adhoc - adhoc_c4dcb3eb.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: 272.8 s
total steps: 392

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short cap is left of center, and the longer pen is right of center; both grippers are open above the table. I’ll position the left gripper over the cap first and check its wrist view before descending.

move_to

left_x0.3700left_y-0.1500left_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0219, -0.025, 0.9997, -0.02, 0.791, 0.6086, -0.3782, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2954 right_y=0.0017 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6359, -1.4838, 10.4957, 1.7363, -0.0073, 0.0708, -0.0415, -0.6359, -1.1966, 9.853, 1.8339, -0.0317, -0.0464, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.15,"left_z":0.13},"note":"The short cap is left of center, and the longer pen is right of center; both grippers are open above the table. I’ll position the left gripper over the cap first and check its wrist view before descending."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteThe cap now appears near the left wrist camera’s jaw column but slightly to its left, with its near end low in the frame. I’ll shift the gripper a couple of centimetres forward and slightly left while lowering toward a grasping height.

move_to

left_x0.3810left_y-0.1260left_z0.0650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6022, 1.4185, 0.7197, -0.0475, -0.4801, -0.3637, 0.9997, -0.02, 0.7959, 0.6128, -0.3904, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3554 left_y=-0.1409 left_z=0.1074 left_yaw=-0.0184 left_pitch=-0.0763 left_roll=0.0403 left_gripper=0.9997 right_x=0.2946 right_y=0.0017 right_z=0.1813 right_yaw=0.0 right_pitch=-0.013 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.3214, -6.188, 9.4017, 1.746, -0.2906, 0.0171, -0.0171, -0.3761, -1.6068, 6.7077, 1.8339, -0.0464, -0.0317, -0.022] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.381,"left_y":-0.126,"left_z":0.065},"note":"The cap now appears near the left wrist camera’s jaw column but slightly to its left, with its near end low in the frame. I’ll shift the gripper a couple of centimetres forward and slightly left while lowering toward a grasping height."})

tool

executing move_to over 3 steps (0.3s)

step 17

assistant

agent noteThe cap is centered between the open jaws in the wrist view, and the left gripper is still about 6 cm above the tabletop. I’ll descend vertically to cap height without changing the alignment.

move_to

left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5152, 1.5635, 0.675, 0.1177, -0.4404, -0.3309, 0.9997, -0.02, 0.7986, 0.6128, -0.3931, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3731 left_y=-0.1206 left_z=0.0637 left_yaw=0.021 left_pitch=-0.1125 left_roll=0.056 left_gripper=0.9997 right_x=0.2944 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.5538, -7.5419, 5.9419, 1.8095, -0.1245, 0.0757, -0.0171, -0.2256, -1.4154, 7.4051, 1.7753, -0.0415, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.005},"note":"The cap is centered between the open jaws in the wrist view, and the left gripper is still about 6 cm above the tabletop. I’ll descend vertically to cap height without changing the alignment."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteAt tabletop height, the cap lies between the left gripper’s open jaws, crossing their closing path near its middle. I’ll close gently on it, then use the gripper reading and a lift to check whether it is held.

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]: [-0.514, 1.7538, 0.5877, 0.3504, -0.4374, -0.3344, 0.9993, -0.02, 0.799, 0.6128, -0.3946, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.3672 left_y=-0.1173 left_z=0.0026 left_yaw=0.0247 left_pitch=-0.1522 left_roll=0.0747 left_gripper=0.9993 right_x=0.2942 right_y=0.0016 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.0068, -6.8855, 4.9299, 0.4029, -0.0122, 0.315, -0.0659, -0.335, -1.2786, 7.0085, 1.7021, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At tabletop height, the cap lies between the left gripper’s open jaws, crossing their closing path near its middle. I’ll close gently on it, then use the gripper reading and a lift to check whether it is held."})

tool

executing move_to over 10 steps (1.0s)

step 31

assistant

agent noteThe left gripper closed almost completely, so it missed the cap. In the wrist view the cap is still ahead of the fingertips; I’ll reopen, move about 3 cm farther forward, and lift slightly so the jaws do not drag it.

move_to

left_gripper1.0000left_x0.4010left_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5137, 1.7702, 0.5819, 0.4088, -0.4389, -0.3382, 0.0072, -0.02, 0.7998, 0.6128, -0.3969, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3723 left_y=-0.1197 left_z=0.0043 left_yaw=0.0258 left_pitch=-0.1204 left_roll=0.054 left_gripper=0.0072 right_x=0.294 right_y=0.0017 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0233 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.4308, -6.9265, 4.6017, 1.6777, -0.1587, 0.0659, 0.5153, 0.0342, -1.1282, 7.0632, 1.7753, -0.0269, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). 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":{"left_gripper":1,"left_x":0.401,"left_z":0.035},"note":"The left gripper closed almost completely, so it missed the cap. In the wrist view the cap is still ahead of the fingertips; I’ll reopen, move about 3 cm farther forward, and lift slightly so the jaws do not drag it."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe cap has turned sideways and now sits left of the left gripper’s centerline; the gripper is also lower than the requested height, suggesting it brushed the tabletop. I’ll lift clear and shift toward the cap before attempting a better-aligned grasp.

move_to

left_x0.3940left_y-0.0840left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4706, 1.766, 0.6865, 0.2588, -0.4156, -0.3233, 0.995, -0.02, 0.8001, 0.6128, -0.3985, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3884 left_y=-0.1135 left_z=0.0139 left_yaw=0.0455 left_pitch=-0.1649 left_roll=0.0717 left_gripper=0.995 right_x=0.2938 right_y=0.0017 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0252 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.2256, -9.7709, 8.0479, 1.5263, -0.1294, 0.1245, -0.0366, -0.1436, -1.1692, 7.0632, 1.7607, -0.0464, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.394,"left_y":-0.084,"left_z":0.07},"note":"The cap has turned sideways and now sits left of the left gripper’s centerline; the gripper is also lower than the requested height, suggesting it brushed the tabletop. I’ll lift clear and shift toward the cap before attempting a better-aligned grasp."})

tool

executing move_to over 4 steps (0.4s)

step 45

assistant

agent noteThe cap is now centered but lies almost parallel to the jaws’ closing direction, which would push it rather than grip its sides. I’ll raise the open gripper and rotate its jaws across the cap’s length before lowering again.

move_to

left_z0.1300left_yaw1.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3748, 1.607, 0.7116, 0.0834, -0.3756, -0.2817, 0.9963, -0.02, 0.8017, 0.6128, -0.4122, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3888 left_y=-0.0795 left_z=0.0522 left_yaw=0.086 left_pitch=-0.1727 left_roll=0.0726 left_gripper=0.9963 right_x=0.292 right_y=0.0018 right_z=0.1753 right_yaw=0.0 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.4581, -7.665, 8.8821, 1.4286, 0.0659, 0.2857, 0.1197, -0.1846, -1.4017, 7.3094, 1.8535, -0.0562, -0.0611, -0.0171] 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":{"left_z":0.13,"left_yaw":1.35},"note":"The cap is now centered but lies almost parallel to the jaws’ closing direction, which would push it rather than grip its sides. I’ll raise the open gripper and rotate its jaws across the cap’s length before lowering again."})

tool

executing move_to over 9 steps (0.9s)

step 54

assistant

agent noteWith the jaws turned across it, the cap appears to the left of the wrist camera’s centerline; the rotation also shifted the gripper forward. I’ll bring the gripper a little back and toward the cap before descending.

move_to

left_x0.4030left_y-0.0600left_z0.0900left_yaw1.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5224, 2.2051, 1.8614, -1.2995, -0.7715, -1.7359, 0.9964, -0.02, 0.8062, 0.6128, -0.4183, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.4211 left_y=-0.0962 left_z=0.1026 left_yaw=1.1448 left_pitch=-0.2261 left_roll=-0.0376 left_gripper=0.9964 right_x=0.2914 right_y=0.0018 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0511 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [1.5248, -11.2342, 7.0906, -0.2466, -0.4811, -0.1441, 0.0024, -0.2803, -1.5932, 7.1316, 1.7753, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.403,"left_y":-0.06,"left_z":0.09,"left_yaw":1.35},"note":"With the jaws turned across it, the cap appears to the left of the wrist camera’s centerline; the rotation also shifted the gripper forward. I’ll bring the gripper a little back and toward the cap before descending."})

tool

executing move_to over 4 steps (0.4s)

step 58

assistant

agent noteThe cap now runs nearly vertically in the wrist image, so the rotated jaws should cross its narrow side; it is still about 2 cm left of the centerline. I’ll correct that sideways offset and descend to the tabletop.

move_to

left_y-0.0440left_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]: [-0.4728, 2.2211, 1.8385, -1.393, -0.7506, -1.9011, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.4026 left_y=-0.0666 left_z=0.0914 left_yaw=1.32 left_pitch=-0.2274 left_roll=-0.0184 left_gripper=0.9964 right_x=0.2913 right_y=0.0017 right_z=0.1723 right_yaw=-0.0003 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [0.6496, -11.6308, 4.9299, 0.0024, -0.3834, -0.0073, -0.0073, -0.3487, -1.1966, 7.2547, 1.7021, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.044,"left_z":0.014},"note":"The cap now runs nearly vertically in the wrist image, so the rotated jaws should cross its narrow side; it is still about 2 cm left of the centerline. I’ll correct that sideways offset and descend to the tabletop."})

tool

executing move_to over 5 steps (0.5s)

step 63

assistant

agent noteThe left arm did not follow the last descent: it remains at about 9 cm, likely because that large wrist rotation is awkward at this reach. I’ll ease the yaw and pitch while retrying a lower pose, keeping the cap in the jaws’ approach area.

move_to

left_yaw0.7000left_pitch0.1500left_x0.3900left_y-0.0650left_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.2211, 1.8324, -1.3933, -0.7506, -1.9141, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.4024 left_y=-0.0587 left_z=0.0902 left_yaw=1.3466 left_pitch=-0.226 left_roll=-0.0212 left_gripper=0.9964 right_x=0.2913 right_y=0.0018 right_z=0.1723 right_yaw=0.0 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [-0.4308, -11.7812, 5.4085, -0.0269, -0.4225, -0.1783, -0.0073, -0.1846, -1.1145, 6.9949, 1.746, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.7,"left_pitch":0.15,"left_x":0.39,"left_y":-0.065,"left_z":0.035},"note":"The left arm did not follow the last descent: it remains at about 9 cm, likely because that large wrist rotation is awkward at this reach. I’ll ease the yaw and pitch while retrying a lower pose, keeping the cap in the jaws’ approach area."})

tool

executing move_to over 13 steps (1.3s)

step 76

assistant

agent noteThe rotated left-arm pose pulled the fingertips back from the cap instead of reaching it. I’ll park that arm clear of the center and pick up the longer pen with the right arm, then return to the cap.

move_to

left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5713, 1.9556, 0.8513, -0.2314, -1.0412, -1.1015, 0.9964, -0.02, 0.8116, 0.6128, -0.4282, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3534 left_y=-0.0417 left_z=0.0101 left_yaw=0.7458 left_pitch=0.0459 left_roll=0.1826 left_gripper=0.9964 right_x=0.2903 right_y=0.0018 right_z=0.1694 right_yaw=0.0 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.3897, -9.9487, 4.4376, 0.7155, -0.4078, 0.1734, -0.0122, -0.1436, -1.6615, 6.9675, 1.8242, -0.0611, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The rotated left-arm pose pulled the fingertips back from the cap instead of reaching it. I’ll park that arm clear of the center and pick up the longer pen with the right arm, then return to the cap."})

tool

executing move_to over 11 steps (1.1s)

step 87

assistant

agent noteThe pen remains on the right side, ahead and left of the right gripper in its wrist view. I’ll bring the right gripper above the pen while finishing the left arm’s move back to its parking position.

move_to

left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3850right_y0.1200right_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]: [-0.5026, 1.4429, 0.5251, 0.0242, -0.8551, -0.627, 0.9964, -0.02, 0.8177, 0.6128, -0.4385, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3283 left_y=-0.0243 left_z=0.0709 left_yaw=0.4895 left_pitch=0.0289 left_roll=0.1184 left_gripper=0.9964 right_x=0.2891 right_y=0.0019 right_z=0.1657 right_yaw=0.0004 right_pitch=-0.0828 right_roll=0.0019 right_gripper=0.999 state[joint_eff]: [-0.0479, -4.9573, 5.559, 1.3993, -0.2906, 0.0952, -0.0122, -0.1709, -1.4838, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.385,"right_y":0.12,"right_z":0.12},"note":"The pen remains on the right side, ahead and left of the right gripper in its wrist view. I’ll bring the right gripper above the pen while finishing the left arm’s move back to its parking position."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteThe long pen now crosses the right gripper’s jaw column near its nearer end; its other end extends farther forward. I’ll lower the right gripper onto that section, with a small sideways correction, before closing.

move_to

right_y0.1250right_z0.0090

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0582, 0.7876, 0.548, -0.3313, -0.1684, -0.12, 0.9964, 0.429, 1.4258, 0.7433, -0.0933, 0.2962, 0.2321, 0.999] state[eef_state]: left_x=0.2931 left_y=0.0162 left_z=0.1674 left_yaw=0.1365 left_pitch=0.0089 left_roll=-0.0015 left_gripper=0.9964 right_x=0.366 right_y=0.1146 right_z=0.098 right_yaw=0.0431 right_pitch=-0.1736 right_roll=-0.0361 right_gripper=0.999 state[joint_eff]: [0.1162, -1.7709, 11.0291, 1.8193, 0.0562, 0.2222, -0.0073, 0.4444, -6.5299, 8.6359, 1.746, 0.359, 0.2027, -0.0122] 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":{"right_y":0.125,"right_z":0.009},"note":"The long pen now crosses the right gripper’s jaw column near its nearer end; its other end extends farther forward. I’ll lower the right gripper onto that section, with a small sideways correction, before closing."})

tool

executing move_to over 6 steps (0.6s)

step 103

assistant

agent noteAt table height, the pen shaft passes between the right jaws near their closing point. I’ll close around the shaft and inspect the settled gripper opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0559, 0.7925, 0.5491, -0.3557, -0.1581, -0.1146, 0.9964, 0.4576, 1.6905, 0.5861, 0.2459, 0.3111, 0.2523, 0.999] state[eef_state]: left_x=0.2903 left_y=0.0152 left_z=0.1615 left_yaw=0.1274 left_pitch=-0.0199 left_roll=0.0027 left_gripper=0.9964 right_x=0.3552 right_y=0.1186 right_z=0.0021 right_yaw=0.0415 right_pitch=-0.2452 right_roll=-0.0645 right_gripper=0.999 state[joint_eff]: [-0.253, -1.5658, 6.9265, 1.9121, -0.2173, -0.1099, -0.0122, 0.3761, -6.8034, 4.9162, 1.3846, 0.2076, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"At table height, the pen shaft passes between the right jaws near their closing point. I’ll close around the shaft and inspect the settled gripper opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 113

assistant

agent noteThe right gripper settled at an opening of about 4.5 mm, consistent with gripping the pen shaft rather than closing empty. I’ll lift it and confirm in the overhead view that the pen comes up with the jaws.

move_to

right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0559, 0.7937, 0.5484, -0.3645, -0.1577, -0.1219, 0.9964, 0.4587, 1.7012, 0.5812, 0.2733, 0.3122, 0.2504, 0.0477] state[eef_state]: left_x=0.289 left_y=0.0152 left_z=0.159 left_yaw=0.131 left_pitch=-0.0304 left_roll=-0.0016 left_gripper=0.9964 right_x=0.3568 right_y=0.1197 right_z=0.0011 right_yaw=0.0439 right_pitch=-0.2341 right_roll=-0.0617 right_gripper=0.0477 state[joint_eff]: [-0.2803, -1.2376, 7.0632, 1.7509, -0.1294, 0.0024, -0.0122, -0.4444, -7.6376, 5.2718, 1.1795, 0.1294, 0.0171, 1.2137] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13},"note":"The right gripper settled at an opening of about 4.5 mm, consistent with gripping the pen shaft rather than closing empty. I’ll lift it and confirm in the overhead view that the pen comes up with the jaws."})

tool

executing move_to over 9 steps (0.9s)

step 122

assistant

agent noteThe pen rose with the right gripper in the overhead view, confirming the pickup. I’ll keep it raised on the right and bring the left gripper back above the small cap for a fresh alignment.

move_to

right_z0.1800left_x0.3750left_y-0.0780left_z0.1100left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0559, 0.7956, 0.5484, -0.3782, -0.1577, -0.1223, 0.9964, 0.4587, 1.4139, 0.8505, -0.2909, 0.3096, 0.2501, 0.0534] state[eef_state]: left_x=0.2871 left_y=0.0153 left_z=0.1558 left_yaw=0.1313 left_pitch=-0.0458 left_roll=0.001 left_gripper=0.9964 right_x=0.358 right_y=0.1208 right_z=0.113 right_yaw=0.0456 right_pitch=-0.2419 right_roll=-0.0633 right_gripper=0.0534 state[joint_eff]: [-0.2393, -1.2103, 6.9812, 1.8486, -0.1294, -0.0171, -0.0122, -0.3624, -7.5419, 8.8, 1.3162, 0.1636, -0.022, 1.0379] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.18,"left_x":0.375,"left_y":-0.078,"left_z":0.11,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The pen rose with the right gripper in the overhead view, confirming the pickup. I’ll keep it raised on the right and bring the left gripper back above the small cap for a fresh alignment."})

tool

executing move_to over 9 steps (0.9s)

step 131

assistant

agent noteThe cap is ahead of the left fingertips and slightly right of the wrist camera’s centerline. I’ll move forward and a little toward it while lowering partway, then check whether its thicker tube is between the jaws.

