW3sXijaaKvjIV-tTk2O-xCGeapoBRI0s8cIkS0STmc1fWL-RpYzCFQ_SzWbmUoFO6HKqVYSM8066630XuIVHMm_Ut3__1XMRSESsKZqdfXqWu3jQif05Fz_96nKoxWiuLLN4TrM_9cPjURJTsbDjMwGepxPz9VCVxPep5NWhB0HJmQcy9W8jyZkfnpcpCsLtcfZiJLMLduzXhcxLd1LN64KIK85KsX3QVVH8UsqyBNDO6-BJHKZx8ajUaapH4bnHnY5IXOQEkm7WJtyTvU1OEu8MswCFan6pWhOxRobnvISZKwXdZ_hlWyI82ygA-2BkAiZTVKhqGvbMKPUAkkeJhKH3tO69NvkaeeYgsnc89tMQHYBmovedLZI1bQ0rJoupgbSfC3TAMmJZ8F13yNA3xVpgWPXwn513vj5fVZXk4cpPfHhzZXHEmoo10UtrvNmqrhnTN9rDwJzhHnev4DvkvfOW8g9GZy8YqNTHtEzpDHDJ0W76uT1ZRU4MwJ5o3l6f-fccEarx1nKjGU-MTOBVCI9MVg1V25hJRgcCRLehg4kqEI5-oy3q3F7gLV2tkhSyv4U7FVtHMfqAb0BaelEsvAzG-rEKFiYBvqs7EMp74uT0F8Nt_pFc70igmJe687wOKhvGkHokvmETzWgfWZ2GclvkKLs3j8m-KO4lW0QGCn8qZFN7Hc_QfVE02ozneJA5p1-E5muY-Uk_dYnGeSORax9XoF9tknP--PsxtvXzGw-rAb4e0YVNwlp8W6TISBzinbeeKAm3mhqZqS-ucexvj8A69X3Ztbpc__F4vSyR18N-RZvuDaskPmYx9twNepz55ivFqfscgA5hcKajlu1Aofh0j1U942EmQv2d__7ecRfxWXdhPDYxZYMTISCrB5H5CvXuJ7kWptunSMOX1rI-sTWDFQ0ZJVLxRJWvSRMal-x7x-jqHtJZ8zplpUivw4I0-9xFRmx8ZYejXpjTvrvOgB6PnPe3ShlosN71Vd17HGPw4Hknix9IWzjnUP6pPUJ9uBQeiIC_eZdRkx6Ed2S8UkE97Mze7mgnw0JEZjw6cU2NNMcIDMvoJu2TV5wZCTbL64osgthQZwyHoUjuKojHQRnsbHT9LnxFjoIgWtT9oVWhv7ooGkkVTSo-hC6zGHgB_xP7tjWWoHft728JyIKy6F98zmHxkskKy1BBm1v3Xfe_QpsFg8TmiIyhRrhkCnPYd-E65wcU55xhhUNTvPFISOvIdVvGpBroZo895719PIblqelL5ULH6neCcJgW0kIvp22nV1AXIHYzCdaD8iVj0gs-zaOLR6dt88M9YQww2XoU4vCOE_mZkF-Npm_xdaSgEqHxxToK-ojxfuPfAj0lPXhIdCjGB1osczr4TsMb6CcrYJvRZQPzIAXYfv58hSb69Y2a97IC929WbP698t0sb7LtXGSutu6PNkQWLxWsX8r7SI5nt4D7IIWWg7PE6y2UyyqReXwUEqYiRhWqNzzfn7rnN5Jsi892TB1s7N8x8cbvhahq6DCbOQ_IX9lPVlTvLsKS-tDIjsYBMSz4VnLKw59ZUZ8vSdZBh4xbNXq3JcdgyCM6vBsN1iGjHFqtf8rRv8QwGM0uLGNwErEb64GvivB46KvoT9QRexvZPrKUORrJI3WCb05BJiffz8QAncdXPi2kN0Sbkz-X4UbzUxR9DL_EpiDxTh0Oa97uYnjtoV8-vGBil3z4bMWEiPOyyNvhovHrpvbQPLxAfBRLatxCgU=",
  "id": "rs_05b5239c888a54be016ab41bd62b6087d0a9efc4983839ddca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.24,\"left_z\":0.034},\"note\":\"The cap now reaches the left fingertip area but is a little right of centre. I’ll shift laterally and descend over it, leaving the jaws open until the alignment is clear.\"}",
  "call_id": "call_KWyZL9ML2ZQDTnlrQs61osCa",
  "id": "fc_05b5239c888a54be016ab41bd7e40c87d0969a9589ca6d971f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KWyZL9ML2ZQDTnlrQs61osCa",
  "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]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1356, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3595, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2102 left_z=0.0792 left_yaw=-0.5708 left_pitch=-0.3358 left_roll=-0.0638 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1266 right_yaw=0.5593 right_pitch=-0.2773 right_roll=-0.0017 right_gripper=0.0651\nstate[joint_eff]: [0.0342, -10.865, 9.5795, 1.5165, 0.0659, 0.0513, -0.0122, -0.0205, -6.3111, 6.7624, 1.4286, -0.0659, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8d4b0fab4184c6ab9e423acc3e539657b2c98405d6291fd43c84c88e5b813b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e410a894aa6eafbf1e4097354833b4550faec76aabbf3e7ffb299c6f3e464789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d498c6746f0bc017a959eab075ef05ed9034fd5a80864f90a7f5c5a59e6dfd",
      "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 · 4.601 s