move_to

left_x0.3950left_y-0.0940left_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]: [-0.3412, 1.3312, 0.5461, 0.0582, -0.2844, -0.2092, 0.9964, 0.4587, 1.3884, 1.037, -0.5621, 0.3027, 0.2455, 0.0534] state[eef_state]: left_x=0.3497 left_y=-0.0678 left_z=0.0786 left_yaw=0.0008 left_pitch=-0.1216 left_roll=0.0351 left_gripper=0.9964 right_x=0.3523 right_y=0.1192 right_z=0.1548 right_yaw=0.0473 right_pitch=-0.2983 right_roll=-0.086 right_gripper=0.0534 state[joint_eff]: [-0.3077, -5.2718, 9.7162, 2.0684, -0.2369, -0.0513, -0.0073, -0.3624, -7.2137, 9.6889, 1.7558, 0.2027, 0.0317, 1.033] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.094,"left_z":0.045},"note":"The cap is ahead of the left fingertips and slightly right of the wrist camera’s centerline. I’ll move forward and a little toward it while lowering partway, then check whether its thicker tube is between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 135

assistant

agent noteThe cap’s thicker body is still in front of the left gripper’s closing point in the wrist view, though its sideways alignment is close. I’ll advance about 3 cm and lower just to cap height before trying to grip it.

move_to

left_x0.4100left_y-0.0950left_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3706, 1.6314, 0.6121, 0.178, -0.3069, -0.2298, 0.9964, 0.4587, 1.3907, 1.0386, -0.5884, 0.3019, 0.2424, 0.0582] state[eef_state]: left_x=0.3697 left_y=-0.0825 left_z=0.0206 left_yaw=0.0083 left_pitch=-0.2224 left_roll=0.0758 left_gripper=0.9964 right_x=0.3481 right_y=0.1173 right_z=0.1508 right_yaw=0.0461 right_pitch=-0.3235 right_roll=-0.0989 right_gripper=0.0582 state[joint_eff]: [-0.6222, -7.5692, 8.8, 2.1954, -0.1734, -0.0464, -0.0073, -0.212, -5.8462, 6.5436, 1.5409, 0.0904, -0.0317, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.095,"left_z":0.012},"note":"The cap’s thicker body is still in front of the left gripper’s closing point in the wrist view, though its sideways alignment is close. I’ll advance about 3 cm and lower just to cap height before trying to grip it."})

tool

executing move_to over 4 steps (0.4s)

step 139

assistant

agent noteThe cap’s broad section now reaches the closing area near the bottom of the left wrist view, while the fingertips are still about 2.5 cm high. I’ll descend straight down, leaving its horizontal alignment unchanged.

move_to

left_z0.0010

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.6562, 0.6312, 0.2211, -0.3073, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5938, 0.2951, 0.2424, 0.0613] state[eef_state]: left_x=0.3806 left_y=-0.088 left_z=0.0252 left_yaw=0.0075 left_pitch=-0.1873 left_roll=0.0555 left_gripper=0.9964 right_x=0.3469 right_y=0.118 right_z=0.1495 right_yaw=0.051 right_pitch=-0.3314 right_roll=-0.0961 right_gripper=0.0613 state[joint_eff]: [-0.5128, -7.5692, 7.6103, 1.7509, -0.1832, -0.0073, -0.0122, -0.3624, -5.7915, 6.8308, 1.3407, 0.1929, -0.0757, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.001},"note":"The cap’s broad section now reaches the closing area near the bottom of the left wrist view, while the fingertips are still about 2.5 cm high. I’ll descend straight down, leaving its horizontal alignment unchanged."})

tool

executing move_to over 2 steps (0.2s)

step 141

assistant

agent noteThe left gripper stopped descending near 2.5 cm even though I asked for tabletop height; the cap is directly under its closing area, so it may be touching the object. I’ll close once here and use the settled opening to tell whether it caught the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.6562, 0.6315, 0.2211, -0.3077, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5945, 0.2943, 0.2424, 0.0647] state[eef_state]: left_x=0.3808 left_y=-0.088 left_z=0.0254 left_yaw=0.0078 left_pitch=-0.1868 left_roll=0.0556 left_gripper=0.9964 right_x=0.3467 right_y=0.1181 right_z=0.1494 right_yaw=0.0516 right_pitch=-0.3323 right_roll=-0.0958 right_gripper=0.0647 state[joint_eff]: [-0.4171, -7.7607, 7.706, 1.746, -0.1929, -0.0269, -0.0073, -0.335, -5.5316, 6.6667, 1.2869, 0.0757, -0.0708, 0.9548] 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 gripper stopped descending near 2.5 cm even though I asked for tabletop height; the cap is directly under its closing area, so it may be touching the object. I’ll close once here and use the settled opening to tell whether it caught the cap."})

tool

executing move_to over 10 steps (1.0s)

step 151

assistant

agent noteThe left gripper again closed empty, and the cap remains just in front of the fingertips in its camera. I’ll reopen, lift away from the table, and move forward over the cap’s middle before another descent.

move_to

left_gripper1.0000left_z0.0850left_x0.4100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.6562, 0.63, 0.2161, -0.308, -0.2447, 0.0081, 0.4587, 1.3914, 1.0386, -0.5953, 0.2909, 0.2417, 0.0682] state[eef_state]: left_x=0.3795 left_y=-0.0874 left_z=0.024 left_yaw=0.0119 left_pitch=-0.1925 left_roll=0.0538 left_gripper=0.0081 right_x=0.3464 right_y=0.1186 right_z=0.1491 right_yaw=0.0548 right_pitch=-0.3341 right_roll=-0.0939 right_gripper=0.0682 state[joint_eff]: [-0.1162, -6.7761, 5.3949, 1.5556, -0.1197, 0.0904, 0.5836, -0.2393, -5.4906, 6.653, 1.2967, 0.105, -0.0415, 0.7009] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.085,"left_x":0.41},"note":"The left gripper again closed empty, and the cap remains just in front of the fingertips in its camera. I’ll reopen, lift away from the table, and move forward over the cap’s middle before another descent."})

tool

executing move_to over 10 steps (1.0s)

step 161

assistant

agent noteWith the left gripper farther forward, the cap’s thick section sits near the mouth of the open jaws in the wrist view. I’ll lower vertically at this alignment and check the resulting height before closing.

move_to

left_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3405, 1.6241, 0.8234, -0.0494, -0.2981, -0.2348, 0.9952, 0.4587, 1.3914, 1.0386, -0.5953, 0.2874, 0.239, 0.0713] state[eef_state]: left_x=0.4007 left_y=-0.0831 left_z=0.0621 left_yaw=0.0347 left_pitch=-0.2328 left_roll=0.0693 left_gripper=0.9952 right_x=0.3463 right_y=0.1191 right_z=0.149 right_yaw=0.0592 right_pitch=-0.3353 right_roll=-0.093 right_gripper=0.0713 state[joint_eff]: [0.4581, -9.1419, 8.9915, 1.453, -0.0024, 0.0855, -0.0757, -0.2393, -5.4632, 6.6667, 1.3114, 0.0952, -0.0171, 0.6862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":-0.01},"note":"With the left gripper farther forward, the cap’s thick section sits near the mouth of the open jaws in the wrist view. I’ll lower vertically at this alignment and check the resulting height before closing."})

tool

executing move_to over 5 steps (0.5s)

step 166

assistant

agent noteThe left fingertips have reached tabletop height, and the cap’s thick tube is now between the jaws near their tips. I’ll close on it and check whether the opening stays wider than an empty close.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3405, 1.8011, 0.7204, 0.2298, -0.3023, -0.2527, 0.9963, 0.4587, 1.3914, 1.0386, -0.5961, 0.284, 0.2356, 0.0738] state[eef_state]: left_x=0.4014 left_y=-0.0826 left_z=0.0018 left_yaw=0.0482 left_pitch=-0.2316 left_roll=0.0598 left_gripper=0.9963 right_x=0.346 right_y=0.1196 right_z=0.1487 right_yaw=0.0639 right_pitch=-0.3373 right_roll=-0.0928 right_gripper=0.0738 state[joint_eff]: [-0.294, -5.4769, 3.7265, 0.9597, -0.105, 0.2271, 0.1001, -0.3214, -5.7094, 6.6803, 1.2576, 0.0855, 0.022, 0.5446] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips have reached tabletop height, and the cap’s thick tube is now between the jaws near their tips. I’ll close on it and check whether the opening stays wider than an empty close."})

tool

executing move_to over 10 steps (1.0s)

step 176

assistant

agent noteThe left gripper reads under 2 mm, which usually means an empty close, although the cap’s narrow end remains visible by the fingertips. I’ll lift a few centimetres to verify whether any part of the cap actually comes up.

move_to

left_z0.1100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3408, 1.8061, 0.7158, 0.2775, -0.3119, -0.2615, 0.0196, 0.4587, 1.3914, 1.0382, -0.5961, 0.2832, 0.2352, 0.0753] state[eef_state]: left_x=0.4075 left_y=-0.0832 left_z=0.0064 left_yaw=0.0573 left_pitch=-0.1934 left_roll=0.0451 left_gripper=0.0196 right_x=0.3458 right_y=0.1197 right_z=0.1486 right_yaw=0.0647 right_pitch=-0.3379 right_roll=-0.0926 right_gripper=0.0753 state[joint_eff]: [0.1026, -7.9385, 5.9009, 0.9744, 0.0806, 0.0659, 1.0281, -0.1299, -5.7231, 6.653, 1.2723, 0.1001, -0.0269, 0.4127] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.11},"note":"The left gripper reads under 2 mm, which usually means an empty close, although the cap’s narrow end remains visible by the fingertips. I’ll lift a few centimetres to verify whether any part of the cap actually comes up."})

tool

executing move_to over 7 steps (0.7s)

step 183

assistant

agent noteThe cap is no longer visible in the left wrist view after the lift, but the gripper opening is still too small to confirm a secure hold. I’ll move the left arm back over its own side to reveal the cap’s former tabletop spot in the overhead camera.

move_to

left_x0.3000left_y0.0000left_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]: [-0.3408, 1.5818, 0.8791, -0.1295, -0.3077, -0.2653, 0.0185, 0.4587, 1.3914, 1.0386, -0.5957, 0.2832, 0.2348, 0.0758] state[eef_state]: left_x=0.4048 left_y=-0.083 left_z=0.0873 left_yaw=0.0575 left_pitch=-0.2124 left_roll=0.0471 left_gripper=0.0185 right_x=0.346 right_y=0.1198 right_z=0.1488 right_yaw=0.065 right_pitch=-0.3372 right_roll=-0.0926 right_gripper=0.0758 state[joint_eff]: [-0.2803, -9.0462, 9.1966, 1.5556, -0.2027, -0.0171, -0.1245, -0.2803, -5.7231, 6.653, 1.2967, 0.0611, -0.0513, 0.7692] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.16},"note":"The cap is no longer visible in the left wrist view after the lift, but the gripper opening is still too small to confirm a secure hold. I’ll move the left arm back over its own side to reveal the cap’s former tabletop spot in the overhead camera."})

tool

executing move_to over 9 steps (0.9s)

step 192

assistant

agent noteThe cap’s former tabletop spot looks clear, suggesting the small piece may have come away with the left gripper despite its narrow reading. I’ll bring the held pen toward the middle at a safe height so the two pieces can be aligned without the arms crossing.

move_to

right_x0.3400right_y0.2300right_z0.2000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1089, 1.0168, 0.7513, -0.4931, -0.1734, -0.1265, 0.0197, 0.4587, 1.3926, 1.0317, -0.5964, 0.2794, 0.2314, 0.078] state[eef_state]: left_x=0.3124 left_y=0.0001 left_z=0.1624 left_yaw=0.0966 left_pitch=-0.1744 left_roll=0.0337 left_gripper=0.0197 right_x=0.3443 right_y=0.1197 right_z=0.1454 right_yaw=0.069 right_pitch=-0.3466 right_roll=-0.0953 right_gripper=0.078 state[joint_eff]: [0.335, -2.6598, 7.2821, 1.6093, 0.105, 0.2466, 0.1148, -0.3077, -5.5863, 7.2684, 1.3065, 0.1245, -0.0269, 0.5201] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.23,"right_z":0.2,"right_yaw":0},"note":"The cap’s former tabletop spot looks clear, suggesting the small piece may have come away with the left gripper despite its narrow reading. I’ll bring the held pen toward the middle at a safe height so the two pieces can be aligned without the arms crossing."})

tool

executing move_to over 10 steps (1.0s)

step 202

assistant

agent noteThe pen is held near the table’s middle-right, and the left gripper remains closed on the possible cap. I’ll bring the left gripper to the middle-left at the same safe height, leaving a gap between the arms so I can inspect their relative positions.

move_to

left_x0.3400left_y-0.2300left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1074, 1.0222, 0.7506, -0.5194, -0.1719, -0.1299, 0.0198, 0.7799, 1.6699, 1.4952, -0.947, 0.4419, 0.5316, 0.0811] state[eef_state]: left_x=0.308 left_y=0.0008 left_z=0.1559 left_yaw=0.1 left_pitch=-0.2062 left_roll=0.0369 left_gripper=0.0198 right_x=0.3332 right_y=0.2284 right_z=0.1844 right_yaw=0.0555 right_pitch=-0.3965 right_roll=-0.1244 right_gripper=0.0811 state[joint_eff]: [-0.294, -3.0564, 7.1043, 1.7656, -0.1099, -0.0024, 0.0024, 0.1983, -8.0068, 8.9094, 1.1209, 0.5299, 0.3492, 0.3101] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The pen is held near the table’s middle-right, and the left gripper remains closed on the possible cap. I’ll bring the left gripper to the middle-left at the same safe height, leaving a gap between the arms so I can inspect their relative positions."})

tool

executing move_to over 21 steps (2.1s)

step 223

assistant

agent noteThe grippers are approaching the middle from opposite sides; I’ll shift the held pen farther toward the center line while retracting it slightly. That gives the cap room to come in front of the pen tip without the gripper bodies meeting.

move_to

right_x0.3050right_y0.3050right_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]: [-0.8806, 1.4937, 1.0554, -0.4286, -0.6827, -0.6056, 0.0198, 0.7849, 1.6806, 1.4967, -0.9604, 0.4335, 0.5346, 0.0832] state[eef_state]: left_x=0.3313 left_y=-0.2206 left_z=0.1678 left_yaw=-0.0118 left_pitch=-0.0628 left_roll=0.0355 left_gripper=0.0198 right_x=0.3301 right_y=0.2299 right_z=0.179 right_yaw=0.0583 right_pitch=-0.4182 right_roll=-0.1326 right_gripper=0.0832 state[joint_eff]: [-0.4991, -6.4615, 9.9897, 1.58, -0.6081, 0.0073, -0.0024, -0.7453, -8.9231, 6.3521, 1.1502, 0.232, -0.0611, 0.2027] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.305,"right_y":0.305,"right_z":0.19},"note":"The grippers are approaching the middle from opposite sides; I’ll shift the held pen farther toward the center line while retracting it slightly. That gives the cap room to come in front of the pen tip without the gripper bodies meeting."})

tool

executing move_to over 7 steps (0.7s)

step 230

assistant

agent noteThe overhead view shows the gripper bodies overlapping, and the right arm stopped short with a torque rise; they are crowding each other. I’ll pull the left arm away first, keeping it high, before attempting any closer alignment.

move_to

left_x0.2850left_y-0.0450left_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]: [-0.8509, 1.4715, 1.0321, -0.4808, -0.6773, -0.6128, 0.0198, 0.8612, 1.8313, 1.7496, -1.224, 0.4866, 0.6743, 0.0854] state[eef_state]: left_x=0.3278 left_y=-0.2005 left_z=0.1596 left_yaw=0.0216 left_pitch=-0.1002 left_roll=0.068 left_gripper=0.0198 right_x=0.3181 right_y=0.2491 right_z=0.1888 right_yaw=-0.0384 right_pitch=-0.481 right_roll=-0.2181 right_gripper=0.0854 state[joint_eff]: [-2.1949, -4.547, 8.759, 2.1661, -0.3541, 0.0122, -0.0122, 9.0598, -5.7368, 8.4171, 1.7753, 0.2418, 0.359, 0.2222] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.285,"left_y":-0.045,"left_z":0.2},"note":"The overhead view shows the gripper bodies overlapping, and the right arm stopped short with a torque rise; they are crowding each other. I’ll pull the left arm away first, keeping it high, before attempting any closer alignment."})

tool

executing move_to over 14 steps (1.4s)

step 244

assistant

agent noteThe arms are separated again, and the cap-like piece is visible at the left fingertips while the pen remains held in the right. I’ll move the right arm alone toward the center now that the left arm is out of its path, keeping the pen above the table.

move_to

right_x0.3200right_y0.3050right_z0.1600right_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]: [-0.4061, 0.9165, 0.8085, -0.6151, -0.4004, -0.279, 0.0198, 0.8635, 1.8473, 1.7489, -1.2411, 0.477, 0.6731, 0.0867] state[eef_state]: left_x=0.2895 left_y=-0.0456 left_z=0.2009 left_yaw=0.0679 left_pitch=-0.0857 left_roll=0.0498 left_gripper=0.0198 right_x=0.3147 right_y=0.2489 right_z=0.1808 right_yaw=-0.0444 right_pitch=-0.5094 right_roll=-0.2425 right_gripper=0.0867 state[joint_eff]: [0.253, -2.3179, 6.8308, 1.4823, -0.0415, 0.1929, -0.0122, -0.5265, -10.5368, 6.0376, 0.8718, 0.2906, -0.022, 0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.305,"right_z":0.16,"right_pitch":0},"note":"The arms are separated again, and the cap-like piece is visible at the left fingertips while the pen remains held in the right. I’ll move the right arm alone toward the center now that the left arm is out of its path, keeping the pen above the table."})

tool

executing move_to over 17 steps (1.7s)

step 261

assistant

agent noteThe right arm has reached the center line with the pen pointed forward, and the left arm is clear to its side. I’ll move the cap forward first, still well to the left, so its gripper can approach the pen tip from in front rather than crossing the right arm.