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

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4126, 1.3735, 0.82, -0.2237, 0.1387, 0.0772, 0.9993, 0.4538, 1.4452, 0.96, -0.3416, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.3425 left_y=-0.1726 left_z=0.1214 left_yaw=-0.5862 left_pitch=-0.1981 left_roll=-0.0357 left_gripper=0.9993 right_x=0.3502 right_y=0.1907 right_z=0.1317 right_yaw=0.559 right_pitch=-0.2537 right_roll=-0.0039 right_gripper=0.0651\nstate[joint_eff]: [0.5265, -6.5299, 9.8256, 1.5116, 0.1197, 0.0513, -0.0171, -0.2393, -6.2701, 6.8991, 1.5653, -0.0562, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.8996, 1.2949, -0.3222, 0.1375, 0.0757, 0.9992, 0.4538, 1.4487, 0.9588, -0.3595, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.442 left_y=-0.208 left_z=0.0761 left_yaw=-0.5768 left_pitch=-0.3455 left_roll=-0.0631 left_gripper=0.9992 right_x=0.3471 right_y=0.1891 right_z=0.127 right_yaw=0.5591 right_pitch=-0.2762 right_roll=-0.0015 right_gripper=0.0651\nstate[joint_eff]: [-0.1846, -10.7419, 9.4974, 1.4921, 0.0415, 0.0073, -0.0122, -0.0752, -6.3521, 6.6667, 1.5214, -0.1001, -0.0317, 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 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1356, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3595, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2102 left_z=0.0792 left_yaw=-0.5708 left_pitch=-0.3358 left_roll=-0.0638 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1266 right_yaw=0.5593 right_pitch=-0.2773 right_roll=-0.0017 right_gripper=0.0651\nstate[joint_eff]: [0.0342, -10.865, 9.5795, 1.5165, 0.0659, 0.0513, -0.0122, -0.0205, -6.3111, 6.7624, 1.4286, -0.0659, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8d4b0fab4184c6ab9e423acc3e539657b2c98405d6291fd43c84c88e5b813b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e410a894aa6eafbf1e4097354833b4550faec76aabbf3e7ffb299c6f3e464789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d498c6746f0bc017a959eab075ef05ed9034fd5a80864f90a7f5c5a59e6dfd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41bda980087d086cc48881af72f1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The combined sideways descent barely moved the left arm, so I won’t repeat that target. The cap is between the open jaws in the wrist view; I’ll try a straight vertical descent at the current horizontal position.\"}",
  "call_id": "call_YqXUaRDiDqZPw9MHwckvW0Kb",
  "id": "fc_05b5239c888a54be016ab41bdc41a887d0836917aff2e449ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YqXUaRDiDqZPw9MHwckvW0Kb",
  "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]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1352, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3599, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2101 left_z=0.0792 left_yaw=-0.5704 left_pitch=-0.3359 left_roll=-0.0635 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1265 right_yaw=0.5593 right_pitch=-0.2777 right_roll=-0.0016 right_gripper=0.0651\nstate[joint_eff]: [-0.0889, -10.8513, 9.4427, 1.5214, 0.0464, 0.0171, -0.0073, -0.212, -6.0239, 6.7077, 1.4628, -0.0855, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734a70f631b1d4b184fea6b067d322c9d71cda64b9d6a4fa2cb563ffbce99f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfc281937bc8b953aa421592ce524c3f6e161b4d57c6ac7730b41b89070c0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fabb621681a5c76c216904e513c45262c18c3d2a9bbcf7fda9c801a6d5377c",
      "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 · 3.05 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3985, 1.6775, 1.0649, -0.2436, 0.1383, 0.0769, 0.9992, 0.4538, 1.4475, 0.9588, -0.3511, -0.0811, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4009 left_y=-0.1913 left_z=0.0977 left_yaw=-0.5749 left_pitch=-0.2759 left_roll=-0.0498 left_gripper=0.9992 right_x=0.3485 right_y=0.1898 right_z=0.1288 right_yaw=0.5591 right_pitch=-0.2666 right_roll=-0.0023 right_gripper=0.0651\nstate[joint_eff]: [0.3761, -8.1436, 8.8547, 1.6337, 0.1783, 0.0757, -0.0171, -0.0205, -6.2291, 6.7624, 1.6142, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1356, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3595, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2102 left_z=0.0792 left_yaw=-0.5708 left_pitch=-0.3358 left_roll=-0.0638 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1266 right_yaw=0.5593 right_pitch=-0.2773 right_roll=-0.0017 right_gripper=0.0651\nstate[joint_eff]: [0.0342, -10.865, 9.5795, 1.5165, 0.0659, 0.0513, -0.0122, -0.0205, -6.3111, 6.7624, 1.4286, -0.0659, -0.0513, 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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1352, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3599, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2101 left_z=0.0792 left_yaw=-0.5704 left_pitch=-0.3359 left_roll=-0.0635 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1265 right_yaw=0.5593 right_pitch=-0.2777 right_roll=-0.0016 right_gripper=0.0651\nstate[joint_eff]: [-0.0889, -10.8513, 9.4427, 1.5214, 0.0464, 0.0171, -0.0073, -0.212, -6.0239, 6.7077, 1.4628, -0.0855, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734a70f631b1d4b184fea6b067d322c9d71cda64b9d6a4fa2cb563ffbce99f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfc281937bc8b953aa421592ce524c3f6e161b4d57c6ac7730b41b89070c0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fabb621681a5c76c216904e513c45262c18c3d2a9bbcf7fda9c801a6d5377c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvi1lWCzPP762v-NG174EggXnrHW94yUkHqwUma8wWMUr1aZ-7jy9kVGoI7Eh9sunIwjjoa-nbnIeqxdaAMYAfGA5KDLKZedPzdGN-kZl0lafr5_4IQHf5CpmzwqLJ4nXng8zgKywkUfu7VQZOO8vcIMvsGAzkklBz4Ok-1rHE1OzKbGu3M2JSl6VzaIoFz0E8zovv92CNG8Fu9bfzKMRLO7Yb9nPjpDCludh_R0d9H7adVqkgHkU4Q7_7P6Uo9B6p-vvzFTGt7YFZLe4IZ39b1jLR4_AjXyi_yQHzZ6VeoOt0iBW7sbIC2hakwyI3hV8B92AI_RUg4fyMgpkxh0RVGuoYlfvV0OLvMgR60vXdfBo22oc-mlGi7zUM7LtDv3zFoE507o9w85FgVHOsKK1mxrY2BIWVNURYhs3sOkWZTo3cDBdIk550vRBcN_POslvx_XEAYdctWR8mdhrQx2lAgdY33BcbZkfh_1NEj-g2F7e3thZRApQrVAJ1oAFGEJwzI5LyT-8_7Wqb99MAN4fGMqJTYZrdWSROx3UdaxYxB2V3B7CnwgQ78rbyc-KS_7rrjK08RAtC56eK3c2o84hohF42rGZHNoZikklkwWM3RWpGzrODauw8Ww83dkA2r_hSjFwhlGGvqhHeDoyJ86cZ0sirRr-Si7klkRApvL7abIi6E3HMER6NAvzH9637E7599PD-_-FL-HGGFVw5tRDACOGQDZmh8FSJkNDz3gmEW2ZDK4F7dQ6APMQtwMDehh53oLGvJO6_aAuCeWjUDNl9oN62757m4lxAPuLl6KeotpfZoL3TRyAtOQ4mB7graYTIBNpjhrv4h3O5CY73mS8J9jZ0eG8RjrscvD4leZ5TJ8p7_8zDZkYdhx0ybVHCeEWLMPaPxf3cC5EogsVDtA5pDY1_V3QN70O6gB7jWdxk10Ufx1TyeICbjOI0GOLfOTzTNR4oM_F-gtgpsXuswgfuN9mCG1Fu6GsIW-pRKv2UXXynGROzVG_Vxlaw6TXvVBl9NzlzBssw-_2S8VO1NMcp1SfQAdoXKuL89v76zCFUYsJPM661rj3WCO-fcICzKSedw05SG-aSXhcs-JHS8hEdYuyp_tJ8x2T8Wnhdq-YefoVQiT7YfUlbXrT7Ypt7Y0NFhsjgKmHGUJIqavbK4fGYxzUEO7VhOAnUTp8jkbj1Fx5l5m868kZob8p4_bTPBprwte8bY2qYhB36ORrNSpPb9P3esUMZnV7jMfNiwkfdLsFrd9WlNPgsdVY9XQGql4HFEgD0ar8Ho5ARFzPiS57w2lcHCNmH4m9nYn6ZQpCfFBsCv1c1T5oycdFW7VtG4WMtOn0UKc2I5LrJUDCO7C2w2ABiPZcb13AKuOWIWPTyHAmiSi-VH255ItX0VUMCrcxDdEmaZUzoG_egLYtdoKv358CHM7gBXI2DGkH-RqDxsrMOZmx98FMOGVzhs25PV4yLGouK_Hnd-lQcxPufToPmkKx9lZDDSbR6GTw12r-JOv2tuGknG8cqZy-pivOxebMnh1cWtNIdlMnxnpd1PCfFbny95NLNTKJM4JRlSP5kttKM0DsMShITS9gtZwsSJE6bXb0rjBd-f7tfBt1Yy0ls7t5Slu0MBKYy0PYcr_cLI3GfPCiC-cHVHerd6O6Rrja4dVbj--0UTvwMInQ8NiuNEkabDiiQVg3BK2F4GUUSm86Ej_WRKqWcCNOjj0Y7qBIBlKHJsnbljJfbBzkLZeYj9sQcw4YqSEQ6l3DpyeByLv3nEZMmYRKGrdxTW8nDrnFU7GVPQuGcL1QINtZafhVUGCQ9MgzV5CJ3eMUfXIdytThKfwapm2FmgAfqzTVgxVJEz_ei9Q-LODwFxlc22BRC1p4hlHvDK1fhVd244rHsa28kE44mLGGAT515Xz6krJpGeDtZg7kji2MgQ0dCrcvVIY0p14t3BE9VhKMuP0Iqz7TXvzdemQVGUEMxpEnkb_b_9leQCZRpAPJHNTKBhPg_yBTURljPFN50L0syn7POS7wixdATOkj2Pjy9IucfMuCR2fpXp-rrxUoQBKX1uY4gVT61gSl2h1JjrhCDrp1TF4mxaxJzGRGQ3Ki0cB-rXeSXIZm8foOYBT9RVi3V2M1kfRUv_wYmu8xGQTM5uHZgTsBmMdEeduXXKDFHAT4wjAgdyBNcAqyeOiQt8wF2bowYlcO3xoRtWIRr8t-7jT4TMVD41FphNZjaZnbJc4xXlUMCwNiEhjeXiz_1NOFvQMACQFcFIlOMdPp74Bs002TxGjj1SHvM2Nq9brzhmdJbm-EnfN28DJYK8K5pZN_TZBTmaMPKUBdbL7x3wcG25XKvHI3we_AdhKB2YqMraMmclUJIaKLmtnKXJ4Nb4RIst-F2VUf5tbz07L1zBtLXmjBq19hNdjghLI53DyrVYBqGnvy1cii0rxgfc_PA7ZaoM2qT2-8IyHzozLTPF6T342vjY6OvDXajf6aPKjqgPX4xXSa43bxxwEWz33bzfcjCmBoy6ZskgN7d3mjvfRq2bXt7LU-2hJ01UvSQIc50lvZ3u6pBPjfV1dx9jL769hixCJrkCOID5y-uLjjqUThrx_JB-3DdEiCaI3u0pSakQ58fz32s8ELYoz6Dm6oLhgztiRXmKaet0nxkWxckBVh183eKj9guN8f35K1k39fkWy4j1eyFIoRyKHYLFNQ4rI3ISvZzG2A8M-7jWxi7NcKCiWciJergOCefbLd4-GeTtgWiQjGylfvBRb1_ZQ4hsdDbFqMA4FQ78LhpfQZgeOpEiKe2NW0U=",
  "id": "rs_05b5239c888a54be016ab41bde9e6887d095639684b8f88001",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.21,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0.2},\"note\":\"A vertical descent also stalled, indicating this extended, rotated pose is difficult for the left arm. I’ll retract slightly and rotate the wrist to a less strained pose before approaching the cap again.\"}",
  "call_id": "call_uK1dreXS9NcbvIVkOIIhWhtz",
  "id": "fc_05b5239c888a54be016ab41be1317487d08f4ceb7f469a8772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uK1dreXS9NcbvIVkOIIhWhtz",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.7588, 0.8444, 0.395, -0.5316, -0.3363, 0.9992, 0.4538, 1.4506, 0.9569, -0.3599, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4165 left_y=-0.2154 left_z=0.1037 left_yaw=-0.0645 left_pitch=0.1276 left_roll=-0.0386 left_gripper=0.9992 right_x=0.3466 right_y=0.1889 right_z=0.1255 right_yaw=0.5597 right_pitch=-0.2803 right_roll=-0.001 right_gripper=0.0651\nstate[joint_eff]: [-0.5402, -9.0188, 5.4496, 2.0, -0.3297, -0.0513, -0.0122, -0.1983, -6.3932, 6.7487, 1.4774, -0.0806, -0.0659, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d240ea61bf637119edce75792a03ed1a4ee2774cf34e215806fb519c55bd8e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff0ebbbee5de470a7f38fac034ca463c760cfa55cf9795af541683319766273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55dc4587f5edec000206cf3d6da5bc221043da889e6d5ac570c9a49da99e65d",
      "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 · 2.499 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.8996, 1.2949, -0.3222, 0.1375, 0.0757, 0.9992, 0.4538, 1.4487, 0.9588, -0.3595, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.442 left_y=-0.208 left_z=0.0761 left_yaw=-0.5768 left_pitch=-0.3455 left_roll=-0.0631 left_gripper=0.9992 right_x=0.3471 right_y=0.1891 right_z=0.127 right_yaw=0.5591 right_pitch=-0.2762 right_roll=-0.0015 right_gripper=0.0651\nstate[joint_eff]: [-0.1846, -10.7419, 9.4974, 1.4921, 0.0415, 0.0073, -0.0122, -0.0752, -6.3521, 6.6667, 1.5214, -0.1001, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1352, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3599, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2101 left_z=0.0792 left_yaw=-0.5704 left_pitch=-0.3359 left_roll=-0.0635 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1265 right_yaw=0.5593 right_pitch=-0.2777 right_roll=-0.0016 right_gripper=0.0651\nstate[joint_eff]: [-0.0889, -10.8513, 9.4427, 1.5214, 0.0464, 0.0171, -0.0073, -0.212, -6.0239, 6.7077, 1.4628, -0.0855, -0.0708, 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 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.7588, 0.8444, 0.395, -0.5316, -0.3363, 0.9992, 0.4538, 1.4506, 0.9569, -0.3599, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4165 left_y=-0.2154 left_z=0.1037 left_yaw=-0.0645 left_pitch=0.1276 left_roll=-0.0386 left_gripper=0.9992 right_x=0.3466 right_y=0.1889 right_z=0.1255 right_yaw=0.5597 right_pitch=-0.2803 right_roll=-0.001 right_gripper=0.0651\nstate[joint_eff]: [-0.5402, -9.0188, 5.4496, 2.0, -0.3297, -0.0513, -0.0122, -0.1983, -6.3932, 6.7487, 1.4774, -0.0806, -0.0659, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d240ea61bf637119edce75792a03ed1a4ee2774cf34e215806fb519c55bd8e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff0ebbbee5de470a7f38fac034ca463c760cfa55cf9795af541683319766273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55dc4587f5edec000206cf3d6da5bc221043da889e6d5ac570c9a49da99e65d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvmdkZgyDL9QZQ131FpGjYrfRNlzLskHoXSQsM1uhbrskElh8x6sZhgpfsVlKfGwb8WLebtGTGW2Xpjtik0__kYV86j3IGqkroIUsQ_wOwBB1FV6m2uNDy7CWT60IykwJAzT7f9tjjFuidfR6Q3L8IfWfOTgFQWbiy5zS3yagqUPg482aEUDFGZ3Q7hmN5pPOd64h8RxhgJMNhIHWSTkTfW1sKSD3lDJQQ1ABjDlYOhpLQGaOBbVBTOpP1gTss9aWYUytOb3sGuQME_LBYD70Mgp0JenRjw1PEgIWV78eGgB728MJKxCt4UhC_wrGmCqXKzJRyYVVrVjhiV3fpq7fp8xG8Hvl119T8tWMpSceByYcgI5Z-SoBPVn1FEKP8g2Iso69Egqbqk9CgOuEb76RZDkr5sl5I0c5BIUrUFsqliO2xnTBcUIx_kcMvv7UT99IBXDHnJ-RZ2Tsh4MZ6cYiFbv-xdNrfvjEBQgLs-bcY8ISn92du2FPACDWnPgTnByDY7EYCwj_QSm8Ab6uYcfdKTmL9d9f_6VlIjQUXcFCzYyz8NVPhOxY5dt2LBVy755pUD_TW2pxDIfp3tNvCn9I85_t6-9kCuaCfxj2td4cMzcMXIMEzrct_C8xn5QgFvFrb1D7_lcsFuwOcMuscMlY1z4dY6Rj3MNWAS6r6YsK5S6IdTNCqcuW88JCMJZ4EVp1zp4VI9zkTgyH0xoSLS21YC4HcyZrIEryAKN8Je1LbWFRfYFv_3BDv9HVu15H_VAme7d3lHojvrgdrQbgYej4JVZ-l-YTHGblrtfOgo49YogPPVdTqaT-RCeFW_9lk9kJ8wl5JzeboZn3cbNN6kujrDj0OftIAHyCgsQ7Bk1RG9K9YMAkBCToU8WUp09BoO-X-OhGbwWnpAHYpn0FHXH17QQ7XzJh9wOt0uoWQp6LR74sh065GWbCx7LEbThkwH3zyZbbJLZG0kP1r732ocucgbz9hLVKTsijGGmsCgzcNqLQIVmjGdxvD5lOkMnx0UJDKPckZLSTAGlCqlFvyzDJf0yeQfgiJo6xyk3zSTazVakcUPNJuefutfXH7gOjYzmWv-688QdReYJsdHPARfsxnqzgN_7YW7HZ-BdPSPBZpTnjJdi2wD-5WiOIgoKv6KvPwcT5MBJvHsl3BoZo-AoN3SUtmJsYQXax5HQWb2e4gvtPB94LJKbc3Y6jJstw9cKCRPkpE_qnLk9DzsJrDcOzb1shXGiz6tvGgOcTaqXzl9qmwDqnHreyBIAFGnJiSlBsGHmdPEu9B9U1GGu9u_rFxyurUKldq4YYjwFMx1JxgUOWJa1ozZy1pYEQq-ypCiX2R73Y6Zm3PRZCU2ZeXeT8e5q7zq3jAOAfa-dnu12AFHfgyFBp6Hs2kgpZl8HsOazCxr9RGSpDh4Oh_bruUqPa9YGyBXhmtEAhhZb6VyhINDR36Jpyagt8ISrujbrUDYFohFfMLpXKKmGxSu_bo0BDTMoJOzl1TsAag6utOZt3sZKIFxQJ8nIuewsSp6Mk-FazJ76kQ-RCvNLUYdvi7tDpLYWE7grrXqrW-atVLTZop4scpG5GA5cXPW7J44-DIKvuq_-_9U70w6vUcruPgJ-MBZp6_3-JJKzRtLc0lKw3qjwaQOm0TyQcHxMeem1eFk9BWC",
  "id": "rs_05b5239c888a54be016ab41be50a9887d086dbc8253a98fd2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.01,\"left_pitch\":0.2},\"note\":\"With the wrist straighter, the cap has moved to the bottom of the left wrist image, near the grasp point. I’ll lower vertically now and check whether this pose reaches table level.\"}",
  "call_id": "call_No9fI2EQhktJ7GrbH2duCM6k",
  "id": "fc_05b5239c888a54be016ab41be5ee3487d097039a9e7d07bd63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_No9fI2EQhktJ7GrbH2duCM6k",
  "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]: [-0.6861, 2.1052, 0.7311, 0.8566, -0.5655, -0.3065, 0.9992, 0.4538, 1.4506, 0.9562, -0.3607, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4119 left_y=-0.2103 left_z=0.0024 left_yaw=-0.0616 left_pitch=0.1391 left_roll=0.0013 left_gripper=0.9992 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5595 right_pitch=-0.2818 right_roll=-0.0012 right_gripper=0.0651\nstate[joint_eff]: [-0.294, -9.2103, 3.6991, 1.5165, 0.1978, -0.3004, -0.0122, -0.0479, -6.188, 6.9402, 1.3895, -0.0562, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9487da7e83f3a7be84e847946916a91a8cffb636d8e4b7be05dc196faf5df71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc3916559ba25cfab0b80a03855939bbf0cf7b458cdefb6c344f92bbadd0b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831980f614582e3724ced0769a114855d7253e069a14f5b0a9def0792debe3af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 7.896 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1356, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3595, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2102 left_z=0.0792 left_yaw=-0.5708 left_pitch=-0.3358 left_roll=-0.0638 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1266 right_yaw=0.5593 right_pitch=-0.2773 right_roll=-0.0017 right_gripper=0.0651\nstate[joint_eff]: [0.0342, -10.865, 9.5795, 1.5165, 0.0659, 0.0513, -0.0122, -0.0205, -6.3111, 6.7624, 1.4286, -0.0659, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.7588, 0.8444, 0.395, -0.5316, -0.3363, 0.9992, 0.4538, 1.4506, 0.9569, -0.3599, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4165 left_y=-0.2154 left_z=0.1037 left_yaw=-0.0645 left_pitch=0.1276 left_roll=-0.0386 left_gripper=0.9992 right_x=0.3466 right_y=0.1889 right_z=0.1255 right_yaw=0.5597 right_pitch=-0.2803 right_roll=-0.001 right_gripper=0.0651\nstate[joint_eff]: [-0.5402, -9.0188, 5.4496, 2.0, -0.3297, -0.0513, -0.0122, -0.1983, -6.3932, 6.7487, 1.4774, -0.0806, -0.0659, 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 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1052, 0.7311, 0.8566, -0.5655, -0.3065, 0.9992, 0.4538, 1.4506, 0.9562, -0.3607, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4119 left_y=-0.2103 left_z=0.0024 left_yaw=-0.0616 left_pitch=0.1391 left_roll=0.0013 left_gripper=0.9992 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5595 right_pitch=-0.2818 right_roll=-0.0012 right_gripper=0.0651\nstate[joint_eff]: [-0.294, -9.2103, 3.6991, 1.5165, 0.1978, -0.3004, -0.0122, -0.0479, -6.188, 6.9402, 1.3895, -0.0562, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9487da7e83f3a7be84e847946916a91a8cffb636d8e4b7be05dc196faf5df71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc3916559ba25cfab0b80a03855939bbf0cf7b458cdefb6c344f92bbadd0b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831980f614582e3724ced0769a114855d7253e069a14f5b0a9def0792debe3af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvpS4841nSZrLocpHcX9_4SFgffFKLRwxwapHnkD4laInH1srUwKd0gWNIMtw_3PfuWV1ro4ynpD_Ms0RT0pdQjvm6lYhNTLPlcXjKkaF9188t98zIRpPY0oDi_pvPdznKJWSJuncQp58USkLJUHYFqEf-szo1v7R1QVfMsqQl1CmAhFlO5sXn3WGYj5J7oU3MM_z8z9FbL0ZOm1Y_-vzZ-2bS1slMTI1KxLg07Ff8GZLR05OEB9ehTs84DwynE1Ms76Cqm0aagAFfZYZRjXccloRagNpAXBAAtRwlS-1Iy4D6q1rDKsHPz7ndYsE8aGefanPbFwkuxEriBfDS7Pw4jDvIJJL-ArbBXXYQOUVh1NRHjGEcINKIEK9lg0AmS4PQwajqVBTq0pEa1ndvBo_AunNrAKPJlYdl4NZZrkEojgXY1mV5YjF6gHCEYEjLmjrjUV4ZYUqccbMNd-kPFhWKtIHvlMexlGgq9Ktw2AGWLOS48I9bodxIZNbpXzy_UK1FUaWjNes_7KDndFzFORiWXVqLk-oVOnrkZUrAWqpUln2kEZ2fPgA-eSSTaVDgfH2f3_ICS4ZI-zKkH3dPXIuxkYNgVAfzUInK5DVGQ0tn8UaWUULqugO3AXYBh8D5PsKTzAYvzANQHZfHdMZ-smUR0M8260gegcFtUi5K51117mv0Ut6lKL9A1OaFaGHR6wsrZ_MjG5RDMkrq0U7J-5Wjd2iWLUf4Hd1Ev0hsguLc2OiQ5r74hGMZoZ-CmgALLiQaTavVVfUruZNkBDQsnxkbNz9lZJz9bR71C0yTvR65txAQWgo5CDrYGEls6CKS3J8F-DJ_LnX4rvwWvSgLnPd05dZ9IAubHV_PYx9-kw_b2AVSZq8kgJQcxxP8mu1C9bH5HwymHr2HYGojJOqLyJWMIRPCc5v4FmcIx4N9o5Eqnw4biKt5VqTPJ0o05n1yA5xAJTvfWri0FdiyLPbEf1JMnYT5iPM6Q48NulYrKNQwuN8_g1i-fjB0cwPJDxiov-g-LKVNbydquoTkyWqfMSr0SjmVZncqTuo_A77wu92_eKXJ_w7EOGTN4hbN5wxQ5LaNljLKItfYaB659WnsnR9GJJqpzAXa6Q8RMmlQvZ72s23GyF_b_uf_g-09mUd8qYDQ6vHZMUOx6uNjPEJ5LNC3kJLmDtv3pRxYtGNWoBH3JGrnWN-1znU3IuPPrrIjyt1aZmsH5eROT3QDGq2RcSbeziF0eJhrdI95XjF3f4P30185gIUe9-mfN6nNeU5Z2VR86necIeeefzNMCoeD2qs38HdBC_DYWD9Q_MubpTe3gdfyzoNt67Y4EJ7B5FTPjbLGYlAXKPyWYTa5OHObPMwy3Y2lgeWzMItAL5xQU-GLzhhLclVJwFR78JV-szlH00qlSH74N3zkhKUtK1Q_gWzy6PDHjuRJTHjoyhTPrLfbkgHA=",