move_to

left_x0.4550left_y-0.0600left_z0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4065, 0.9226, 0.8043, -0.6243, -0.3885, -0.279, 0.0198, 1.0737, 1.8496, 1.4361, -0.7364, 0.8986, 0.7372, 0.0881] state[eef_state]: left_x=0.288 left_y=-0.0472 left_z=0.1953 left_yaw=0.0589 left_pitch=-0.1066 left_roll=0.0515 left_gripper=0.0198 right_x=0.3161 right_y=0.3002 right_z=0.1581 right_yaw=-0.0243 right_pitch=-0.0638 right_roll=-0.2576 right_gripper=0.0881 state[joint_eff]: [-0.1162, -2.2359, 7.3915, 1.6093, -0.2662, -0.0513, -0.0122, 0.759, -7.8838, 5.9282, 1.2088, 0.696, 0.0708, 0.1343] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.455,"left_y":-0.06,"left_z":0.22},"note":"The right arm has reached the center line with the pen pointed forward, and the left arm is clear to its side. I’ll move the cap forward first, still well to the left, so its gripper can approach the pen tip from in front rather than crossing the right arm."})

tool

executing move_to over 13 steps (1.3s)

step 274

assistant

agent noteThe pen’s exposed end is visible ahead of the right gripper near the top-center of the overhead view. I’ll slide the cap gripper across at a forward offset from the pen gripper, aiming near that exposed end while keeping their bodies apart.

move_to

left_x0.4300left_y-0.2900left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2455, 1.56, 1.2785, -0.4831, -0.2783, -0.1951, 0.0198, 1.0748, 1.8603, 1.4311, -0.7292, 0.886, 0.7364, 0.0897] state[eef_state]: left_x=0.4418 left_y=-0.057 left_z=0.1996 left_yaw=0.0856 left_pitch=-0.1591 left_roll=0.0546 left_gripper=0.0198 right_x=0.3151 right_y=0.3024 right_z=0.1512 right_yaw=-0.0178 right_pitch=-0.0779 right_roll=-0.2604 right_gripper=0.0897 state[joint_eff]: [0.5265, -7.5145, 9.812, 1.5702, -0.0122, 0.2759, -0.0122, -0.2256, -10.4684, 6.6256, 0.7888, 0.5006, -0.0708, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.29,"left_z":0.18},"note":"The pen’s exposed end is visible ahead of the right gripper near the top-center of the overhead view. I’ll slide the cap gripper across at a forward offset from the pen gripper, aiming near that exposed end while keeping their bodies apart."})

tool

executing move_to over 21 steps (2.1s)

step 295

assistant

agent noteThe arms touched again before reaching the requested cap position: both shifted unexpectedly and their base torques rose. I’ll withdraw the left arm at once rather than pushing the two grippers together.

move_to

left_x0.3600left_y-0.0700left_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6777, 1.9991, 1.7565, -0.8551, -0.6674, -0.6331, 0.0198, 1.0107, 1.8584, 1.4033, -0.8471, 0.9119, 0.8948, 0.091] state[eef_state]: left_x=0.4424 left_y=-0.2111 left_z=0.1658 left_yaw=0.2217 left_pitch=-0.2176 left_roll=0.1864 left_gripper=0.0198 right_x=0.3217 right_y=0.2568 right_z=0.1397 right_yaw=-0.1846 right_pitch=-0.0939 right_roll=-0.2749 right_gripper=0.091 state[joint_eff]: [-10.4, -8.4308, 10.947, 2.0733, -0.0806, -0.2222, -0.0073, 5.3812, -9.1966, 8.3624, 2.0586, 0.1148, -1.7851, 0.1294] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.07,"left_z":0.21},"note":"The arms touched again before reaching the requested cap position: both shifted unexpectedly and their base torques rose. I’ll withdraw the left arm at once rather than pushing the two grippers together."})

tool

executing move_to over 13 steps (1.3s)

step 308

assistant

agent noteThe pieces appear offset front-to-back as well as sideways, so pushing the grippers together would risk another collision. I’ll bring the left fingertips back and down toward the pen’s level while leaving a substantial horizontal gap.

move_to

left_x0.3000left_y-0.1000left_z0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4683, 1.4429, 1.2495, -0.7971, -0.5674, -0.4423, 0.0198, 1.0138, 1.8584, 1.3884, -0.8555, 0.8932, 0.9009, 0.0916] state[eef_state]: left_x=0.3643 left_y=-0.0738 left_z=0.2026 left_yaw=0.246 left_pitch=-0.2258 left_roll=0.1834 left_gripper=0.0198 right_x=0.3169 right_y=0.2553 right_z=0.1325 right_yaw=-0.1816 right_pitch=-0.1184 right_roll=-0.2852 right_gripper=0.0916 state[joint_eff]: [0.2803, -7.1316, 6.8444, 1.2283, -0.1392, 0.1734, -0.0122, -0.3077, -9.306, 7.2, 0.8132, 0.5592, -0.0855, 0.0611] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.155},"note":"The pieces appear offset front-to-back as well as sideways, so pushing the grippers together would risk another collision. I’ll bring the left fingertips back and down toward the pen’s level while leaving a substantial horizontal gap."})

tool

executing move_to over 5 steps (0.5s)

step 313

assistant

agent noteAt nearly equal heights, the bulky gripper housings touch before their small held ends meet. I’ll raise the left arm well above the right and move it sideways over the pen-tip area; I will only lower it if the bodies have clear separation.

move_to

left_x0.3100left_y-0.2000left_z0.2550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6537, 1.3525, 1.0039, -0.778, -0.6312, -0.614, 0.0199, 1.0142, 1.8584, 1.38, -0.868, 0.8845, 0.9012, 0.0918] state[eef_state]: left_x=0.3076 left_y=-0.0998 left_z=0.1505 left_yaw=0.2198 left_pitch=-0.2632 left_roll=0.202 left_gripper=0.0199 right_x=0.3139 right_y=0.2526 right_z=0.1283 right_yaw=-0.1814 right_pitch=-0.1339 right_roll=-0.3014 right_gripper=0.0918 state[joint_eff]: [-2.5504, -6.1333, 6.1607, 0.9499, -0.5641, -0.0952, -0.0073, 0.0205, -9.1419, 7.0496, 0.9158, 0.5006, -0.0317, 0.0024] 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":0.31,"left_y":-0.2,"left_z":0.255},"note":"At nearly equal heights, the bulky gripper housings touch before their small held ends meet. I’ll raise the left arm well above the right and move it sideways over the pen-tip area; I will only lower it if the bodies have clear separation."})

tool

executing move_to over 9 steps (0.9s)

step 322

assistant

agent noteThe left arm could not rise or move sideways while the two housings were still crowded, so I won’t force that path. I’ll move the right arm back to its own side and raise the left only as the space opens.

move_to

right_x0.2900right_y0.1000right_z0.1800left_x0.3100left_y-0.0950left_z0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6777, 1.3293, 0.9932, -0.7769, -0.6586, -0.6804, 0.0198, 1.0142, 1.8584, 1.3746, -0.8837, 0.8783, 0.9012, 0.0918] state[eef_state]: left_x=0.3042 left_y=-0.1015 left_z=0.1561 left_yaw=0.2452 left_pitch=-0.2285 left_roll=0.1597 left_gripper=0.0198 right_x=0.3113 right_y=0.2497 right_z=0.1254 right_yaw=-0.1826 right_pitch=-0.1472 right_roll=-0.3189 right_gripper=0.0918 state[joint_eff]: [-1.4427, -5.1214, 5.6684, 0.8523, -0.5543, -0.0952, -0.0171, -0.0889, -9.2239, 6.4205, 0.7741, 0.4371, -0.0366, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.1,"right_z":0.18,"left_x":0.31,"left_y":-0.095,"left_z":0.25},"note":"The left arm could not rise or move sideways while the two housings were still crowded, so I won’t force that path. I’ll move the right arm back to its own side and raise the left only as the space opens."})

tool

executing move_to over 13 steps (1.3s)

step 335

assistant

agent noteThe arms are clear again. I’ll put the left gripper ahead of the pen’s future path and near the center line while the right arm remains out of the way; this preserves front-to-back separation for one controlled approach.

move_to

left_x0.4250left_y-0.3100left_z0.2350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.646, 1.3533, 1.3407, -1.0908, -0.6357, -0.6708, 0.0199, 0.7532, 1.2896, 0.9783, -0.8085, 0.7845, 0.5594, 0.0918] state[eef_state]: left_x=0.3083 left_y=-0.0966 left_z=0.2374 left_yaw=0.2567 left_pitch=-0.2397 left_roll=0.1459 left_gripper=0.0199 right_x=0.2896 right_y=0.1054 right_z=0.1723 right_yaw=-0.1959 right_pitch=-0.1624 right_roll=-0.3178 right_gripper=0.0918 state[joint_eff]: [0.3624, -4.2735, 9.1556, 0.8718, -0.398, 0.2662, -0.0073, -0.3624, -5.559, 6.4068, 1.0818, 0.4469, -0.0708, -0.0024] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.31,"left_z":0.235},"note":"The arms are clear again. I’ll put the left gripper ahead of the pen’s future path and near the center line while the right arm remains out of the way; this preserves front-to-back separation for one controlled approach."})

tool

executing move_to over 19 steps (1.9s)

step 354

assistant

agent noteThe cap gripper is now forward of the center line while the pen is still on the right. I’ll bring the pen toward it with the gripper bodies separated front-to-back, then check the exposed ends before attempting any insertion.

move_to

right_x0.3000right_y0.2600right_z0.2050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8478, 2.4344, 2.7129, -1.5452, -0.6834, -0.9192, 0.0199, 0.7483, 1.2934, 0.973, -0.8082, 0.7727, 0.5457, 0.0918] state[eef_state]: left_x=0.4182 left_y=-0.3 left_z=0.2112 left_yaw=0.2525 left_pitch=-0.2705 left_roll=0.1385 left_gripper=0.0199 right_x=0.289 right_y=0.1049 right_z=0.1682 right_yaw=-0.1889 right_pitch=-0.1784 right_roll=-0.3291 right_gripper=0.0918 state[joint_eff]: [-0.7179, -13.2581, 8.4581, 0.6325, -0.6667, 0.0073, -0.0171, 0.3214, -4.8615, 6.7761, 0.9353, 0.4469, 0.1001, -0.0122] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.26,"right_z":0.205},"note":"The cap gripper is now forward of the center line while the pen is still on the right. I’ll bring the pen toward it with the gripper bodies separated front-to-back, then check the exposed ends before attempting any insertion."})

tool

executing move_to over 13 steps (1.3s)

step 367

assistant

agent noteThe approach again stopped with both arms deflecting and elevated torques, so the gripper bodies are blocking insertion. I’ll separate them and return toward their own sides rather than apply force to the pen or cap.

move_to

right_x0.2900right_y0.0300right_z0.1500left_x0.2900left_y0.0000left_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]: [-0.7891, 2.4378, 2.7132, -1.6073, -0.7113, -0.8963, 0.0199, 0.9913, 1.8549, 1.6562, -1.3647, 0.8021, 1.0016, 0.0924] state[eef_state]: left_x=0.4288 left_y=-0.2632 left_z=0.2092 left_yaw=0.3259 left_pitch=-0.278 left_roll=0.2274 left_gripper=0.0199 right_x=0.2934 right_y=0.223 right_z=0.1832 right_yaw=-0.2824 right_pitch=-0.2654 right_roll=-0.4079 right_gripper=0.0924 state[joint_eff]: [-5.012, -13.0393, 5.3812, 1.4188, -0.1441, -0.2125, -0.0122, 4.6017, -7.8701, 10.5778, 1.3016, 0.9548, -0.6227, 0.0513] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.03,"right_z":0.15,"left_x":0.29,"left_y":0,"left_z":0.16},"note":"The approach again stopped with both arms deflecting and elevated torques, so the gripper bodies are blocking insertion. I’ll separate them and return toward their own sides rather than apply force to the pen or cap."})

tool

executing move_to over 24 steps (2.4s)

step 391

assistant

agent noteI picked up the pen, but could not reliably confirm a secure cap grasp or fit the cap onto it. Repeated alignment attempts brought the two arm housings into contact before the pen and cap could meet; I separated the arms and stopped rather than force them together.

give_up

hindsightOn this rig, a pen and cap brought toward the table center at similar heights can cause the bulky gripper housings or forearms to collide while their grasp points are still roughly 10–15 cm apart. Rising base-joint effort and both arms deflecting from their targets are immediate signs to retreat. The right gripper's settled opening of about 0.05–0.09 held the pen on lifting; the left gripper's roughly 0.02 opening did not reliably establish that it held the cap.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3405, 1.1515, 0.8948, -0.8059, -0.5453, -0.4255, 0.0198, 0.4919, 1.2301, 0.8764, -0.8089, 0.6769, 0.3645, 0.0931] state[eef_state]: left_x=0.2885 left_y=-0.0012 left_z=0.1559 left_yaw=0.3618 left_pitch=-0.2948 left_roll=0.2289 left_gripper=0.0198 right_x=0.284 right_y=0.0307 right_z=0.1417 right_yaw=-0.3057 right_pitch=-0.3017 right_roll=-0.4292 right_gripper=0.0931 state[joint_eff]: [0.1162, -3.9453, 6.7761, 1.4335, -0.3443, 0.0855, -0.0122, -0.335, -5.1214, 6.6667, 1.2625, 0.398, -0.0513, 0.0659] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up the pen, but could not reliably confirm a secure cap grasp or fit the cap onto it. Repeated alignment attempts brought the two arm housings into contact before the pen and cap could meet; I separated the arms and stopped rather than force them together.","hindsight":"On this rig, a pen and cap brought toward the table center at similar heights can cause the bulky gripper housings or forearms to collide while their grasp points are still roughly 10–15 cm apart. Rising base-joint effort and both arms deflecting from their targets are immediate signs to retreat. The right gripper's settled opening of about 0.05–0.09 held the pen on lifting; the left gripper's roughly 0.02 opening did not reliably establish that it held the cap."})

tool

give_up: I picked up the pen, but could not reliably confirm a secure cap grasp or fit the cap onto it. Repeated alignment attempts brought the two arm housings into contact before the pen and cap could meet; I separated the arms and stopped rather than force them together.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 8.438 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0219, -0.025, 0.9997, -0.02, 0.791, 0.6086, -0.3782, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2954 right_y=0.0017 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.4957, 1.7363, -0.0073, 0.0708, -0.0415, -0.6359, -1.1966, 9.853, 1.8339, -0.0317, -0.0464, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856635fc355bc5700f82a8e2e9a18bb231713f095faf671564c3e0dd3708b5ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3eac55bc03472923aa883bd6fd729b0b86c07a23b9e58c8fd80ed7aa1b698b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174ac593c3dc67b58135d5a114e47c6774d7511f0506fc0e0aa08286bea90c39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.272 s

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

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab435d653c487d0a0c51b3bd5aa8261",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXdd8LTzPYxXkfo873xFiVZfF58QYTUWEUphwCu2Bc7conmEzrr0X2olUWdIyZqhkxZjnPMNrgbcGHhdfXV2mxAEujXVA73uva4GmjjUM6br6_fiyt9hhBBGbzEN63wgULpGpwiUcjpOw-WUqfx1L7I49Reo2da-tzVfm4mTugVnpMfBzxb7SgMqIvbG7FbSFy0719H91-OOMRtuLNhOufpGLDU8fk3Isp80hYeg7adSGMx7yo9jNEV1dLMtusATJ_LZsEKYiYxoh9FkN5TNk3XVtgAOsHhRRmAXUEh3hmT7Eus9vIojVWqskR55VqknfWM98skYkwIOGFsHeOZnXLsAa60mSEDo9mIpB46NaqNoNvebVFkREC97GldWox5GHYhBR1mdWyehlQg3rB47NlXodqduR-WB973OuQdbSiJAAjEO-obdjtOHEOcdEKROyWcX-xmBxUiMhXzWsdHiBgfk43cJh9-c14g2EZ1xq7hiirGIyXr3Ys69AZzP-L98BewFSLO33q6NXaj_GzmtbNc1wGRF8vjtFayUMeOyEnih5fb7ucX4uELBYMjfBUVGnDi16UzCo51KdGYo2t_YdhkGqPMkKaBbRob4FGPq56PLgvsyYT-nMv-a5c4JePoCn41I21PkTDSeZ7Tm2DDptyfejGL3oq4vI-G4ZNQHlRFJqJYBFQRsZ4nGtjvgU2ZL8lBoDbENe08OY-l5N2CnMvxeZqF-Rco_6Mg0FcuS-5_goH7r1khwUWyDGbqRNT3_arcPCKObh3MZo6Lw0BxsEmv32UCIP724-aIMHy1s7_7UKDE9_-DBNs8RXv4-Qmbn4jUZvw6aLOzIlJFXerlsoYqBmvH9jF_z96gFLwKsBy1r9fNYX45IJi7YLVV9TZ9rtcdHBMHHxMNtphAPkhoTSQL8rqRPcNlY6GhThMtf7-bhYneZTEscChS9dEwVLzeCgt1SCYW_Z1hZ288aUptmD1CZafDNYLig9DswsI27bODVCD6gJRR5PPcsoOVK6J9VXeceKN0sMTnd7j7zXn61APmfYzEKWKc43FRqQJTcQqFxNUy_bTxOAuZOrPvW-9eNCl2_tA1E_rO82Bt-ll3ibYVPATaooyGBireCmuopDofoVEc4BVIbu4HyHyQASYIuh6oyA9LPQIvPeBMFD8rGzCie_gVMMldiAyrdMa8w0YquNKD3o4SKhMnpyE-Sx5HriJKvri_KgXccrF57UrAKH5XzfacLSUMHlKO34dNz3NCJne1f8e-28K-AbO-UfbEwohicw8GuelheSF0XN1P6gBAy6ItsPKTzOsS0cbmA8NkgDSbDY0bzt8PAfsdlJI9Y1Zea8XxYANPce1ZNQMYFxTotSZCfAl7EpMBIzemNow1KEbG6OYs0hQ6hN9eRwCUhRepLUss7G-SqQz3J4UIa3rDlkdItTM_XBkWWgPPclTdTFP6MVtiuwYFxggdt8ScGNlGUNPGbJb2-xaIr25IOOdo9YR6W9gSOQN9iGtsQmgdAkBcF1RGfa-PhANDEySqEDgQfHeQVDaRSUX21mGPLLBmeT1URM8GWc2mB3i4t1P_CULBj5PAbI_0_8n2_um5IFSrlvAnYstW1ZIN9nB13HQ1ri0YCnZyxRfhzPgWlji6ORtJMMvDxBfhNHryRYWRzGMKmrVgOD1iQq7vRDNVXunIexR06tqFxjidprVOMTTw_Rhho2nucQNS_kTXKw2cMo3mtULabICISJB-pcznWIQ3rcPK_TtE1P9aw9k__cJ4VmmShuEtURTUKI5W_D2xjJhIbGelz0sht6BJpUEGV7mAFWzC5W90o8bQpC8KSxfmyWo=",
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.15,\"left_z\":0.13},\"note\":\"The short cap is left of center, and the longer pen is right of center; both grippers are open above the table. I’ll position the left gripper over the cap first and check its wrist view before descending.\"}",
  "call_id": "call_5qTmJBIcNMQZ5Bg7hpIn0sJu",
  "id": "fc_0254de1b53a9f971016ab435dcd1cc87d0b103ee974ab7cece",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5qTmJBIcNMQZ5Bg7hpIn0sJu",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6022, 1.4185, 0.7197, -0.0475, -0.4801, -0.3637, 0.9997, -0.02, 0.7959, 0.6128, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3554 left_y=-0.1409 left_z=0.1074 left_yaw=-0.0184 left_pitch=-0.0763 left_roll=0.0403 left_gripper=0.9997 right_x=0.2946 right_y=0.0017 right_z=0.1813 right_yaw=0.0 right_pitch=-0.013 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.188, 9.4017, 1.746, -0.2906, 0.0171, -0.0171, -0.3761, -1.6068, 6.7077, 1.8339, -0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581a89bc4b980832b55f9a43ff1e4e56290fa1ef320ac73471bc209d18e9c86c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510b0ea5e2f3a66d22d52ec9c076708160c10996bd99ee98f2201200361d6aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e203114af19ca4ef144385cdff741baf9fa3f27b7bbfe1ccc0362d6a60ca16",
      "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 · 3.158 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0219, -0.025, 0.9997, -0.02, 0.791, 0.6086, -0.3782, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2954 right_y=0.0017 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.4957, 1.7363, -0.0073, 0.0708, -0.0415, -0.6359, -1.1966, 9.853, 1.8339, -0.0317, -0.0464, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6022, 1.4185, 0.7197, -0.0475, -0.4801, -0.3637, 0.9997, -0.02, 0.7959, 0.6128, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3554 left_y=-0.1409 left_z=0.1074 left_yaw=-0.0184 left_pitch=-0.0763 left_roll=0.0403 left_gripper=0.9997 right_x=0.2946 right_y=0.0017 right_z=0.1813 right_yaw=0.0 right_pitch=-0.013 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.188, 9.4017, 1.746, -0.2906, 0.0171, -0.0171, -0.3761, -1.6068, 6.7077, 1.8339, -0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581a89bc4b980832b55f9a43ff1e4e56290fa1ef320ac73471bc209d18e9c86c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510b0ea5e2f3a66d22d52ec9c076708160c10996bd99ee98f2201200361d6aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e203114af19ca4ef144385cdff741baf9fa3f27b7bbfe1ccc0362d6a60ca16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXkLwcL9AF1GJI9p_ej8CBNA8HZR9-nO0Li5i0aL82H8_63uHuxGEOqwaJpEvfTtG8bLNScy9JVP3nG9Q00NEZJ4UWOzsNE6v6o-wq2YivWMXpT6uNpQ1VPT7rkvVyxz9nprGBGRtPVG5Cd-bJYG41hP0qqv3wGzjJvfLMgaPztF8PtzTy4ejaw7B_0G4tdnzEZSTP8zfLxbYX2nmgMmDOv_p4yq0UKCFwECsfH9huPZ5BNQCaoHTqax3ohNpj1QHAPUelI76mxjtXgok2F96rfM7SmOztehjCTz1iOd1oey4X5uSDxnuF4YbNgvSezuUx6Wj-EUYtNWtvZpMUTwGmBe6lyU89t3gkPaihTpsKEiNCXVC2myj4VeScJXo7c2kC80oCxsY-pSdzTpHM0eR9jO0nE3UfxBEDqKoIVSxXled5AkCd20WaSuDJHDV9GgUQlphqOplG7YgC7nrEaDYwiReAUXRHP7Sp9oAJjrRF1arxKxMteu7Vt3xxs-oPPV9rt0e6ls2m9bhvB08cYp-tWifn3qZso9r7Da8piTrCi12TNeFBbMEERJGaJtgVyn9pt7BQXuuK085RwDtAsfILDjR2cAFuot85Bfp_K95d8m9gqB63IzmWa6Jn4vY6jRqkkvT2m4D_fJ8RWpjlzjCgAGsYCHziDhiyUrj9cbRv1RiUty-dXyG8PDlWq_-r1C67_QL-H_vKk17WgJu_L1g7RhQi6L-WRRV5SM9KseG-VSVZDLDg-qwcmZl4eolnFS1iHco8X34ZnaxbsLrHAeZwAem2FM07MmRE4Q7dcPvelW2RYhckf_JjlL-wakm4DrCJXRJYfl--ZXSqJ9XDs4ZriZrAJj2EIpga7D8dXtEyDjgUeIpFAxLzhtExuR6T5sfEKYVFf6--VPc5i6JiyQVl-3-3Q_skappP4BkHRG3EGndFzF5xlAP6chxVEzTtSqMtDmYsogLxm88NF4XkrE_akCvdwiJM02lIDdbJyDoLTD9pM3uKRGfFRjnaDNWLdvPxH8VTDtVrcW-OeM9qwhWjp2dhRhU0plsNt19VLXO-lABQ-CzoiCpyjlxjQaDAMqs21HfnCByXldXkLyAedXueUMKVSOhfwftla2btu8H3JjZG0JbLzQlCXND5Yx1VNbisAjn1mi86ygg6ivE4EWOh-TElU2QCxm-oI5cwPEJXWFFApvrlbbtA2rHoWuk7_hikPNY2Y1VrFP7huJFmXpXcArMbdz8XmyXudgIhJpONdI1tLfK7kFWXiLNUdkVLU4VKAtz-Etp2gLErf0zStrNtz6UYcM7MjS5uxJR7Q-Nn0YnZ2aPq7d0pFGSjtj7qL1PqY6i9noWr9DRDWBbrkpIumiCF2Lz4mWjy--uEeV3tWPlM7Y-njpiuRpy8VF0W5HRVHswjvANSs6c-APMTo-sbd-oJS_yRkMzh_3nBMZ_EDXp6fhzIj6e06rrwQupJs2On42P-Z1xhCgryRvD2oPRVnOu-9In5YBj-B9Y046rYpg2AjgGr5iNcVpYpu451jvwNkPCq4wbbFS3f9NAh6D-7gmlWZjrpCBKbbb1sbRLHpmw2YpA-IJ9M7eLfVIslr0-yZyzJPncFmEzrYFJBm5iPzXHbo8_9FY-vRd_kjgQWsMkUqcFk8bws78qfguGnLeotjLVTbHKsKGLriOCcnvpwZP-BMuYKwHC64pO_Gj65HRSq4lVDMTNfKzaMWzQ2IZ-iDduxJF5QxJOg0SE61q4IvroXP6AHTzuunViksUj4cN1NLqMZtC7XyNbolRyjXLyl5UiThTdgbB3EESl4BiTIIVS3xaXLlI1Ac0GSdrVCX-rAg5ovNfFLTY5C1NcDtov6M_YHZW-NGLA8MkK1R8GlNqxhoDnT-8OoX6j4MLPn-_bc70Nw-GyeoLXlyF-8BSAeMhdxuqf5jXh360NumwXf-WgoEst1oQUnVwv2L64iZTWkUwSVKgQW-VcpQdS1xJkQ02neDVRqDh0T6ih3PjSZPMsqO4T9gsMjFMJfEL2RBRcgZtJO1ksTTtBRQjRVe0I2jcB5RIxlymUsFFshFamRYJsxXrsW04qpZ0l-GVEgRJD5Ce8zKGL713U7OFvxWlG3KwNa3J2uc0O1dSQmcdM9Jvf5e2ygL8RbX1qPkNB1tRIeLagBNRCmUh2AwwagEPdbW2dlbke2TB61CuGxwT6n4D4Kg9pZkUk-I1rd_Vdt8rCV6zYVN008hcuCraPXil327pinBe-iJLcoQNwfn6TE3jGAh3HwinC9O0iv27rjJdH5xOceS2gL7X3FIC--sTkTKSPs9YJjEMcbgHy8Nr7DZv7wieUwD38FvpEqjMekjNBquG38mcMKXzbTFFim6LOTDrW29bIk2_-9sTDKPRYiOqSzilf7c7gvfma6dYl766zEKGWe7X0x7oyw-wNCWh_c4GrlpO9zA72FTYolcW3BOtQ==",
  "id": "rs_0254de1b53a9f971016ab435dfdfb887d0b48426ab892ac14e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.381,\"left_y\":-0.126,\"left_z\":0.065},\"note\":\"The cap now appears near the left wrist camera’s jaw column but slightly to its left, with its near end low in the frame. I’ll shift the gripper a couple of centimetres forward and slightly left while lowering toward a grasping height.\"}",
  "call_id": "call_mQeadMqNCpxFbHvncfzPukpA",
  "id": "fc_0254de1b53a9f971016ab435e28d8c87d08e3dff4e2031bcaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mQeadMqNCpxFbHvncfzPukpA",
  "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]: [-0.5152, 1.5635, 0.675, 0.1177, -0.4404, -0.3309, 0.9997, -0.02, 0.7986, 0.6128, -0.3931, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3731 left_y=-0.1206 left_z=0.0637 left_yaw=0.021 left_pitch=-0.1125 left_roll=0.056 left_gripper=0.9997 right_x=0.2944 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 5.9419, 1.8095, -0.1245, 0.0757, -0.0171, -0.2256, -1.4154, 7.4051, 1.7753, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d7583a53ca88f2d0cf6a5faabb9a45aca43c74f903b4561a24b235f140d0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a51eb08c4ca0658a9447e44896d4e366768f7b891a6b8e165a767d8423d64f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac31b4425ae3be39a155db04ca79e24e3804ffcce20e3756be71e2352095fda1",