  "id": "rs_05b5239c888a54be016ab41be8913087d0925f261bbcf41af4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips reached table level, and the cap’s dark body lies between the open jaws near the bottom of the wrist view. I’ll close on it and check the settled jaw width.\"}",
  "call_id": "call_xCXwhxkENbMOo9bVA2jasGQI",
  "id": "fc_05b5239c888a54be016ab41be93a5487d095fdc877e573009c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xCXwhxkENbMOo9bVA2jasGQI",
  "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]: [-0.6861, 2.1227, 0.728, 0.9001, -0.5728, -0.3122, 0.0582, 0.4538, 1.4506, 0.9562, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4134 left_y=-0.2101 left_z=0.0026 left_yaw=-0.0506 left_pitch=0.1597 left_roll=-0.0148 left_gripper=0.0582 right_x=0.3464 right_y=0.1888 right_z=0.1251 right_yaw=0.5592 right_pitch=-0.2815 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.0752, -10.7282, 4.0, 1.2527, -0.0855, 0.2857, 1.6777, -0.0889, -6.2154, 6.694, 1.409, -0.0806, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a850856fc277db4add0efc09399b485e837329e58499035c485545c867b5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a01880c689d5adc376d5b03d49ae7cdc8170803dd0e0b8d9db7d3b25a6e0e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e33bbe0dc607a8d043191b4bc4c2c31d0efec2319db0073e1dab8eddea6936a",
      "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 · 9.547 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 1.9125, 1.3193, -0.3233, 0.1352, 0.0692, 0.9992, 0.4538, 1.449, 0.9581, -0.3599, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4479 left_y=-0.2101 left_z=0.0792 left_yaw=-0.5704 left_pitch=-0.3359 left_roll=-0.0635 left_gripper=0.9992 right_x=0.3469 right_y=0.189 right_z=0.1265 right_yaw=0.5593 right_pitch=-0.2777 right_roll=-0.0016 right_gripper=0.0651\nstate[joint_eff]: [-0.0889, -10.8513, 9.4427, 1.5214, 0.0464, 0.0171, -0.0073, -0.212, -6.0239, 6.7077, 1.4628, -0.0855, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1052, 0.7311, 0.8566, -0.5655, -0.3065, 0.9992, 0.4538, 1.4506, 0.9562, -0.3607, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4119 left_y=-0.2103 left_z=0.0024 left_yaw=-0.0616 left_pitch=0.1391 left_roll=0.0013 left_gripper=0.9992 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5595 right_pitch=-0.2818 right_roll=-0.0012 right_gripper=0.0651\nstate[joint_eff]: [-0.294, -9.2103, 3.6991, 1.5165, 0.1978, -0.3004, -0.0122, -0.0479, -6.188, 6.9402, 1.3895, -0.0562, -0.0366, 1.0232]\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 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1227, 0.728, 0.9001, -0.5728, -0.3122, 0.0582, 0.4538, 1.4506, 0.9562, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4134 left_y=-0.2101 left_z=0.0026 left_yaw=-0.0506 left_pitch=0.1597 left_roll=-0.0148 left_gripper=0.0582 right_x=0.3464 right_y=0.1888 right_z=0.1251 right_yaw=0.5592 right_pitch=-0.2815 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.0752, -10.7282, 4.0, 1.2527, -0.0855, 0.2857, 1.6777, -0.0889, -6.2154, 6.694, 1.409, -0.0806, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a850856fc277db4add0efc09399b485e837329e58499035c485545c867b5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a01880c689d5adc376d5b03d49ae7cdc8170803dd0e0b8d9db7d3b25a6e0e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e33bbe0dc607a8d043191b4bc4c2c31d0efec2319db0073e1dab8eddea6936a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvyARS6NulC9bTsWETP2jjB41bBKzbh9WHvTC7pbi1HSipLVsXKH3aET53qTDGmIdYRZZuABRCe4F2JAHIl2G3UxkBDU_e7yUVBOqVl7cneHmnD7hnE0aTT7iwKo-g2Qcw8BEY7T7v2Up9VRqXGIdi1Ein3bFqoxX6ajy9jNe_2DzNOjgpKLUr_ZcoHxvGnCXwx4HbIYt3aZQmF1-zoODpVJPBG0DdPwrZV4XV5KmrnEIdOVEUxv4q8F6oWE9h71ratbF4V_PJIvKj_PPwaLs1NADmIfgy0ZYB9UE7BULSw66Nft3gXgX5Ka8deCOfptslHk09nf_qktXhjJlKHb7o2uE8-yy29P4GDiEzJL_Otmmp2UrlahVD6x18OMllelBcODI6BJLS8Pp054DBaf4jnGrn2_jsazHnsguk8ezYwj_bspgOn6zdCAQKZJWDzL7surZanDc-0xwKGjH8v-wX7tkCbJipyAXCnM9C85lVkruOdcajIrnucHTA6TgFXWJGhlbKw-u3NgCZmONtlitlUFt5Ox7Gmy9eaweebiYcRp7QzjaWBJ2jUbkYJ9rFYqzQNQbjEN6dMo0ttNoFh0npboR4TjuIRlpDAbVuo2gkW67FZo2IyoV3-roDDdZG4Z6PLhxip8mzQq17fw05CUQoY5_zVOZfX9u7autAQiG_kPe9AFPDednC41vtKFFKsbhMHdapLfDz_VUDRjO5dW6pTR7jetetiX6liyv_hMF8iHU0q_8PMkUeNuTmIzPvKQYbc7vQRPl22oDIAymKMhjPg14z6lvVSstjWlYZQqCxERiI96HkT0o7yaK2TqQe9Lj05k1BMrM25AXzUP0LpUILNht8LnU8RhsmSbQCgchPBn8ns5MxvcOA-Qa3iJYi2TpUjVCMGHrDqtGC0A9b3BnSv0_pNtO4f-ZiWfMMTbjavKqsuwL75ZFj3wgiBKxXpOiIykS_Vp_L030BPZLj0FdOQ9XIIRmRllfG0MHFA5DbQtwITbaMNQ5_eky3xlHqDH1CyP0PoDYzYBb16OU9FHp6D2U0vxPqwrV19DRJAf698bnnDGFa9fFYpUSHbJJPR86ItgJMkdoMm75xa-PfA62QlHcfO2LtK0sWatWbTI2yAdRK8co54BnTkoP7M_YTe9Z1AQTkogOMC101S1NQRrOdHCjOucGNL3ex_8oNEthlriTlni_YgznNB5cV4eBisohDtWtOC9xSFHIVVdHjuv6ffPdulknFaOrGwCNuBsilEu3OYyudY0cMTra5xus_kEq54QxbkOxuVed_rBkmOzQww_MmcynCyKvxTywUgNtesD3uixOci975tfjVGEvllr3uiY7K1kyZbtyoIgo0FPVGU-RT0B5IbOnl6QazOojZXrpPFrOvMEtFX7a1AcvKLQ_EV9mdIEvyGwpRYL1lI2fETET6M0odFrP04HbYrKCr8a2_yNihgBhXHBL0OepdxjZ7sUfD-LosVhiRN5-pNAN4CtAL25QfsBWZNDbUpR6gZYDQ_g7UHrVML6eo7FBMgAFkPwsNlonGNRzN0eNZ9YJnTQzBlC21f3ynNHEgv11BXnF1PNS45iU55-Bb2fpvLPBKlYPN4t7uD9ZqIAe2qOktZkaZTzKbynPiYfI0yhe51HTqVauUOfMfD4BaDP-f6HFdfL8cxjtoV4nTvjmq_TI-ZSKoqFKkFHXU5tT3VjiruEg_wesm6qjfy0uUBfORw6rV7gEcKW7B5MAEBvLxgnKtyY9AL_tpG_I17xZkmWf_MDO3TIn8CHR_Vm9TK7oN9jJY_37h24XDSkk_w3S5ZTjwTqlekkWwu7WhV9QS2HU-F_3AIRCjvp7S-M63NJYKmi3gGsXm5pEPkJNelwIR6GfCS0nVKOCIzbPIF4pUNOFbguc8atNxEVFhZ9Y-8HVIzcbW1UUToLsPTOVVyss9VExZBbNv20uYGGHRIBCM0eGXUz8eZqY2ws2JrgB6Q9aYFikxEszwY7hxxWWwsYI0fesMS-iB0_J163xWNXGrj8jwIMihNsKlp4eq__WyY8dD3zQ9a6cNOunJc07RQ0e5vDmz2aIIA47_fNYlI8JIoWV31uYczDcK-0Hl7AuAmEeTt5nqexhNV2XHCxw0EFcKzG2PIcBUlf6gvQN7ZA6JX0Q9MStuOFCX64rsyFQw3m3GIDh3TLMLCMEwUP60CyxtGFbrOQMrAhGwR6_sUtesAgipRjTHZyIcG3_lDockfPfnNX5BAqr63v-DrkPJYp8KIQiTK4ZTWhgege5oN9eGKnmD6W2OyY4WtmOB3QaR1s2Y8Li3qrbpxYsYbb5pTO_HudI-9h3uRK3BmgIvo3LFFcUZlKO6POd3BLInqB1pBiI9qG6b5aXg1qNGEPVP_RDyvekPgzx0Sc12O4nOHYOp53nNx29dR_ziPfD_YUOZaSB1zvvo8Ikr_1VExN37hdsl58ZY2b5gUK-AFbPIPLYeabBMimhE3-fgqyd2tt5AIqNREbgv4RpyqX_GVJ5Fg1Ebcbko1Z5XXB2FeG8b8rosDGmhGgJPDGEb7gxeWywuw22dj3oS4UuxbmF1daaWFy1nGiwcTjck9bAu3HrbmYHMVhF81eTdn9IYMxDaQK1v_Jvptez0L5fgazvgoZ1Ct-d4V-tpbqbuo0TvoLokDIMwVERnVFnfO4SJRC4pjlTECf7Vc-esVojO5kJILAwGyWCguwpn6WiyeohJuz9I-Z613ThxEvIV4I-DeZQolnW4wkrDAO4DFHSaZA9wKqThN0twb9iLQNy9QcBVxN9Elw_pUq8zL-g-vE2yDEpYA8XUHmnJ2TSZJfxZIe5MxrFlber6kEB-5Wx4RiQ_JQSTbgx1pWjCu5MWXL7kqk2ncPMxcC5D8SzkypuPES13oZTp3TC0W48O0XIX0-44Zmkts3VfhFm-cwHQmWGHi0YUtCmBDXxknS7gift240YTLvG5nXmQrQjbc0m1TsF33igx4sKb7LU4H_whTgKcsg9J0eFMpdtwzhinbq-Bhv8jrGPfLJ-oz1Ta41cgS3RE_iU-J6OpGAt8r-lAIyl5unxIZPfKk6JcO-2R6Yn3wdOACd01deup7G4ar0qdZ8NQc7hTZL1uu3N6mJSGq_KdIGGzidC3rBysf9XU9UoeTXoEkbTUcEsErfxDJA4dTOdVi4CF8TaRWPPIBrH2UoiinS0vuLyny-JLGS7I7bpDl2JEKjioFOHDZATmnw5POYBxBjBum6SAGPc1pcQG84s3bWAVP3_VSgflD8UGgqH358-4iqLBwq6Hp2c4nTg==",
  "id": "rs_05b5239c888a54be016ab41beed2d887d0a7f7a1ea15605c1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left gripper settled slightly open and the cap disappeared from its wrist view, consistent with a grasp. I’ll lift it to confirm it leaves the table before attempting to align the two pieces.\"}",
  "call_id": "call_OU9ibmE4comyLLRR8zq8q5w5",
  "id": "fc_05b5239c888a54be016ab41bf247e087d08e8bc0b03279f9db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OU9ibmE4comyLLRR8zq8q5w5",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6596, 0.8783, 0.271, -0.5728, -0.3164, 0.0696, 0.4538, 1.4506, 0.9558, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4115 left_y=-0.2085 left_z=0.1385 left_yaw=-0.0497 left_pitch=0.1471 left_roll=-0.0093 left_gripper=0.0696 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5592 right_pitch=-0.2818 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.3761, -9.5658, 9.1556, 1.8046, -0.2027, 0.0317, 1.033, -0.1983, -6.2154, 6.7214, 1.4579, -0.0513, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b76979fb89dd71dfa080fbce5a0f1900f22a8cc2cc10e4d3c04deb5c6c106c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf7fc06eefd69ad0633ed9ff4fd6fcf7fdcf9de375579a039d2fd7bbd9cd4bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f622db592769359bbb87288bd58b4b1533e3e61949e8c84a85f18f57f6fe47f7",
      "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 · 7.348 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.7588, 0.8444, 0.395, -0.5316, -0.3363, 0.9992, 0.4538, 1.4506, 0.9569, -0.3599, -0.0811, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4165 left_y=-0.2154 left_z=0.1037 left_yaw=-0.0645 left_pitch=0.1276 left_roll=-0.0386 left_gripper=0.9992 right_x=0.3466 right_y=0.1889 right_z=0.1255 right_yaw=0.5597 right_pitch=-0.2803 right_roll=-0.001 right_gripper=0.0651\nstate[joint_eff]: [-0.5402, -9.0188, 5.4496, 2.0, -0.3297, -0.0513, -0.0122, -0.1983, -6.3932, 6.7487, 1.4774, -0.0806, -0.0659, 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 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1227, 0.728, 0.9001, -0.5728, -0.3122, 0.0582, 0.4538, 1.4506, 0.9562, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4134 left_y=-0.2101 left_z=0.0026 left_yaw=-0.0506 left_pitch=0.1597 left_roll=-0.0148 left_gripper=0.0582 right_x=0.3464 right_y=0.1888 right_z=0.1251 right_yaw=0.5592 right_pitch=-0.2815 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.0752, -10.7282, 4.0, 1.2527, -0.0855, 0.2857, 1.6777, -0.0889, -6.2154, 6.694, 1.409, -0.0806, -0.0562, 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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6596, 0.8783, 0.271, -0.5728, -0.3164, 0.0696, 0.4538, 1.4506, 0.9558, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4115 left_y=-0.2085 left_z=0.1385 left_yaw=-0.0497 left_pitch=0.1471 left_roll=-0.0093 left_gripper=0.0696 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5592 right_pitch=-0.2818 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.3761, -9.5658, 9.1556, 1.8046, -0.2027, 0.0317, 1.033, -0.1983, -6.2154, 6.7214, 1.4579, -0.0513, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b76979fb89dd71dfa080fbce5a0f1900f22a8cc2cc10e4d3c04deb5c6c106c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf7fc06eefd69ad0633ed9ff4fd6fcf7fdcf9de375579a039d2fd7bbd9cd4bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f622db592769359bbb87288bd58b4b1533e3e61949e8c84a85f18f57f6fe47f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_05b5239c888a54be016ab41bf4e7b487d08203e72b35062841",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBv92vZUpuzvh3OS7Q7F0MjARMDGB-HDYR1sW0qe9OuJZoxo5DPr8MAvga5mLvUiePzdG00pSyHYu2Ox22dsj2tKXvoD3XDujYeTlHg1BbCPZTyyK7Xd-vGFRBTlgquSml8FXpjAGFy9TawxiuPPbVOOg005qZshxYPd5Pz6DplDOr1c9kuU-zl8wfZCZy1FxUteqN8k3saazgJFnnrzGbtZYrkQRtepJPfQ348b97UB64SlcglUHctkdRxk2fPYtru2JophuhV3ktrv4Wodu8m__DN-yDFRpjeYvPqWlZRW3kEaRQlpiW5xWNXYZ6oeMHwr_eVew18zk34r8QJAb1blCX5zsz-d1ETRHpKHDBV8vEm3QrIp0I7omHsv11fcJi2GEnEUB2wLOqbTfN6Ma6CNZhMUYk-Z-l2W_VJYelMDJuYqZaED-Urojm4jSxEn2FoZQFyQjnd_u9Kflvi1fhT03iTcY9Sa7phZtuZ2CE10RBKzzqtf37_FQLXHY2iNDZc5MTeMVHF_Rj_RL2SBmeoNGn5ZU9r8kI3i0rwq2CeYZBcM4d_lJo6NrP5xN_5jJJZxWr_9MAnDGizZyc2jVGEWhfKqVejHX2iFl3rsnMP_NGCEICGfEoXIkGup-BHNKHgxNvyEokMm1-3UqDzE7fd54MXlLA0zZU9XLFFs7pDNFdIyzwveaqiLvdERRAxkn-Xwii3tzKXRobCOP3brzMtcPMb9_OivKk3BhowMRIooobMHRp7vh41WSpnmmXR5Aa5SyfNDeKPwLUBuYCOIfI_GnU9IMrpSRHiWhFH77qJkAV5nZ78NAlc0O2JkQ3z2cPJHgdD_ri3MRsefILjUOJ6nwV2EfAZV2ggM0shYiEbJKdlaFkD4v9-kQqj04i-20clJn_hJAPdRl3ZFVfOUEtcgX3NweGxJgN7XcqkrjzYbnjQFDLwtTnD6Swf_zfw-NSewrc6E2Ov-Dd7EdQn8XFKwQYZhwf043sUElCyL8W-3jTiNxVhNZtpErD2dIboC2QAJz86xZd2A6ThueJa171AD9_2EsR4FNLYXZqrDhNOjdOT-IWCUsKe2Wh-rhLDMRZn3z4C6KWLEi8r0v82sCOKjpMrJZz2lfNaMx1PnhZ0O6TDjv3D0yxmaFxSTypk3er3xWSt5GzKGmzbrbTBkkLHyn4IjUKkvtla3bkayb3WVLfEw2tnneaaGvfNT9eKN1DnT_YXRpRDaZTnGxylQPUsWAlJZ5wJ6J8S6gkBs9oZMT7TLKS0FGYv8CABVBxiJTTVgVMpD31hx6lYBIC7IdGAxmdtywQ62W7OLSdP_l86lZEPVgNRRf3AdJ2Yw963M5EGMxvbchtCekD8r6QxsxNO8DKuYIS5a2YjAlLjR0qzVv4qrZh18khJ25cj9S_WB4ROnuaR5lWKdTbynSTLIkytIYvSNm1PeePdKiHc6fn-rPQGfOBazATI5902yKFT_IXFT7D1V9x6roKuh4eDtunbDHtYBH8U2vrhy0OVT_ZWZa30mYUd7Ztzvb_NRp288NnXflKXofWinGbqfY51pNE8e6WWcTzNrcZvQ5CeEDAQizXPYeeCYHrWoWVW4n_p1dQpz2ualo-OZOc_CBXNQkNZ5rdGSx8ronR9LwXKav8sGguAlr0cgQpJ3jOchWv-eZqdAThD8Jik2Db7vkxv7EnXMRuq-t7f-SxPYY_se-Z1SlOZj_POXzpZmOfzs6Iq_9zPBxiepf6lsZm2w3nXUH63H8QYBnUX0xH7H3sdib3WfqbikVYTiXOM5O5XGVYG80pHm4FqFfmywwgqhKZBi_NYktMjPEgN8c1T6jzrVbGT1zUsUS5igNWjNbjIXHBSVYQVMs3SExeMy1q2GhV43RFt_YWwWAbC0Hh0unxdkB4tbqPo3AtX_ifYh90xsvjAXZRUcbBsBxAmbw3I3n2ZCrpxv8W0280t9yc2CTgS-RQ7gbrglswRJXlqQT-TPHMOaAqRprZ11vykbx4JGc5RCrgRQstKYrMU_9SeA221I0s9HkFlLr1f2g9aHam2FdaJJ25yacFwjHaW26Fe_cvzLijEet425Ngj-Rl3GFx3K5-wb_gm6IBvGZfKL5eMzVchMXjFbsh2OvFPY3plYA6pS6KOe5Y6IflAQTKYnVwAkcqIbbPcaVbtjDhRD-dBPxjmt9WvdQXXIq_L5vjwR2duv5MnaNPGpzD8KJTBg9SDYZ8RS2yBr29G9dFNaqyZimSMVAnEiHv5fGC2Gj3Fa_Q1ob0zsRvcfuw_8zk70xIseOM7TKDI3NgGYsbdzVEl5g9uaOSlhJsrom0NIqng-YY_7ubknOvxQrjKL88INbrUT5p5VEWSPeNst7fekRF8TgM8i-dVtwn0vQt8Cuy58KuDk-fYdDRm6TvTaI0yM2DZPaU7eaxOxjlfZqD7PQDzZRgwJ-qJQ5N-Gj09R5SYHZ0_qtAuIhwdJB05D_fpL88PqSXqSYx0ThRHvZSBDOGqlKabBiHiiiC4hAxTrZsnsV0uToTRcEZ_wYEwVrM9o9C4qqzQEr6Qf5eO-rHC5bttTYpccZ2ibbtJS40xLbY-xa35rKo6AUkn1LNIpIQyk33q15bqi9h6Gh4OajrCRGAns7q6YpF53kUVvGVRNRay-VtwMTLl4iQ0CrdIJpJaZtcGQMGkCI8_eSLKh9VzSyrzMx3pHjwy6oqffp0AA5n2hZT5JeE2jRxxY20rih7rN2kKf84sqM8AFtkUIuV0tp6dZW15NMVbf6UzVTQBhZ5_-TFXumW9Z0DcBVEHIPe_V38VGE2p16KdPipCf9ohiEJokWKu58fln7OBe3XajgOKwAsPQmgvhUliO607BcMmyKDfGZl06_VoPcJkPTAbjvXJz5Wfu0Rd1j-ZFGw4cCKBOdDr3mE_hainUaVFIOEXOm2RD-8UMCCtKJKreVZrC2pr8YTamx5HMYnjRa6i6xOMvD_FAPIEd5e87uRBekfPCMcsgS8rF37E6AY47-3EJrNw5VtIBqAl4rH2bHjNsqD_n1gpaWHkYxbFfXviIBr4bGIp_ta-TrNku2iR7oJWJUqamSo12OVms6QVqy_wIyy93kC1YRZKqHOWRSDNqtnJDzB5ZS_F5NxUAo6JpiUy7IRpleiMCTQTL77wls6N8tdpXkKrjhjp7rfF3xG7Lmfsem8AesuHz8MsJDd76dI7XrwawNH6_QejojdREGubKKK8fyYNKIOFXGZ0G3epr6jgjknrev68BgnDo3HU83Xp6JbA5ihWIFZDmBRT2R9wkrEhZuSAytaOBKtTUdeCkEuLNUrTelFylii-2fQ3179s0u7_jTzHNAlOu",
  "id": "rs_05b5239c888a54be016ab41bf8822087d0865949f242573258",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.31,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"Both objects lifted: the right gripper holds the pen and the left holds the cap. I’ll move the pen toward the table centre and turn it forward, leaving room to bring the cap to its exposed tip.\"}",
  "call_id": "call_DE1a1MBA4li3Gsi0SXuyAuFU",
  "id": "fc_05b5239c888a54be016ab41bfc74d887d0a8a7496e8772067a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DE1a1MBA4li3Gsi0SXuyAuFU",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6674, 1.6577, 0.8795, 0.2543, -0.5694, -0.3161, 0.0761, 1.0466, 1.6836, 1.1881, -0.4965, 0.7589, 0.7158, 0.0685]\nstate[eef_state]: left_x=0.414 left_y=-0.2004 left_z=0.1364 left_yaw=-0.0352 left_pitch=0.135 left_roll=-0.0021 left_gripper=0.0761 right_x=0.3035 right_y=0.2892 right_z=0.1448 right_yaw=0.0371 right_pitch=-0.0842 right_roll=-0.0781 right_gripper=0.0685\nstate[joint_eff]: [-1.6205, -7.3368, 6.3111, 1.8779, -0.1587, -0.022, 1.0281, 3.8085, -8.3487, 10.2496, 2.0049, 0.1343, -0.3199, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7482c379ed42d2bc393d8540f4f9a2ef555898f5bec2ae422ac40d8e841249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a31be594e841992559cbbf541a5f4b86862708a7c9349a8a726b2d8550651ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de3ad71102d63e6e876f00d1b1aad6ed4492d3a2791f12a2980a66795b18cc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 4.493 s