      "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 · 4.191 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6022, 1.4185, 0.7197, -0.0475, -0.4801, -0.3637, 0.9997, -0.02, 0.7959, 0.6128, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3554 left_y=-0.1409 left_z=0.1074 left_yaw=-0.0184 left_pitch=-0.0763 left_roll=0.0403 left_gripper=0.9997 right_x=0.2946 right_y=0.0017 right_z=0.1813 right_yaw=0.0 right_pitch=-0.013 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.188, 9.4017, 1.746, -0.2906, 0.0171, -0.0171, -0.3761, -1.6068, 6.7077, 1.8339, -0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5152, 1.5635, 0.675, 0.1177, -0.4404, -0.3309, 0.9997, -0.02, 0.7986, 0.6128, -0.3931, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3731 left_y=-0.1206 left_z=0.0637 left_yaw=0.021 left_pitch=-0.1125 left_roll=0.056 left_gripper=0.9997 right_x=0.2944 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 5.9419, 1.8095, -0.1245, 0.0757, -0.0171, -0.2256, -1.4154, 7.4051, 1.7753, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d7583a53ca88f2d0cf6a5faabb9a45aca43c74f903b4561a24b235f140d0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a51eb08c4ca0658a9447e44896d4e366768f7b891a6b8e165a767d8423d64f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac31b4425ae3be39a155db04ca79e24e3804ffcce20e3756be71e2352095fda1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXnyYzPqif00nqua5g2d8xx7pORssxtIoYPFAUZibjZXAV34E_wfnBCVFYIgM6GQ0ReYncsdpoA-kBfNucdU0Xjt8CcdoBGHDZGFa3TYQu4xY2Ul2YwJFqNr0gZL62wJLGmip67Bkojm3EtAKgYBjvJi9d62hjaDkBxLlM8Mkee8bLzGhLjpejiE-MzTU52t8Cwzeb5y3kU19irt6sMpZoRF9-xTlUNo4fYj1m_fs0EhVC2JxhXxOYfBD7ZYiSIlwYY9NoyMGX4FfevW59THqYl0Fshf_tSN4LIhrumKP2cA7afI3jd99fsKa2SZ5cBKk9eujkzcmL6fc5PpTzyXvf4ZXgIN8mLUeE6bodkIuJQ2ZOkdrrc4xNIB72WSClU58alM8SNOE4rvVzRVP_KzH0wxvwAt9wp9yIlk-gbhQD2jKVO2o2X_9NsenB2pV9p7m3ChljrVtxtRiwuF0QksTdTwOhhE9T_9X1bmIPqvDazpGM5l8bUS8wnnEilTq3o-LrHKRFUUnq6DFZ9PWJrhvqeYDgh7NiJyBtVFNkbb2U8Bb50XScKKyjP3c9A7hQkjtBg3EGRCk96TTZHXe-utW4se0rwzeYus2UzZ19qK_rArdUvOrHtvVbbBUTFAzbCApYzSLEaUDA3NkfuRZEztbYt8AspP3IeoHn2KzAu6kbLzuNvOWT4gW_haxH0bMsTlatKs6q25uV9XKYsCx_wWLpQMvZtFodinpXdK9n-gvH3kKCQnQOt1X4ueGtOlrsEIp-EMVE4epZjCBN-g2cNzmYA7NUv7UWYWZob1KuXPZzGi61Y0RmS4HoPyLHVR8CShTskCG10WNhpAWkD7euoGBE3vHfb6PLFXXwQhdsjIuacjUY6HtTWPa1V2xq9Um2GjftWJUaI-ItIUb-zMdxAcYoyXTXxv4uOo6bYsk6viuakN0bzUbHAg663v5hNZSkhhqR1DoCL8KhZe5eW_oUWPsumDxjGA6bhJYcNrvbIlAexVh-JY750tD1FHQ29Qx-ye-czRn2D-ApdMsVsH5Udde_Oox73kjJirOlqpvQ8VLtbg3XmhWTnaxXzlbIBDgSfOu-r8YCYYnWJMD63sGWaGBLT-yMKH_AcZfS-ZRTx3dOh_MzHp-hzOZzLy3GrlRynipBYUMEjNvovXtryQXP7UfQsDA4m5iZz5LLzfLV_9OBX5lYn_1NrEGKJpLxmFuBTtqQ3xouB8P0SWWACBNtpOdqTVJATXz4lHveasX4-k10X2GbQ9jMFZeAc6uCZkAXhdEW2smdvgKQyxXWbZ9mylEFxhm6-f9dzacLx01tTxvuZd7v2r7USUmseDchoN7DbhvEMObMdpfRE9V4XH5ZWTaE88Il_ZXMjaMt9DGqIcq9pbJHemSyDz_oayRq6BradNn2UAu3jJqSipfLqmXt3ErJPSV-8jeX3TpcAWng8yzoRSkPW9yEJfrGu9OhWxaASf7f3XnM12Y5i75X8-tlJfxDgRUhULpzMR5LuaGHuEeBgs9KhOb8vYIxyvzkx5RrkWIihDJDtN7suAJgqQKM7eEFQqxvHqjajRh5L4cWA9qRVApNd26dpW7K4SWhM1TOkHezxSgD07K6Y16EwtM6A5RtPZUjihPkusABfnovagi6xmhKFTSgXxgbuooYyOci6Avs_RMKhXo3YqTCGD1ac6jWkZEXomxxThax6PZHXLKzye4lxUcb37ZR0X8EIieDn87O2KB8qjHNTjTeyL9M3RITxBzSUzvjyEd3YAQYKGPaGyf5Km7MxHOxh4ywErJ7a2MDYm_JxevKHQ34zT97a6aLV8pJNRVL9r2cPAmU6_daUqNY=",
  "id": "rs_0254de1b53a9f971016ab435e5a7e087d084325deb1b7a321c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The cap is centered between the open jaws in the wrist view, and the left gripper is still about 6 cm above the tabletop. I’ll descend vertically to cap height without changing the alignment.\"}",
  "call_id": "call_O7BMgWIOk9aXEaclvYvdfD91",
  "id": "fc_0254de1b53a9f971016ab435e701b087d0b8e1ace53407fa8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O7BMgWIOk9aXEaclvYvdfD91",
  "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]: [-0.514, 1.7538, 0.5877, 0.3504, -0.4374, -0.3344, 0.9993, -0.02, 0.799, 0.6128, -0.3946, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3672 left_y=-0.1173 left_z=0.0026 left_yaw=0.0247 left_pitch=-0.1522 left_roll=0.0747 left_gripper=0.9993 right_x=0.2942 right_y=0.0016 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8855, 4.9299, 0.4029, -0.0122, 0.315, -0.0659, -0.335, -1.2786, 7.0085, 1.7021, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa65ef865cb0aa91e39e727946a097da7cd8ff7c3aedac0b40c0e8cb11cddb3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2b5158ca2a3a1a70f5ed78b94334f050304dc22a612c004e170559672cb603",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4350676b2e90cd5f17102d1eafab099c907dce9f44ec2692e3b11ad25b2a33f",
      "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 · 3.024 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0219, -0.025, 0.9997, -0.02, 0.791, 0.6086, -0.3782, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2954 right_y=0.0017 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.4957, 1.7363, -0.0073, 0.0708, -0.0415, -0.6359, -1.1966, 9.853, 1.8339, -0.0317, -0.0464, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5152, 1.5635, 0.675, 0.1177, -0.4404, -0.3309, 0.9997, -0.02, 0.7986, 0.6128, -0.3931, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3731 left_y=-0.1206 left_z=0.0637 left_yaw=0.021 left_pitch=-0.1125 left_roll=0.056 left_gripper=0.9997 right_x=0.2944 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 5.9419, 1.8095, -0.1245, 0.0757, -0.0171, -0.2256, -1.4154, 7.4051, 1.7753, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 1.7538, 0.5877, 0.3504, -0.4374, -0.3344, 0.9993, -0.02, 0.799, 0.6128, -0.3946, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3672 left_y=-0.1173 left_z=0.0026 left_yaw=0.0247 left_pitch=-0.1522 left_roll=0.0747 left_gripper=0.9993 right_x=0.2942 right_y=0.0016 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8855, 4.9299, 0.4029, -0.0122, 0.315, -0.0659, -0.335, -1.2786, 7.0085, 1.7021, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa65ef865cb0aa91e39e727946a097da7cd8ff7c3aedac0b40c0e8cb11cddb3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2b5158ca2a3a1a70f5ed78b94334f050304dc22a612c004e170559672cb603",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4350676b2e90cd5f17102d1eafab099c907dce9f44ec2692e3b11ad25b2a33f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXsS19-q096YVET3WJQQQRP1O-uZxJi17U8fa9aotOv59d979StrwuellrsmnIXS5el0RRMwn28n9t0e7YSgdDUb_nYtWij2uu7stT1POiuH_hNmjYs99vgvorNH5LI-Cej4TxUXBgwJ586vp1KFppY5Qy9sCK2Fy2SNlYJC5zkU4smDiXnUm4qhPEBheXMV2Ngv_OY7d25J6pZZybwxde4oj2957XREKpYJA5Ru372AY9BJGSa-R964xGGIGYVRz7LbybJwq-8bdSiNedotrXHtekaBJgYkZMlWzaa099NI5CJeQYRCNipuL-QBe1-3yIY8aRIomBm_t9qwee7jKKsDIjWFRn8CWgToDXt57j9_m65pQvOZ_Ly13lOYjZO0CS81ngA-6f8rjxW7QsjAQ-tmdE0o_b4FzAimBrqMvddaOlRdTI0F1i_wxpoEFEDgy-Lc19MWSZFUecAiyxVXCob8iJPB8P5r4icGxNKtUBjwbDIhOIBES74Y7eiJkA2ESTfgx1UA3vCkBJa9iELLs7QZg7syzUVvqJ5JR3gUAFCGLLVCVLenohmxeKtK4Ve6NnZpz1cxImubCyjtDqnrh5ftRrk2HaWVSvxbq0IfoBMxt3pEf9cJjLHeWffGxpBv3sYaR5gJqUQuZlfTR28_UVNfO_574wlrSieGs6qRBYsGPQ1luCS49LnJwI56TdWDm30TcJGz3bBSb66loCcqP_jerE4uuXyJzKKalHlchx57peF1eGI1sGoBvCcXHpPfoSLkA_GtfYigUvU_vKbZRfXzAcw7YhyojtyMCDas4j9UcGCPSuh1hq7DCvJrZFH_08SujUxMR06I3q_gyTn45mVdIKK3_ZgkkqEl63vc-mEHoHKocmnpbDYjnH3UTvllhhjftcbhMXNuJ-TCIyVOVQpeNI75mIDjcxBoNcAE-7TxnodHw27KfVR9d3TlJMj9ZR0A74PH0SAtXF13N-tAVvGbaAAlrvjFX1dW_YJr0BL9pOb4EImRO7C8uqdcYn5h3zP_iTwu3zfOc-xjp8DmmEpGDDYcM-2_zti3338rBOLxd8508nqp9YD0YMt77YsHC93PZEOFCSIU346lHQGuUy73_yBHIEeNBodTcnRWi0-1ywNUP3zA3g_18Veo_seh5LWbr5Y-_q0oA6pG44CmKk7NB7fSFwoRWmuu9wb11KlMXuKu3VG5MqF-9O3Gzn5Z08Y5hdi_paug4rHjzVQcNlwBUNUHCZ0jtQElk2ipJAGJ71uRhuSxX6x05hYLWB5YY5SUYvH_x-9G_s7ua8AlKXp_c74s8bkNFgJSORlqXh4dsKzDkBEW87B1Q0zGOTxYEKXga3h-2EVQsAmS5pEpdX3hKoVHiwxL265s_dxED7AnTLGqmcCnU3jI0CQ8TLx5OtWXukHtLC9OqkunpZ5vHfTivtnpq7lucV3rj2Z9Lzhiigw1_-JGpilMbKYDf06fJzTPuebT9VfEyacY_28ncDIpnUhEaqHvtCRPfSf-V1Yj3JwFwHx6ey27dKkahcw8W48l54s5BJ5LsWZ0GGlUcpU1JIvaR1Tww9EiCDx4OdZDNORoDY1cHqX_wUfBeQsDK5ZKUCXz4IusiFNxmMHs-KOgEGts8dTfPfKWRPEhwNzaZm6EEKAANz7ZLIPLdTdpvky7a59j82T3d6Uf5RBObcwAGKCOwQPFnnOOOWuQeGCRfNEm0uDIB_LdcupWogXGAlJo1RH0jV0_MjzeUf55PYj5wcyHRxf4tmH2I47_sy1hhU8_w3C72eb7KpMGpVHPwam2pULOPeweQLIBb4oPmR3-a8fuY4Ooy_2GGVWBsB6W3CzYDoVwoLTNFfflKvk6WCKfF7VRgrnfjPbbkqPM5yUKdDH0dOR4t6MkRHkg7gSi3O4viKiCCboyWVD0k5jSQaJFj7JrQm2GVpdTitFH7L9zKtXIT3AuD3o0dJ_ji88vtt40z0lmegM4m4-G9eiMNHzBq9GQxBmKGJWt1tXg_eN5Uzf3CtgB8ZmgJQMeBI45X39TohQO2YukJQGzKKEVSBAK9By6u1DdLJVdM677pnsgj4jjMAmgbH30sW0enJgbw18PbKIy9CsAT_KXGLYdO7PbFYjXsg3gIrvmJyBZzEP_yTq4SDjc_xt9FqCbIMXECcXKVOG5HDnlQfuqVkX7M1I0vBX8OMiwayGxPX7BFUooyLRVac2C3FdEFGeD0bG7pOGrvaYwrehnlQ1sbZi-tQzGKoi4v6x2ffPvnkhYtFP4Q2feM4eETIfguEZ6cEShU55pHLszwh4Mm4euy9LGufIYeowqMe7r5PEWXO2TOAG03l3-74cPa0Ofvd5R6wgbi--NNfY6rzP0L9AO2zpJR7CDx4bOLHgQuSuzAIGvQ9cwnXUTW1fbgQzl8jqltAAyXXab1sEReDBp4T1Mn9mWlJNiAOg6afw0vc1pN-m9tMHpL6eH7kyxQQ5NrKLUsE1JtyjTSrVkzy132vliysmkreunSa5sYqpw44kKRYNEXTOXPQVCy15Q6MJQoO2F5uMyzEMXQUAmZQM3_1Cc5NNiz2R6tlofboq93ujbh8CBFQm8j_Kag6o7gVzgKQj2hR5jkYJaKRkbsgpR8L8IyXG0rNs4iB04Y8T9KD9wsn518fZrrWRdA3NeSHVNEOPHfCwxQMG8ry0u7oOTrrSUG7kp6KPe00JeD8BbycqQ83IP7NdToC9Ep2_-qI7tTcmOzDWPdo6PWkhUxgknZ0N5oGCs_rePsrQcwrJqxJouGx6mYqbBrxaA1j7AJFX3xXSk7dxQArkEHEa4JqvLRITiU5OVm9h",
  "id": "rs_0254de1b53a9f971016ab435e8e3d487d09321eab0fbc221af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At tabletop height, the cap lies between the left gripper’s open jaws, crossing their closing path near its middle. I’ll close gently on it, then use the gripper reading and a lift to check whether it is held.\"}",
  "call_id": "call_tltweAONeQleuRkiFqYySPIj",
  "id": "fc_0254de1b53a9f971016ab435eb71ec87d0ae687e5391331a98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tltweAONeQleuRkiFqYySPIj",
  "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]: [-0.5137, 1.7702, 0.5819, 0.4088, -0.4389, -0.3382, 0.0072, -0.02, 0.7998, 0.6128, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3723 left_y=-0.1197 left_z=0.0043 left_yaw=0.0258 left_pitch=-0.1204 left_roll=0.054 left_gripper=0.0072 right_x=0.294 right_y=0.0017 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0233 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.9265, 4.6017, 1.6777, -0.1587, 0.0659, 0.5153, 0.0342, -1.1282, 7.0632, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c0a57169e45d2de1e17e94e56422bfa7422afedafc6b7991c9a2f1f809eea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d8b915f452b984de625b1c9d766ec3d45e66224022ef9696fe885b348e9a56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e782fdda5b35ea547a01635f208f573e51d627b1ab85a10cb522307ac0f643c6",
      "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 · 8.459 s

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

message 7 changed as sent

message 15 changed as sent

message 19 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]: [-0.6022, 1.4185, 0.7197, -0.0475, -0.4801, -0.3637, 0.9997, -0.02, 0.7959, 0.6128, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3554 left_y=-0.1409 left_z=0.1074 left_yaw=-0.0184 left_pitch=-0.0763 left_roll=0.0403 left_gripper=0.9997 right_x=0.2946 right_y=0.0017 right_z=0.1813 right_yaw=0.0 right_pitch=-0.013 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.188, 9.4017, 1.746, -0.2906, 0.0171, -0.0171, -0.3761, -1.6068, 6.7077, 1.8339, -0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 1.7538, 0.5877, 0.3504, -0.4374, -0.3344, 0.9993, -0.02, 0.799, 0.6128, -0.3946, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3672 left_y=-0.1173 left_z=0.0026 left_yaw=0.0247 left_pitch=-0.1522 left_roll=0.0747 left_gripper=0.9993 right_x=0.2942 right_y=0.0016 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8855, 4.9299, 0.4029, -0.0122, 0.315, -0.0659, -0.335, -1.2786, 7.0085, 1.7021, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5137, 1.7702, 0.5819, 0.4088, -0.4389, -0.3382, 0.0072, -0.02, 0.7998, 0.6128, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3723 left_y=-0.1197 left_z=0.0043 left_yaw=0.0258 left_pitch=-0.1204 left_roll=0.054 left_gripper=0.0072 right_x=0.294 right_y=0.0017 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0233 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.9265, 4.6017, 1.6777, -0.1587, 0.0659, 0.5153, 0.0342, -1.1282, 7.0632, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c0a57169e45d2de1e17e94e56422bfa7422afedafc6b7991c9a2f1f809eea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d8b915f452b984de625b1c9d766ec3d45e66224022ef9696fe885b348e9a56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e782fdda5b35ea547a01635f208f573e51d627b1ab85a10cb522307ac0f643c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXwJiv5lNQKMwZl_fAfV8Ll_Jb_GltrzwqsDhZeqXdDn6eC7vfn5MbzUs7YiFI_MXf9cVeO1RXlRGCqXYR3joOKisoHLmh_N2ub6_EMsMLebazRCJZKURqfJ5Wat7SCNxxbJmYlTpKXBjCh4KDmJGX3eFxN3AKbzAXMrJx7S1zVHyiR6EZ2JWrhpC5viVD0NF1hBlNgGjwa6jKygGF9sV3L7CU01igOSsrEDGWzDbp6bhPW7oPr88ZBe6zWcvkB9dyFdf6-507oEEWnwLSpbgYy1QdYEUzf-k9YJ9q1tudYfg7Y1_dsqEsIENe5S8hsHZvU7-6nd5I8cZRgiEcxMf6uF70vP9n6ZKKk395QsUGn-IPB7Mz0VD34B5fdcU2LMOEujes2N6TiJOyvuXuA38dKGo_1Vxr3wghnhaztlt4lafdp25d6Rkyu_O8omnf19SVlRDxuJMkPfmrrhfsT9BWH6MzHUHKvPDfY8m25KI4vBKmwL4I1QkcP164t-4GGkJKZrSO7spxVUXmO1Mvhod3YQuKgRqerqvb9zTXrJ57Cp-JYUdBfeQ9DiZSIJN33u-O4ytcIyxTj0M8mWV3jj0k5R7RKpSaYqJJmFos_GMpBfykp5-Vpp7fgMAu_a3mVmafdnGBcRKDnphKWPKKID02e1mva0ghD9GOrBLiTHpJ2MF-yWY9UBvPtR--mej24O5wQVY8d5uqTzf5gqpgao32rI5vbh_pjQQ-jOs0kL0un1NPvEJkw_lnI4E0rOXqlW7ObXaFbzgm2zAW59JF7tSq4tLwPaggyh-s1wqGaof2Dn72XAEPuEhJLW4Hr4_g7SOMFXBNNnXNffDy5BPVnp8oxgnPz6LNpUWAlPo9JbLCSyWbjhfBAu9HKZav6oM9_M4GvbOyeII8u2EVjXZOXOv2Dz6twcN9MtC4LzJqMaJISPYetPlTRH-4Ey0I6stYSPGOVV9R6TyjYRhEB5GVKaioyslZGYeJSynHXVRHMGZ71542nUdTB3iLh3k3mZuDBgBGLSCZEQem9cuCSjq4FuI0r9rEVbX5I1ByEQRtFk6-rlsrv52F0Gg-KT9_8BiR-UE9Z1NFlXYfJoWSmbUlsGwi1GYTH5Ak8TqTWPdOAa4fPvoci8RzJ-YpbcU3yXvSf-_QTTb_vVulWvveXwPas289EPg_Xp77t12TcZ6lNAviXPKiLcXT2tSnerKl0Bc9ATznlmnkwEuCws8mlKKoMr0ArSYiBAovPL7zHv7J7G2EcdPfbapPY-w0T1r5TeVmjR8Y-rMDVaC8NWXF2KEBR1hkMoB5PZgCFuwJauN06Je3QxoTZl08NW6TkwGEICQYUD3fMwGHtRWvmGm_4hUFrS_1vFppys4OTPGfmnEChcOwa3m6aJUIz9qqa00xoiP5gJ91i4q7VETQx6sJi_hBkoGkEqsmAz9FBkriWulAuTbEy1pr53E7kMu1ykdDNb48c5yhLu72vjRLMsF2NDhj8rGj4hQ0le3aWj93ddRgowKF6wVPsCnRh8k4Q1DcivocFXhA0rXorOAAaRLOBYI638-LGA5P_9ufwrefobBZUg0BGr7qRqFz4uFlkoENk-vwd6kxBs1FQar8vDgkirKAnQf7it0JY2yoq4nHBsbUf8k1l2MxDpgwYv_3tRF0MQSsFlWZkOCNO7nGF-3a5oSkUV3rIzixcd_0GlgAQgkFebQ82pkNet9xV5ooZr0i_A-k-Ugf2-JZA-fI9BbrPhFwIARX8V67DJ3oNJmSaRubu-irb5ur6NQhh-jKqvxCCo2b-xGO4",
  "id": "rs_0254de1b53a9f971016ab435ee08b087d09b963b0082dce590",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.401,\"left_z\":0.035},\"note\":\"The left gripper closed almost completely, so it missed the cap. In the wrist view the cap is still ahead of the fingertips; I’ll reopen, move about 3 cm farther forward, and lift slightly so the jaws do not drag it.\"}",
  "call_id": "call_g28UJN9dL7wTegn0klZT2Nwj",
  "id": "fc_0254de1b53a9f971016ab435ef497487d08ac50ad24291488d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g28UJN9dL7wTegn0klZT2Nwj",
  "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]: [-0.4706, 1.766, 0.6865, 0.2588, -0.4156, -0.3233, 0.995, -0.02, 0.8001, 0.6128, -0.3985, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3884 left_y=-0.1135 left_z=0.0139 left_yaw=0.0455 left_pitch=-0.1649 left_roll=0.0717 left_gripper=0.995 right_x=0.2938 right_y=0.0017 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0252 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.7709, 8.0479, 1.5263, -0.1294, 0.1245, -0.0366, -0.1436, -1.1692, 7.0632, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4aa9f71b0a3cc21de6b4b627ea0cc5f8afb698a29d67bf611cd5489f4eb1f03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d761ddf5af7acf6858784cd47f64c970191fc80af380d08c4f1c10d44fd4703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5724dd3e05cf645eadf4a249d116a3d5742de4438b1292ae4cc97844aad89bf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.313 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5152, 1.5635, 0.675, 0.1177, -0.4404, -0.3309, 0.9997, -0.02, 0.7986, 0.6128, -0.3931, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3731 left_y=-0.1206 left_z=0.0637 left_yaw=0.021 left_pitch=-0.1125 left_roll=0.056 left_gripper=0.9997 right_x=0.2944 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 5.9419, 1.8095, -0.1245, 0.0757, -0.0171, -0.2256, -1.4154, 7.4051, 1.7753, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5137, 1.7702, 0.5819, 0.4088, -0.4389, -0.3382, 0.0072, -0.02, 0.7998, 0.6128, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3723 left_y=-0.1197 left_z=0.0043 left_yaw=0.0258 left_pitch=-0.1204 left_roll=0.054 left_gripper=0.0072 right_x=0.294 right_y=0.0017 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0233 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.9265, 4.6017, 1.6777, -0.1587, 0.0659, 0.5153, 0.0342, -1.1282, 7.0632, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4706, 1.766, 0.6865, 0.2588, -0.4156, -0.3233, 0.995, -0.02, 0.8001, 0.6128, -0.3985, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3884 left_y=-0.1135 left_z=0.0139 left_yaw=0.0455 left_pitch=-0.1649 left_roll=0.0717 left_gripper=0.995 right_x=0.2938 right_y=0.0017 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0252 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.7709, 8.0479, 1.5263, -0.1294, 0.1245, -0.0366, -0.1436, -1.1692, 7.0632, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4aa9f71b0a3cc21de6b4b627ea0cc5f8afb698a29d67bf611cd5489f4eb1f03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d761ddf5af7acf6858784cd47f64c970191fc80af380d08c4f1c10d44fd4703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5724dd3e05cf645eadf4a249d116a3d5742de4438b1292ae4cc97844aad89bf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX54lBXULXocvzOAVRf8TrSb6TT0wSPyFPac46-ppXEqvr9vr9rH0z7c7E4a_3gYs9E4WJNJhhmG35OwenOO2EPzqji4bOJ1v-bpm_6iWgSEmpF9vGskufsDlASIXCUDCkyic5-R8nDV8-ZpV_QadTR0OC4w2ACHLM-gXvVDp9LKmqZiTypCRI4T0QjEsscBDDjTz9z6lszopc-PYwSxQCX5x0gTVzgRaMQaP7Xz3kNYlUuPOIZ8RgZUF-DziMBeQbNK4iWxvNg2Uftl2YnDpsvQuj5Uuv2fjhHgJyNUXtZNTD8uF3286RCayOG3yCOgaoInvv1uapINjw_GEDsxsFSw62jzHKMIflf-UZWvgIKoDOig5fDwSHvlBPdzoQsxyjZ637Ler-nQAq3exphKLfW3PaTzoag5ppM8y442yAd3HBiR9Put31yyuxozjTcBgAb7VJoa1Dp8ylfgzHBQGkwV6jdbWx16V55JJuMCs1LwEmR2mK3eeHCHiUptNUIicti6gaWNWgT5owzTWOeYTtrwWDA_1Qa47qxuHx4B_RuA8ho7daiLMwvpcj3EizndnxdM3gS85GvC9If5cxFxSBUlP3XjCl0Gps5avef1uMEJpZCLk7XfVN8A6IoTJfeNIPiJBZEzFwsNXZd9TInIaGgb_zHV2aF7e6t0tD9b7tqI0Nl1ewS7ETtKY6qtKIg8f6jmIKE52b2_2rPTDDgKeLYCDkAt56HKHW_TzF0182hRhiKCIYc2z4itasy8G3iR0IJR0JLcP0V62tKp6Ln563VGFlqcCn32fl0tAxquGudLqfzG8YAV7AEHoooOkWE46eU8TmuHazqX1KthQEomwqJ5o4MUbNb6ZsNBH1icFq53u2Pex_oS_oInCSnQUfJBz93uKQytIPDwjh0meai9B9Lm-bn99PGSUadkEM3axAMeKAoYJp5IqJvU-RdxMYIIiiiveR47XyFdmFGsq_8Q359KDFszP0qg65dc4yBH7-OyVTpuavdhtlh59HIB1hrwX_8l-VWoxcZR75HCSNAai0AFjxAQklsrwtfOisVGvrXHxdHPYKfrKXofrhgQ7XBBFKDZ1lXtVul1-miCfhRJU5BKa338r1NDoTi41cKSwDQytUs-8DZ74RtN6nUJr29gBOd3q5T4z5dLNN5jVt24GdNK5DLx5rUpAjVy8ry-1XB-rvH0qEFkPrRLfUxCn1NYdlrdnXv_6NSqR9Guj6PaNu16EsWHDYaQxZTfteonR0x3o556T6f2asVgUNW_4AQjksVYD_7G4MK4jyXAHSnoPMS7-OPnAGLZEJkkrGev9Sz_2QrKGnJx9qce09sp5eZlFM0M7FgTGBxObRt3yOwDIOmog6G9kMrDSPLcXELZPAt7FD3Ij6lj3BA1UyN477AFRVezNUm6DZC5UwAaN3jYQhgntzgTUAl0WyPl2BQQMDFpxEHEh_T7vnIGOc3V5qIiECm2H_qpVwrbnheLeuw6zCl2sbjHsirhxV06Z0iISOlLlOs8nl0ts_ngkaon6gKDFCoLC441rn72G-4194AdXa7HhQyvPnYqONt9AVsyzty2p_6eSvd5EjIBFvB6tV2yAoTCiLoJoga3kkIbram25Xsw0DDUhNGKKNUuR7BPqG5xw69esF5yMH8deq7syH-I2yXWiLWBMSSdENPDsbazCnxTNkF2qElEFrvjM5kFEXLLKcZmwJJPQx4fHIjiGiJ9wwtVNpS9A_-t2fmjwimhmgpiccUZlGcgFD7mAsTqbvhOogu4AA1dxhih_c0wMtm5UJsl7PQkv2BU_Rqdwg3fO5xUEIPwr-RylTlT8Q9rZ3gqS2YIeXBNuaqrC2M_oOOdPNfQ9ZFZoeApPRQHWWTUmjiO7vHmFPP58gpB804yO1Tm61DV9OIhtDa8UqOJsfV6V8XD5P4rSRS5RgQG5lRCasW2AiCT5lywpelIh4ZkF7oRiWO0dzluw0scHSJYvHKQFcMa_dCjkJ5axkkjkx2XA4biRhKkfKMpWHrzcqxuk_6FRsoWAgiPkGaqZjTl_irx6lrHli7P8kOPXa9eawXrS8SnslMvImWZdUXXiZfu4pTrjS61H_8wziZyY0VGermQCy4yssPCdJ9-_4SHb7Eg_9kVGJMWFood2N4BhWr5NUGlACXVQXyKjProARVWutM2baEiJ5F1ERPrEdR_W8GmnBsCi65kcn0OAqikqQWvz7RvLpCc82D_GQZ4zVR5nNaoKgaJNsri3ETb2IoSDj8QztKpUWVNpBe_T_VDOq0pSjrtunAggZYFeomxgSf70CnwoZecIOfWweWV60-7EOQxr_SaZYu-kmNXYdkXkRGb6XYh8YoKTk1I1_aa_y1Mrqe230eo7Col4HTsNFH6BgaCrn08odarE3f-KZoqLWBrAO4YKgZieXV5GUoK0Oteh8yb5sJ3p5x3hTREhQ0-BiQRdbUiivLvt6BO4KY_XwLEVNUW0nB-_r8Pxfrkyt9OiA9CzjkUzOjbqrB35XNmjOoReveSGbfMvU5Wy5hlNKpodEt2SkzsalOdelq2MdNlyNcuKRrlQVhZvd-7Q5uIBLRA-Gkjvq7qXhYEV5vfjUlFeril72oGdrZtc00YzZgNi-KB9DRC6r5r-1pG0heFSg7uJRJRsjJOwPJq3BCEcz5Pe7VBaTTvbDQ9kXnVCV-8I1799gotC9xiYhnRVCkBHUa3DG13UY5NRpNXWYDZnAn-NncTaFyOOWrdzJx53b-dtE9iY3sONAdOvsDPG6GY-_nGWKSykk1LYkP2WdlIoagVMYFppmZeFME20IrpiqTYqESnPl5q68yXXFfFeN8_Fy5FyJwDMNusoowrAFrtUOEIQUoQ2PZN2N2HQVWqe0Rz4v60Yjs3SCXbKGFPIfJIBesVt3ItFNK4CKZiPhuXeE5jHGYOqQ3p65DC_gTJmLREZnzaGRDuG5LfqWnowWJt4vuUo4-lyIFdIxxXNVHIXo-ZAcJDu_T8UwpLvIpEj_gew0FKWDvUTWhkdP1OlVyVH6FYBNpNS2mifr-VGWRb2eiPqDkB7jukdN7yvromPywLlNRWMdyWuBMvRJYDlWzKTsFfv2bM5Hm_mPocw0APjAr341Xk7c-GKfkCENNM1Okg-9LvhmZ_iLVzGLQxF44SIdUkNS69jEc23D1Y5IWZTkovngDCXdZZXKDElhTA3Kqu8nC0_pbx778UOHSt0tiDpI5n8VH8ph3dpk4uskpLu4AMwj3svkAlC08o_AbNbMA9USjN_ixg8W-Z507Jjow70gSrJys9uh5m_pZkWPMd3Dl72m4BniC9oW7NDQtIv-tyT2hOA_8B4Sy4xcFctPPd06Z5zbmh6zZ0PuR-UlSVrzvYBCPMR_jvXn3W9WZWyQs9R7p3U2DPCoaFxMG0bxR7V9BCtgwm3DWkigySfiRBXIsqGw1zf5mJTFA_xSZjy-zgFi3uJB4mHKtF6Vh6vAOM-XsBwjJoXo2E9MtPOMyBz11NRbqhPbU336OKSIpjwAj1qgTcYAk2NcdL-xyRYXGOPQh0d_ZLoYIkHgP8JSM-PI_qDA_stH6eJT04-6hUMJHBWFlxk8IxY1fW_FaBk18_iZGN3olot4Uxly2MaucGS-Bwnqyu12MhpMNfQBeuyeZPDeplsYRqqP-OSO4TCIKMBJp0OAb844fzIiKGsFOjEdqF-8prB0crmiU-mbPa5_0gLQJxcvPND7SIkKAU7hrW1pdmBB77q1ovjfVSkrt9nyVfxrybiG7yacLxIc1QqdJ9SpPOcZscKEDO1Q1caTaokvDY2djr81E5O-EGe12VFD8r3rr57GFpcUBtzUIC8Ky6gh56cb_",
  "id": "rs_0254de1b53a9f971016ab435f2389487d087e20f5de7c60100",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX5ffdnf8-5ylOvH4nBCVFsA4vbEV8NPvdokxoSlZQPJ-roNGc9OEEQJzVkvEoB58pLT0pRp410Gar48TLaJuus9Qj4CF2pqMZF_sQplUHsLvnH42fmj_ZHVRc8yVqv-xJ5WQTVoPbxOVgPuSbFCCqZCn7vRFnopd8IOqT9R-1g7I-TIO9pFW0l1vXKHWqrHmVLPCqLTCL8OpfS9luI8bzzh9jDv6qGoceOfH8VUlbdXr-Rq78sAtiNi6_RljfdSwRHQOih186GKUpvu9eLiDDR-f4HxFh4uV7s4b7eA0PPGPGDQw1Ls2mMOD1MuDuueAgttE1iRr9S1P6ASOYXBjWdAekl4GPb0LLAsNBRkGVx8Q7kYUMrr0a1LMdyDeKc0i8nRSInDEiGTBskQnL1yQ1KBYYT38jWBCf2tD0-W7kddQILLP2Eh1U1zNev2gfSKpux3SNPMEJLeQzQBcGBlszQlODkgGqXgv70Y-tifejWi8g_T2teLcici559DLMppSWphvE6Qq42XQAOzFNrhnnA9UUIp8Lq-M9baS2tEFx0LIZMf3jEQtFiYh4SgIKm0DA_t-1pYs07K3tc2QRFZSgYor6LER7IgkEEsEKmm8RnHZeewickuRCdfIbAZqSnWOovamaxdyy9P93B247r7xKMwaAhmD0Pd8Wbeqtt6FOvexiZO1ocLzG06A_iaHlEoJOipTngfEOePqs-BxqQmlGi_Hxvtc_n_O5e9KtWGC0pGb6PSVijJGPCSstx4CltYZXUgqgFwT-uF8uhg8Bbni-BsjrFETSYMh6gO3DHacO9roEB2_igQPVU-cDilMCjFU31KScSIjQTkZ1dpaUlVvYVDmSljruo8eS6w6zGf5lIpVFcpE7dJ1oKSIOPyQnQzJn-SinW7kE66CVUKrHz_XIqYsyes1GV70s25NEabPkKJsWQv_f3i9hjCa-DxuB1IrGyR8icQGG5zWnzK0Pdxg5wAymk8Ti0Gftx8rx_LldvtB6X8ktlUoizBWYM8gPWk3YV8_cOkTi5zKmvKYqx2aq_oAZq-QxiYVSVR5NzuedicCjjS_Ty9o51cv3vJCV09azxLEYqVDy8b0vNPSXtYftkQy3-9DBHc7Sque9MFegNOWupqX4WrdQIC-tkgBOiojEIJVOLfvkjnSCJ0PAFb47vbI996jRlHsEyVGe60W7vaczCY4nuPq_kmHUgucC8N2VPyeQBmF1ghEXAExwaYJgq7KuVLe858tFS89mOLQg1Veha8u36wqy0POwV-xDoOb1Z6s6HeZVllozUyoNptV9uqr0Kr2ps7Ev_Y1HiXO739FQy-CnloOr3VFyNZtwRWr2OgXuSWkmWhTn0PLGgl3LPgi0izW3HEbyr3On52u57KiZC6LQSVMBT--u2vSXSgMOMl0COQ7xtAZyvgexSd908bX08pAET-zb2KqiXU_47xrhbtZXTff3FxHhODQkfI-mdijPgEFAPpzHIP_osoltU9JKRIsSc7bYPgtMwlcAo6FvoGtN3AN_yCbGrZfYDfEO-shoyOx6cFOIrOUQFLnm-atnNf0AR-3lT214Rs5UvZ945gzur2J94koS3GMGfdfcVTU54-0howjusYy9yI840WYoSvG8_YyRWeXpEqCfE5mGZUxnoRr-wuNft6JZpxg1QtM4f-fCq-ihVEj4iLt9unjNagg30o_ot4gUAjsNPqFA_ZBYUNgPbd-Pk0GVjtIUUPE_fosdE0EXjhDqUKg9fl_ySfikQCJ2lx7Sdk9sCTmEoMSRod0x8fUozVXEw5bJyd8MkzPTvKuDxVyPHvns6xwAvznoTVBtFcsrWn4oIrk3K0ZxyduITitL2P3WueuzrlniihNjd7cAxEeIRqh9vL9TdPicCeK-XYZYk20l-o2RsaGLJsShk6o578DP6kbSCTf73zehoQn7N-xkORDvmJ2G5m95fa55XVTqrMfkyMgsvNGCWv05DCKQ0MYABu4nNIyvCSatkbqlyjunjddfaVyoMx1nVg25F9FSvMSif8-3OzOEw3BDfyajv_nte_hCLe_RBISieAyDy9Ad_hO_-qPYlKXoi3ofOokzmU3KD98Qez32iDGiVQKWihBRrNrp9bhhsAsddwj81MTRA6fmga9Wn71H8agjofBMUJgkAPos=",
  "id": "rs_0254de1b53a9f971016ab435f6846887d08648380a72b802c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.394,\"left_y\":-0.084,\"left_z\":0.07},\"note\":\"The cap has turned sideways and now sits left of the left gripper’s centerline; the gripper is also lower than the requested height, suggesting it brushed the tabletop. I’ll lift clear and shift toward the cap before attempting a better-aligned grasp.\"}",
  "call_id": "call_zQpEPtXz51pKXwmYflrQEKo7",
  "id": "fc_0254de1b53a9f971016ab435f8a0e087d08809507617bdeeb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zQpEPtXz51pKXwmYflrQEKo7",
  "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]: [-0.3748, 1.607, 0.7116, 0.0834, -0.3756, -0.2817, 0.9963, -0.02, 0.8017, 0.6128, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3888 left_y=-0.0795 left_z=0.0522 left_yaw=0.086 left_pitch=-0.1727 left_roll=0.0726 left_gripper=0.9963 right_x=0.292 right_y=0.0018 right_z=0.1753 right_yaw=0.0 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.665, 8.8821, 1.4286, 0.0659, 0.2857, 0.1197, -0.1846, -1.4017, 7.3094, 1.8535, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672f56a8710fdac8e86f779bf8eea23c7a30141988339716fd3290c24a32d6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf9edf544c9c8582fbb8b405b6a039f0f85c624cd296b34f08cb5b9436df7de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574376ab3a5c403ecf5fec593fd40879e4f5fcf46cee586738ef01491e443be0",
      "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 · 6.092 s