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

message 77 changed as sent

message 85 changed as sent

message 90 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1052, 0.7311, 0.8566, -0.5655, -0.3065, 0.9992, 0.4538, 1.4506, 0.9562, -0.3607, -0.0807, -0.0872, 0.0651]\nstate[eef_state]: left_x=0.4119 left_y=-0.2103 left_z=0.0024 left_yaw=-0.0616 left_pitch=0.1391 left_roll=0.0013 left_gripper=0.9992 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5595 right_pitch=-0.2818 right_roll=-0.0012 right_gripper=0.0651\nstate[joint_eff]: [-0.294, -9.2103, 3.6991, 1.5165, 0.1978, -0.3004, -0.0122, -0.0479, -6.188, 6.9402, 1.3895, -0.0562, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6596, 0.8783, 0.271, -0.5728, -0.3164, 0.0696, 0.4538, 1.4506, 0.9558, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4115 left_y=-0.2085 left_z=0.1385 left_yaw=-0.0497 left_pitch=0.1471 left_roll=-0.0093 left_gripper=0.0696 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5592 right_pitch=-0.2818 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.3761, -9.5658, 9.1556, 1.8046, -0.2027, 0.0317, 1.033, -0.1983, -6.2154, 6.7214, 1.4579, -0.0513, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6674, 1.6577, 0.8795, 0.2543, -0.5694, -0.3161, 0.0761, 1.0466, 1.6836, 1.1881, -0.4965, 0.7589, 0.7158, 0.0685]\nstate[eef_state]: left_x=0.414 left_y=-0.2004 left_z=0.1364 left_yaw=-0.0352 left_pitch=0.135 left_roll=-0.0021 left_gripper=0.0761 right_x=0.3035 right_y=0.2892 right_z=0.1448 right_yaw=0.0371 right_pitch=-0.0842 right_roll=-0.0781 right_gripper=0.0685\nstate[joint_eff]: [-1.6205, -7.3368, 6.3111, 1.8779, -0.1587, -0.022, 1.0281, 3.8085, -8.3487, 10.2496, 2.0049, 0.1343, -0.3199, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7482c379ed42d2bc393d8540f4f9a2ef555898f5bec2ae422ac40d8e841249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a31be594e841992559cbbf541a5f4b86862708a7c9349a8a726b2d8550651ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de3ad71102d63e6e876f00d1b1aad6ed4492d3a2791f12a2980a66795b18cc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwFBO2vYJ6ginT27gStGCglyBq9_nceEnO3XEOHlSAIx4B8Q_8CAqyb48ARUhrJVb2WaU0zyqtExCta29HOnJP5j8coA5F5frTAmYBHrHcc1BVDavmeoTUzYXP6kCxxNi7SC2PLi8kRHY65j_rRq6G0Cy13LNMlhNCZg0hbW442cSDAerIVcNOr1YpKLQpDJQnhiNQEgUR_XgHOxFl6eRRUhm-fIDEoASJtdvyOz4Nv0mX9cw4vCUO-690ifY0sg-cjXmnhnmdBmaZiHoRwiV9uwg43Navb6KaHKTzj4748KMLCXcJDlT0T4TCjAkTStUnO5MJwGUv_2HWPw7IUsmKaS23qTm818tGTG58dnV8MGwYk7RPdrXu5vW2cgu2DiG_qIIBY7F0Vz7whI40sJmRKK9Thq9Xck1Gu5YklK3v-MH6Zl3j3CkEhJiHK6BsB5OqiYhyNTdIHlbNUxIjp2F_TT4auz3rkm-v0l9JFmGw4CvyzwW8hRSchEaEfHZ9Elxkm9pAbqwu-P0IVxFOVz8AmEGFRE7nZoAFqH_J4JGRQXV8gBv4MF-V25GVGAiz_W7YU2pW9rs14XclmkNq7sSEj-DXzbBazpzeVNQTTLnDVdD1cRwVZiNxYQrXuRtvHfF7u-oDZyKMO3baimXE9Q51Lkb6A_fhbba-dTgVOwrxbjy2o5v8DJj4Ykk1zjRtHMxY7jn5jgvynGmYQUuzplgJriCwuvHJ4ZSOzjjxKrUk9brzhYuMrEvvrtO9pntrfxrY31KAVxiW8ONimTqI0nzYmEuKiNJqZ6b0aYU-tRG23mv2fthIiAOhmKQYjqujaxTHZBpgf_Xs8mo4F9RxNhmbeJ6kX0GlVlxlckcicGIcVskDxZYphYCOEHqBA6fePRiBzKCexFg0sThrZFIBtbgifVPungAeRZXgeRBHVf7uV0gcCkfKJngQg6av3F8xm8vX8CkpymO756QHsNSHQMs_GCgNisaJb2vTGLBpf7xDbc0F-H1r7VRubad8fOB01U3DKOZssZ-5jz-JhJxggSB0Sr7Hq3rjHlOIOSsOLXQ9GVwnAVRbu41h0-RDAqKgqc7lDWI6XuoQBItAb_y7wHemWLv5RJMqYMdzwz00FbV0VTgQPw4q6Wbgjm-_5ZXyXwZy3J3EcY3rEk3FlvXaHL1j7RqV9twRDxcSbnGF8L1Sqa75fDpShWFLLmmsib0OKGOOxwALtRVGXLJh-pmJFs-AbnRPxelvAzw10dUPo8ryA7dk0dDU2zUOCDvWkUhVI9m-WwVMwPsUnaIVXmOtTb1bgrUgdY6iiyySQYpQRN0nkl2hT6aiQ_nAGQ_oEX2-OsAPHxTrx0VwoE5zMecUgfXd-iaX9koIjfjYKapW41yOgP4cVc1QibxIGQa2DcF84jSDlxK0Mwv9j1pG-XZLvCASVqhVqkVvbOTyAiJFB0oaYUewGoHPVthGPcpL0gmQcJXHKRy8fmQUUq-BWEGO5VrxQGabXJopiPeT-RkqgI9ciMEbJZg26vO3xvYBXzU8UvocLi9t3IP_tcMOiQ_vEzUPdy13Yl0YXtd9mC0kKP9p34SV5IXb5kj7geU0LuvnL0J3_rXElS9cfCUmwQSmurdEqqTtIGDhcFAWQuqa-SAPm2QDOw0cnW3ukfifLewcziL67BzNdJ365_8R5KK1CXzQ8kJHUIUd6dnlVsPOljDkvM_fDmqeMRENtGXUV4Gvp4tGuX3ROHsYCGzSHvkdQKM4c3xZz-axC1En0uiqIgSd5zIQ_1Nlhyz7KfSuNnjkWIRrA7hSc2Z7BgFAui1NDgolYI00RsEERrSLkdzDJGhPNdxORN5CcT-Uu8_gtObn-1CmSzNW3dcJZB_OwCBNTDDLY3nPhbijDTfEkTXHBmfFyHwnoicERxHKp5CDDklJ5nplqrs1lnZDT2UPMR24dRikvKmQQD0MVhI1wTyHARfl4KgVd2_lXhw_8nusVT5bSjzlNXmuOJdcBiMJt6IrvumL5FYHCmSjkbsfjmWtVs4t4W5Rwxrvd6H_HGL2JkijjG19pQgsKWaZzYm7AfwUFejkeDBpRMOO75ZN89_VWlFJ5k5z_nx1r3nY9sW8P8X__plk8sk50vMhPlUC9REh8PoNUi4ERL1cOTKsRgDh8ZGs6PerHAmXD00xtAK-hcLK3O2XzI_9L-xRf_tRC40nGxcHzTlPx2vx0vALL49J4eih07lPxDDE3Lz2eTuB--I_l_ENgwj6uzJX__HgHyWyb4kJ_HX4EQY-9o9yjvcycpJ8CMS1phedVTVSxNHlfySyhlNz5XOarVH_aQ3nJEGAItZOG-_MtOZeS_HBGyqSHeN7J3DtdC8niYmM0tYheKMdsurhMyVDqzu5JcxwyrfAd-kggbq8LGwrZ00Xst-JH5S36IRc5w4QXQ-02p0n0cod1ZMFrYLwtfCbfqsVnrD26W0SzjwDBcYmTR3aibN-MI_QJltIcLtnLKrLM70x7hqOsLxsgtgVo2IX7kP74iqUoYunOX8rCuXgov9BeCjqg5lvvOnpO_Z_Q77LSYQmvPu6gWRakoRNZEQk0JqiiA66bxbgF0L3H1PBrHKrmsjYnoqPxQI8M_f7KKtQcvV2B0MDdNDL1BrrmNkyD5VBI3j6ZpKBbxoe1mdAQZhTZveHeOVFEWbRvIG0RKENSqs25gV-vJerzfwwRpHnTSScJngeZ41VQiqSRIxn5TKpYDjC0WCCiQM8vSswDBTJrdJ2uJQODg2ql5zBQ4WpMqdfvcmZj41Jbtt6bK8jPc89Nfk7RvAWFsV76WDUzrCzKNu8P1OWDG7LqAiYnFa6ML2Pb0aE9PFtY5FCjQJmYWAmDI9RbMfIdPspb2WczV3E_y9xzy1PlmG0bXQtw7LH_Ibw5nDV7AyQh-xO4B3pIYvnYRdLx3O__XrAs1eC7Wr7uYzjj9I_JEN6N3M8D3XoqKjfhVaeXTyn_Vxl6T1KA9_sDqCPTom8ORgfecsINvH9nLQ90oBIcwkPYObZxHTaKosscrW4l8yZfVcJqNpt4n5DIi_Vi607ng8ASMQLLLrrAu6vQcoduufwTasBgEgxS0XJ8Uw2pV-6BeDUJnXtdEX_G4xZtOjUYGKXmpfrAuf4Xh1bR8W3eVJ562TgBjL-kt1J0j_GOFt7VBnF6OJ9zt6nFcY4FQ2brdPcB91U_lBDBh0KMd6zK1ZqnegtYp5EUW-RYnBRABhcxnNA3-hKZslA7ZsLMxc_E_14J2UctR4Pt9Wnh7KTyehimnKaKHn5ZmcA2IwMiEwlnOfduK_ryHoujteAVYrgGg5XZQUc8ZKZG3psit2Gac3GKJWB4X5B6qQeKTBjVk-xrWNzDXY1CRilhSXzNR3nkZHN9b492VTqwKiBAoqV_v3qDm9zh4OfWeQo6J_WAIFue31D_RCqS0-irPX02ylpjs3p0aAAMkZQSMoRgnOKOZ7W_QTaussdK4psZoXiG9T21SKmPs4lXx8dwhOp6T-rLtMM=",
  "id": "rs_05b5239c888a54be016ab41c001b5887d09f3785c7a132219d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwFwI9DEJrlCfkztsFuczgspMopUZu7yVHGXwqvM8ijyo6SNqSZolghWOv7GpXuB6ZtYFT-Roo1daX9EXBOKfPOje1miTYXb7sFo6PbXpY_t_M8ZgGLGu4H3XOaDfGU-TyJDI3h5vIHoGDMMIZfmrakB1Ouvtm7l8JBscTFLi-zu1Y9KzEd2_HPg7tzUlIf79w-N1hRodhw72clFA18X5m_CnXsZ-1hoFYaD42TdR4xNoWl0zlGsC06n4uB_J5XelvwgPksCD4CZXTJtN1h2H4L9I8_W-UKg43JSgI8j_ioiQYxc_asTTi8Ts28vtMgNcTP5nd5J90EjGloIyYIxw3WAe8Br-Rj-_FuB30rWsaa81Ra-Ddbe5Z22wOhK-_VgfIt1OspgSXdEoqGVvxQOrMT6zOhFAz_k7rVAn82s2PzTtMUpi_p9QTANgF8IWFRqAzqIzBQW0asSwm2BoK3urr-lCxpjWIEVB7mgrNqHjaZLKFO0YrtOvclJOBxNe5C8w_jg5PzR71MLLgolEA2yZFq6rLTO0iOQ1fiWO7olgPrJw3EhpmGQEUZSyzJ4Cekp1NkQv3JlZGkmlUtbIkfwKBwC02nyY3H5y99wSvcZpvJ7e-joiptVfI6wQCOPoqk0LqvNuOY7TunXfYsdZmwOj4hGZV4d8TBYnJtpFneIvLPyHfbz1lDnX7Cj1u1M-labE5A5YwD9PxOb_84gdncxSZpc1bfa-rOMVDx-ZvSicR11hVm_s9my7QYo_QAGw-5H_txYYqNpoGpGF-FEssoPB3DkPF9iNzJswvN9oBIiUPFb8FzPVA7Ouz2aQSvClLNmjbtHCHSFU1SOKY9HLgg7mJP_acMUogSiDHj1UfZKPVabMTD3NV57Xs4yqDe3v9ylg-62kdHjnJJEF0THxK7klnSTfqoVC5m6f3JTLYU3DZWsuar53jKLw7X7ROKp6fSs-ZwqOwdmIpV6XX4TiYM1S6nsgkHSnPja08i0GWp2QXCKCKD4Q2AVxwjtIi0CS5V7tapN0ZpQaGXbRi2R1hw3h24Syl7fSzRPuD4y-QMUf0bZE6FBgYcAbrSKhstp1rJeV7InkPRIunNY9ZEmUWyPrDNO_KOC8XW6F2Vbu1nU9f9gnnwWnpTl7cBJXrExAq3M9PNDcNvdWRJx6L3BjGoQ77L98Ibo_VhaaI9A4z0XVldTYnMizXhUWdHnHIOjZJP7YSpB7RJYtylcBNJrd3d01n50VA92ZJJZWsvKd6mqrWc6aUYXsXvq4_PLbUG--OG-WN4LuqXWL8oARWc_lQINOsmb8W9352W9LjIryHQfqIR2LactjR54MtobDAeoC7Mw2vqAqSCZDHpk7OmcmDcWmCiDPQP9dWYO7UAAvnML-6lzp70hDUOO3iPEPCp8aBXY6PDaKUJxzAKj0n3B_4vGue4vBZdBiA7VaUdlWqGyNIu7SA=",
  "id": "rs_05b5239c888a54be016ab41c03fc5487d0836c08bc05dfbea2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.29,\"left_z\":0.17,\"left_yaw\":0.5,\"left_pitch\":0},\"note\":\"The pen points forward near the centre, and its tip is visible beyond the right jaws. I’ll turn the held cap into the same direction and bring it partway toward the pen, stopping short to inspect their alignment.\"}",
  "call_id": "call_xJQRf6xKL0EgQGauE7ixeQFD",
  "id": "fc_05b5239c888a54be016ab41c04c35487d09e902551dcdca7f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xJQRf6xKL0EgQGauE7ixeQFD",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 2.1181, 1.8198, -0.54, -0.9443, -1.0832, 0.0788, 0.767, 1.5593, 1.2037, -0.5087, 0.7547, 0.746, 0.0691]\nstate[eef_state]: left_x=0.4873 left_y=-0.2451 left_z=0.1938 left_yaw=0.5572 left_pitch=0.0929 left_roll=-0.3048 left_gripper=0.0788 right_x=0.3671 right_y=0.1907 right_z=0.1959 right_yaw=-0.2506 right_pitch=-0.0196 right_roll=0.0568 right_gripper=0.0691\nstate[joint_eff]: [-13.5726, -4.0137, 10.4137, -0.3101, -0.4615, 0.0269, 1.0281, 21.9556, 3.1385, 5.8735, 1.5409, -0.6813, -0.9109, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627eeae03eab12cc53dd2557c466f44ff1e4f0a92e3c4133168638d5e0fabb1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c09dfcc0cf4d7f2bec1871f1c4d20d91150758395d6af252c9a39809a0bffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9be32e4f08383f9457c639645e22d8ecfceb896f41c5cccc06af1e0ce2777b",
      "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 · 4.686 s

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

message 81 changed as sent

message 90 changed as sent

message 95 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 2.1227, 0.728, 0.9001, -0.5728, -0.3122, 0.0582, 0.4538, 1.4506, 0.9562, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4134 left_y=-0.2101 left_z=0.0026 left_yaw=-0.0506 left_pitch=0.1597 left_roll=-0.0148 left_gripper=0.0582 right_x=0.3464 right_y=0.1888 right_z=0.1251 right_yaw=0.5592 right_pitch=-0.2815 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.0752, -10.7282, 4.0, 1.2527, -0.0855, 0.2857, 1.6777, -0.0889, -6.2154, 6.694, 1.409, -0.0806, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6674, 1.6577, 0.8795, 0.2543, -0.5694, -0.3161, 0.0761, 1.0466, 1.6836, 1.1881, -0.4965, 0.7589, 0.7158, 0.0685]\nstate[eef_state]: left_x=0.414 left_y=-0.2004 left_z=0.1364 left_yaw=-0.0352 left_pitch=0.135 left_roll=-0.0021 left_gripper=0.0761 right_x=0.3035 right_y=0.2892 right_z=0.1448 right_yaw=0.0371 right_pitch=-0.0842 right_roll=-0.0781 right_gripper=0.0685\nstate[joint_eff]: [-1.6205, -7.3368, 6.3111, 1.8779, -0.1587, -0.022, 1.0281, 3.8085, -8.3487, 10.2496, 2.0049, 0.1343, -0.3199, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 2.1181, 1.8198, -0.54, -0.9443, -1.0832, 0.0788, 0.767, 1.5593, 1.2037, -0.5087, 0.7547, 0.746, 0.0691]\nstate[eef_state]: left_x=0.4873 left_y=-0.2451 left_z=0.1938 left_yaw=0.5572 left_pitch=0.0929 left_roll=-0.3048 left_gripper=0.0788 right_x=0.3671 right_y=0.1907 right_z=0.1959 right_yaw=-0.2506 right_pitch=-0.0196 right_roll=0.0568 right_gripper=0.0691\nstate[joint_eff]: [-13.5726, -4.0137, 10.4137, -0.3101, -0.4615, 0.0269, 1.0281, 21.9556, 3.1385, 5.8735, 1.5409, -0.6813, -0.9109, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627eeae03eab12cc53dd2557c466f44ff1e4f0a92e3c4133168638d5e0fabb1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c09dfcc0cf4d7f2bec1871f1c4d20d91150758395d6af252c9a39809a0bffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9be32e4f08383f9457c639645e22d8ecfceb896f41c5cccc06af1e0ce2777b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41c080bec87d0a431049b02dcaaba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The two arms crowded one another during the approach, and the pen arm was displaced from its target. I’ll withdraw the left arm immediately to separate the grippers, then reassess the pen and cap.\"}",
  "call_id": "call_UwEFIfjZfesat08DgJleV7BK",
  "id": "fc_05b5239c888a54be016ab41c0a05b887d0bfbb4c525b6d0fda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UwEFIfjZfesat08DgJleV7BK",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.153, 0.7677, -0.2028, -0.4015, -0.6331, 0.0809, 0.77, 1.5883, 1.1954, -0.5491, 0.7311, 0.7433, 0.0691]\nstate[eef_state]: left_x=0.3374 left_y=-0.1354 left_z=0.1879 left_yaw=0.0784 left_pitch=0.005 left_roll=-0.3138 left_gripper=0.0809 right_x=0.3614 right_y=0.1911 right_z=0.1747 right_yaw=-0.2341 right_pitch=-0.0766 right_roll=-0.0015 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -3.7402, 7.8564, 1.8046, 0.0562, 0.1294, 1.033, -0.4581, -9.5521, 7.2821, 1.7021, 0.5348, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4124e912d67f9f8222b038a6d625f0014ce4e79e4b1fe75442626d293702559a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea807cb79963c38078581983995ca89e4e93e192460b321ae19082e3a002625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfa3b3f0c3017fac152e29327304f46f22dcf2938f0a3e5db064c5a7f47c6e3",
      "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 · 4.451 s

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

message 85 changed as sent

message 95 changed as sent

message 99 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6861, 1.6596, 0.8783, 0.271, -0.5728, -0.3164, 0.0696, 0.4538, 1.4506, 0.9558, -0.3603, -0.0807, -0.0868, 0.0651]\nstate[eef_state]: left_x=0.4115 left_y=-0.2085 left_z=0.1385 left_yaw=-0.0497 left_pitch=0.1471 left_roll=-0.0093 left_gripper=0.0696 right_x=0.3463 right_y=0.1887 right_z=0.125 right_yaw=0.5592 right_pitch=-0.2818 right_roll=-0.0009 right_gripper=0.0651\nstate[joint_eff]: [-0.3761, -9.5658, 9.1556, 1.8046, -0.2027, 0.0317, 1.033, -0.1983, -6.2154, 6.7214, 1.4579, -0.0513, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 2.1181, 1.8198, -0.54, -0.9443, -1.0832, 0.0788, 0.767, 1.5593, 1.2037, -0.5087, 0.7547, 0.746, 0.0691]\nstate[eef_state]: left_x=0.4873 left_y=-0.2451 left_z=0.1938 left_yaw=0.5572 left_pitch=0.0929 left_roll=-0.3048 left_gripper=0.0788 right_x=0.3671 right_y=0.1907 right_z=0.1959 right_yaw=-0.2506 right_pitch=-0.0196 right_roll=0.0568 right_gripper=0.0691\nstate[joint_eff]: [-13.5726, -4.0137, 10.4137, -0.3101, -0.4615, 0.0269, 1.0281, 21.9556, 3.1385, 5.8735, 1.5409, -0.6813, -0.9109, 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 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.153, 0.7677, -0.2028, -0.4015, -0.6331, 0.0809, 0.77, 1.5883, 1.1954, -0.5491, 0.7311, 0.7433, 0.0691]\nstate[eef_state]: left_x=0.3374 left_y=-0.1354 left_z=0.1879 left_yaw=0.0784 left_pitch=0.005 left_roll=-0.3138 left_gripper=0.0809 right_x=0.3614 right_y=0.1911 right_z=0.1747 right_yaw=-0.2341 right_pitch=-0.0766 right_roll=-0.0015 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -3.7402, 7.8564, 1.8046, 0.0562, 0.1294, 1.033, -0.4581, -9.5521, 7.2821, 1.7021, 0.5348, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4124e912d67f9f8222b038a6d625f0014ce4e79e4b1fe75442626d293702559a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea807cb79963c38078581983995ca89e4e93e192460b321ae19082e3a002625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfa3b3f0c3017fac152e29327304f46f22dcf2938f0a3e5db064c5a7f47c6e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwQ1KRKNoZSWm0RQo5is_wi6dIHk1VVj0iNzN4F3ny5nsaz_RhF6PleVIAXm0lCkAb9JVV44Ja5E3hznBhkxpVGtbYob4BDIGrk3EfbqzJj4FMdu4pKj4awwyF5cREIcTwfDZ4Ef7Q-NccgCae9rh2wn4FnGMpjcMrHPVSwBvlCxf0iYGBn7FmseWVbmrXRudNjH8karmZblZ787pdNIkSYQDu_2dwt-yzkZ5jZO5ezRzdlPHtrZNZIChsA7Wl2iXAaiDYawNoxJ6Q79xtN7odn6Cx1G2kMqz-WJftBO-iBUgpw7Tn9XFgjAh5K4F27joqMI4sxG6ORmHlnF8CM2y3mwOOFkehGTzN25ZFUsNFL8alsJOwD-dbRv10CHwFRV0Y27EXd7Zl7UZp1hK4PiLQDIALHSZFnBoewf9GhfVQxw6DByVulf_pwfS1JvEdtg1DTJvebpbkGMZpdkN63bRqAwFFMtnW4mzdQPj-BNQjeNylZDTEHOvUirFC3Drrr4efqN5AgMzzPOrVmpURekLJ3GURNCC8kU97_Xh3r042NhV-3eKC6Ftz5Ienm61OEgYuOng8wh5lj-kdR2oNnPy90YWGBrKSM1C6k7jsWHaTRFTIXbkYfTpoizaGP_B3l84H55J02tI_gVJvC4AkCIR_78r3c6bLuo4-GNu-LB3DzawPLtzW72fqEY3B9LVHG0LoOlQMqHZFeE5whN7lZdKpqlgeKuLuiI7rU4wta4EA2T__PBi3rY2ySI3V0iyWXtF0ACEx_a2bNwweukhLZ-b9G2BI2SQj7AIUKhH77aebNfX-011Ka-ehfnCQQh-W7qsbgDtbTtZBR5brJ5FwK0lxp7x9yEtA0aHBT0qIW3-iO7dfW2ccIsZFN_8WYmns61lAKkZqmS9bqOH4z4JIk_QAUkvXF6B4z5WWi1aXuT84VznqoQkEx7zSaeGqs2aNtQHI66jOrPVtNPM8tl5LVmzF56KYQQD0N5z0ojcRIY8GtfqjhVVI5Ieli019Q0rXZiVyeeYJWmj49UNrjZVSTzwNtkIy5buXyRo8TGRZx3mpjHkBPXZddQwmiQZxtw2tC4Ugkvb12GJN8zffhjyFDc_I_rQT4kPDY66VUrrwChMAbq2jI1FVDRmb-V7BhdWXHu7T2WFIf--zmGPkIdz5tQQICjb7X-QBBr7dxUwJikJV724sEkQ14wUIMfV5tqy0LJbVbMgShh6AVJlRBp5gplekEMRSZrXdHX3Io0_87Ymemxu2tJPxYA4rgPsISa-agYrAw0sXVDrseRSxaorQ-ft0gKAhZ4n_WBpDWldjyA8PIhYWHhx7TWefdC6aUf-sfS9Tx9-7NMur3L4eEG0XX82cwpFVGOGh4qoVPASZduslGKRnXGMEZZurIpTvb7MP8g51nzkqmXK02IoI5-WyzBLcL-lEY77evUuPier9e3iGRLJlCtSbC2NMTFVoC_CiIiWYe6bl_yeNYDDR6S1Ir4BcwohqY9C3VgErNxNxd48Tvtl2mR9mYt5tvUuDgBxP8g358h8pEpqhv_nyu28DOEop7VlX_l4mdVMx2HmXs2t1rncisaI5MuHtzs3hhoLrWNZdxcey7uOJ3Go68SoP4V29GtR4hf9cywMX5yzRYclWeo-YCkSuu1rtdyq-WWA8bGVhSbsMCp4ftOKsDAuDRCjlyB4iw3GpwlVUnekLDa_XWLd1RFFiJBpczgMrxZwqFTYTzhPzbepygrwGKeHE_R4QnREUdrT_TrFw7vJcFckvz5b1FhdSGP0NGY59ZRgskkTyiT95pBwT4RnM1aNaGLrmtkHAG_rLVp91sDWSvbZTnBCCK6SYX9T6H-8zlKrYxupRHzsSZoM0QTEOnRS535J4brS6IqdGe8OPGA1BZm23SoaAKtQfmVoIFzXjy4mNvRUMM2l_Mhwo03vYtfhpvrHFsrGFB4YC5KHxJ6Dmdz8bIMmXNdFzVitgW-246MvUVUNPNlL2K5cD1UG14nwfFV4BFIha-IidyvnzIxjU_y-SVIYID4d_msL7h1ena133_4UiasgZyeW3lTbJVbHsL1bFVTxPuYm0gv28n2ZfuOfX89xvxfWGbOAzouOj9sYhB3Cuczgeq-w8irHltIJD_216NjxeE1w3XcxSek9JaJyi8_a4OfsoibQAClr12Lo23uSSDFZplDmquJVqMnGkgzGemK6lYL1kD-e8UheK7SZfqayimSCxel6yTyGkGobT2ItVcN2Go6k7tBPt2s9Ccx1r1hfqmxop5ohvXVVlo6qAMNtThvhm2irn67eH0AQb4KcAyq_Opn-lwYNtg9jNanWIuhDDhCc9YY6kI50StX3o4ONtJJrAsD_HGExHs3chbsz_PQqPLRFN-khYz49rr9nZpa2YYKbYB3KJaV8aRyH94T85EzDU6MKGeWXrAMktRmWKA07OEeW6g3a0EhGHfjwAYHIh52sldOibHpFcGFeExkqYBcUDEk6JMJBoS5eTixC6lVjfmKm0ueY_pAFC-a0h6rnKkp8ChyVD5oaN3Pe5Yw0y-pEoJ8zz0xE-s5k9v2I7umSoHSTQoLM0qzYmz84Ajpi4NYj5P1awUlRYsibi8GD83fjrY4Vx7p8iv7b3QX525VME5k87h07vBoyzQatJ4biHaBxylKmeuAzgyY386CMp5Fj3w2Mlv9W9WoO6LsTD3QANxb4nGMgrQMJC7WjxUzdBdRzKpTEv2houng45pxz7zmGu0HNFHmjyTh-VbuWa7LYgRgln0wTV8pkXD26XQ6Xtmmc0v8glP1EYLfQ4VvvlFWTr_c2XG_l403NRUDkr56tn3f-JtTRH1FnlmG7HAo1m4tO88WBHpsXAARXgoEs0ZUCUZQ0u3ZtsytlCTMJlny2ZPF8MXTMcvCMENWJCAOOipahrJNyeTGN7flU8OcRGeoS5eJzjCHgxGoHU_thQKVPMx9ZXyhwcOnDG0XxC9lkK3IH2cIj2Iay6o5UHkp0ab_L8g5mMDDXeRKhlu9LHr",
  "id": "rs_05b5239c888a54be016ab41c0d4be887d0a3367adf2bed9d5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.32,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The arms are separated again, and both jaw readings still indicate they hold their objects. I’ll park the pen farther back and nearer the centre line, creating more space for a cap-first approach.\"}",
  "call_id": "call_MjJEHrXNN2wwnCA3hyG6pofR",
  "id": "fc_05b5239c888a54be016ab41c10137c87d0bd483dee2975f447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MjJEHrXNN2wwnCA3hyG6pofR",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.1595, 0.7544, -0.2153, -0.3889, -0.6304, 0.0809, 1.285, 1.6772, 1.2846, -0.7502, 0.9058, 1.0435, 0.0691]\nstate[eef_state]: left_x=0.3344 left_y=-0.1344 left_z=0.1769 left_yaw=0.0702 left_pitch=-0.0247 left_roll=-0.2975 left_gripper=0.0809 right_x=0.2347 right_y=0.3184 right_z=0.1734 right_yaw=0.0164 right_pitch=-0.0265 right_roll=-0.0027 right_gripper=0.0691\nstate[joint_eff]: [-0.3214, -4.1778, 8.2667, 1.7753, -0.2906, -0.0708, 1.0281, 0.3624, -7.3368, 8.1709, 0.6032, 0.6422, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcceaa81e9be48b51ec111e7580dbbaedfec41d53fa77b6509819d39537bcee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1354605c9e1b251393e613a4dea96f9937975b9086d068ccd6d650445e9487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64953aac63130f29659deb1f90b1271055ba98b88d38323d027dd5ea708e4ace",
      "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 · 4.98 s

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

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6674, 1.6577, 0.8795, 0.2543, -0.5694, -0.3161, 0.0761, 1.0466, 1.6836, 1.1881, -0.4965, 0.7589, 0.7158, 0.0685]\nstate[eef_state]: left_x=0.414 left_y=-0.2004 left_z=0.1364 left_yaw=-0.0352 left_pitch=0.135 left_roll=-0.0021 left_gripper=0.0761 right_x=0.3035 right_y=0.2892 right_z=0.1448 right_yaw=0.0371 right_pitch=-0.0842 right_roll=-0.0781 right_gripper=0.0685\nstate[joint_eff]: [-1.6205, -7.3368, 6.3111, 1.8779, -0.1587, -0.022, 1.0281, 3.8085, -8.3487, 10.2496, 2.0049, 0.1343, -0.3199, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.153, 0.7677, -0.2028, -0.4015, -0.6331, 0.0809, 0.77, 1.5883, 1.1954, -0.5491, 0.7311, 0.7433, 0.0691]\nstate[eef_state]: left_x=0.3374 left_y=-0.1354 left_z=0.1879 left_yaw=0.0784 left_pitch=0.005 left_roll=-0.3138 left_gripper=0.0809 right_x=0.3614 right_y=0.1911 right_z=0.1747 right_yaw=-0.2341 right_pitch=-0.0766 right_roll=-0.0015 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -3.7402, 7.8564, 1.8046, 0.0562, 0.1294, 1.033, -0.4581, -9.5521, 7.2821, 1.7021, 0.5348, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.1595, 0.7544, -0.2153, -0.3889, -0.6304, 0.0809, 1.285, 1.6772, 1.2846, -0.7502, 0.9058, 1.0435, 0.0691]\nstate[eef_state]: left_x=0.3344 left_y=-0.1344 left_z=0.1769 left_yaw=0.0702 left_pitch=-0.0247 left_roll=-0.2975 left_gripper=0.0809 right_x=0.2347 right_y=0.3184 right_z=0.1734 right_yaw=0.0164 right_pitch=-0.0265 right_roll=-0.0027 right_gripper=0.0691\nstate[joint_eff]: [-0.3214, -4.1778, 8.2667, 1.7753, -0.2906, -0.0708, 1.0281, 0.3624, -7.3368, 8.1709, 0.6032, 0.6422, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcceaa81e9be48b51ec111e7580dbbaedfec41d53fa77b6509819d39537bcee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1354605c9e1b251393e613a4dea96f9937975b9086d068ccd6d650445e9487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64953aac63130f29659deb1f90b1271055ba98b88d38323d027dd5ea708e4ace",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwWPvYU0MBQlgnMVHKa7HpppSkvq2dxVVzVEIzDHiNKulNp8hx7O9hfVlQSrg-SurfzkjcmpeVY0K7tzuke31EtlJ-Y07iWmeAlFQ9gqPQGqm_LoHjTn5uTIKaybqRJj6Aluw6X-IT_ddogzpjlyk7BHE4-fXMTfqvbjJid7fyMWINW-dDTfDemqRxOmqFV_dk7L4AawVeihx-jvqHtxPeYbMRo3nQVPCg09IJ01B_R32pVhLq5IknTQBs2GnPTjEL5IQPm12Ma8VLo8wVbnJ-AJU9pq06tJZLakxXpyuTCFNAmBqy1i3_--hDKzU4TUZvw6LBjf0I02XPvHrlHq4w9eTAadPo7MVG2f76SILCdGQTireAIYC2n6MwVnFUSLxePvUT6OBUF40i5-KEH6IBxuRKOyjcXrST4koKMwgBLrQXVcHh4IeXBkFWRMKUC4prJm9hDgBPk6InugNzzBTKTVSpzuCjNbS45kbMpbgR7LrA_VMywsUhYkJ_fXuJyUG_NRaLCPoaduNbvgU2sVtz894Xfo2qyDqrSnZ3IFWEU7t4TPUmK9Ptu7eh9ydIULBQHEzaXZG4iRY48aknCGAFI8OAc0Iy5SMv1iAG-uxkRK-P9d_87FQgGBf2iGOHYp6ov2eX1Mu4Uhpk7UVzMX2qNDS-O7-55PYHnBHQM1k9evDqzaYrunEvVM9Sovod8RyG4m0xHXCNcBdGqBvMMGjhEnnqeloeqL_QcaUPymqHvrunX9gssXKivBbc-7nW_wKkA528CW0Watymqnl_EFc6IMu6mTcR--Unte_ibKoTzn8iLda1feFlp13m_Xk9nHlTJOtpO8HD6UnxMfdGH2CApPtnig5jpiLXYr1_RYuT2-IOctEZuCKtxtpTQAmfzG7NtRei0Et3Nsy-XzjP_JP4UBj-cevonWAq2OkNEgmcMABNfV33lg_JHL2A-I6kNQ6cS58WOCvqJJ7XP44HvZSoxXa1zYBeq06G-2_OLX9Kj1kYBGIVV8yHOkTiMB9HbFCzPe47-EFb0Y_gKtKOqVZZ8SYsno14G652CiY_J55185aAQGuqTWtnMiv5giIIER-fIjHvv2lVfja6rncB9iMpesvKRPrXHll1Uha9uQyfZptD59db_zR9YJe-TCG1vBTQNIfWyGWo8OLqpQ8aitu79AC-Fl4dO6-T20CwfDl7i_Er_Tw4wKAit5YSrqhFCuwrytQbZoHS6V8EkVZxMSqWiEchfqA1bQX0FoowDSwU694IbCJpoqagJEGoesSQQRNE-a_bfo6FtMh25Vfm_8oGXnfI-Xn2TTGqoBS29rhZS8gnPCxdVjIeZXQ01q-VexOLzRGWb5EKdwpYNVC_4rmrWP7aCYYXg28dQdm_ShZssfJBOHfFzJ2WLD-qhK7tZY8c4PJJCF_BO7ZatNNLvPS9YtCq0gaulXaJVTY2c1bIrPtyTWjBqWbqf4SaDJOgShq80Q8LRPFLOFSRX6yR3bA291-u3oPXyL7jgxjZl7S7deJ6djMWXLj9gKGXUfqI21PCB5a2-3U3_TRziFE5P_-3PqfLoCD_bjxro4hHrdK8itANkh2WMGcedfg5_j3twt78PuIvIldqmFi6SesIWzR0PfmlEO-Oj0n0AVYqVBSKJUgf5YNftLOJmemh6P2EkLefV1pOtkEwMFWsenETkZlgXqmpdpnahBjlQRj5BS-mgjlif8W2GHOxIqP0Iyfh4EElMCjAMRbPTIMow1_P1CugzG2KeQ7S048JSF2NF0ntOTuZj1DdqUaT_Dm7QdmEZwprVI1RWkN8CgL_6MdSKUY5k9egE1IsT-MPdT2tSf7L-mKP5AlvUkSZB7cmFzXKxPF2ScNTEerp1uwnUn6e7Itr9BKzK1iiuMuQFFEy9FOC-Xgyow44rMjq-MzsE3ViWEfCP2VXDvsWA5QRc4tNsdvSoEV3PrdlR1EEnErR_TZKqT8m9Z4vfEzU_L9dlI_rZAp36mIDZdzQf_e8bq8Vm_ZihAmQyV9AwopHGhr_ME1_vl5DjZeb6mBK0e4sSoIQ6jkMoiUHaZO7BJnu7V2eULin7XdZ3lQah7tm1Ck6ALJ6Z8cpp0O71EeE7TMG1-3dv4m2sKCEsUjtUWXD5prM4cAp3uabF1LrQQEBiju-UOpgizUVhUJp6V0laUoAoyJFzJOluPehMWVTZBdSAIWhyAzuqQAlBIS1YQOx_T8M98lttcOPzeSMEiRxdHY-dxtIJcagj284B2o1a0Q72HNhRyCm_TVCUPokh4wK1fBiKn6HlTWB_CIw-igCV28IacCDTKUfEzq2fclbdno2i7-HpZMvASkCZagwt6xAIjqTfRqkFKnwMHYKG3yje78ek7CV7WUtPsmzsm561WZyzpu3RprLKhGp9hHQEWnqBFOQnOUQ1Jw7wcLBCYzpDzmIaY5ZhSDh5wFgXmMiIei7D90MIYH7_f92Vw5j_BBa7akR7-wVHSgA5_DO0GHqAj9GxN1W1AjyUcD1JSKpck2TlEjQXLDjizH-1zBoqb3CUYsXTCi8i76FMOBOL2rWQ1CdlRV2FOmDx74KX4zXRPBXPL8vD23f6kboz25HkHRA1Nwnqd1k20SNJZF42dMK5XeHvKBXw_YGUhANhuk2r6UGLCqCU092vMW_N9EX0EGTgTUEkTmTZ4uwWyrQhDZ57TbdgPHxvJZbd1LosfiVbdT_aAIw27_yglu0eeb2aVkQNjlkl6p8CnYAJdkNnpRTkqhFK4ndoSSIOt90Ku8oZ8tk5ReLZ05pVSQkADFCZELKAYrMYpYzs69VLjTJXxOYh95NIHXMsUVuVolCsD9pZWYLJDlPFN5WKHLEyq6ywmFofarYdE8hmUto=",
  "id": "rs_05b5239c888a54be016ab41c13072087d0aadc8618472c80a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.65,\"left_roll\":0,\"left_pitch\":0,\"left_z\":0.19},\"note\":\"The pen tip now projects forward from a safely retracted right gripper. I’ll rotate the cap while the arms are well apart so its opening faces back toward the pen tip.\"}",
  "call_id": "call_NrVqDbK2Kgc8U0e388k35qIe",
  "id": "fc_05b5239c888a54be016ab41c158ed887d0b8bf8606724b5b15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NrVqDbK2Kgc8U0e388k35qIe",
  "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]: [-0.778, 1.6131, 1.2514, -0.7418, -0.8413, -1.0996, 0.0809, 1.2434, 1.6737, 1.2652, -0.8299, 0.9169, 1.113, 0.0711]\nstate[eef_state]: left_x=0.3557 left_y=-0.1606 left_z=0.1777 left_yaw=0.4649 left_pitch=-0.0695 left_roll=-0.0914 left_gripper=0.0809 right_x=0.2431 right_y=0.2909 right_z=0.1647 right_yaw=-0.0701 right_pitch=-0.0431 right_roll=-0.0405 right_gripper=0.0711\nstate[joint_eff]: [-3.3026, -6.3111, 8.1709, 1.5507, -0.7546, -0.0366, 1.0232, 4.4786, -7.3641, 8.4991, 2.3223, 0.2613, -1.16, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a50eb8ffa161427b615a28ee2a82e1fba452dcea5faa9755c084afb470306c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b14405cfbc2bf4476a2b262e4a2100028f89c27d1e97018c44fde553c7abd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd070a689c446d6913c520f4c96ebdf619e9f2e297a7048dd516babd81bf884c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 6.137 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 2.1181, 1.8198, -0.54, -0.9443, -1.0832, 0.0788, 0.767, 1.5593, 1.2037, -0.5087, 0.7547, 0.746, 0.0691]\nstate[eef_state]: left_x=0.4873 left_y=-0.2451 left_z=0.1938 left_yaw=0.5572 left_pitch=0.0929 left_roll=-0.3048 left_gripper=0.0788 right_x=0.3671 right_y=0.1907 right_z=0.1959 right_yaw=-0.2506 right_pitch=-0.0196 right_roll=0.0568 right_gripper=0.0691\nstate[joint_eff]: [-13.5726, -4.0137, 10.4137, -0.3101, -0.4615, 0.0269, 1.0281, 21.9556, 3.1385, 5.8735, 1.5409, -0.6813, -0.9109, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.1595, 0.7544, -0.2153, -0.3889, -0.6304, 0.0809, 1.285, 1.6772, 1.2846, -0.7502, 0.9058, 1.0435, 0.0691]\nstate[eef_state]: left_x=0.3344 left_y=-0.1344 left_z=0.1769 left_yaw=0.0702 left_pitch=-0.0247 left_roll=-0.2975 left_gripper=0.0809 right_x=0.2347 right_y=0.3184 right_z=0.1734 right_yaw=0.0164 right_pitch=-0.0265 right_roll=-0.0027 right_gripper=0.0691\nstate[joint_eff]: [-0.3214, -4.1778, 8.2667, 1.7753, -0.2906, -0.0708, 1.0281, 0.3624, -7.3368, 8.1709, 0.6032, 0.6422, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.778, 1.6131, 1.2514, -0.7418, -0.8413, -1.0996, 0.0809, 1.2434, 1.6737, 1.2652, -0.8299, 0.9169, 1.113, 0.0711]\nstate[eef_state]: left_x=0.3557 left_y=-0.1606 left_z=0.1777 left_yaw=0.4649 left_pitch=-0.0695 left_roll=-0.0914 left_gripper=0.0809 right_x=0.2431 right_y=0.2909 right_z=0.1647 right_yaw=-0.0701 right_pitch=-0.0431 right_roll=-0.0405 right_gripper=0.0711\nstate[joint_eff]: [-3.3026, -6.3111, 8.1709, 1.5507, -0.7546, -0.0366, 1.0232, 4.4786, -7.3641, 8.4991, 2.3223, 0.2613, -1.16, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a50eb8ffa161427b615a28ee2a82e1fba452dcea5faa9755c084afb470306c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b14405cfbc2bf4476a2b262e4a2100028f89c27d1e97018c44fde553c7abd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd070a689c446d6913c520f4c96ebdf619e9f2e297a7048dd516babd81bf884c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_05b5239c888a54be016ab41c18103887d089b2ee3a1a555562",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.24,\"left_z\":0.17,\"left_yaw\":0.65,\"left_roll\":0},\"note\":\"The cap is rotated toward the pen’s axis, but its opening is still well left of the tip in the overhead view. I’ll bring the left gripper only partway across, keeping its fingertips behind the pen tip.\"}",
  "call_id": "call_u8AQ6pQgeYU9dodM0tCXUa22",
  "id": "fc_05b5239c888a54be016ab41c1a846087d0903059c080f09463",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u8AQ6pQgeYU9dodM0tCXUa22",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9911, 1.7592, -1.4494, -0.9123, -1.6604, 0.0809, 1.1934, 1.6611, 1.2186, -0.9722, 0.8906, 1.3373, 0.0748]\nstate[eef_state]: left_x=0.342 left_y=-0.1823 left_z=0.1782 left_yaw=0.7486 left_pitch=-0.0849 left_roll=0.0479 left_gripper=0.0809 right_x=0.2418 right_y=0.2472 right_z=0.1454 right_yaw=-0.2474 right_pitch=-0.1008 right_roll=-0.0289 right_gripper=0.0748\nstate[joint_eff]: [-11.4393, -6.2154, 7.8701, 1.2772, -0.5836, 0.0171, 1.0183, 3.7402, -6.3795, 9.7709, 2.3565, 0.7399, -2.4786, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36d7442417360ce3c50c6551f46e0cbc34989850865cad325dea4216153cbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b16a69158aeb92fc3c79d02e67c1a3b99b1ac4435b4c7705a4afffcd6863b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be9d1e593055b3f1ec3d80a3ba3b3ffa795f9c29462b8421400fee2ff6c254b",
      "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 · 4.571 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5827, 1.153, 0.7677, -0.2028, -0.4015, -0.6331, 0.0809, 0.77, 1.5883, 1.1954, -0.5491, 0.7311, 0.7433, 0.0691]\nstate[eef_state]: left_x=0.3374 left_y=-0.1354 left_z=0.1879 left_yaw=0.0784 left_pitch=0.005 left_roll=-0.3138 left_gripper=0.0809 right_x=0.3614 right_y=0.1911 right_z=0.1747 right_yaw=-0.2341 right_pitch=-0.0766 right_roll=-0.0015 right_gripper=0.0691\nstate[joint_eff]: [0.2256, -3.7402, 7.8564, 1.8046, 0.0562, 0.1294, 1.033, -0.4581, -9.5521, 7.2821, 1.7021, 0.5348, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.778, 1.6131, 1.2514, -0.7418, -0.8413, -1.0996, 0.0809, 1.2434, 1.6737, 1.2652, -0.8299, 0.9169, 1.113, 0.0711]\nstate[eef_state]: left_x=0.3557 left_y=-0.1606 left_z=0.1777 left_yaw=0.4649 left_pitch=-0.0695 left_roll=-0.0914 left_gripper=0.0809 right_x=0.2431 right_y=0.2909 right_z=0.1647 right_yaw=-0.0701 right_pitch=-0.0431 right_roll=-0.0405 right_gripper=0.0711\nstate[joint_eff]: [-3.3026, -6.3111, 8.1709, 1.5507, -0.7546, -0.0366, 1.0232, 4.4786, -7.3641, 8.4991, 2.3223, 0.2613, -1.16, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9911, 1.7592, -1.4494, -0.9123, -1.6604, 0.0809, 1.1934, 1.6611, 1.2186, -0.9722, 0.8906, 1.3373, 0.0748]\nstate[eef_state]: left_x=0.342 left_y=-0.1823 left_z=0.1782 left_yaw=0.7486 left_pitch=-0.0849 left_roll=0.0479 left_gripper=0.0809 right_x=0.2418 right_y=0.2472 right_z=0.1454 right_yaw=-0.2474 right_pitch=-0.1008 right_roll=-0.0289 right_gripper=0.0748\nstate[joint_eff]: [-11.4393, -6.2154, 7.8701, 1.2772, -0.5836, 0.0171, 1.0183, 3.7402, -6.3795, 9.7709, 2.3565, 0.7399, -2.4786, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36d7442417360ce3c50c6551f46e0cbc34989850865cad325dea4216153cbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b16a69158aeb92fc3c79d02e67c1a3b99b1ac4435b4c7705a4afffcd6863b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be9d1e593055b3f1ec3d80a3ba3b3ffa795f9c29462b8421400fee2ff6c254b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwiWlBMb5KAqnJaiaZXSfHde10NT5Og4-YOdXqRWiXs11BlNYRbROlgwG49xoFrpKL4drIPEXTnIe1yZMHPqXyT08rhfWppV0OgZWsb8eWyg4kk2mzJ0k634Iz6TvnlGbAjd02-ZnMnwe3LAwkwSdNDOTNQyYTg4RQk8yktn-ekQsObLeZhIW87ovKt5Vks29gR9FJtEb0NsZNZVITiaoSALZhYqnuukw48MSbgSOfBWuIiwBGuswwd65krjUs_nOrfLiHh1w22ZnuNgul7ymJ-LxntVvbEu5ba4RqePzNjFA9rZCIpwgLE57SuSQgb90SFWQsMz_wDEbiYaa4jwm9LvPaWvi0SMpiJXkso8xMZrsbA2M4jTL1HlyTf05O_p3c5ifx8dxv3Wac9OJDZH7JLD-uYHgoLw28a6edh1B3QQgKTJnF5XAzMus_XHoeeh54Oe8awy2QWJ3pDwWZi-Eg2KYZLIG-uOHt8I0WpwIuEihgZAU-teVwSE6xBKSFEThM-oK7y4Z_McWev70oywTcod1COP2V-W-RRQ1gYigFsGdSs1Bqxeqcs2n7xl5AzJyzSr2BnjHOhgXVW-4WI4fMjewgW-yJN_FgF628d-A6PFUzt4p3CnYxt8AyiAmFMCbqpHHJk6ZEr57kt8l05s6nHzBqEzty-4i1sN_t8JgH2rhNWzdr_twCYPDOxma2-e29wBfX_scCBLvbPOonZkfLAJKHtLyQUVx4DHaZoVCAkwC96DWHdCMx87Dd3qNYfPftyNrlhBEU2MN2W1wAA81z1MsmAoUD1_-wxvKa9yboeCRCnXok_lJ0Esc0K4LpL1b0mbhvSSxvcYZ1en3Rd3Z49ByMeh-yXEjuTYDF--N2INjXbmYNWSmyZVAgWCcZIZoEdse4YpV_YD0awjafaTjNmL8zibO43awuUGVt5JAFXfcsnJm8n1xV4PRU8ChBt5DA0z62g7lSK-gPJTjvdoTREOVQb59vFzQ8lNHnQv-9MR723uO1plTk49jGvxYUTVwG0UZ_v7M0oZFq_4YkpS-yBBVuU8nhci5wIL8AkMOycd5nMsMqfNscNit2lVusMHOBDCjVe7pTiHRWcN2HotaF6l58AlwPv3OFO15yCpnscSSNJmuNaCUC3qrXRmQdq5TzpoYHcB6bNAcKs-v-zgKn5H95JsyEnliDCVH7jMBANi411lw_3ZboYr6omuczp6x1xORB85KhsgkOJ1lUoZW3RKYRiioq7p8JkAlQgj1degfBV-Si0nUzD7gmLU0w5a767AlxkffM6UBg5YFYRieOQ7ouRgE76tLrE0IL3HG6toHEGwRtO26EeRvQVuq5LiAF1dPOIFiXmAJcx0sWT8dK8hpGGjGWHbALib9aG4R-9SCZZg-ZwtctBfcdLJi8Qbtdj-g_BJh_uz9gppJK4-mmIm6RytOkIiFcz4KQqMX1Os1LNMHN6UQTFMmpDwsEPCFHLmA-oMu3F9jv6o3uB6QyrBAdLWb6uv9mFWhM9O5IOdVW-BBds-nYuaVKFsHjbmm1T6XLD3mKH-fFrfNg7mDkn8_hUW6KMrCW5dI1SdiZkIm2seA1OU4FzD7QAhWB0Z871hxCW5E9SpYlBPIGFsPa4r99pgr9mNILdqqGm56WJmScIaoMDTkKeo9J3Vu3r4V2zq28YpWjaqJeylDeaju92_EJJU9SwK0QBXNQ-JaNb2j-uWj_aNMcXCjMI8f6GWb6DVAEhGATV9Jj1YWwcYH-7ZRR1JOQfwCpeT5gR4iBn2fjnQNUnAmYlQ74Ic8Ed2ruCFJqBF5JbOpbCa1cxeQBsdKsGpeSPsctWPFcVNxfkvTJ8fCC-gkQ7oYWeYZn6zYvAqgTAimTNb4wIWjvzoRyXWg4T-8SRmjR-_7SDGhr8K6IJ4VEfPm9DSwVUAxZCzulFXqcGGB06joNJcvm66_AtIpc7OReMxLQpBSDf8KOTZfpTp1UFxtAWEGAElg9gktoK_NW22CEtklJuZBkE6LDm5A7e92ZQrlUk3wkwyZZjl24uYGdYLTYlIa5dBxFvzdyToB5ZwysEk2S41cC9GBXBZ-9XJrIvEHmSH1ijbhkwP3dqIm6a6HumpJgx6LeUhFFFnbfTyJjREB-xLHjkcXhlJ9HtdODDmLd-ADpX0FLhZEajm1p_anTVP5euIIaRYynLAvGAv7tuHy_b880Rj6SHG8FmBLnTO082mRHAYsAsH0VItNXCdD3wyYfrQLwG7FwKkkEOOdUYTnGAhoELic2kL8VHoAvGHxJTFIScJG9Y0sUclr-hsW3-uSQX9mTehCzl16oXuuU5-ic_jY-3Vkwz7-W77yIMJFgo9XvZNY9O2jBXopiecqLU175Ou6JM444YdfSu2dVsjRbozdZGzYYxKMeBrRD24BbxmZnTmHpcDpjBXkxxWrhs3t7pbsiBeY-u1gl0wrEHdZlNqG9ZjU1sW0JgY-9ALaO7VyldgnMV6HhV5GD4sR_4T3nc50MXGfy-GtOSyd0LHetileMFwsNczVvYy3zbJ0IdZyu5b_wvYIR8NQ5JLhLj9EqxgDP0PJf3cmMdu1PYZbB6lGItXC4zuFR3DBRuDK3ANl4ypEfyHi1jHuqPNulIZ9XMn8NIg-t2LbQMvbLN3qeWXuXQQ3D5OEBBgr_HWY5Og8i8ZQpNktCrBFap4dLUaYnU2Q9yvUInG2SChllBV6g2Bvhx5G1uR0kBiIrTvRrhXaabglp0uOw_Ey6E7tk7HYPEsyhJibapIy58iBapD8_UjUUgVTZ8fBTgXW2MOhCPYK_MIEVkb1dz0eqT7nTXgHvg9ps7Ju9Z8P17Lk_XlOtFWXeaXqHVQ28J9gq-426rk0s_UhDJishAo_dvmEM9hqpGc-XIZE3Qu19G7Np2JGtve6SZ4-YY-LiV8VRaiUsVerRqV4yTdaVr0fbVFlqEAS6IkfVeJ0pxmBtfVWAuNUZixyXQ3MMgOxNwh-vUPCvx99r8WHv359JU65DicaUPzPBZ8aok5DXwKwGsB02q9jEeB2Sjal12Yw083E2RxKZ2a7q1pyjEMkrAcGFFMB8A825-75UEyiV30jYmHDpubxXFtEabG7gYp_P8rZvxgw1nMv27r1RIytrGYxBhygUARFe0loh3m7vh5zmUDqhcOO-ekU3F9ZNp917KDIInHlYmQGC8hBFsGjxMRSI8tS3GYJVBYbCunn2ZViQUlSph9bPpxXgUCRLhU2iKw5GKkBe9UnZ3STm1bP9d12BQpJLklbvSSrFSomdpXWRbdDYnCy6WDfvXVs7uyeLzia50Nr89sEkmSnc72lHPer0pd1RS7qyAVtdqwFLTaknRUAK3z4ayNSw-oNN_6aP7l1M_iQ7NN2piSKZrREBjyZdxNpJyFmtffO-TLlwO1iIsxHEt4x-NFMHWl8iH89laZtncofedCjZ52p-rN8jIZ-BjzlC4tEAaH0FcxajX",
  "id": "rs_05b5239c888a54be016ab41c1d903887d0a4aa876dbfd00150",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.08,\"left_z\":0.2,\"left_yaw\":0.4},\"note\":\"The arm links are crowding each other again before the cap can reach the tip. I’ll pull the cap arm back and instead place the pen on the table, so the right arm can move completely out of the way for capping.\"}",
  "call_id": "call_iQPBcipbCFcMOrJ8f5xOFplj",
  "id": "fc_05b5239c888a54be016ab41c21a5f087d081c48a34de9278a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iQPBcipbCFcMOrJ8f5xOFplj",
  "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]: [-0.7357, 1.2652, 1.0374, -0.9478, -0.8322, -1.0149, 0.081, 1.1973, 1.6634, 1.2076, -0.9787, 0.8707, 1.335, 0.0763]\nstate[eef_state]: left_x=0.2869 left_y=-0.0787 left_z=0.1926 left_yaw=0.4631 left_pitch=-0.1013 left_roll=0.0412 left_gripper=0.081 right_x=0.2376 right_y=0.2459 right_z=0.1389 right_yaw=-0.2414 right_pitch=-0.1229 right_roll=-0.0478 right_gripper=0.0763\nstate[joint_eff]: [0.2256, -4.506, 6.694, 1.3504, -0.4615, 0.1294, 1.0379, -0.294, -7.3641, 6.735, 0.6081, 0.6276, -0.0415, 0.7546]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16136d41ca26364f45ebda93f58bc720c4b18bd8761d524188d3f0b1dfcffbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1facc41483874bc6c60d9b0701a4ac11e088f62015ee51d3a702f4b2f2e5c4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828289edaf46264114c7183598292df2470ef26f212396c7cbb6f619e4a6242e",
      "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 · 3.788 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5793, 1.1595, 0.7544, -0.2153, -0.3889, -0.6304, 0.0809, 1.285, 1.6772, 1.2846, -0.7502, 0.9058, 1.0435, 0.0691]\nstate[eef_state]: left_x=0.3344 left_y=-0.1344 left_z=0.1769 left_yaw=0.0702 left_pitch=-0.0247 left_roll=-0.2975 left_gripper=0.0809 right_x=0.2347 right_y=0.3184 right_z=0.1734 right_yaw=0.0164 right_pitch=-0.0265 right_roll=-0.0027 right_gripper=0.0691\nstate[joint_eff]: [-0.3214, -4.1778, 8.2667, 1.7753, -0.2906, -0.0708, 1.0281, 0.3624, -7.3368, 8.1709, 0.6032, 0.6422, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9911, 1.7592, -1.4494, -0.9123, -1.6604, 0.0809, 1.1934, 1.6611, 1.2186, -0.9722, 0.8906, 1.3373, 0.0748]\nstate[eef_state]: left_x=0.342 left_y=-0.1823 left_z=0.1782 left_yaw=0.7486 left_pitch=-0.0849 left_roll=0.0479 left_gripper=0.0809 right_x=0.2418 right_y=0.2472 right_z=0.1454 right_yaw=-0.2474 right_pitch=-0.1008 right_roll=-0.0289 right_gripper=0.0748\nstate[joint_eff]: [-11.4393, -6.2154, 7.8701, 1.2772, -0.5836, 0.0171, 1.0183, 3.7402, -6.3795, 9.7709, 2.3565, 0.7399, -2.4786, 0.823]\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 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7357, 1.2652, 1.0374, -0.9478, -0.8322, -1.0149, 0.081, 1.1973, 1.6634, 1.2076, -0.9787, 0.8707, 1.335, 0.0763]\nstate[eef_state]: left_x=0.2869 left_y=-0.0787 left_z=0.1926 left_yaw=0.4631 left_pitch=-0.1013 left_roll=0.0412 left_gripper=0.081 right_x=0.2376 right_y=0.2459 right_z=0.1389 right_yaw=-0.2414 right_pitch=-0.1229 right_roll=-0.0478 right_gripper=0.0763\nstate[joint_eff]: [0.2256, -4.506, 6.694, 1.3504, -0.4615, 0.1294, 1.0379, -0.294, -7.3641, 6.735, 0.6081, 0.6276, -0.0415, 0.7546]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16136d41ca26364f45ebda93f58bc720c4b18bd8761d524188d3f0b1dfcffbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1facc41483874bc6c60d9b0701a4ac11e088f62015ee51d3a702f4b2f2e5c4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828289edaf46264114c7183598292df2470ef26f212396c7cbb6f619e4a6242e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwoIHl6ZWz71lbKoJ0Ltc4C6I1t-TEt5AzrM0uDnunhGGPmdWVcSZLnglQamjGJh84G1nr0VlAgfanKtqFgBrg4teliLTgn9ur_qRzXPOVrsaNTT9lHKOzzNmv3XIl5cliyWXWyZxn4KDTSauc1FXVN6bc2J09YFzGFSGcZT2zizFxQt_Jf7VvjLOUSnrLyqJwwNTQbbHBbG4kWH6LnXeOSOIt9EyMtTWjaUSVKY6gTSykABXrgKCiguA8LRyl980WCUoFpTQXp569CxbD_-mMYI6jKq1DIPmpp0OnhzLgyaSH_0db0meKDowFGQREtOlsYhvZdkgn_GT_XFIW2t30ouVNGB55Bbq0_fZkBmEUTWL670ZOUCYYkx4AJYtNiHmOJTWg45ngPMD30o4UemzeJ1b5ITRrEr80XMAP7xJAMQj6eg4n80HhAcWJ6p0hrd4DNXeVzh3FvKqtrJfDwiS4pa8eB08Z06sv9gJnJpFGJyHIQvGzkxJ6H5QTllH-STeYO-w3r21uhedkmJ9kx3zX9WUU3m4CdyWop7HNLRKSGZ016Cv9CLMHX0enKvexKKC2VuPrQCFfNlMlY-bRilEUQkUUX_4y5gERbuDBEZ-INQZbTkuYv6yQ8tqMIIboLDuxbtzrSxDAMQ5xE3X5zA4mBgGaYk1tgshcJkokG00spVGexr_LN15_ZKmkmDmA7i1wa2e05fXwGHJu9ib86gvt7vMZ23kV9t2hZHNQE62UWtK32a-OMJK5MtEhbYlf6aLPjcAigHN_5EHnBnsSNLhJ9mP43jpM2zmD1P9m13JKVIu4TrK5Rg5fxrKAEga6AuhM1rb6K6rK7qCkEzaqmzUa7GVcVJCcuUtEyZs07tCO8GroiOgSE5cfta5C_75QihRv7KkMubufELrSym0iaAKTQi1jIzKEeZKxTw1vvnF2wtGsJZYhWQlUpyCi5gvRrRGlidsnRc1CV-jFtlo8zBuOVCm2CjcVeUSgezDX9EeTOjYROzeSUUtLNlRPsiY0QQvfcs3M2KEzNFijvUkbqPk1HoQvzMDZQsmylEiPTMJp90hbPAUeJKnJkMxobB9Pc4bZQssvEyOHFAcIkpBbwNC7y5hMC4NcvK4ZaxLSRb6IX50n-WoSF4b0gBGsvDK0St5r98vLnbMDlKjF3P3JHPlZIOYul7E8fALGHMjqKVLUSWXB9RMyl2Vc8GZ_CNaoWY2c9gqf8zEf3XEiN_F2IKdGCwjP6__UPoa_QY-7kK3Z4egpShaePAQlminrgtJnHPD4KcjIPCGFAlqYfYu--PE37SVRPCEjwMEomceYQtYRXKZSSLghDs1LqKl30JEHwQb2lycio9enVwPCDzPw-Hm5ktTazJEE4NBhi2v7Hgvewg6ap6uMgwxLzdX0EjHyRGGWs78VJE5TI6PJVLi9JOMPwUlsXAFBeB5J9Rid_JAjlyGVW_IWa4l64UV6XodEvZx2paAX235JNcndwMHzlCTGZMkfozIJivf9NCTSMDVW_HDGz6eSxQp4YU2cr4dbpxgy1ULVlTqWmjoEstHS6fr1ngzVSrglUJQnzljtcYiC44YPDmHSxN2Yd85FldozscRadmVTphk2Y40MgiwnlyfRYb3YZP4DMmoqSyAcJiz1XGNHtgT7zEHYUdgv-T2-6PDFlveaHTKLgh7_nj1rkl9u7Ay-mKydaw86mfPbFeh9mVHQQU1HqaPiBTpHM4tqC12ZNJNWiuzVsjP_wFRJuyLB-Qbn9N3cCcbMiZY2KdL4cpy_4QSkoYgGav8z9cGGqD_gg9AHTcxB-9mL_FFLqMmCkgVajDpgO7RRQGTRDxrrqcTb9ApJyDNDD7zHO1tZHRIi0_QF9ZMa79e1x-Wpg8P8IyqxpDjrVgaq9UOkW2YM3zjMBnn5yDQ6oMW3aFV0I38SeGzXPhpSphENCkdV1RTPIJrDyvukfR0-IYLNWA4Vj_gLj_NiGLqjEmSdAd7hW6YfIRRhiLB9dDO4_YMFfn68LLPiKIFfn1zBMHqw2L8siKqRXcw3u9bia8Q1pJ5AtqIW9AvinVFUSAwFVcd1UzqXAH2-ciC-ttzSYBYun5yynGf4snZLP30ihyKrCUPnwsWMi-K66c82qlx-tvr6Z_CYCuji6AHSUHj60_1TTuuuVuKPVmZy5BIVQFbyeePUeqh7OU6xFHKVf51r-FEs1rWV_weztTzCo7bwhVafB5k7s7VH9DySXwidDPq1XqU9pYD03",
  "id": "rs_05b5239c888a54be016ab41c252c2487d0b40ab2773ed9844e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.33,\"right_z\":0.075,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The cap arm is clear. I’ll position the pen near the middle of the table with its tip pointing forward, ready to set it down and free the right arm from the shared workspace.\"}",
  "call_id": "call_f4jqEBeV3YEsvuQTRvi5DuEF",