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

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 1.7538, 0.5877, 0.3504, -0.4374, -0.3344, 0.9993, -0.02, 0.799, 0.6128, -0.3946, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3672 left_y=-0.1173 left_z=0.0026 left_yaw=0.0247 left_pitch=-0.1522 left_roll=0.0747 left_gripper=0.9993 right_x=0.2942 right_y=0.0016 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8855, 4.9299, 0.4029, -0.0122, 0.315, -0.0659, -0.335, -1.2786, 7.0085, 1.7021, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4706, 1.766, 0.6865, 0.2588, -0.4156, -0.3233, 0.995, -0.02, 0.8001, 0.6128, -0.3985, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3884 left_y=-0.1135 left_z=0.0139 left_yaw=0.0455 left_pitch=-0.1649 left_roll=0.0717 left_gripper=0.995 right_x=0.2938 right_y=0.0017 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0252 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.7709, 8.0479, 1.5263, -0.1294, 0.1245, -0.0366, -0.1436, -1.1692, 7.0632, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3748, 1.607, 0.7116, 0.0834, -0.3756, -0.2817, 0.9963, -0.02, 0.8017, 0.6128, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3888 left_y=-0.0795 left_z=0.0522 left_yaw=0.086 left_pitch=-0.1727 left_roll=0.0726 left_gripper=0.9963 right_x=0.292 right_y=0.0018 right_z=0.1753 right_yaw=0.0 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.665, 8.8821, 1.4286, 0.0659, 0.2857, 0.1197, -0.1846, -1.4017, 7.3094, 1.8535, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672f56a8710fdac8e86f779bf8eea23c7a30141988339716fd3290c24a32d6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf9edf544c9c8582fbb8b405b6a039f0f85c624cd296b34f08cb5b9436df7de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574376ab3a5c403ecf5fec593fd40879e4f5fcf46cee586738ef01491e443be0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX-k9xvKSZhSzE0LehoOHMmOZhgXjsOkLC42UhzV0lphaCPdYfVnUfYYFT32DuIikY9dvgAoP5TtZAfehjBPMl3ksB8gVM1u42UEmxZ4Vnth-4eUVxF3vsJ2Bl1fTmtPc-Nf67M5hjvWGPIRvmfTDWQ-JgZ-QvAZc9J90__NzJquJy_1F9QeTyiETZuYcWpO0_6vZ5mkVUsf5EdZK_t30oZJaGbvClLBg7Jb_SuBDjJbqAX1xm-MCbnHaxnmmXVup8lxV-h4ZEC81fY24qC6SxDrMjyRBc0KmqRmlKU7fT6EPZW6C53TvpH0rJO-b5o8vTpsJ7G7RP73ctvzDKwm3I1q3biK0JMW_In3z6U4xMzHSFtKcqDh9fi5VbondLlTb7s1ihG89FRILhBD6s3Y9LORDyOGf8zfIyHSLAsGdG6SCG1Shw4v45pWW3LaG7XD2BcyO1bVI8X6xvRUytC-FFhQEh59ceBL_Hzt9n7Nuc0Ncllnz6dFUInPj4qE_lLBHu3VVSXlTeYGNoM1_eixPw72K91l-m5Z1P4_Mct_jDcdC2Tm-UFm3yU9Ovopvyc3wDi3AP_FX0nb3sDtOxdZrbHI8Bm4mfEm21MTLQZ4m5rFfcxLUVPtCkQfYGdSiqYuz52gg6K-x9bfMChGWn2ucDbQUKNGxzs4U7_xXVeaHm0PdOfoLbb8qJxUgFfIUK2gdFawbYQwagmnLQJvdAyBuYmMmgYRZCPFrsFjlk2uM_lDi392OHlujKmjixT1xiyRRP6EMZtf0OvtIZbshQUehiVGzVhF5TSJN4Z7R5lYCZRGgSz7h9rbsVepGhOhVlIqOk901I9TSdDXKX-csnBjYIzRspwOk70uxa9cW1zHw5iuo_Yg4R4in34HY-4CHPWWodL4snlUVi5upZjuFfZexpKqPdf9OLB8dMIjPRg5qT34RrJjrFB1TcYNzvV3lh9OvnIufXQQWmF48usVU_F7nKkmcQxCW4fWwZFGj9edeqCGZ25r5wclKGXpKhAQFibJ09SZmSiCTRFTTzI5N3gEbCwedrEI8C4YQeaUPlyBllUozLpWUKIskFuYUY-5-Yd0PH0UMncEs49enz_OTirRl0pQBD_gWeGAY1dkbDe5hdAhqqIu_vxU6ZWO0-uhSYBwNhDaH4ZG6l4t-W6A-QmZgDz5sXiXajrFNvW5P1Me-LkM0doSOjkMP1Ca2SdF-0Bf1aqp3b-J4ukeCz9gyEnb2UI5kWz5AQG9_RCA8TBXpFrLDwSkRk-QuKU7iOXF9f_IVHsTLG_bei3uBTWcIFSRmcEh8oAoX_zMcIRJNuspMJt7VNAu6p9ZHam6PYkaObMNAOIEGFFBwdvn_DfSrUxhmnRrUnLOJ5dySSKCqSVqV4dKRyKcqsi7updULN0MXt7dkpN4HwaLt-HX7xWSGjCVwWBcE_gizJTH7sVdm8gv-29Un5dCZetlyvS0WSXoPtU9cokMKsPx8CuAg_vnL2Vd6WsVXz0PFumU7Ww75HgJ_Ih-aAYXh_mOxNk3R72om1cOgX99JV7lHn3CZqOWtXxIqFSPNcIzgX7eSbgRRCFAO5yjJ7YiayQXFuqZXrm4L1BYbXjhR2LHLiGv0byST0RPcDVjrejxilYGi8SJh8bAO3JSvN1_3XOOGFib2FFzNPpsDwxfoTBTZhp3gdbjinqYrzG2lb6PaAnRG1cFqKYohJqYNgToLpQGx9fZSmkgixv0o8ffzbep_SHbjFlzhzg7miDKEkGQ9FPJ1V0UHPppRz-7Fv9o89oB1aq1dnQnOqX7Z_3QtAO-JPCW5v8Mr15v5DpftWzA2xtSJU8IpsEBC1B3gtRlVe7Vm6q8-RnymY2ZssMMeBJr8rxeYVHCZBV0ljeVLAKCHE_fPTX86hrYQv8i4CLlpHsWFoiCJMMd02uvj-_ESjkSweeCUsFYxMD1sb91-dl3l9fD_32CI536tcM-IbHd-idpWPP5fVcT6qpbvNyPN-ZMPwjrm5pCtU-Swhdmg5IQYDcL2_wkg25sE2r8RYP9DTUO0zoo79ueNB1KYXZ_aqwLyjs72zCvOb6xTiWuVnEzPjCFqqIfEQZyV5u3HnyHvx99Ew_asTmCd-Vf5g_h5sAZGn--gh3iamzJUzvfvcMaF8kY84U-v1u3hnNrJ8=",
  "id": "rs_0254de1b53a9f971016ab435fac9a887d0b2c7f298a13f72c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_yaw\":1.35},\"note\":\"The cap is now centered but lies almost parallel to the jaws’ closing direction, which would push it rather than grip its sides. I’ll raise the open gripper and rotate its jaws across the cap’s length before lowering again.\"}",
  "call_id": "call_h5LnV7odZR6QQKBg5PKvFGSo",
  "id": "fc_0254de1b53a9f971016ab435fcaff487d094bb3f172c16da7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h5LnV7odZR6QQKBg5PKvFGSo",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5224, 2.2051, 1.8614, -1.2995, -0.7715, -1.7359, 0.9964, -0.02, 0.8062, 0.6128, -0.4183, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4211 left_y=-0.0962 left_z=0.1026 left_yaw=1.1448 left_pitch=-0.2261 left_roll=-0.0376 left_gripper=0.9964 right_x=0.2914 right_y=0.0018 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0511 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [1.5248, -11.2342, 7.0906, -0.2466, -0.4811, -0.1441, 0.0024, -0.2803, -1.5932, 7.1316, 1.7753, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9446e1fd55443b16087f45f47e899a467e801542f0c1ed0440b5ce9584634a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8342db7669f77330e408ec3825f742c92f750faf33a6e84b62aee4de50cdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d30d2e082fe66f88566eabeff69103df0133858d194a4fee690da7dc952a8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 2.723 s

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

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5137, 1.7702, 0.5819, 0.4088, -0.4389, -0.3382, 0.0072, -0.02, 0.7998, 0.6128, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3723 left_y=-0.1197 left_z=0.0043 left_yaw=0.0258 left_pitch=-0.1204 left_roll=0.054 left_gripper=0.0072 right_x=0.294 right_y=0.0017 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0233 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.9265, 4.6017, 1.6777, -0.1587, 0.0659, 0.5153, 0.0342, -1.1282, 7.0632, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3748, 1.607, 0.7116, 0.0834, -0.3756, -0.2817, 0.9963, -0.02, 0.8017, 0.6128, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3888 left_y=-0.0795 left_z=0.0522 left_yaw=0.086 left_pitch=-0.1727 left_roll=0.0726 left_gripper=0.9963 right_x=0.292 right_y=0.0018 right_z=0.1753 right_yaw=0.0 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.665, 8.8821, 1.4286, 0.0659, 0.2857, 0.1197, -0.1846, -1.4017, 7.3094, 1.8535, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5224, 2.2051, 1.8614, -1.2995, -0.7715, -1.7359, 0.9964, -0.02, 0.8062, 0.6128, -0.4183, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4211 left_y=-0.0962 left_z=0.1026 left_yaw=1.1448 left_pitch=-0.2261 left_roll=-0.0376 left_gripper=0.9964 right_x=0.2914 right_y=0.0018 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0511 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [1.5248, -11.2342, 7.0906, -0.2466, -0.4811, -0.1441, 0.0024, -0.2803, -1.5932, 7.1316, 1.7753, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9446e1fd55443b16087f45f47e899a467e801542f0c1ed0440b5ce9584634a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8342db7669f77330e408ec3825f742c92f750faf33a6e84b62aee4de50cdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d30d2e082fe66f88566eabeff69103df0133858d194a4fee690da7dc952a8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYFu9sm19tbw1amHfOjZ1ui2qqkv8TstgMpQifd1f-0HpFOIi44-bXuSXp-UdQD-UW9cjdQKQuHh3qj2ydlW2qzRI_KzxgZ0wzHikMkYbLCHKPullKb54C-lyiBh_97OX-xNMIuAXwHj8Y8dCwAHZvkfb4wADqg9IQu5f0wWS4IJWPtIehQmMFon9cd4VclEgjGvxAjzbAJkgVACasAiF5ZRxx6Qsfn8bgqZChqRry3bT7k9QeO-dlMobfn7wPbqKoSjauP8H23h2ODtDM5hwRs91LRG4n85eE9bXmiUIwlHq-WGWOtR3ycx95qrnqmJVmp44JRTTI3A9czNWOHat4DyOi8CiJCVyJUvfh1lBxTdTiGE5mV-BW-YmKHe7lwmR39IGjqkRLKwVSutLRWOxDcHEM-dmjqVLLAw4cwXgunsAvGxgxfjznFxGepsC-vxT5374USY5-eKHmTrr3Epk-ickXxCyWbt-sH0voMWYjpEGUMFsUGYGD-2otVOnLuDcSmVPJNP3ADJxup49vaJ4x_CwotVszdP_6vkkwwhM_Q16jYfZLgcdZsULEEXGn3h-ZwSNf_edzs7oJfOm08AEBSGuWUq_FnuvmbJPbErpoaqeUXaFCme3jhEgTnKdGiGbgUBTho6ZbrXCsgYzEslyprdXncoa78aStcEVK3ad3GHgWg-DOUKghoKG6H99sLcWDxJ5cnmgKbUvi-OVkU6GHdnL4Y3Cmt1WSA1pthekR8QxJg18iPTDPxJctI92UT7BgpaOeOiru2ed_d3ctlKu31LRcCsxxZxZ7YrFJDDyLMfV_cpcgXDuCusIsS6ApbM6PLgGudiIp848RwQBe4kkC9Ha0Kj-T0A1arLupJ6hECRlwmqp32Dw031tCxmWk60ASlJpDvgQSgQe-K9WQ2Or21NJiUwCzPAFdvE60V4qREdRaRG6RxIysOLrZxRr081ljoE9jsLVKJW1Nx7yc4NbXCZ2hiFtfwAgP-ayNPzUP6cmwRGAS92X12JFKv56MHAufqtLQJrr5GppJGKH4hxaGu1d5AdkrlEbM_l9K8FLDMSXrZWKbJyFILImHOIjBj-IrA9qVLJuNROaSDrDYohoRfZP3ASiurAFkjbfwabIeaaF36e0W5QH_JFlzojgoQ5EaII6P_6fYQHdUfdHBIm4a4luUlByT9coyzUzk5yHJQLwrMr2s5KXpkNDLISfz3Ws_8cRQxvbYKuu9q_inQRPsg4GZxkW7h6RUfyZ-JKNUL1L__jY4hDbhEZbGgPgqi5ulnJRrGVLoQ4OS2OaQ02xOTPDBz5XPiyaN-7k_DgNaPX3n0yoJldLe82u693sz7djgr2iYbyO_ZG1V7F7j_rrLMwBG207mo0dMJI9bccSuICxeQCvfue-rjQlwGecmrAJ0shOI1MBewRAgi9SjgBTHT3E_4f3Sghod9Ie7fU0xG2b2mdgG3zJa1o53jXR7owQsQr3ccZ-ihvEMTVo8Q61jLOcCUP2KZ-6_5uuIjXGKL7m1KLKsy_K9CNZrRgNowNE1qubXqhJerTvafkihQIhh3OzCIZRma5O1IR24FEczxxjpvhyfUAw8Q4eqM2CZs_cAS4S0XwhIFYyYWv6OVDKG4WrjSowc35ON1hrAqrPsBeyD9KcgqRztAr65wjUnJ-HlfQvyNNKVvm2Ub9AxJ3-_s_1aAdPxEI9cV5n2FQCBK8AAXybAgt6fejKX6YUdqfLwn4dBl_8ylWAfQkyg0LxuDjKAqaf9a-Nnm64c2tOFlnPLJtn6JXCPlEfmsZErs_8u-oXtFukhIfciZafoECeiT8hXlkFrj9Chhd6oykoxYZikLcRQmTYYBBjC8EfHJ02cwYfhDrXvC9ivjz29B9GPem-mD1SjsnxI7Z_w-DC6NA9Wz-l6kOJ34O_Z3GYywXTJR8Roz9fjjjr7QIVLHyDQI7a9A0j6kkrpFvC9617taudLLftqudHTTPYoCGAqxDxuNkhWS-C-v68oBHgxw2RGwkjB0eMAHsRvDucGdFO1ovJ6ixsPpy_Q49XlryJxyosvcnQkdp5RdZyIfYt3vX-ZCS7mNiaBj6zKSZs6_-wzOho5byHPAUUKfw4Ma2VyY1k59gqzz_vZNz3zR9hjQInBT57RgwO31ITqxU5yoHxs2oI9bovcgwO39-jUeUPiswcCXB-dWNyi6rUuh7sMcQvZE6DlKToGRQ9EUjmBvGjWvTKC37vc-wwPT_WNkWgfxYPWpHMIkwentCr0JtsGDZT9w5ctLxi76pSqbl78ekDupO8TiuOS-vac4MKprIup8l9y3ziJkmVEzBFV7AwfVav_g3vrROMMD4Z0djXwi2-49Dsx1RDCyN72WZc2LZ3FvzXEid9vcK-T7KGeoTj2T2hC7MtKtJ6JOwqE3JOeuF-aVwppNB_kT2OwPt9coQb3MLVokZ-L0lNVuMjPUlB8ymIIu7QuCFs3Ma--xNSM_0w_34793GbG28bj2fVmH1qWsJXwlIInm_UQr1cbTC8wHcvocfK3IpwtrWBiUmPMJNKkjxi1K35fL_3svWVK9GGgfH6SbPkGnHVs_2Ha9LjumN78ORx-AaATFQaoEvxcJubmQiyeXavS5S9VdT9LfW6bV9nRB1iIRnw3bjyayrtVKXQGUMvarW-Hj1k0GIytRRL7tCFJfKnAtg6xRWaLoo6FhAWv0tKACuKolG-L4ZZiqjhPE1LZeQOldnHPIzuHV1gP96NNtt919YmT0DUsvnzT2FCo_vnT_JI8eGHtybntRwrzVq-8I-cwD6pdfcmrIoh2JHOC6yz11Hq26Zoo3OMJse9tUxYms0-SI4xDunGCMQ2u44OvtuFE5xVLRSDed-edrpZQJH7gZTMqkQuqI0R_-0pZwDHVg25cL4BrfeU-AQNY2EQfrwJtwXwXN81Q0JRQS-Sc=",
  "id": "rs_0254de1b53a9f971016ab436002d0887d09cc949a42bc56020",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.06,\"left_z\":0.09,\"left_yaw\":1.35},\"note\":\"With the jaws turned across it, the cap appears to the left of the wrist camera’s centerline; the rotation also shifted the gripper forward. I’ll bring the gripper a little back and toward the cap before descending.\"}",
  "call_id": "call_WrGvBmkbEANu8ynPzxcrmtj6",
  "id": "fc_0254de1b53a9f971016ab4360428f087d0a8bfde5ec3ba2fc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WrGvBmkbEANu8ynPzxcrmtj6",
  "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]: [-0.4728, 2.2211, 1.8385, -1.393, -0.7506, -1.9011, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4026 left_y=-0.0666 left_z=0.0914 left_yaw=1.32 left_pitch=-0.2274 left_roll=-0.0184 left_gripper=0.9964 right_x=0.2913 right_y=0.0017 right_z=0.1723 right_yaw=-0.0003 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.6496, -11.6308, 4.9299, 0.0024, -0.3834, -0.0073, -0.0073, -0.3487, -1.1966, 7.2547, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922771ab64c0e470aef2b6c13c91fb4ae3127024ff811472cdb118b120a9c198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91224b54ff1165e7374f4b5678dfe209e802b0aa0223a77061e82c80501cb65f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bff75df5536eaa6194fbb04302e8478347fc201f543b09d0d5341fcc1c72959",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 4.926 s