  "id": "fc_05b5239c888a54be016ab41c2730a887d0b2d7712a97b4e110",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f4jqEBeV3YEsvuQTRvi5DuEF",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0222, -0.9371, -0.8116, -1.0122, 0.081, 1.253, 1.8683, 1.1213, -0.4763, 0.9131, 1.0672, 0.0759]\nstate[eef_state]: left_x=0.2858 left_y=-0.0802 left_z=0.185 left_yaw=0.4562 left_pitch=-0.1222 left_roll=0.0441 left_gripper=0.081 right_x=0.2477 right_y=0.317 right_z=0.0747 right_yaw=-0.0339 right_pitch=-0.0432 right_roll=-0.0623 right_gripper=0.0759\nstate[joint_eff]: [-0.4171, -4.5607, 7.5829, 0.7985, -0.6569, -0.0806, 1.0232, 1.0735, -8.294, 5.0393, 0.8913, 0.6764, -0.0659, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2052e86dce2b2c4a5572af0710b53b61e3b6b0c002808dc1ff0e5c1a17eafd20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916e27607ad6408a5285a7ab2893550be447cfb1483f4f1b7212203db4f9ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d07352b6d8561ed702976108839a1b88dfb34a28de7d1483743de4440bba75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.491 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.778, 1.6131, 1.2514, -0.7418, -0.8413, -1.0996, 0.0809, 1.2434, 1.6737, 1.2652, -0.8299, 0.9169, 1.113, 0.0711]\nstate[eef_state]: left_x=0.3557 left_y=-0.1606 left_z=0.1777 left_yaw=0.4649 left_pitch=-0.0695 left_roll=-0.0914 left_gripper=0.0809 right_x=0.2431 right_y=0.2909 right_z=0.1647 right_yaw=-0.0701 right_pitch=-0.0431 right_roll=-0.0405 right_gripper=0.0711\nstate[joint_eff]: [-3.3026, -6.3111, 8.1709, 1.5507, -0.7546, -0.0366, 1.0232, 4.4786, -7.3641, 8.4991, 2.3223, 0.2613, -1.16, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7357, 1.2652, 1.0374, -0.9478, -0.8322, -1.0149, 0.081, 1.1973, 1.6634, 1.2076, -0.9787, 0.8707, 1.335, 0.0763]\nstate[eef_state]: left_x=0.2869 left_y=-0.0787 left_z=0.1926 left_yaw=0.4631 left_pitch=-0.1013 left_roll=0.0412 left_gripper=0.081 right_x=0.2376 right_y=0.2459 right_z=0.1389 right_yaw=-0.2414 right_pitch=-0.1229 right_roll=-0.0478 right_gripper=0.0763\nstate[joint_eff]: [0.2256, -4.506, 6.694, 1.3504, -0.4615, 0.1294, 1.0379, -0.294, -7.3641, 6.735, 0.6081, 0.6276, -0.0415, 0.7546]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0222, -0.9371, -0.8116, -1.0122, 0.081, 1.253, 1.8683, 1.1213, -0.4763, 0.9131, 1.0672, 0.0759]\nstate[eef_state]: left_x=0.2858 left_y=-0.0802 left_z=0.185 left_yaw=0.4562 left_pitch=-0.1222 left_roll=0.0441 left_gripper=0.081 right_x=0.2477 right_y=0.317 right_z=0.0747 right_yaw=-0.0339 right_pitch=-0.0432 right_roll=-0.0623 right_gripper=0.0759\nstate[joint_eff]: [-0.4171, -4.5607, 7.5829, 0.7985, -0.6569, -0.0806, 1.0232, 1.0735, -8.294, 5.0393, 0.8913, 0.6764, -0.0659, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2052e86dce2b2c4a5572af0710b53b61e3b6b0c002808dc1ff0e5c1a17eafd20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916e27607ad6408a5285a7ab2893550be447cfb1483f4f1b7212203db4f9ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d07352b6d8561ed702976108839a1b88dfb34a28de7d1483743de4440bba75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBws4RVYlGBmhDp-_SUMQzKGiS1MKfXwVrH8wUoRVqrz05gHULSTma31jNVXX6TJczOOYxhpgH53d0F6UPH3p5ICGEpdvEw8W2KwMrD2byaiw5rixYfcxp8uISj8lYz9Rbmr-BhEyyFwDd7BBp0fHH_ky3SD9MAwTjiBHZoUocAOv1uEswJ1WvCA7bDnafLmZfu9Og0bygLt2u3GmTnJp2drLwAVm0HY-veKXb8xXtuJaJI3qa5EwTy1FoJcmEeCykupJMPOytFmMdpN_aZjULgu2CX--SanTGcPYwQ9vfc0sWPjxrnSv4DntS1AcZZj7kfea84Q06jbRb976pDjzoBZFthYlNkOGsss3zrU5iSS6JqOfevQdOQ1o83NujUZLeiVoxNBi9KD2nPM-X9Qqy_Bvzc6rf18NOdO4M_YcYcDtXv5UMP1Jwe5UVTgB0zxvF3vn5sq8l_Q-W0_tB3P4ijAlVJkdRG-Cjm04O8ozpfkpoImksZmh-LTj_vG96sNa-2Muv4LbU9hpRYhJmb5j1Y5JBK2wK56SseecfKQ7_Hcr9_23FZYiF8SJ5-dzZuYsmWlCFCg0tKnRHXYKFTqHfuyf8Aijoc5em45kfmO-vSPen-uPs_rq-zub-zTfRvl0YRqzb2CdpwpGJIuJ1E2yLDECVXJZfO_mvjY1lCYru1uSphaczqhKSz7YY6rWndus2v9lVwkP4-dtddNIOwh05sY2FSYPn9RE63T3GBLOg2I_osiK6alUcCHeyagaldC3AjqA_I3X5WrMwRiMJrHdidFjCY3MTMFGc2lMp4zwnCs_-bfHni4Wi-YGadPRqEcey57K7NSTw90un-fEjY1U4-jL2Tk0Yxiid3HvxP5m6ZuKnc5mRhE7InVEYGgAuJEZdh6qMAjM8VIlEgRTdrTTA-a1nstj4VT4ty9FPNV9HV8frprrUO_hwB0nRSquv6OxRh5T4UTBzr_iLBcTJnH9kS0RUSk09bS2oIpiyHVXjxpJvmxXx9JP2elkeBIYWt0ZailtHy4ZE0wIseSwcgQzwlag1YNdbU2wt27hh1o6fKlnfEzFrbgbDn9eSCKkKownZLH_xOpCLWdu8FXwAreBgiSHeM3g7RaXsY2N7Ej_L-Ciuyx4UG2kf0pyjsLnWJuqT6YitMRW1MlW_kA2_bPJ9-7YWioDk5v505u0MS4s8Q5nlud5RfSaDeG3JWdje-LNzRXkrTqHijRuKvOMi7-Sda5n0LJ0xxemeBg-8sC4ykdi6yZnpbOA8SQRT8uEICPNQu12vNSQJTFsIehgVBinyMFs2vm4xEH_4eIzvoNI62nBglgsGZdAQX89snDKohOhc9bxU-X15HdgWBJiR-5RCZg01lFLqu-BGV27EZAN05I3yz5bMJ_Rba_MyjMwnP7kFUil_hw3w3uV24Vy_rbukC-lD561s0xyPO3mUi1Ydepu_Giz29P2aII4zgbe_mZ0BWz",
  "id": "rs_05b5239c888a54be016ab41c2a5e7887d0910c2cee4a117dac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0},\"note\":\"The pen is centred and points forward, with the right gripper still holding it above the table. I’ll lower it gently until it is supported by the tabletop.\"}",
  "call_id": "call_VWf3dQu5ZJsroS2qaglxMZS0",
  "id": "fc_05b5239c888a54be016ab41c2b129c87d0b28a1a1222967edc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VWf3dQu5ZJsroS2qaglxMZS0",
  "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]: [-0.7334, 1.269, 1.0214, -0.9417, -0.8032, -1.0122, 0.081, 1.2552, 2.0266, 1.0195, -0.2527, 0.9058, 1.0527, 0.079]\nstate[eef_state]: left_x=0.2847 left_y=-0.0806 left_z=0.1835 left_yaw=0.4533 left_pitch=-0.1314 left_roll=0.0461 left_gripper=0.081 right_x=0.2443 right_y=0.3121 right_z=0.0037 right_yaw=-0.0232 right_pitch=-0.0607 right_roll=-0.1073 right_gripper=0.079\nstate[joint_eff]: [-0.2393, -4.2188, 6.6256, 0.9255, -0.4957, -0.0757, 1.0232, -0.5128, -9.0188, 4.7521, 0.8474, 0.4664, 0.0806, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f953420b26abc78ffc9c97074de2a2917f4034556193d6f4c9c3a83288640d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467e894909a5b30d883b7f755d3e2ee1911214422483ed8951feee5d313a79da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9179009d80b2465aa03059c8a23d1d6d969904c305e99185df1f5b1f2855d195",
      "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 · 2.723 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9911, 1.7592, -1.4494, -0.9123, -1.6604, 0.0809, 1.1934, 1.6611, 1.2186, -0.9722, 0.8906, 1.3373, 0.0748]\nstate[eef_state]: left_x=0.342 left_y=-0.1823 left_z=0.1782 left_yaw=0.7486 left_pitch=-0.0849 left_roll=0.0479 left_gripper=0.0809 right_x=0.2418 right_y=0.2472 right_z=0.1454 right_yaw=-0.2474 right_pitch=-0.1008 right_roll=-0.0289 right_gripper=0.0748\nstate[joint_eff]: [-11.4393, -6.2154, 7.8701, 1.2772, -0.5836, 0.0171, 1.0183, 3.7402, -6.3795, 9.7709, 2.3565, 0.7399, -2.4786, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0222, -0.9371, -0.8116, -1.0122, 0.081, 1.253, 1.8683, 1.1213, -0.4763, 0.9131, 1.0672, 0.0759]\nstate[eef_state]: left_x=0.2858 left_y=-0.0802 left_z=0.185 left_yaw=0.4562 left_pitch=-0.1222 left_roll=0.0441 left_gripper=0.081 right_x=0.2477 right_y=0.317 right_z=0.0747 right_yaw=-0.0339 right_pitch=-0.0432 right_roll=-0.0623 right_gripper=0.0759\nstate[joint_eff]: [-0.4171, -4.5607, 7.5829, 0.7985, -0.6569, -0.0806, 1.0232, 1.0735, -8.294, 5.0393, 0.8913, 0.6764, -0.0659, 0.5495]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9417, -0.8032, -1.0122, 0.081, 1.2552, 2.0266, 1.0195, -0.2527, 0.9058, 1.0527, 0.079]\nstate[eef_state]: left_x=0.2847 left_y=-0.0806 left_z=0.1835 left_yaw=0.4533 left_pitch=-0.1314 left_roll=0.0461 left_gripper=0.081 right_x=0.2443 right_y=0.3121 right_z=0.0037 right_yaw=-0.0232 right_pitch=-0.0607 right_roll=-0.1073 right_gripper=0.079\nstate[joint_eff]: [-0.2393, -4.2188, 6.6256, 0.9255, -0.4957, -0.0757, 1.0232, -0.5128, -9.0188, 4.7521, 0.8474, 0.4664, 0.0806, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f953420b26abc78ffc9c97074de2a2917f4034556193d6f4c9c3a83288640d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467e894909a5b30d883b7f755d3e2ee1911214422483ed8951feee5d313a79da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9179009d80b2465aa03059c8a23d1d6d969904c305e99185df1f5b1f2855d195",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwvhCjwWBFucg53IeBLm2rkDmqJJjecKxN4AbdI-dmwn6CAnYWZXtuMKyB49yAtkL4SbN3UW0xLndVVpM3uXa7heG-JCnpncwEEeKo1s2PyN6EduqwOvUQuWkgMYvNUeqWwo1IeJdBv0q4eZPln3zcBhjtbaPF5GKY1KyRRKzd7WnE9aknl461txdoK1G3977_QbnvcH5iPs63MSxFjYovrD7X-iOESd9xbKgy8AgzBFKQp4uaVK7tNe480UAcWLW1dp8M2K7QSaLSJd-nPDaQ5xDkqhK52nidCid8UpX1-9SVBColdBz-q6OJWvc6Ejcpvsfb-hEMHS9PAQ7lbqRomh0se-AtJ7b-wppATHnDO_tZ49xLGsNNk99r0YKdG8wG_IIqf-Z2s4eJgLAB-b35Dz6Xp2fKLFSe9PFpZ5i2tF2TAFzvo9eXtgfknTrl6WhzR90Tcw30EJ4Rovev8BWrUUqfH0MNMEvQLZuaEdtuafNn-fum76fIkULIHJ_VJQu_5_f3daFZpp7zx8WbPh_sVM8GHrGs7CQ32Th7VSYDQ5tdEG9h0ZWMfNCmrFkduedbwyl2Zrk7mNbGt3-ItiOoWSbr1R4xRgkNGzvjy6x3aYwST01Eg85cjrik-kosWfD_F6nX2IVfydeCbtOQXAZ91f8rEv_sz9Yun1XytKrnc3Nb712Q1im9vvvOdBnrr7ZiWfuaxcu-uZckKLXfVJkBU8xwH8KbcwcXCw3eQn892CYIMnPo3lK4PSJe7WhsUzEjn2uckd6yx4ggG50s_RHbxfHjHkLGzGL32xVsK1Cq_D-xR1SocuBkFH08f1LkEwfzR1YbsEc2R1RgONoeo7qF0VVQULt-lw81npsvsn8_-gua5XCbFyRoywcKGoiYN6uRHl8mWZk9fTFKtxT9bh9I4yfWqqfV1fFoshMzwAVE19VdI3LOssb6aF0rUL1hOWF_avKljfwKv3mytfn7Hjzq3AZHPMVcGhaA4k_d5u2Mgi9NVJxurdI2M6inTBMXVLeUD6cgVWsJX018_C_6Sy2cFhQNbYlc2lMQVpAE8HPINaTWSsV7IsOTodp-fQAZeir1NDbJ73AyluF9oVWQJ2oMQG3ThWV43SAbCGCzDNZqO-vqkN-2tntXd2uf5wWdqjkTftyWS-ultonto-yT9Tj_RJLEAj--bb2UE5ApoKnwS-aFSg3YOpZGIp_SJ39dSttlgO3Y0OZMpeAJzYf-SVjdv1UlKHyZIy9bDTenioYB2c0tLJBPTG_MZLkyiGyO47V8d",
  "id": "rs_05b5239c888a54be016ab41c2e87b487d0ae249f290f0b4daf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right gripper has reached table height and the pen appears supported there. I’ll release it before pulling the right arm away.\"}",
  "call_id": "call_iRJuUPyhJQ5GcoGXk0WvRGEV",
  "id": "fc_05b5239c888a54be016ab41c2ec4e087d09372df7269648fcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iRJuUPyhJQ5GcoGXk0WvRGEV",
  "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]: [-0.7334, 1.269, 1.0214, -0.9421, -0.8028, -1.0122, 0.081, 1.2545, 2.0369, 1.0164, -0.194, 0.9043, 1.0649, 0.9949]\nstate[eef_state]: left_x=0.2846 left_y=-0.0806 left_z=0.1834 left_yaw=0.4532 left_pitch=-0.1319 left_roll=0.0463 left_gripper=0.081 right_x=0.2469 right_y=0.3194 right_z=0.0025 right_yaw=-0.0276 right_pitch=-0.0487 right_roll=-0.0534 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -4.0547, 6.4479, 0.9011, -0.4713, -0.022, 1.0183, -0.4444, -8.8957, 4.5333, 0.8571, 0.4664, -0.0171, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3291f80d980e6c97c0090b656dbc626750acc50b69304c2062667b93cb2eb767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e88a2664c6cf48ff70f2dcfa8524ac85cb06fa841a04154f6153292ce861155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de98b75de5c54e41ac86a3abbce748ccce5ca2cf3e7c05cb581e517af99b1332",
      "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 · 8.725 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7357, 1.2652, 1.0374, -0.9478, -0.8322, -1.0149, 0.081, 1.1973, 1.6634, 1.2076, -0.9787, 0.8707, 1.335, 0.0763]\nstate[eef_state]: left_x=0.2869 left_y=-0.0787 left_z=0.1926 left_yaw=0.4631 left_pitch=-0.1013 left_roll=0.0412 left_gripper=0.081 right_x=0.2376 right_y=0.2459 right_z=0.1389 right_yaw=-0.2414 right_pitch=-0.1229 right_roll=-0.0478 right_gripper=0.0763\nstate[joint_eff]: [0.2256, -4.506, 6.694, 1.3504, -0.4615, 0.1294, 1.0379, -0.294, -7.3641, 6.735, 0.6081, 0.6276, -0.0415, 0.7546]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9417, -0.8032, -1.0122, 0.081, 1.2552, 2.0266, 1.0195, -0.2527, 0.9058, 1.0527, 0.079]\nstate[eef_state]: left_x=0.2847 left_y=-0.0806 left_z=0.1835 left_yaw=0.4533 left_pitch=-0.1314 left_roll=0.0461 left_gripper=0.081 right_x=0.2443 right_y=0.3121 right_z=0.0037 right_yaw=-0.0232 right_pitch=-0.0607 right_roll=-0.1073 right_gripper=0.079\nstate[joint_eff]: [-0.2393, -4.2188, 6.6256, 0.9255, -0.4957, -0.0757, 1.0232, -0.5128, -9.0188, 4.7521, 0.8474, 0.4664, 0.0806, 0.7497]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9421, -0.8028, -1.0122, 0.081, 1.2545, 2.0369, 1.0164, -0.194, 0.9043, 1.0649, 0.9949]\nstate[eef_state]: left_x=0.2846 left_y=-0.0806 left_z=0.1834 left_yaw=0.4532 left_pitch=-0.1319 left_roll=0.0463 left_gripper=0.081 right_x=0.2469 right_y=0.3194 right_z=0.0025 right_yaw=-0.0276 right_pitch=-0.0487 right_roll=-0.0534 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -4.0547, 6.4479, 0.9011, -0.4713, -0.022, 1.0183, -0.4444, -8.8957, 4.5333, 0.8571, 0.4664, -0.0171, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3291f80d980e6c97c0090b656dbc626750acc50b69304c2062667b93cb2eb767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e88a2664c6cf48ff70f2dcfa8524ac85cb06fa841a04154f6153292ce861155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de98b75de5c54e41ac86a3abbce748ccce5ca2cf3e7c05cb581e517af99b1332",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtBwzwOi67mzzbgfqUohPqW95UW92WOWQc4jHtugUeqqQZ0rT8klfCnL9W-hGE3bv7owQa2DGHUCpsDUwKy3XOcu-2r8hcYwHAFv9QWFVe35nK_aoAVHDrPBURHYxFaEFR8tn1hhi9XK3-HQE8PnqDuUI2OXzOtYBZnmmU9nmP160Y9Ye4VLeCjg93DEyfi0ocb0A9XbRC0-6k-RCxHBtb4-EuOvsgngpOrBm5vSr_lhNNwLPNPC3J4uyTggtgsCNXRJitppvDQUYWjU0XmxK5xU8MPmINIvsKWWM-EZTWwS_t88H-oZX-3zDS4Rc27AfNNje7WOkvo0seyMTvJD_xt4RCU8Uj171vKAxCfUtp5ye9a8uEZ2qw-tyyHgKv2CKdbfcXHdz57jdn-iuE3Zg-I5FstmVeC3O9OACnAcHj5Q0YIVKG930mefY96pSE11WU-qqnZkBNXXm-yFVKPH31V7Qh9Nyg_EDdGiiWSFQ6TbDtjViwq2cAG-I0Vk8OfqK2txsV_r2ZVfjyLHxnKyFnJeqy2ROSS41L0p9Zot4cH73EWG-qd2vLipyUo-g6Iw4CPSyt6EtKNmXfZdkjgGkopdY1afuP1E2CB2PUVG4MUv0xGthn7VJsDPgZzWQeYdgr0ymOR2Jz2uEJvGpa1JmYAMC6qw0ObJvAALjATfQVObN02PxOPOt5iE_kD2KSn6EqAjR1dwFdnjTu_7OjZBfZwJVjNiYSYd5-ZZjcnoPBupcy5h28Rm8rEP7nRYXhDoNQuYYCFV7YOqPrXPm0wCfNBYNK56htK0vCHqL0CBpKbgutAv_H08ZiDfYIa4eJSgVKL0Pqnad656SLBGxysCa5bGkqs5as_16bQJfE_NLMg2UrAMqUiLgRY_NjIcApCFMThlzZoYXmgUY4SX5amAcrjBQsSNrIOV3oDVzteKQjm69nj7eVuz7fzGDk__otsItMn_GIWX2RTw6K3LvRKemNHJdfBV7JyksQ9HsJHrNoCsAiQyfPyc3fT67-lb6IJ2nvoK3nGX1evq6_r9-aFRiovW10ReDMWMOf6Yl_uEqjltuHSVQFNxqOfXk06ZaofSI4rmzFQYXEIfvx1GJ80dNhUt5Vskbic1TO600KT8Ilh1IMp2h6raTtAjl7hLCeFVz-Va8BifYRrnVdNBCAMOfENmgdxiCistpmtB33OL4SRBOdu5IneV-NwkkxsLRoGEMz-LPzbRhd4ZGZYPCLnM2nXO8oI6352aRENTWyifZdO-qAsRWU8CHdXBGS6C81VGmh6jcyIe203MOv40DyTr0x9FESBG1_asfKbne3Ya67DQYbtTQKh7suspTd65zK-tGOgTsy-FFBT9iCgVpwE3s-A6y5JNoUKGlwW--new7UoHxufKPml2DW21TBpVoIlNTz5osXtdvXi8zrEwrcjVmrJISZNZzbHZFTDWp7Rz-aSU-y1Tcv4-CYlYa0M5kvmqgFBlRiBDhAHkYzl17k14X-Rzju8RoZa3DlARjW8X0QECafveiIDxWWZ6MoZmTswFFC-tr475Z83-us1zcU9Jzt35vaQ==",
  "id": "rs_05b5239c888a54be016ab41c319b1c87d0841b86d2076b94d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.02,\"right_z\":0.2},\"note\":\"The pen remains on the tabletop after the jaws open. I’ll withdraw the right gripper toward its own side so the left arm can approach the pen tip without the arm links meeting.\"}",
  "call_id": "call_Uvy9Kjti1cDszNfqiszQtU2N",
  "id": "fc_05b5239c888a54be016ab41c32746487d0ba838c6316985abb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uvy9Kjti1cDszNfqiszQtU2N",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.018, -0.9421, -0.7956, -1.0119, 0.081, 0.3458, 0.5461, 0.6548, -0.7845, 0.3775, 0.2375, 0.9959]\nstate[eef_state]: left_x=0.2838 left_y=-0.0811 left_z=0.1814 left_yaw=0.4504 left_pitch=-0.1394 left_roll=0.0473 left_gripper=0.081 right_x=0.2225 right_y=0.0148 right_z=0.1889 right_yaw=-0.1109 right_pitch=-0.051 right_roll=-0.0422 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -4.2598, 6.6667, 0.9841, -0.5299, -0.0464, 1.0183, 0.0479, 0.3214, 8.9778, 1.5751, 0.2808, -0.0855, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb20254353bc29f9d1ab174309a78e7574e8aa604d80cd472854a65ac9698d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a86e3ff313cd8e4cf726ac33b18f47496582752e4038c3df4369a299e43527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221e9925db0c6d1a8d3fb7637bc8e2d0c76202411f28cedae0f08598fd31d317",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 6.241 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0222, -0.9371, -0.8116, -1.0122, 0.081, 1.253, 1.8683, 1.1213, -0.4763, 0.9131, 1.0672, 0.0759]\nstate[eef_state]: left_x=0.2858 left_y=-0.0802 left_z=0.185 left_yaw=0.4562 left_pitch=-0.1222 left_roll=0.0441 left_gripper=0.081 right_x=0.2477 right_y=0.317 right_z=0.0747 right_yaw=-0.0339 right_pitch=-0.0432 right_roll=-0.0623 right_gripper=0.0759\nstate[joint_eff]: [-0.4171, -4.5607, 7.5829, 0.7985, -0.6569, -0.0806, 1.0232, 1.0735, -8.294, 5.0393, 0.8913, 0.6764, -0.0659, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9421, -0.8028, -1.0122, 0.081, 1.2545, 2.0369, 1.0164, -0.194, 0.9043, 1.0649, 0.9949]\nstate[eef_state]: left_x=0.2846 left_y=-0.0806 left_z=0.1834 left_yaw=0.4532 left_pitch=-0.1319 left_roll=0.0463 left_gripper=0.081 right_x=0.2469 right_y=0.3194 right_z=0.0025 right_yaw=-0.0276 right_pitch=-0.0487 right_roll=-0.0534 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -4.0547, 6.4479, 0.9011, -0.4713, -0.022, 1.0183, -0.4444, -8.8957, 4.5333, 0.8571, 0.4664, -0.0171, -0.2369]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.018, -0.9421, -0.7956, -1.0119, 0.081, 0.3458, 0.5461, 0.6548, -0.7845, 0.3775, 0.2375, 0.9959]\nstate[eef_state]: left_x=0.2838 left_y=-0.0811 left_z=0.1814 left_yaw=0.4504 left_pitch=-0.1394 left_roll=0.0473 left_gripper=0.081 right_x=0.2225 right_y=0.0148 right_z=0.1889 right_yaw=-0.1109 right_pitch=-0.051 right_roll=-0.0422 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -4.2598, 6.6667, 0.9841, -0.5299, -0.0464, 1.0183, 0.0479, 0.3214, 8.9778, 1.5751, 0.2808, -0.0855, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb20254353bc29f9d1ab174309a78e7574e8aa604d80cd472854a65ac9698d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a86e3ff313cd8e4cf726ac33b18f47496582752e4038c3df4369a299e43527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221e9925db0c6d1a8d3fb7637bc8e2d0c76202411f28cedae0f08598fd31d317",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtBw-oE_wW4gJ6neog_HcgHCP6S35R5CQJGMZfE7DFJuKzo8lwHEOnThSVdkdARoKhsUJxpXKCezoL63J6k7URv8V6NlnR_wfF1lDzwFNUs9zi5BXSN3uj9JBZXTNSFkA7G5QTpgEC8qmJ9gPG0LnyvzOYxzo_i6XdI1kfoNbpvKNwQtLp2FVeGYyJzaJ3DYGAlFn0e-o0qbWVxYkz5Sfohkl82-AA4Wu7ScwDEJuN8D64SVOU21b9Tl7H1payGfcFmBtugXcMzHboWD7oAevin4Tt7YvioN7mKR3IOG6COh485EbNx-VpBQuzBIwzCTOPSrxWyhtVNIi5QASOQVARUHsjq_sfRe1nH01CQOFkX1fD8MN8qQgB_ubkCiTbgbUU_pBhcAlkEqa5CinkWZNz-nAncM_f5TpCFuujShKKycsdARyjDjZwmDD7MszPkSJd7JhsLjyW_6al9MbhU2PKsEe-Nbt8P3lC-YWu0_E80-VTIdMvj0W0_AeQsjV3Onv9F5hZpA1T6Fe0gS0o9Fg_j0H73y35deBxKnrsbIYSNSBlfvmm466Plmwe6-KYsg8e6-IdXfr74Y4nK-DYI1MM7izyJpOliEB46iTJU9AZH3ZCR7i03TSvHl3Yy6phIliOggLCylB9DPqcBSoE_bEnNjR7f9pjTOAgoCP7BnRXu7m_4n1HNl4s5HQpmm7rjPlG2eOdeK_96lu98uOf7TSjSMNgjjJQF43ryHlnMwEUyDdmfD0_Z1Qj8zhkcFswbWDNFTrUAUkPrebAMijSqmt-b5neHZ4Seq9XgGa1z4Goz7uYA6fi9poxctkf693cFeArjeHFJKBir7GHXnt4che0Hz_Dyoo2aMuhRqDYGSew9UcfQUl96JemR_wOEITlLtneTEInsiAS7tsQjFfK2P_9RpmE-_ld3Sb7HP_dVOT6lwaN5NTOw80v1IgzzcBsU0_ob0zfuxYlPhO1aeNAJSiO3K0MkLu8VwfKGiQjg_1hXY5iw9sc-GoVO0JMvNtBO88GStwDgrBOo8iBxwMOvb7FwDXt0VSg6CLLHkA3qW-C3VIBHlLFEdNRYuo1eL8vh-nd4vOoXEQIMXxYhuqRqp9eyazjY709CM6PsnmQ3NKxKlUA0HwQbJdJJYL4EhC40VJRTIYIRc4tkQ3YhKeGoUjGINW9DteS_DbtVeoRKbLwoUFuHy_-S5OLYsNPZad_IhHbC6IXoB9oUKnAbYJcvyIJTZ9qvsc4V2XWfoqIDtabTgPuNVFnsbsc3mgQ3An41RMLxGlMQhTiX10GpOiKEUJBNp6GyZes25y27eAzjlitWDebnCGtM1P4GfB7U_1wYsYtCUtDfVLAbTvGMPynSe6vAsJVw7nE1ehLGpIHWnltsxiXP3fvZ_vTCPXuDlJXGDLpWh7upXKV-uqd5nBLwA6G2jaXfZM0zgxY-0yt1d25EBkxbWNTtvjpvNCsjTJkVfs43tbBO7cmBSn9k9R6PKoCIhliGB2VBVd2aYk8AbwrbxTSE6Qag-6LzEfOSmakaaHS_ev_nKZfCR-0rSOcWzgBUR8UoyXOqf0RUzSZ4AsVDTDTlD90w3_y59Hp-zTgHoMnsZvIFbuDeUFVSKgtaA-X6onTWbunRhbmHzs3Agk4KTATGzelDloEm3Ewyp5sBWmZO0kUWfL7TKqB-8pxgXuSgFu2N7JRNfvDIDTQ1comizXfazTdZEYLLzsrUSr_-XRQZr4GtQEEsKSZrbna4XeVYzjdrXv_c_zFq6KuCQElj2ELF4UrHnWALGnEAHYZdnf9OqLGrJwClMjIDaHedcOFLNig-pthLcbv2rlyNeGGA2gbcaogGylKC5nmAd52bpAkqCSdFJ6VIdrDhXF_IgIAUvylSoKl-_wQe3ANYvANfhu3io0KEtnRxY5L3b2FZNJvobWEIogAUHu1BvMzI1NkUrfAcHjRR67iQ-rgQK0oLmbN_9h7YF5Us1FKtFJtjdO2_gR79ykk49uwp1jgqMiVC5YXyfXxzaQkod954C-rqLGvy2Rtgn0okb6CoksgJEQXGazPUzEkMhLWIba7y0G3trmpZe5uN9m415QOvuuGrTcxnfSDpWFHQx4AUHr-uouGRSbOaysjBLMHj62-Xq4F7rJiVte0ZoSasAAXXtRNmPSi375QLEGxeBX7DfEp1NqPM4v8YeubQSJ_X1GdJvJPtwEOs2pPLSdjnxkKCtNGdjrD2VnCkSEZmjQ31ionVnkWQUfwv83HTbv6nFVOPj1cISchedCkLaaWSlrySSW2zzU6N9UuzUSaiGIB7RG_5e-wK6L2JS1wMTzaTsIiaPZFdDw1C03UWZE25eDnlcPhK8WMPvWljiZgTlYU9wwkbPfG0SaDXmDAopRCQCS3m5BQDFL-RT3B10ER1L69kWVA4KfqiS0e0kwd8mNjMAbmi5Ehci0aFHEC8dp0OSh6yTWGnmG1U9FLiFe5xrXHotirxdv3lYW_n9bcdXe0qYpmoUwnMIJrHUD8jDQTBQ4UCJNB8zUQEclCYOJq219giTOilnJEZQP96884w29C7ogLjHqaae11QLa0Ndbv65KV7AypJSvaxlkM697SeGrDQwCPGoSAYJGCSrA5YUAtz1FT3QBtGtHf82A3NN0pwC5Tt2AAk16uO5NECWF_tr2rztaeDsdu-1wek_X5s4unw77HPj50EH--Xrrj2jq5Sa9y0JlhjovppFnY8n9iWfOka4E8RECV3P6P9ng139arm7oGZVZMvN9lXA3Ko0UAvVXjnFGIb3ZdTJmc6LCcQx6l5-pHKRSh_Qg3vRG1m6_IHyWVtGCVXqdOuwXgmK0ORZbrq_W0fFOjwPuTv77a28y6leRspYWdojiaIYOoz-PNzCPOBzdJoCXik5qMISItmWcYjqP5jMTrHWi0xB3PTdf4MrCHeTy0eStbGCuVdY1FoQ6eST-B-QCsi4fz8LDedlHcv5Ei7W_bAq07Bd2QnTAA4Sf22sEF-pRtP_bXL935trQ8G-8qRxePJg5uySsvBdDnIgyZnPz4DqEVwapcDVATe5JWp_Up0bS5rEq-_48defGbqDZYKUrL5RlH8XSJO_R5m2HuiTsj_j1xcbAl6D-vzU36qV91IQw_YLyBDJUrZi0tfRfFvMo70S2lGyfBaUHSZxn4U6P37fCc4L2N_bTDD3IAKWoJP6EjpKxad7Zo7b2HeBbSRruZEZXYGXU_Ct7eMThginKIDBDF-lg2m5gUvQpiNspuNBT-s3Z2eXnO2JkmdA5_Ypk2ZdE-FPa3XYEov-b1cAuUmZkMnYn2DY9e35XT5tW6KCWw5cfJrnbqqX7X-k23eEayvswDmKEGfSK5FOrmc3yG7LZjPmK0ErBgF5CJfVL1jPAyh2LawRGoIVN0Fm89beNVKWQ6vvKdAAU0svpHRXluYw6gE4yu-Nm4S0cyHrWFYQbP7PufN88E3hpsIyLNB-In_6tkv_00BLzXLVLPhYO7KM89H3thTBxq62f_CGI8Tj3BbhW8xPYeD5gAQMbgKnL-FZ6Cua-y0kYEBGDj1pIvc49W3g1Lp0wQl-Ij-e1StMnG6TWFJmCw-L7kd90plrdgy5El5PyD4LlWuKbNpI1srhOQEOQ5uh_CF_1WLK8FFOQyqAjfl6rL7fiztn03JX-",
  "id": "rs_05b5239c888a54be016ab41c37db0087d0a173804ef2cfdb11",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBw-IZo52jTFfqplcSnwzdek0aP3hJf7WAj25YtWasPHHw8osGn6D_jolHJvyhjc__bxlathzculKYTk-UurV-8Q1ND0gVDcL2BjB6CleH4K8NwhXM4rcHXGhbs5_yyonv2ZsZAslQAZo_KiBaoFA0mHKKVmSZrc9jt4pHKllpUbiVS4k3G8T9JTpHQ76wjodY9R32NMfrjEAGm9iBNUMNaUOPOMsR2Ifrm0UOh-8UEDowfc3007b4Ee7y91HNG45KTEFqJXOBYh83AVh3wdEXhbOb4yQU2-tdOiG-pO_Zo5sn1dukqa1qfd-_HJXShaqAE9BEJYK9UusOKyXbmSPfXPY7suq3251iBAMb2KO03EyXSKRQI6l6q1LwDVEtsBGr16-M-LgMux060FOJgvJQVPDwOQYyOsHl2AFoDZHHwevA6bMbUeE0N_UGU-CVV3TeI74behV9M_nmfgRwUZpVyufmmpUhnoGXDcmAHT11URexZSzjwpTmEd9gyGbiU6SOG6TwgLZWPLBcSprC5K9E5XAWB_av4EKUoAsmDES_LhGFKSMNn5qzxAbRok-eMJ8eJk-hltSMhq-JJq9D5NP9hW6zcCNkUxKQvU_i-Wxgk_98p5Ylzp4BfxeNKxQHxGRpnk2V0U6olC42VQFTYtP9GQyKLqP_q18uM5VV--SZ6fh4YATwHAOpa0eZGESpTSU9Lb9SzYLBx_IHdSUBte3Z9Onev0_eP43_IQWXwWxI4RIkTFJi8vJ2ksbFC2lCnvQULLZO3Muog7QSAMUToEw9xz6Ho2IC7890sWI40-bIGsaOus5i5RUnucHGKe3hIomLQb5VeZQ-r0__K4HxKssmFyvbsY671GErJY43txr0ykPFL5S6XT59xch1jsBiMTOwWAakTwqlPlZN_iLL6tMcCYULAisCQ9WeU2xe2PkDThd_mdChNv1WPw8D8lI-XPIrTqdK5a86MVdT7dHursz13S9FGpZW5mOqy6XXHrWhn2AZwUbfIlxiAjGvvbjt7E0ln3IEjXZBkxy2VgqFqUee8HRmamSB3h_RBo-HkbBkaWurGU2qHcSDrdI7HIjUg4mI5YkoU5RWT2LFsy9oTHO3DbWZmKJh4fntRKt15MbKp5Aiz9Tb-pd7zRylMQdvpKXsrFZZM4cvEVr0i1-gYw5C_1-oQwzi6OoMnIrRsZ0uhVlj20WcLHaUCKeL6dLeArHBexa1gAGXsfwwCRGEqZpSLtq6OzenEp20HWKRRP4j9cU7y5kbarflfCBozzl6ZKUZO8EDB3Asg8p3rbHsX_TuBR8H38Rgxl1vXEMu44fe4MKUt4iBBy5wKFAZu5S1896zr0aVJ5A4kgNK1DvBNByPafBU0bkta79_-Tr2UBTHiYJXWGwlJNKvf0MO3V26oLerXZIqiOlRg7d6YyHh-0kB2Vmb-GjTsn2imTC0fq55CVoVv2SHd7aJV3d_xNSdbavk7khpYno-8TVl5pK13W5ANa-ujJpMu9WeebYwgXWUHsbAxhN73yLavp8aKY7zIB1l2vaaYLNky-JTn-zlDz8t_tLSAeYoH0mFnAtbQ-SAo52m1oHAHwhbld-3qmGrxejrnH6hFJ_Oysf0_AFD4Dpxah28D35vQuRcWZ1w51pgsbLrl_5wmojl9kfxWDLbYzI9qSftoA65D-STmyVcJl5vNoeB_RdGngdoJmE01neC2oB6LWhGL6ZHB3LgdGZslh2KL-cdzCKF65txCW-yx7hRKvuN76nI1XeEpYJHC-wIrpkFNiOtfMtYPrO48oEFJYUVdH_cM3Pl4CSQOpMjB1b_rZhjSA-Pe2FqsX1TpwbM8RabEkqr-KOt3HXdJNjrgLgV0gU2pnpslOXEa3DiEC0AnoYsZyzuBSRti-yueWSlNttjhq4ZA_GUKsowpgl9PfUqi6ipAuKKKja0GZncbZaCeQVHh2MVDh2RO3PTln8t51QS6be5Ma36KzWFRgHEJu0GRojhjy__5vnPgn5hZiRqNHfob-Qsb1CTHHxZvXC8AVZ3h_8Tffj8KGdJR52ZDx9cFWYL8YrSX-nwQ0SvgMkV6bIQZhGYE0xlnNYAhDaZUVn9dk91dk-r8cWboctxKK7VJFCTDXro2nvpZwO2Gxr9QepSZ41zHa2FSnhUXLpzcp8C8kqUxiavsD-o126lX0fd8JW3N8iKkCoDamTZNelE6uBmCHFjD2_JMEKSnipunoxDluiXMimnx2olRQUGyKr1xDXRoq3kToG1Sg3bdy6iXTSrGZwauweuZSF3XM1cEbICbqtQprV5Zk_G4zaEY846xkoZVOQzETiZbWSIjOsWTQCw==",
  "id": "rs_05b5239c888a54be016ab41c3bcc3887d0b8a2ccf488af83b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.31,\"left_z\":0.13,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The right arm is parked, leaving the pen exposed on the table with its tip toward the far edge. I’ll bring the held cap above that tip and straighten its orientation before lowering it.\"}",
  "call_id": "call_Rjolhv4xp1pCvwkN1ZUQwQw9",
  "id": "fc_05b5239c888a54be016ab41c3d883087d09b96482cf60f07ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rjolhv4xp1pCvwkN1ZUQwQw9",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.865, 1.9762, 1.3903, -0.3042, -0.7422, -0.6109, 0.081, 0.3428, 0.5491, 0.6521, -0.8043, 0.3626, 0.2245, 0.996]\nstate[eef_state]: left_x=0.4098 left_y=-0.2913 left_z=0.1136 left_yaw=0.0468 left_pitch=-0.0424 left_roll=0.0781 left_gripper=0.081 right_x=0.2197 right_y=0.0157 right_z=0.183 right_yaw=-0.0956 right_pitch=-0.0783 right_roll=-0.0552 right_gripper=0.996\nstate[joint_eff]: [-0.6769, -10.7829, 9.1966, 1.326, -0.2466, 0.2173, 1.0183, 0.1709, 0.6222, 6.694, 1.7753, 0.2613, 0.0904, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afa6edf7568a484469395d8aecd6bfa7935e2c88ddce9a1fb6a0488f28b0279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9350c9d8be6e00b81c497804e269026163d4bde6c5684ba441673fe4a83f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e04c1c1b863d2070581455577c8e4ed9f1d595d18a58bf01c1dec839ff998f",
      "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 · 4.753 s

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

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9417, -0.8032, -1.0122, 0.081, 1.2552, 2.0266, 1.0195, -0.2527, 0.9058, 1.0527, 0.079]\nstate[eef_state]: left_x=0.2847 left_y=-0.0806 left_z=0.1835 left_yaw=0.4533 left_pitch=-0.1314 left_roll=0.0461 left_gripper=0.081 right_x=0.2443 right_y=0.3121 right_z=0.0037 right_yaw=-0.0232 right_pitch=-0.0607 right_roll=-0.1073 right_gripper=0.079\nstate[joint_eff]: [-0.2393, -4.2188, 6.6256, 0.9255, -0.4957, -0.0757, 1.0232, -0.5128, -9.0188, 4.7521, 0.8474, 0.4664, 0.0806, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.018, -0.9421, -0.7956, -1.0119, 0.081, 0.3458, 0.5461, 0.6548, -0.7845, 0.3775, 0.2375, 0.9959]\nstate[eef_state]: left_x=0.2838 left_y=-0.0811 left_z=0.1814 left_yaw=0.4504 left_pitch=-0.1394 left_roll=0.0473 left_gripper=0.081 right_x=0.2225 right_y=0.0148 right_z=0.1889 right_yaw=-0.1109 right_pitch=-0.051 right_roll=-0.0422 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -4.2598, 6.6667, 0.9841, -0.5299, -0.0464, 1.0183, 0.0479, 0.3214, 8.9778, 1.5751, 0.2808, -0.0855, 0.0904]",
      "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]: [-0.865, 1.9762, 1.3903, -0.3042, -0.7422, -0.6109, 0.081, 0.3428, 0.5491, 0.6521, -0.8043, 0.3626, 0.2245, 0.996]\nstate[eef_state]: left_x=0.4098 left_y=-0.2913 left_z=0.1136 left_yaw=0.0468 left_pitch=-0.0424 left_roll=0.0781 left_gripper=0.081 right_x=0.2197 right_y=0.0157 right_z=0.183 right_yaw=-0.0956 right_pitch=-0.0783 right_roll=-0.0552 right_gripper=0.996\nstate[joint_eff]: [-0.6769, -10.7829, 9.1966, 1.326, -0.2466, 0.2173, 1.0183, 0.1709, 0.6222, 6.694, 1.7753, 0.2613, 0.0904, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afa6edf7568a484469395d8aecd6bfa7935e2c88ddce9a1fb6a0488f28b0279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9350c9d8be6e00b81c497804e269026163d4bde6c5684ba441673fe4a83f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e04c1c1b863d2070581455577c8e4ed9f1d595d18a58bf01c1dec839ff998f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxGer35qLLuYtXOZQs1VHVruhGKU6vmjtrbgtMzz9WxaR8jcJwij7kFe4JIrrpyjCNXyT4jpLO7UHuee_CeqlRZVjX9m3PrGAY9G0kwR_Crlwa0aL7Zn6EFCPrLLa3Dxw6nNlb3jUXUc8vS0zcfsUqQLP3nE-e1CqI3-c6QkJjazetLbRfiaQ6l9Zb4h2rYZxspJR89l--HnpQcGTgQZvtHGd-9-ToyrAH92qHwu3ZI5kkQhsXN-UaJlyAzCClUBBSLamX9U1Y2_C7FNfj3P4KM6Y6SpqpSSx2jK-MPCWnpTuzLiqzli4ZuZHGoCA3AD3dIF2d4H2gPEfu5KdR2j72y_YTY6c7TU6M6bk8JJRpE3dtsqpC4VPlHTaDfKMON3NThvjp82dHqJYwFevom_sZrHNbdJ0FEdIsYNbyGtQw1vnPMuaBiUi0NaJ1NeMjQKuIlB9lOgDvUVBRQIueMgTctcA4AHsN1S81H8OYdU6pH-MvwIKeQ2W8ZBoD4o88oEF7aDRF-D9ot9R9x46TQPRkj7hDkGXJIjZ3AvcaXWzO797n55gi7kdoUF06v9O_7yLpbKcs5r5ZDYz6JfN5TLFgVETfFcuC57sAIZkg8BkKBLDoXewLe4fIa_ztidh8pzoECvaT5edabtf6OVnTnRxPMIvw_uGxEKtqrOwWCKTSwxqdU6tf51Z6WBA3b5ykvE5sp8vJr4CDABUqD4gQe_xP8-JH4G4ACtLXDy5eSYV5mvKRz3zTbdyHWvqxSyqt-H6pcBj6Tafiii6GOw8LwB4oUMiIPJzEQK3hF_Cx-20c5PZU85subTDTjLh0LWBMS6d09iQ-fwhQVxnFdpDyy0Hc3RmTEAf5CJPuH6wk25uBtMNxcpW7M9y5spi_QQuXMk0sVB6d0in3x6Lb3GSVQgBfj_iI7cUVBHLTj8g1cWG4aGpBglE278oMxsiSfdimjztQHc5VKAvV5E_iwrTOK4bhUmU8IS4gDG5mXYdzPN-UH6S47rf18kenl0YJHEa79B9M25e8RTWT8ojbDR9-4ZTYL81VKCGfNAhdUhYNfBI9mLT0Gj3h7BmUgqpKLRvUqCJlT-5Z1dsiY7NAFXE1wzd2r4CzsDngPs1WPjee6vWNpV_dMR4_bz-f7QWcujcarj47-CwHr7rOVYvunhrTnXyPfqo5UY_ey22Q7_O_85NB_rucpZga4Pbf_Ueu7Wodi5DuTFn7Du7J_6TaHfEoXEZoW7Sc2wG1pf6Fe9Kuz-bltmlKpWQHU8X_Fq5YKqxeX1Sd31CzL_fmBmIS_wRxDdccuuIBN8HJ6qKa2_aQWMWRzZqKmJZOp7pOIs6nvQSqnhT8mikaXQNKXFQwi2ej1oP_7Ny_GoIQPjaxVAJ_wybuhNkmFKhy6MFQprR1YCM6FiJ-oTWk-3rfVv_NneOOG_jN6hUPn4Suo-c_C0iQlYDT5fBTr4G8MgYOy0lpZCJ5J98ot1iGmJJIz4uYL0vGXVdn-tAP6gCXrGwwzxJl5WhYyvYmJAmU5xrFYE_SB7IXTilfj8RwNsza4HcNcZYGGrT_6ALBbMXOZJS1HmvFwWtOBX2OUfO1zN-mMpUqV4Zs5sSjFMH7VOqpsHeXbg9C73BdXlurAo5FdBFlwdE5Rl3CnW1qDV1kAQV04T9WxdG3NWyS2lt82TBOvAuqewPV2mRYXgtioFQUhcoGvHDHdvPLGYcKZG-cJQqeZpxJB_bPjq_u3xt2sQfMkFNlukrzCjn9c4Y52Dk53UN3ISsqj_3FD6VcehtssqGmWi-7eP_KROB7-ifLqtul0hI2aCeDt7_-JKzUH8E4o7aQLRtUVneEeaC0rb4cmDKiE4bUNojuGCiKtb8TtYT1SF4T2EOXbcRWuKpgfQaE_AUPJEL1_YYa5PnodggCYs4v1hxVZKlwy3-roNk6pP1bZtCIpELm1mPBFoCj0y46jOAPSebCDZyA44ewJ-gFvNZ7ryZgFg933IlklMDMOvumQPcl1TP736XuBs9zmFjsFtO4oaj5tDdMky7c46c63r3LGPCJop5YxPllQjYFIVSZSfVLlteezoQP1EvV0P-VQwimY-Ovv9-Knj3__6anUSDv0s1oBs7ylsaeMbiSVfA4XxSadw8Y9fu5FtFBp8uTXtEdScYp-cK01V2wzwVG-c6U_CUBHgXILoGCL09ytyyAOE4C7Awj38a_--60cS17eivHCVHtQZXX_HGbiVupBW0kJXnXX68nkDkd1RK5uRkLrtencOIklDQfvAzZvqBNiQht73v5ITyKPNJyb6gN5gESr6eqMzGqjhhYQljKY-DPYnsw8hbdR59oC_KfmEphfNhWlH1F1--kLnOWHOgd1ay0tmDyxMvASlC5GlOeM5QzKICer2sTyo0Yfzvf-gEdLYG5cYUADw9u0A9SwA67nwvd61_Jn9HXhMQsNVJBCWhJj2LZDM6Vr1XjRcMrO2-CT2qTT4w09U8SQytuWKFxbw-RRt79uX9Y_-8Ib9iHaZx2-Rzad7CNxOtVL24mzMj88ucpxxPZTj0zrX50PFT_0qNzEdzx277QPjBYF4SAPUdlarbQq7p2Lat4Gqmj_I4LZHwRmJUUAbfITIvAN26ImYZNGrUkrXIj2NhpRp9ap2TrbuVKMFVMiScg8GYcirSJZnBTeaSXSu92NGa6KuVGzXa02AsKAu8kXr6-N2_-a6eap-4K_vMwfsfDfGZ-3pJDd9gE3Fr6LarmOFoORf9pf4Utys_Loxvf5Q1tS",
  "id": "rs_05b5239c888a54be016ab41c42454887d0be50bba723e3c62d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The cap gripper is now horizontally aligned with the pen in the overhead view, but it is still high above the table. I’ll lower it near pen height while holding the forward offset.\"}",
  "call_id": "call_cdcu4nX9V0nHFvGkVVlBAKxw",
  "id": "fc_05b5239c888a54be016ab41c45cccc87d0a12ba1745339d3ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cdcu4nX9V0nHFvGkVVlBAKxw",
  "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]: [-0.8646, 2.125, 1.2469, -0.0685, -0.7265, -0.6044, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3614, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4033 left_y=-0.2865 left_z=0.0224 left_yaw=0.0366 left_pitch=-0.0874 left_roll=0.1202 left_gripper=0.081 right_x=0.2195 right_y=0.0158 right_z=0.1826 right_yaw=-0.0943 right_pitch=-0.0807 right_roll=-0.0561 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -10.947, 5.5863, 1.4188, -0.4615, -0.0855, 1.0183, -0.0752, 0.6769, 6.5709, 1.5849, 0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686ff0653aac919468d9c001ac70cd990339bd6d07b6b938112f4647682ad3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a91606b5ac3166cd69f1d5f669b84c71516d56458fb79c8c73972b061732486d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8016fe36002a3bcd9530c7d31702a0952459b604bf4680b972835d6aa891dcef",
      "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 · 17.08 s

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

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.0214, -0.9421, -0.8028, -1.0122, 0.081, 1.2545, 2.0369, 1.0164, -0.194, 0.9043, 1.0649, 0.9949]\nstate[eef_state]: left_x=0.2846 left_y=-0.0806 left_z=0.1834 left_yaw=0.4532 left_pitch=-0.1319 left_roll=0.0463 left_gripper=0.081 right_x=0.2469 right_y=0.3194 right_z=0.0025 right_yaw=-0.0276 right_pitch=-0.0487 right_roll=-0.0534 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -4.0547, 6.4479, 0.9011, -0.4713, -0.022, 1.0183, -0.4444, -8.8957, 4.5333, 0.8571, 0.4664, -0.0171, -0.2369]",
      "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]: [-0.865, 1.9762, 1.3903, -0.3042, -0.7422, -0.6109, 0.081, 0.3428, 0.5491, 0.6521, -0.8043, 0.3626, 0.2245, 0.996]\nstate[eef_state]: left_x=0.4098 left_y=-0.2913 left_z=0.1136 left_yaw=0.0468 left_pitch=-0.0424 left_roll=0.0781 left_gripper=0.081 right_x=0.2197 right_y=0.0157 right_z=0.183 right_yaw=-0.0956 right_pitch=-0.0783 right_roll=-0.0552 right_gripper=0.996\nstate[joint_eff]: [-0.6769, -10.7829, 9.1966, 1.326, -0.2466, 0.2173, 1.0183, 0.1709, 0.6222, 6.694, 1.7753, 0.2613, 0.0904, -0.0024]",
      "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]: [-0.8646, 2.125, 1.2469, -0.0685, -0.7265, -0.6044, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3614, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4033 left_y=-0.2865 left_z=0.0224 left_yaw=0.0366 left_pitch=-0.0874 left_roll=0.1202 left_gripper=0.081 right_x=0.2195 right_y=0.0158 right_z=0.1826 right_yaw=-0.0943 right_pitch=-0.0807 right_roll=-0.0561 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -10.947, 5.5863, 1.4188, -0.4615, -0.0855, 1.0183, -0.0752, 0.6769, 6.5709, 1.5849, 0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686ff0653aac919468d9c001ac70cd990339bd6d07b6b938112f4647682ad3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a91606b5ac3166cd69f1d5f669b84c71516d56458fb79c8c73972b061732486d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8016fe36002a3bcd9530c7d31702a0952459b604bf4680b972835d6aa891dcef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41c48fb3c87d0aa6b85443de245ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.31,\"left_z\":0.019},\"note\":\"At pen height, the held cap still sits forward of the pen’s exposed tip. I’ll draw it a few centimetres back along the pen’s axis and slightly toward the pen’s centreline.\"}",
  "call_id": "call_lQFZyutR89wDY2hyHQeOafWv",
  "id": "fc_05b5239c888a54be016ab41c4b194c87d0bee0abb995b34868",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lQFZyutR89wDY2hyHQeOafWv",
  "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]: [-0.9287, 2.1468, 1.2465, -0.0952, -0.7486, -0.6651, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3611, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3816 left_y=-0.3035 left_z=0.0115 left_yaw=0.0223 left_pitch=-0.0979 left_roll=0.1224 left_gripper=0.081 right_x=0.2195 right_y=0.0159 right_z=0.1825 right_yaw=-0.094 right_pitch=-0.0808 right_roll=-0.0559 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -11.2205, 8.3077, 0.9841, -0.5104, -0.0415, 1.0183, -0.0205, 0.7179, 6.5162, 1.5995, 0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf74b3272ca494d47d2a5b60cc01d010fee3c258c0a7fbffd455b8199b33238",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658a91bb0d584ef7ee16e9ff04a031212f2469ca54e8076299261d0c11878c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fd50f0d4c5b585c1e9296e2732c28a07d232427099f149d824496345f98902",
      "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 · 4.563 s

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

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.269, 1.018, -0.9421, -0.7956, -1.0119, 0.081, 0.3458, 0.5461, 0.6548, -0.7845, 0.3775, 0.2375, 0.9959]\nstate[eef_state]: left_x=0.2838 left_y=-0.0811 left_z=0.1814 left_yaw=0.4504 left_pitch=-0.1394 left_roll=0.0473 left_gripper=0.081 right_x=0.2225 right_y=0.0148 right_z=0.1889 right_yaw=-0.1109 right_pitch=-0.051 right_roll=-0.0422 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -4.2598, 6.6667, 0.9841, -0.5299, -0.0464, 1.0183, 0.0479, 0.3214, 8.9778, 1.5751, 0.2808, -0.0855, 0.0904]",
      "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]: [-0.8646, 2.125, 1.2469, -0.0685, -0.7265, -0.6044, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3614, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4033 left_y=-0.2865 left_z=0.0224 left_yaw=0.0366 left_pitch=-0.0874 left_roll=0.1202 left_gripper=0.081 right_x=0.2195 right_y=0.0158 right_z=0.1826 right_yaw=-0.0943 right_pitch=-0.0807 right_roll=-0.0561 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -10.947, 5.5863, 1.4188, -0.4615, -0.0855, 1.0183, -0.0752, 0.6769, 6.5709, 1.5849, 0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9287, 2.1468, 1.2465, -0.0952, -0.7486, -0.6651, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3611, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3816 left_y=-0.3035 left_z=0.0115 left_yaw=0.0223 left_pitch=-0.0979 left_roll=0.1224 left_gripper=0.081 right_x=0.2195 right_y=0.0159 right_z=0.1825 right_yaw=-0.094 right_pitch=-0.0808 right_roll=-0.0559 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -11.2205, 8.3077, 0.9841, -0.5104, -0.0415, 1.0183, -0.0205, 0.7179, 6.5162, 1.5995, 0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf74b3272ca494d47d2a5b60cc01d010fee3c258c0a7fbffd455b8199b33238",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658a91bb0d584ef7ee16e9ff04a031212f2469ca54e8076299261d0c11878c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fd50f0d4c5b585c1e9296e2732c28a07d232427099f149d824496345f98902",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05b5239c888a54be016ab41c53c22c87d08f8905dfc04752f2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxd3dUQ4iSfNHe-sUbxuP67HNP17oBVaqtvE0S6gvBIgnOUucLs1Fso52yMUOtcXXoDVabip5ZV9joRNdhGtMy6_0o0sfjUxbuFDnbOpXOOxqs6dbUy0GxKcNQ3Z-D1HOzakWXltUTb5JmVJ2QYT3EIMB8a67XMXVgjBAEUAPYa58KumfJhXsLkQjXk7PcsZl4WCm07xDVFxp3jz8JD0Jq6E70spzRLy-ROIQuSbdfUuoH_WZiWONRxxsaK9rhATCp7ynj9gFKJV-bNwOI_vN-uUP83JYVmZ2VY9Bq-DPUvd88Fs3cO2R8c0bCfundfPI7hqWR1A6kVo1JNGsOzXyvYFABsKnzQ3_slJXNqkjGy9GYXhvfX0gt31fRONUliXLhFzZ_2-86tnZvacgmmJw3e0SjUjw2pRud3AA_thOag2SiXIQUYe_3g6Jbp_UEahWPZ1hOOFsn4qa6wqXLrOWqnXrzJDSQXJQWFxCnILli7YnUJg3XAdo0z57ZaHktXmu8ONGNhiNAxzYPtwXNrxXXa3y5MZ9Op88cZTlGsipaP9LDzLircifi83Yt-z4KlOJx8G3V4kFIWR12YcQ1PSdDd77vnpUdcAfiJoqedWcYWfUNy6QG0KnaCmUfUAyS06r_OCI8lRv9-oEmhczSNbSRUs4SM84wJ7bVRKP0yaTlVrCFy8zGM6aUWN9sPhaGNtdOiuf5Iq1gEdvajWPAER1QG4g3wOMdfC-TFPjKzsUISYSaea9xpfwCUtOx4YrpQQWIxZiSjVc6vtFxRpbtEBpmR7leM1b9pwH0RstvmBYn1Yp5KrGyGO6FdecOnRCMTKj8iKQf0Y5hV9aJWoL6Ggz1NRw8CL_b5MWNEqdzEbVzHCKDwTNb1g7QxgBsPjrDbbo4E4i9G_ZgcJtE2CRvwFX-Tj8XTg_zdndBWxkazWIDoKlC6u-wGswXLfzYeLwWpuhL-MQPK1qE0X6uLqotj2zOLAyjwqZsykyFZo1SMngnEVpCsfeHNZ5CFzKfh5y9Pa8nPa0NK2bu0kppUfz1JKaeB8K-1HsPTdIPXVK4RQvH3IkbUr6e70HOYWjZQEjkfGFIPUP0Rb0hjzDVWQ9ELhD4Dxh8YImfEFfdoLlpoBg1JjkMVl2dd4PQ85kswTY31kJ4mSrV-YbWHnCqfiQ1vb1KNa-TVNaQYvu5xXpYj52zkXp9mktHpiCuCMi6Bx__G1gkmeTiKQr9le8gpSTlYiwy4sZ5y82jg1gOq1YqsEJTlkkHTUSkMhJGTHA4Ee0wbq3Cr",
  "id": "rs_05b5239c888a54be016ab41c5b87d087d08d1c6a092966fb48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.07,\"left_yaw\":0.65,\"left_pitch\":0},\"note\":\"The cap is close to the pen tip, but their visible long axes are not yet parallel. I’ll lift the cap slightly and turn it before making the final insertion approach.\"}",
  "call_id": "call_3poCnzyh0QSvyVPYdk6Ze6Nd",
  "id": "fc_05b5239c888a54be016ab41c5bcbfc87d0a1266ba7f92a37b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3poCnzyh0QSvyVPYdk6Ze6Nd",
  "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]: [-0.984, 2.5221, 1.9564, -0.6876, -0.9394, -1.2549, 0.081, 0.3428, 0.5533, 0.6464, -0.8181, 0.3573, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4142 left_y=-0.359 left_z=0.0191 left_yaw=0.3885 left_pitch=-0.0259 left_roll=-0.0496 left_gripper=0.081 right_x=0.2175 right_y=0.0158 right_z=0.1772 right_yaw=-0.0918 right_pitch=-0.1012 right_roll=-0.0626 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -11.9726, 3.3709, -0.4957, -0.5836, -0.0659, 1.0037, 0.0752, 0.6496, 6.9675, 1.6484, 0.1587, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febaddb8cffcf0bf6dc419caaa53f1bfdb6219ac3e88204583b389bb10a7ba5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1719ff8fe1dcf3ac6a352da4f732e293e38d7832b688599b9b7892bb16bb5e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de521223dc5c5bff7cc8321ea4f9628dcdccbc18a2ca308697bfb2bc2c32031b",
      "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 · 3.776 s

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

message 136 changed as sent

message 144 changed as sent

message 149 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]: [-0.865, 1.9762, 1.3903, -0.3042, -0.7422, -0.6109, 0.081, 0.3428, 0.5491, 0.6521, -0.8043, 0.3626, 0.2245, 0.996]\nstate[eef_state]: left_x=0.4098 left_y=-0.2913 left_z=0.1136 left_yaw=0.0468 left_pitch=-0.0424 left_roll=0.0781 left_gripper=0.081 right_x=0.2197 right_y=0.0157 right_z=0.183 right_yaw=-0.0956 right_pitch=-0.0783 right_roll=-0.0552 right_gripper=0.996\nstate[joint_eff]: [-0.6769, -10.7829, 9.1966, 1.326, -0.2466, 0.2173, 1.0183, 0.1709, 0.6222, 6.694, 1.7753, 0.2613, 0.0904, -0.0024]",
      "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]: [-0.9287, 2.1468, 1.2465, -0.0952, -0.7486, -0.6651, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3611, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3816 left_y=-0.3035 left_z=0.0115 left_yaw=0.0223 left_pitch=-0.0979 left_roll=0.1224 left_gripper=0.081 right_x=0.2195 right_y=0.0159 right_z=0.1825 right_yaw=-0.094 right_pitch=-0.0808 right_roll=-0.0559 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -11.2205, 8.3077, 0.9841, -0.5104, -0.0415, 1.0183, -0.0205, 0.7179, 6.5162, 1.5995, 0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.984, 2.5221, 1.9564, -0.6876, -0.9394, -1.2549, 0.081, 0.3428, 0.5533, 0.6464, -0.8181, 0.3573, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4142 left_y=-0.359 left_z=0.0191 left_yaw=0.3885 left_pitch=-0.0259 left_roll=-0.0496 left_gripper=0.081 right_x=0.2175 right_y=0.0158 right_z=0.1772 right_yaw=-0.0918 right_pitch=-0.1012 right_roll=-0.0626 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -11.9726, 3.3709, -0.4957, -0.5836, -0.0659, 1.0037, 0.0752, 0.6496, 6.9675, 1.6484, 0.1587, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febaddb8cffcf0bf6dc419caaa53f1bfdb6219ac3e88204583b389bb10a7ba5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1719ff8fe1dcf3ac6a352da4f732e293e38d7832b688599b9b7892bb16bb5e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de521223dc5c5bff7cc8321ea4f9628dcdccbc18a2ca308697bfb2bc2c32031b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxi1adLx511nW043DopRWQxoPRCVBavI5xpuI_HZJSzRcXAe-B7-N7kpuiX2GxfROTmiL4UCNOh0_mX9ChsbS19GpaweGPffWp0zwb3nzUKWZV1okIVmM3arw6cHBelxD0UnuQgU2EyAxas8a-1sUdaQ-D2urX2Dvo5zCYwKxtxKlP-ncBPkCJ9cUZFKBQsATBhOFrIVA5UWiKZl0emRozxaIAjzCDFhAkXoVDYa2iPOH1T_p6orbUxGEyXm5QyB8lZUchMmV0ECpT-v_37G7uwyX73SdTKWCXCQBxuChP1aDbBPp_VIRsL0vvVs_Zyiu-iJdPztz9diZ3XT98ze7k2BhLBFXpsFz4x8e6eou58L6Hkzm8YORyV7i01IZFiUB5M-X_Uvu_6txhbaMGoo4cPar_Owk5DFTpR4_t1NWWyoW0pXq51GpaAbbvFxvKqOSc6aMTClrHhytlURcmiFXvFe0VhBUqb86t9eig-KSrsY-PxozugB6qlfOKaetgngNviFw5D9sK_dOH9PMzc6EakVCQZkF74G_xFV4YTzrZr3PvmVcNE-TE4NGe9etQ-9J-gVQgBjCPx6hSJ0bzR6QLfX0iWHiPiUWnqLerYIyjAqyn5sYEMrpwXO909kpOJv5fGKdo9tmi3yoRr13zvxytOsbwDM3hSkNN341oeq-2FXVq-s_5TyBMa7JQvfIqoOOh4VmiHnJfw6jXUeqS7adaUUXcwfSKlNB3vTmzeyaWDnZ7j3h9IkTll9MfF2yqhFRYJWPa8NetaRuZyYedH18eqZnry1eCtO1AwR_keyenQER7s5DoCGpHS2y0tkKiibEdJkUNgv99JkdgUHFzHBAjcHJWA0kDd1vPM_KtWEQq68r73CWheFHkrFMEH-z1JHXpe6OlT08Cq5VisryWO3joEJUoK9hFYmiwfc_OPpIZbw0BfQhZg9lBleThsQLYOd0CTZQxiUi2qRyTg4KCBklPf-Ex7sQsFuh4ibN-4tlt3HZYbAbNvUoG5A2xJrVZeZfRvXQHdeKtbZJVXCP1je_k1WHQv2Um-lAbRacaM2vLARyWCsF4Mogp4HCtQY8d2A_uwgCI0AJRHTRkkZTAA7uU8mFB1_GyWyP9wLDz3KrznbhhAyaLoSbuzk9t7UwuvxO9QCEJbuNPJM2pAeskKd-kPhqXHs_eaZ4K-gS7gcWgvw9n2YmKfMpEGy5hz9pWZQVcnjAuILoYXNP7tTeEaE84Kf9tQFfjhsFIREsNSSBA_7Cocr472FFd_t42qTXBxfGgVMyz_GCK6ECw08Lzpsm_gg7NciGjP4fjzdw1D_dPhJo8iQSQtGPGoQspvcfoOgsMr9dH_uRW4UvMZtuFcDq4Yj-lGHfzFhKvXSwcO0CPAybZ6PF5pOfj513Pnu82NVLfniqQtGR0xBZ9J1_F9d7U_ibjOslrKGStihLux0fckSh_vTfczM34d2sIfoEczJqjmIpf-PuRtTmLNC3QwSH2Kmq2Cur_TSlSNgqD1j1ri4Z_GhaNgqb7wUkyMh7iMjWzumsr3crklcwCKGgmwMjG0SzL9yVvImiCddUH6ryMRc_mx63gcmrQHRqrk9S4Z6Y9SRUH10HbxyEacLM-yDUCvaVOG3qchYMu4U5FWyaksCcLyC7EzmCNJWatgdviChp64R95qaMtdZgGlMOx6tx6mfSoKBs6hPfkA-A0jsl-UccIvGHkbLAuyMj8Jj_OunORED2U8rM9ALOVseYsnxwso6Xi_6dkbzOL94LLuNsStmR-HqfHlDiVcho7SgFW3Eq_QB8_wi6cFPbGZWUhzYeLHyEO0-7rKH0ZtcUg5p39xHCb4gXzV0wEKiJryNfIchaEHxD-dUEB8tPqdK7i7L4uXOvDHlySkCMEVhzALmZL0A-vZgTOtXTwwD9Wo_79Ag5h1caml4e_VAD71lQ_6_rSLeuVE9U6FaxNZtt0qNeYfp5kOtDZHwZeFtUqHW53tSXCYrvi7jCyH9CSI-jQQmQb-ZBsKGfjQ_2HvS4U02RByfvkZ_B3MLy1uX63u3g8dBPDGEtUixnnTB9AsGPNK5Wou0J9qm76-bQ8e-B-Bxnc0iHcMZngkL6y1BB3U8wuqzUifv36889mhT3m9HBT7_xiMOEO6f5uFrd_F5uSmuOmdidbxBc-UAfkkeUEaQl86qariF_e8ZRZ5R032gEtaRW0oDo62e9vK5lmWJHDwJliRz7nK1DchXoXaXsmCLDWwkAjx9NDcjguP0w9bJExKaSE2EDvWPFoBxAdBRa1BkP0X7y61mJIj-VirV_eHpEFpgSW02_nYsuuIAYnHFJCj2k8UGcX_Hw4VAV-_Fec7-wAmBuyZNufGf_BNSGfadS7hKHo6",
  "id": "rs_05b5239c888a54be016ab41c5eddcc87d0a0d35d9541df9b6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.325,\"left_z\":0.027,\"left_yaw\":0.42},\"note\":\"The wrist rotation shifted the left grasp point sideways instead of lifting it, so the cap is now slightly past the pen tip. I’ll correct the horizontal position and feed the cap back toward the pen with a short, gentle move.\"}",
  "call_id": "call_43aPuu67VqLDsdXIO3thbsPz",
  "id": "fc_05b5239c888a54be016ab41c61251c87d093793976e0b37a62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_43aPuu67VqLDsdXIO3thbsPz",
  "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]: [-1.0, 2.458, 1.8065, -0.7155, -0.96, -1.3521, 0.081, 0.3428, 0.5564, 0.6464, -0.8185, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3898 left_y=-0.3326 left_z=0.0102 left_yaw=0.4334 left_pitch=-0.0264 left_roll=-0.0147 left_gripper=0.081 right_x=0.2176 right_y=0.0158 right_z=0.1765 right_yaw=-0.0922 right_pitch=-0.1043 right_roll=-0.0643 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -15.8974, 5.3265, 0.6813, -0.5397, 0.1587, 1.0037, -0.0752, 0.5949, 6.5709, 1.58, 0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3134d51117c1a6a044b96e2d70d21a671cc83e4effacbbd819eb2d359c46bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e36a4ea9be5847360cde5607e60956f287b62a570bad86127206e0f46fc67a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76634a2e152bbabdc272e10ce8515b0d8aa74fb6d166aa063e6dbc935c59893",
      "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 · 6.923 s

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

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8646, 2.125, 1.2469, -0.0685, -0.7265, -0.6044, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3614, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4033 left_y=-0.2865 left_z=0.0224 left_yaw=0.0366 left_pitch=-0.0874 left_roll=0.1202 left_gripper=0.081 right_x=0.2195 right_y=0.0158 right_z=0.1826 right_yaw=-0.0943 right_pitch=-0.0807 right_roll=-0.0561 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -10.947, 5.5863, 1.4188, -0.4615, -0.0855, 1.0183, -0.0752, 0.6769, 6.5709, 1.5849, 0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.984, 2.5221, 1.9564, -0.6876, -0.9394, -1.2549, 0.081, 0.3428, 0.5533, 0.6464, -0.8181, 0.3573, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4142 left_y=-0.359 left_z=0.0191 left_yaw=0.3885 left_pitch=-0.0259 left_roll=-0.0496 left_gripper=0.081 right_x=0.2175 right_y=0.0158 right_z=0.1772 right_yaw=-0.0918 right_pitch=-0.1012 right_roll=-0.0626 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -11.9726, 3.3709, -0.4957, -0.5836, -0.0659, 1.0037, 0.0752, 0.6496, 6.9675, 1.6484, 0.1587, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0, 2.458, 1.8065, -0.7155, -0.96, -1.3521, 0.081, 0.3428, 0.5564, 0.6464, -0.8185, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3898 left_y=-0.3326 left_z=0.0102 left_yaw=0.4334 left_pitch=-0.0264 left_roll=-0.0147 left_gripper=0.081 right_x=0.2176 right_y=0.0158 right_z=0.1765 right_yaw=-0.0922 right_pitch=-0.1043 right_roll=-0.0643 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -15.8974, 5.3265, 0.6813, -0.5397, 0.1587, 1.0037, -0.0752, 0.5949, 6.5709, 1.58, 0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3134d51117c1a6a044b96e2d70d21a671cc83e4effacbbd819eb2d359c46bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e36a4ea9be5847360cde5607e60956f287b62a570bad86127206e0f46fc67a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76634a2e152bbabdc272e10ce8515b0d8aa74fb6d166aa063e6dbc935c59893",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxmPoCVwGMSXszvdot6X1-dfOtrpAOBNHunqoZ6lnW4Tq80PUixgi50M7AhWYUuxNjxXDhre21DM5F4FaHvlUWs5G8zG_Q2KApibZXcLWdFyesXQVlkVXJUo2l8x9DHWISzQnAGG7TeAbyBwSzVjQ9Ok0Ur6PStxZykG0ng9OIk0hbTERQUrMCifWJ4IeN3GvnVJYFfBlE_9btHxfvDAtQF1_9ogx5jJYPYaCk3RmzUuvTyLCvqY6OGfUpGHPajOPSd6q9aXWDQAeQtuX7SpYLlPdjvx1m-h68A4VnKXWf1WfcuW42utUOiwrRc_0Q20kuHznyB681xnYvdyZSYIK7MycO9AJEgu_vwoOLhkAH18_9EIv1yltFBn52sL8DMujaKW22wwW00E29D2XcRRGC5YuOhScANfLpjzS4wMiZqhpEZ7W3YTVdBF3TqdIT6IQ7z-qysqnIGEJToCpZlMecjQ83ltqwCg-XE6YYcHixfUbFEWldQVEqY9k7ynF4ZTQdYwAuL6Ugt7VXBo5Kd4ddbNsNqFgKVivhd5qjtEuHUVvXtB7FdDYgpFET_AaMQN4jpHiTNuR2QV91sEAk6-JBb0w9K44vgrsNX54geiA0qxTaa-fIX9TE1qybOXRdVd1aazwaT1rHoZAhimIs2NidMrsEOFY4LB0X_n4sgVTo3nmXPLzua6iJBaKkAnydklVaCg8ocJ0kiruEy7sT13Qa4kL_5cfBDRyydfRZcTkKktiV3jd7bx0FDCvcpjJwI30sbgAVWTYKKGDNlHmQWBnIMsH3qf89urMU4qFJNbpo9vRPz_KBEnVh4emY9a5udHQAQ3XxEP1SCM7vh4KTPsNNvXshFjAYmj0J6qWjTK3TGri1tKEOVxitlQQP_L947ttjgDTqyeTst3wTMUQnVR_d9isvfqJORH-PipZg_-n4DnOfWB0qmxYYN6jah5WhdOmsxvDQzWvvm7MHzwnabiHebPQrVVwgn2_kWpwa6uJ3aM3FrXbBSGa1WYLkVJNidLZKKtc9a9pCi__BF3nKEOpeBudPURmM_RZLOesAjXqucKgJ4QO21d1w6PowPt74Z2bS5kskQJa01grX5MfXx720R1_1tbYVgEe4MPH-jb7husJaTvOaeSMOD-KIU3kBclHR3v9SaEWrlny5jXqpbTnSSQsJnknN5_nqGVr_TO1HkUVdr8XK75RI1lPdoI883P8bQ-iHLq0vkBzYp_pS6ri0l-ZENoMtVbd2fxl7u64shT27ocVTc7al0ns5NWRQRSgQ4FXBN9I-zm5NlKiyGwMAqdy2BLxVnVVfRBOyujSPOc1oTrJ1G_PNuMs4KfwpYuWWGkA6pP9VWCUIFX1diUYbrKnxggGIYBF7jiK6HCdFC17IolDTmTuOZniabkWWDxh_AYnJPo_Q72pyeYtgQ0Cxk-FFdTHD7e8ZahHWnRo_2YmFYb_X7YxTtnxZeXqpgx91JMFGrOtPNmoI1QtgEcBSta-1KcWGBMx8yuhp5_gy0-q809YQfFenoFTZzY5rffwFlmIz2UF1h8dluswbRBu5jc9Qe6_OOIjxC4_H6L5nFih1C-yO_wEIqnHzAhSrCtaqLwLS_BCjiLZjG-vZhrwzVcoCt30o_lEUIajIJ0QVgR21eV4sZ2IhikG-rccOJPslo-SbWOnbOxPf7vaSxWEg2Q0Fk7xqUcsuQRvJGO6v2PyzRgSMU-uN2BaXNEL-0rMYWs1gFNWDYk_CQGtTHiqlSmIKU0gb8KHnh67SEjptKkYMOCKPlaCWpScxix0y7D8uFPz4ch3kr_WOWspJU0N24iNXnvMdgvy_5Qk0QckRMccjTKQwqYwR0rZMTzx9wQMaxkaBuLbLuUwmdjHXtabvcEgKzNBn2hA6nsPbpVp6RWsi8g019uepx1We_9xCzCzHebyzRA32EnKpQk8NkHhns-XnVtv62h-rPz5cT1EseQAbWpsRbs_BgSFLq_M0Qlc_2ewFIoBoXg9F1zeAPUd89sJLmtiAAR2wnlS5z6QZMBAPYK0B7lOKNpCw_2I1SIzPZqxo5_udGElUBeRog6BCu8cfHxLxDsLMb58Sh2Xp9gqwjrI_VtU4KkV1JDIhSahFeG1En6_sfo5tYCLvyrXPwRH4lLJG4GJ-JeX4BLOAN3rOkoryuQgbv70UcgBAnc8dduYgdGx-tC7L3SCC8axacGQ==",
  "id": "rs_05b5239c888a54be016ab41c63996487d0bbb6d5befaeab858",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.33,\"left_z\":0.016},\"note\":\"The cap gripper has reached the pen-tip area, but the overhead view is partly occluded and I can’t yet confirm engagement. I’ll make one final short axial push without pressing harder into the tabletop.\"}",
  "call_id": "call_pFsEi8uMhSu4xPMGvVTygZBA",
  "id": "fc_05b5239c888a54be016ab41c653edc87d0984257cb4fe2dd31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pFsEi8uMhSu4xPMGvVTygZBA",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0019, 2.458, 1.7996, -0.6903, -0.9489, -1.3403, 0.081, 0.3428, 0.5564, 0.646, -0.8234, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3896 left_y=-0.3362 left_z=0.0077 left_yaw=0.4222 left_pitch=-0.0345 left_roll=-0.0246 left_gripper=0.081 right_x=0.2169 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1091 right_roll=-0.0666 right_gripper=0.996\nstate[joint_eff]: [-0.5128, -15.9795, 6.0376, 0.8034, -0.5299, 0.2369, 1.0037, -0.0615, 0.6496, 6.8855, 1.6581, 0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5970ea86aa2485bd22db25da2e749a9554b019061ce75cd9cfd01c5d43ea952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4f37f4c67e247501e85cc6fb9eaecee7e29ffc23f62ee3b2291ca7220ab70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b955d34390c0fcc9530289a697ad5cb901214986423989929a262ca8010e088",
      "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 · 2.71 s

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

message 144 changed as sent

message 153 changed as sent

message 157 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]: [-0.9287, 2.1468, 1.2465, -0.0952, -0.7486, -0.6651, 0.081, 0.3428, 0.5499, 0.6521, -0.8059, 0.3611, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3816 left_y=-0.3035 left_z=0.0115 left_yaw=0.0223 left_pitch=-0.0979 left_roll=0.1224 left_gripper=0.081 right_x=0.2195 right_y=0.0159 right_z=0.1825 right_yaw=-0.094 right_pitch=-0.0808 right_roll=-0.0559 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -11.2205, 8.3077, 0.9841, -0.5104, -0.0415, 1.0183, -0.0205, 0.7179, 6.5162, 1.5995, 0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0, 2.458, 1.8065, -0.7155, -0.96, -1.3521, 0.081, 0.3428, 0.5564, 0.6464, -0.8185, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3898 left_y=-0.3326 left_z=0.0102 left_yaw=0.4334 left_pitch=-0.0264 left_roll=-0.0147 left_gripper=0.081 right_x=0.2176 right_y=0.0158 right_z=0.1765 right_yaw=-0.0922 right_pitch=-0.1043 right_roll=-0.0643 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -15.8974, 5.3265, 0.6813, -0.5397, 0.1587, 1.0037, -0.0752, 0.5949, 6.5709, 1.58, 0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0019, 2.458, 1.7996, -0.6903, -0.9489, -1.3403, 0.081, 0.3428, 0.5564, 0.646, -0.8234, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3896 left_y=-0.3362 left_z=0.0077 left_yaw=0.4222 left_pitch=-0.0345 left_roll=-0.0246 left_gripper=0.081 right_x=0.2169 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1091 right_roll=-0.0666 right_gripper=0.996\nstate[joint_eff]: [-0.5128, -15.9795, 6.0376, 0.8034, -0.5299, 0.2369, 1.0037, -0.0615, 0.6496, 6.8855, 1.6581, 0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5970ea86aa2485bd22db25da2e749a9554b019061ce75cd9cfd01c5d43ea952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4f37f4c67e247501e85cc6fb9eaecee7e29ffc23f62ee3b2291ca7220ab70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b955d34390c0fcc9530289a697ad5cb901214986423989929a262ca8010e088",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxt8xmOROMdZKR_yQivTdjaxS-ExOxuCabPri8cFkc4y2sGUXTm8RPhxLzDaJFjrbhvord4SDM0w1Pdx6UqYEYKkKPASwXDhQVhjses_Q7p4MDhruo7byVWkbPN62rnlnQ9MgXjiUB38zZYFNFgeAs_BJll9CQD-T9WLvkK_6YaRRnUqmU8QpIeorQTqyycm48zUYDAQRmZ5klyfEC-xq1YXCwAdWUp-vkmtmAFf00u9h4rZb4cdeCjdKRU0LoathkAexOCSYQFae-VO4qQ3ffwX2WCack6CT5z1zt8rIguMnOM-_Kd35-i73pCCbGU9g85A5t_WKY4_arbdm4khb0gLMoEnCmnIrzEV_Lou5R27ylEJ319nmqEEflxWbyyhWaVPyUeI8blEgXfmDEw8t7c7ywkkFyAKU54dPoxi_Zi07vDGiyAIJdNTVCnavKXIsABFTLkAv8fGWlxGryVynw43rgMgLG2CUKxU1YmV04IvDlvhCM65FUBbPMxXLc38QfP74vL4RYS3Wi7_1-94QIRQsBk7oI57WA4vgfbAtBEpUxzfKvxEREKSsNlBHIvcHJCSY1AhHygJTmprp7xZGAyRKlYciUnPa3VfRoi6oVxdMwLcOT8ti7nKIhF_3bFeftr8SV7b38Pco64KDC_fRyLjGnT7RFJD-fhHN9odmTTLEHrzECvZUS7sSVPuQtw9aIHL7qiCpAiwEUuclj2m8sDWaev5cUB6NB-yCAYmAkpigaVVjasGRvEd8AF9vusJE9eRqNq4cmG_KaWlRbDVkOuRXYwETMe-Z5ATzNo9Q1588H94HDYLiWBeCR3cpD5SVfkgD1NrCwZAWq2OwbzH9gfNM-8V-U-MZ0hnjZnCywxlOWwO_llUqOL79yTevE3gnquteMCAyYF_5Bvt4jGZJ67q9Bg5RUcXG1vLnOH9RGORVu2SCIrRFTtYWyQucLKstLX2pEI6P4zqCqX73COour1PRNuMtMycWJay_MMcLOw_9Wj89ZKfLK-u9RbT7Uq402qQMV337aVvW6fmKU2_WmgOcEBgeVllxOrgizVID7qLgGjG3VhKE7ZrXqa_O4n_MHfq7FKmivsYenHIgMzyjQIIZwfzCq68xJw5YBaxXqZWGBy6IYRWRpHxSmxAAkLtwvyYst52iIy9RM9ciwWXXw2Tjb1qMzuPfkGKKp5M_3dMwg9-C6qkqp65wG47fHeDLAjwfd3eLcHiNmMM3ah2OFxlghOpnrGt3MT2seOX2VPtQyQGu9OCiSiddPyqxYce0KfBSaNFScOr7MQcVtxwX0Ru9ANYRp7UhTt-Eyyl70bWY64OeaVUhW1L_x0sKfbpuRg5uRLS7W8CxXma1SLTuePzO7GC-VaN-N3BpGxqDRWGABeftAirefTDd_8-r3gMpVOnIP0OQEA5AF6XKhQheKVbVcxZVzcc3tb0yqvi4GrKbN54DB1YTppKFxmWOST_8s8kiKbwnOwdp8CFS921g-QBJvOcISg7Txi4KjdbafDKbNJSvIRHy0TcfyDpG_TEnYlQ7AYTaovRiovWoFvS-TIY4TObhCJUpvdVV23mc3bLejx5wPgzZnBglGVSAC7qzt_dRXrB9EtfrpftXSIemcnG1h_DJMcxFjiNy6ERLnhWTfWSNQY_88_GeS-JtMrUSt6gSduoV1CGMNU4IIYs6o8KOH75PIfhRM56tVU6cWe1OwmzMLELCuv78D0bqHfQIJlS25dRcKI6WvikVEcn3_ZvPJnYPvrzh4RIWVzpwRgsgjmLJo7cL4KL9uXOMdxC7_ezjaHNmW6W77AGA-6jOKuBIm88Q-0YyvCBqqBj2ovB1YP7JKarFnPHhIsILTtkZMe_jL41DaxY8B-q8L-FN3O7qNWSG2CLitwnosRJcjw0tY-VWNTujW_W5miI1yOtWOPvoCSZXB1GIOmKmxvpmFwNiK1Uqq6IrjXzdEMtUz8B9bkbrvjpAbocNHKv3TUw-32IS1mYyArIvZToYxbUNWTMrm17qmlN1XCuEdG6uXMvV5CC127ayT8_Oika7e490birkm2JafENMLFg4RX3GYzhzO2H-5Kk_BkUGSS7xgPgRKo5ztPlnSO96lYxEIx9okZL53WjXk3NwrH9CwM-9yUDWmDqkQ-EoD03PNYgyGbEdyg-L7HB79rckSITr4kiVO-16y8QVrViKF8e5FW-80wfHK0_hiOswcgCHW3UNVK4xlL1loxM0kZw0ki8laRbgtahpLx4ZmphX-8TgPfuV5ruFdcpJ89H7rrHmAdwOc0uefBSuSLA4gW0qxV0kZmUjqcHXvaeBY6JJ1iU9zzzopxTiJW2Vom4Qw744mHV21jgo_WmrntELGaJLuRA0ykFl8coMMElllaChKM-1Lsr6GFSF84qa_ajRaUyYx4tedp_bilfM3NMqv1wAddI1u6hUxg9E2ml9kzpupgRF2QY9-FfmUAKstbKcjJrUebeCBd2A-zXUKGnib67Agq26OlPkx2zDQaQcxqYMb96X-mnS-xJT4j-QQaC3XKjzh0OhSEYcqbBWci4Uwsw1viyOISpWlRNO7jo6rq7viEW1D3dwdzv9-s1fhSWbpbhdy9B40hc9gMoj49mrI_JM4a3246lz6fCDJ80tlPzU6zUuFLBvCb5OD3Lf_ja0S0tYNLhoI2VbuwEZ9hzsmo_mI-PGSQpYjMj-OtJWY7CteMmdwS-QWS97xFb_jvCQrF8luVme0IoUnPiHF_moQ3wAH23dyEFZ9yEnz-x8i6onqeMixl_fpud9FIhZBPQ8vUoKxDmG582-ZW6DwDeJsvw2_3_V0H4-zYYcPxiXrueiyUjXnlQh_qEYkv8OddIQiNSFdis4YbFur0oCkZTft7SkoFDrC2feYGOUT0nITDiV1VfAZIjGT3R74tmjZRnlZW3NaTwzFW01Wpl7wpky1EieW5w7mm939o-QzJPQs586vkboj3wTw4wgjTcSud4mZyZN7WJ1TJ9bvZ97z4hF5oM21AtYyKtHG4rfR6A61G393mnOQoOuTijjtX1zaZMXHvlGPBYaG-jyhfchWNStyIUEYJryz_dbKxQIjeVTReNr65SzprwfxQW0PAlpZf_gIG8SbrupjuTvMzqinLTmN-Fp1nYJhFaGbpbYM0FTJZlhNOCMFd6JNSy3oD55YQ9buT0fUaIS6uOdDkPU0YQ9kPTuZ88DbjllIfJ_j4ppRA3_afKyM161GkxgMsV1aQhKp5-1vxP8u4iMDQb3DPdeyFvTsEMLN4YMxpLbTq3oR4ANkh8ftutsyQRu9omX7kX7toFVOnGRNj6ghFANNYJm-A-VoAap-SZwYDR_VuhAjMOLXUJXCR2aOUKjQAMKFXC47f0Owwa256PO_OTr6_u5vyySMrM9G3lLIjxgLZnXv_gb-CprwzSMpo9LWU9YAtowBjdE-weEQxsOko_UE6Jd-M1js9GnhFZucaFPW5RodfVI4ipuJaWfayvGygrs4ZLXhW_jmNs9Bf3zZG_3x6uaTCgd6nT-AGNBOLcpgo2Ck-lkjVcEE24vSvnyzeO_8DXZpW-aafOy04QheruJEhyzx7XWM9ho0GOSjGprOoJZ5Ke28NjZLIcvsM3g==",
  "id": "rs_05b5239c888a54be016ab41c67db1c87d0adf960573a3eb722",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The final short push stopped at the same position with increased arm load, so I won’t force it. I’ll release the cap at the apparent engagement point and withdraw to inspect whether it stayed on the pen.\"}",
  "call_id": "call_hNUeOAeLaFK9Uk0MUqKjkAFm",
  "id": "fc_05b5239c888a54be016ab41c6bfe2087d08ed3eca0367dcc5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hNUeOAeLaFK9Uk0MUqKjkAFm",
  "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]: [-1.0019, 2.4584, 1.7996, -0.691, -0.9413, -1.3441, 0.9955, 0.3428, 0.5564, 0.646, -0.8238, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.3367 left_z=0.0064 left_yaw=0.4226 left_pitch=-0.042 left_roll=-0.0277 left_gripper=0.9955 right_x=0.2168 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1094 right_roll=-0.0667 right_gripper=0.996\nstate[joint_eff]: [-0.335, -13.5726, 5.641, 0.5983, -0.5495, -0.0024, -0.1099, -0.1573, 0.8137, 6.5299, 1.5556, 0.1001, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8911ed515ae599971e483c41815d3bf50ea3fc12b4ee29ce30d1c22bbd57beb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6a22ea5f2eec546b96ac3cf0607cd5ced54d49c2aeb0e2e83732e0e068e3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f863348be0b9eac0a3b650c1218b851560110f901cf910deabe16fad1a605d",
      "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 · 4.784 s

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

message 149 changed as sent

message 157 changed as sent

message 161 changed as sent

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.984, 2.5221, 1.9564, -0.6876, -0.9394, -1.2549, 0.081, 0.3428, 0.5533, 0.6464, -0.8181, 0.3573, 0.2237, 0.996]\nstate[eef_state]: left_x=0.4142 left_y=-0.359 left_z=0.0191 left_yaw=0.3885 left_pitch=-0.0259 left_roll=-0.0496 left_gripper=0.081 right_x=0.2175 right_y=0.0158 right_z=0.1772 right_yaw=-0.0918 right_pitch=-0.1012 right_roll=-0.0626 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -11.9726, 3.3709, -0.4957, -0.5836, -0.0659, 1.0037, 0.0752, 0.6496, 6.9675, 1.6484, 0.1587, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0019, 2.458, 1.7996, -0.6903, -0.9489, -1.3403, 0.081, 0.3428, 0.5564, 0.646, -0.8234, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3896 left_y=-0.3362 left_z=0.0077 left_yaw=0.4222 left_pitch=-0.0345 left_roll=-0.0246 left_gripper=0.081 right_x=0.2169 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1091 right_roll=-0.0666 right_gripper=0.996\nstate[joint_eff]: [-0.5128, -15.9795, 6.0376, 0.8034, -0.5299, 0.2369, 1.0037, -0.0615, 0.6496, 6.8855, 1.6581, 0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 161 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0019, 2.4584, 1.7996, -0.691, -0.9413, -1.3441, 0.9955, 0.3428, 0.5564, 0.646, -0.8238, 0.3576, 0.2237, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.3367 left_z=0.0064 left_yaw=0.4226 left_pitch=-0.042 left_roll=-0.0277 left_gripper=0.9955 right_x=0.2168 right_y=0.0155 right_z=0.1755 right_yaw=-0.0925 right_pitch=-0.1094 right_roll=-0.0667 right_gripper=0.996\nstate[joint_eff]: [-0.335, -13.5726, 5.641, 0.5983, -0.5495, -0.0024, -0.1099, -0.1573, 0.8137, 6.5299, 1.5556, 0.1001, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8911ed515ae599971e483c41815d3bf50ea3fc12b4ee29ce30d1c22bbd57beb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6a22ea5f2eec546b96ac3cf0607cd5ced54d49c2aeb0e2e83732e0e068e3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f863348be0b9eac0a3b650c1218b851560110f901cf910deabe16fad1a605d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxwnG46tPdCLCBSqG6_lxMS1rSSoMwluGn0HNSf0fUB3_Fmr9NBL_H20ml1b6-0y584j6INbXTnie4RbzOXWTibxCrainC62sDNDox1ISgTP2q80hhkuu6xLTA6fTssMWi_IopkKSRqan8uIrr7-SvQ3Zt_nrC0v091hdoC6TAyLExSwKsJqEB0q1t1D23AMVrlvMyniD-4e695Cp0g59Kgk8slyZ7P8VWal2rISIkVo-sKNkCNMRtLEtM9frxeKGe71Ye1fFH3wbwQddj6BuTGMHQi8jCYRKG_oYC0z0hN0wAOQq2f-4jFpouNKsLm9cV6HoPSvuTFulDKMNdeExS73BzFowjrQnByNkl1cO7Bpv5eBcPcik8t-n8wC_4SJowCGryPNfBcaFj8wh3IqLQeMia09zNyxOSlexUv3c37qscdUxPcMUp0UNG8G0EN0sWpGDuGKdOMYEmKQtp3D3EjIgR22xWq3aJ94rQDZ_K3v2TScnziqP_-G6pNM5sUIZsxopBGtfERhP9K9s0hmJlg361AKLY2lBV6KyQs0AglwiRUUZ4E1MGIDS4gYbHfMceqNo-SJc_wyR1piKpamjqcE9Me_ySmQiZfaXLK4jZ4-Jq-OMVYv7fmQCyjIfObA9KKFbWokNU1G7iQydbdmZYiYcv2cRLiAc6ZqLnC51Qx8Qt0ckdz5Vtv8_xSIUsHWr9m2V8fKmztfbMxoWWW-wBvGtlnBNI2zWs2MAgW7FsdpsyYiogT1dDUcohUBK_FYtDBPimiPjoFZdBgUU7TDE9M4mTAuS_6b3BLwo4ZiI3NhB9Pe5ADUpJJDNRNuAK1_5RhvwjBMe0PpD0r8X0kqFscP-CjuH8Stm5Hc5BW55PQcr878MTo6HvuTYvlGeRh9ZyE6x09qwQRkoqHVfE5N1AHD6cZ2P8qYi4ZVNPCHYScIJDbYtlTH9VRncbOh_AOghlFAa5479v0-pnMdlQkGuUm79pN5I5MzrcLhdY3nZ5mPHXqUVWt8IA25A2eYB7_KzKwKBWD6070ZFK9wbWj3EJoBFO9byVI85j54jjQAWbclt7z-M2FCI5pOD0903dvvNeSgL7s7NEJjhAItAF1CFClH_UnpRhQ_qcdVmIcQL28zPOdzotiE4rGIVeWKV_-XcLcvyCRCfyUyz2wXdDhf441CIUaArrwZ1c_AtOeTvxL8q-FuFIBSyg4FPx3lsyWAI3LJwP-jgUV8oxP0EL7cItIDgxyBTRsLe02TA6r_IvC5mJ4kY9nKkvCOvBQoc8vwV71cL0zPBIAAOzKvkeQAhUz_0-Nkikmtxp9qEeafzp3o-DYmGSj2uAMl97zicbKjyGTAIWgmzgeAewB4Lp2lruYnEdbeUTHC_5xcrleIMdQejvR8YEtVgreLULKixtJrJ4a3RZ0V8I_C-t103KNvEkTYttW77f4mdFXKob1dQpM_fj9owzyNOiqpnkECkX_3W0Mi9DrgBJRcklFuLK4ddlv9sExFhGCzCWLx0mLKhxN-JFiy2Yorn8VYxaSLOrFEsppI8bUFQJr1plyMTMZQIfGpfR8vvquLk8Ev7H62QfI_58jerrYucsCgEkUkS3aZWOPvSArWBmC-sunjF2iS9dauAvce85HxVAEvog10ik_NC2NlBZzXtTF02LqqIvK8qi6C76eEJNGPxMkvVOjKyPneMS-foNsV23CxA32Z9JqjX1X2JmLwF5Wu0lfsdOtl2dX",
  "id": "rs_05b5239c888a54be016ab41c6f598487d0b31d28f455e7130a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.11,\"left_z\":0.18,\"left_yaw\":0},\"note\":\"The cap has been released, and a dark pen-shaped object is visible directly ahead in the left wrist view. I’ll move the left arm clear so the overhead camera can show whether the cap is seated or lying separately.\"}",
  "call_id": "call_1dX7DeBd3W0GYpVj6FJjaiKA",
  "id": "fc_05b5239c888a54be016ab41c70265487d0b4bbb05b4213bc12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1dX7DeBd3W0GYpVj6FJjaiKA",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6456, 1.0649, 0.749, -0.3866, -0.5423, -0.503, 0.9964, 0.3428, 0.5613, 0.6456, -0.8318, 0.355, 0.2237, 0.996]\nstate[eef_state]: left_x=0.3067 left_y=-0.1125 left_z=0.181 left_yaw=0.0598 left_pitch=-0.0176 left_roll=-0.0669 left_gripper=0.9964 right_x=0.2158 right_y=0.0156 right_z=0.1729 right_yaw=-0.091 right_pitch=-0.1223 right_roll=-0.0708 right_gripper=0.996\nstate[joint_eff]: [0.2393, -3.4803, 6.7077, 1.4921, -0.2271, 0.2125, 0.0806, -0.1983, 0.3487, 6.5162, 1.6923, 0.1734, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c319583a965a061e695d202a1c93b74ea88e77833a8d88210f79905abeda95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fd6a6cc4d537fc76da659248d418f34c99047f6cdf0c1a3f2ee204451f5d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a08bd1e0c972b759bbe726b54c4e968bbba57ea8952aa10af9314240179ac6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]