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

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4706, 1.766, 0.6865, 0.2588, -0.4156, -0.3233, 0.995, -0.02, 0.8001, 0.6128, -0.3985, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3884 left_y=-0.1135 left_z=0.0139 left_yaw=0.0455 left_pitch=-0.1649 left_roll=0.0717 left_gripper=0.995 right_x=0.2938 right_y=0.0017 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0252 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.7709, 8.0479, 1.5263, -0.1294, 0.1245, -0.0366, -0.1436, -1.1692, 7.0632, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5224, 2.2051, 1.8614, -1.2995, -0.7715, -1.7359, 0.9964, -0.02, 0.8062, 0.6128, -0.4183, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4211 left_y=-0.0962 left_z=0.1026 left_yaw=1.1448 left_pitch=-0.2261 left_roll=-0.0376 left_gripper=0.9964 right_x=0.2914 right_y=0.0018 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0511 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [1.5248, -11.2342, 7.0906, -0.2466, -0.4811, -0.1441, 0.0024, -0.2803, -1.5932, 7.1316, 1.7753, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4728, 2.2211, 1.8385, -1.393, -0.7506, -1.9011, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4026 left_y=-0.0666 left_z=0.0914 left_yaw=1.32 left_pitch=-0.2274 left_roll=-0.0184 left_gripper=0.9964 right_x=0.2913 right_y=0.0017 right_z=0.1723 right_yaw=-0.0003 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.6496, -11.6308, 4.9299, 0.0024, -0.3834, -0.0073, -0.0073, -0.3487, -1.1966, 7.2547, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922771ab64c0e470aef2b6c13c91fb4ae3127024ff811472cdb118b120a9c198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91224b54ff1165e7374f4b5678dfe209e802b0aa0223a77061e82c80501cb65f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bff75df5536eaa6194fbb04302e8478347fc201f543b09d0d5341fcc1c72959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab43606400487d0a9f8fd03bd4f77d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.044,\"left_z\":0.014},\"note\":\"The cap now runs nearly vertically in the wrist image, so the rotated jaws should cross its narrow side; it is still about 2 cm left of the centerline. I’ll correct that sideways offset and descend to the tabletop.\"}",
  "call_id": "call_pJkgSwdc9rbgrspq2LGpxr5S",
  "id": "fc_0254de1b53a9f971016ab436077c6c87d099f110b3f6e63e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pJkgSwdc9rbgrspq2LGpxr5S",
  "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]: [-0.4549, 2.2211, 1.8324, -1.3933, -0.7506, -1.9141, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4024 left_y=-0.0587 left_z=0.0902 left_yaw=1.3466 left_pitch=-0.226 left_roll=-0.0212 left_gripper=0.9964 right_x=0.2913 right_y=0.0018 right_z=0.1723 right_yaw=0.0 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -11.7812, 5.4085, -0.0269, -0.4225, -0.1783, -0.0073, -0.1846, -1.1145, 6.9949, 1.746, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081dd061a6732347c349eab39fd3965ff6b48bc3d3bfb8c6e373023ca45763a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335c0a7016eea3bb7fc4e493a0059e62e87402c60a19bb61539af484c808de43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21565d7f1e09f95abf4f9752af3e52dcffe33d5310f72f452f0284a72a31a3fa",
      "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 · 2.925 s

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

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3748, 1.607, 0.7116, 0.0834, -0.3756, -0.2817, 0.9963, -0.02, 0.8017, 0.6128, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3888 left_y=-0.0795 left_z=0.0522 left_yaw=0.086 left_pitch=-0.1727 left_roll=0.0726 left_gripper=0.9963 right_x=0.292 right_y=0.0018 right_z=0.1753 right_yaw=0.0 right_pitch=-0.0404 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.665, 8.8821, 1.4286, 0.0659, 0.2857, 0.1197, -0.1846, -1.4017, 7.3094, 1.8535, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4728, 2.2211, 1.8385, -1.393, -0.7506, -1.9011, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4026 left_y=-0.0666 left_z=0.0914 left_yaw=1.32 left_pitch=-0.2274 left_roll=-0.0184 left_gripper=0.9964 right_x=0.2913 right_y=0.0017 right_z=0.1723 right_yaw=-0.0003 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.6496, -11.6308, 4.9299, 0.0024, -0.3834, -0.0073, -0.0073, -0.3487, -1.1966, 7.2547, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.2211, 1.8324, -1.3933, -0.7506, -1.9141, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4024 left_y=-0.0587 left_z=0.0902 left_yaw=1.3466 left_pitch=-0.226 left_roll=-0.0212 left_gripper=0.9964 right_x=0.2913 right_y=0.0018 right_z=0.1723 right_yaw=0.0 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -11.7812, 5.4085, -0.0269, -0.4225, -0.1783, -0.0073, -0.1846, -1.1145, 6.9949, 1.746, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081dd061a6732347c349eab39fd3965ff6b48bc3d3bfb8c6e373023ca45763a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335c0a7016eea3bb7fc4e493a0059e62e87402c60a19bb61539af484c808de43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21565d7f1e09f95abf4f9752af3e52dcffe33d5310f72f452f0284a72a31a3fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYNF8nDZDgYhfb_H0rYvYK6do78VqlSgMYACwCzrUvEaBC12rlTePBzypnPWFnsVHcag7oxcAKoUwEX1qFpORNP1qsdz-SL4AOVGHw4yqCcHFT_E0UuamzveDgcfETOxvBlp4lH2ULeAo2I-KbtjuwTZy-tTcYtSQcgHOKDG0AKAZOF6hDFN8XgML0wmsPu7xaC3jy3UE4ztCfSNfmnizydKd6ZcaK7CZPBR2wS0a7F4JijGddcwbKiGQ19BXY0H7WUu4pEg4mpMGpWNXLQ6Ct1URkLxR32MARc1_uRCD-UcWHZtmB1whDEdkCoXyMWbl12Dnhou5Bp6POZL_Y0F43Cp2UI4XfjivpVPHVcMzgJSmV1ynEXxcRVa5hYnHBCpcpzxw3kwnV3e_9kmp8Wfd-C2OQ-uFbhE4fIEW6vTAhLqVRwjqOTSqhGr4OZ4l4QqWmFykbvw3_7wJPbqNb1KQFnFYVE1lc9g3iWEtu99-VPD3Emlm-FiP35K04AOrTcwavaNWFph6ybxTFJRjrfLbsxbZL6iq_Z0FMMN833pDPoAC1z9miVLZj9ooaA1rSHUm5uajlxjjj5HlDGls_I3VZPpHrCc2jHn9OGH5Eya37lGQ4skICy8iUesrZfcS5cPlF_XMFu1N4JlogiQYWDSFqPipyVCplUznJ7DoP-yxUXDQkSOnZXLelk6TpX0Mti8QOLrU_Ov4xuAOH6uL-Ufsnq-W3-HqCKDgGMDuLfLrQ1WQW8dEPEi3LsE19OGAqXfb45tbA0xK4loaL9iPB8HDl9R140PsAuOR_eBwIQnLg8ja0SorraYxwVu1gGrUVj5JIL8TdBcofF7x1oUkwrKJE71Jssmd1nSE4LoF-8RE-NVwYdSVQkoihguMDVBj_-6DvSSssIFfgAV2PdUSZ1x7b2ZJc-9Zcoe0v9pdzDgIlr5JP5hO5lKblVy__ioqBvyZzbt5ikuXQy4xO4Ad6w-D5Py8t8Qv-C6oSjuTsYjagik8dMiYc6xgTYGhhK9clp1BVEz-FSKj0lfJQXvyLecFzG66EDhP2zw02zFI2VlMkZbKXHt6BXC7a7aCU4PlQ5iD5Kde4mZtdJx5y4X8I05yDll65WzCyNa6k370PQtA03xk1TGtVhT8KEDFNgExxMfsIBxCs995Qscou-rGqVtDeP3nNZUHGCK36agMi_oTwD-bW4lFCxva5mnMOLasHrE3Khe1MEPyjbiQeviBB09grBeelhu7XSOfm9LAZkuhVNU-_cvTD59gz1YOsXEdwHuwSCwwy0uUnRwlITE4wzh2YAwnYOuc5PpnA_AcZWq3RXhk6vnqfMEzTdGwioq-tDaz8l-OckA5kwdk3627uNxL91MMQbiMBSNL9Uln3qyvXxM0Ajcflv2JdX9kPzq0W71B0CakX0UKZRfbJHuChI4fuol0pU8bwwdxf55K7-r9_nnLeYX814mtwE3l8F46WzhqCiEfpPr_Ae1jzADciFPxrMhv4Bj7k5vgvl9pVV0VhP0I4a1vVc9nCc-ULDC-xu73v03zw7SpfwlMYB2d6XhKtDayd0foJiBTJQ4hoqus8SOK0d4HoN1QxWajYOXxbAXKGc4UNzr9X2AoWlQwW8daJQkOxZfR0Zn8pyggZuINMCb0yq3W9jb4MZTehGEj_IXjK8tGJQ9AU6vIwemb5FncApe3sWK_deECHd76-Y0GpGtivhrp_pfjaOvSAc_PDiyHl-vcnnSQfYB7zpVqY1_tvEOvIdsGY_7TG_08FSHp6MEm-kq0vp0R3zjLFkyQpnLhe-A6fB5HOD2Yqum0MCsvzwf1Z3dhxSvRoq7s34NQC43vJ0f-VnLfcKFkVophRLbO__-kP1vCKffXBHmwGOwC0Kye_HibmOMxaa2fp67ndJfeuXoSrxO1bH3Bqts-RIDWWtkM-shVPFbmCFTN08R4TmmDJE0JEB7EICw56OTZmb5B9_DCsO-oNnuIXphu3hCvnuFs1x8DDbSX93i6rtRNAvty2FqXyOEN3y0ETZP4-mjw5gWCBBIMFGZzjlA8Hw_fiYNFfCkymwAE_TXR0dyUqQcNM0JaVRL40c3C2lbek35kghR2QHUCf0WFspXHelGhNXjxAx_PV0eJzAl5beCM013kVvpH2zz1YqNQXGZicar2G8y1FSqpGct7PazfY0Tv1HUpLm5K9KioZwLd_YfVi_Y2GN-j0Wuk9n3ExT-X9k4lh8BrP4Zztnx_6qEeqzNbFdCJbpxqZhUHJtvpGIASJHdKiFDAV-xIxjF4PK3jB4hCmN_x-BXSpJ8wMw1G0i4_RFJzrmFwF8KGbQZge9HcAf3mq9XxrU8i4Afl7Z1NfTIyHk4ItuTizXGVeAyNHxbXFU",
  "id": "rs_0254de1b53a9f971016ab436099d4087d0b9a32dee111c3a78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.7,\"left_pitch\":0.15,\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.035},\"note\":\"The left arm did not follow the last descent: it remains at about 9 cm, likely because that large wrist rotation is awkward at this reach. I’ll ease the yaw and pitch while retrying a lower pose, keeping the cap in the jaws’ approach area.\"}",
  "call_id": "call_J0t0nSOIYA135HCvyg1JEGlA",
  "id": "fc_0254de1b53a9f971016ab4360bce9487d0b8cea0620a2031de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J0t0nSOIYA135HCvyg1JEGlA",
  "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]: [-0.5713, 1.9556, 0.8513, -0.2314, -1.0412, -1.1015, 0.9964, -0.02, 0.8116, 0.6128, -0.4282, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3534 left_y=-0.0417 left_z=0.0101 left_yaw=0.7458 left_pitch=0.0459 left_roll=0.1826 left_gripper=0.9964 right_x=0.2903 right_y=0.0018 right_z=0.1694 right_yaw=0.0 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9487, 4.4376, 0.7155, -0.4078, 0.1734, -0.0122, -0.1436, -1.6615, 6.9675, 1.8242, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb432b976368183679b2c2cec516840a28350ef0b29e50caaf6996713fdfe2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9e6cf83a54535f8b516293605d983b2bf2196e3c79d081ee7be8c2be7e876a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b0fa449ba299bb10f9a5767953c95e1a49608feccdc0dfb2883c1917161ebe",
      "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 · 3.969 s

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

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5224, 2.2051, 1.8614, -1.2995, -0.7715, -1.7359, 0.9964, -0.02, 0.8062, 0.6128, -0.4183, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4211 left_y=-0.0962 left_z=0.1026 left_yaw=1.1448 left_pitch=-0.2261 left_roll=-0.0376 left_gripper=0.9964 right_x=0.2914 right_y=0.0018 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0511 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [1.5248, -11.2342, 7.0906, -0.2466, -0.4811, -0.1441, 0.0024, -0.2803, -1.5932, 7.1316, 1.7753, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.2211, 1.8324, -1.3933, -0.7506, -1.9141, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4024 left_y=-0.0587 left_z=0.0902 left_yaw=1.3466 left_pitch=-0.226 left_roll=-0.0212 left_gripper=0.9964 right_x=0.2913 right_y=0.0018 right_z=0.1723 right_yaw=0.0 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -11.7812, 5.4085, -0.0269, -0.4225, -0.1783, -0.0073, -0.1846, -1.1145, 6.9949, 1.746, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5713, 1.9556, 0.8513, -0.2314, -1.0412, -1.1015, 0.9964, -0.02, 0.8116, 0.6128, -0.4282, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3534 left_y=-0.0417 left_z=0.0101 left_yaw=0.7458 left_pitch=0.0459 left_roll=0.1826 left_gripper=0.9964 right_x=0.2903 right_y=0.0018 right_z=0.1694 right_yaw=0.0 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9487, 4.4376, 0.7155, -0.4078, 0.1734, -0.0122, -0.1436, -1.6615, 6.9675, 1.8242, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb432b976368183679b2c2cec516840a28350ef0b29e50caaf6996713fdfe2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9e6cf83a54535f8b516293605d983b2bf2196e3c79d081ee7be8c2be7e876a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b0fa449ba299bb10f9a5767953c95e1a49608feccdc0dfb2883c1917161ebe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYR12nMmjPbLLG4dRzaTu6TBaTNIG7zcWl0P5yj4jhgmOfSqz30a0yazJqpmICRR_7INAeL8JK--G5bGcpMYYP6uHGH14FK2wH9xPsPt5W3dacfUWfv6cppiys7K1d68l_34JhWQCCCohYljfQpZ-7cYgHXnZKK0i-2NVbUuZljrhDWrBMhnCKfr7biewbtiVU1R9zYRexkmgGOGGrB7klVciTKKd4Lw_oVz3R83sy9A4Hwofvt3CSrSkyiri9p8j3yg_bLfHzY7LAJMVS_wLJVrFwXjCDBII-HqIdhDk6TgpRc_0dcNCIf0GJUOtDnwdioB-vV2rrDwa1m9Huzk7agpIAt7MDdYucXD0Zs8VzPY8QHLONf-mSZB5VXY6j7clInqkTt5o06fl32ULMkAohVwenTnE61qD0f9jKdIaCZAWFYPTeBJ3-MsHwGmaLiXHF_dhxnHZtg1CDH_peLmHK_vEHteRGCWLQBQvxXa6bJAwW9GBBTnw5FjxsuAfV7GrtyIowi-l4XjQU_LREuJ2e-Y3gzOaarPBy99ylb2ECkfiDuxRV5vdEKW02Ni5AhfdjXA7mjdY4k9IGcnqAN4IBFuFPLBVmQnMtW-CIS3Whqo-fwN53q1UePTADa-Fny562YmO84ZEyickHNcQeRFsZLxdZMPYmzHvLzh52fK57Pt5BHNDiLDFu-V4E9PtWkylOGAyefRze10AVcdjyjrFeZgIVG5rVquJgvovZ3p2ByIsJO4iSQsksn0v1kU6J0brgm5TFzhA0jLiy8Fr-Wlh0Y2jQ3zhJMApjLcOe23Bu_myxrY8YGLFYMUJT9VE3P-ZE3oDm9Dix2Fe9OxNOxawGBv1H0QSGs9MYm-CRf7qOJBnFZLcSxpVBLXLe-R_B6BaYBKLhzwrlumUMBEJJgNgL82QaxB6hvnYEC6AK5IL5MEJhFXSNMAxMQk5UUsjjjrb8EUYYOvwgNpB11DbpnjRNkKBUIJ4x9CBzCKsbuEpzlGy38zH8DCMWfqMfD0B41T3B_XwzamT5DwsLYSnpMDLhVXqO-__bpRSJcQhLSDNFMgbwkQmBWqsmISvqTMZ6xfGEyo9ctWzMc6uOpjG-S54SpFmTgy2c4DMjjNP9l5vPxnrkYzshZ6LLGlNmzaZKxQoCpj_VV1QT3KqZejTRJn_uJOgJNu2X2kl59C-9vgoq5H0XR9Nmf7uJuPBbxpPADyZFvjKnybBuNeqHCzLGN1RLEONMwO47CKVebnHu4OThOv0T7sKApxF6rO_d0xYZM3C-V-hXYGpcFQe0lp24E4Dxb8MVvgNSlN1BI61cnFl3AR9-aTYJjIudxNiOSHdcZpTb7GLzu4wFHjMNstbDtAnFuUiCX1Qtpu3OGIsAkGzgHELKVWLOwgjhwox1q0Apn58MF4I3Pdl46DS8-9-b3lmrF5XmZRZx9YqWnpXLUeYyaw2MmeYqmIKunWoKd2Akg6cjhKjqSge-27-ATjiX-9QRaxcopXud__c_xY_wQCeOzYknMrviaRdzC22ZFWwG-N8U7trKno6InVFdMVMSV3I2suexAT-BUdZ25Fm2JIWrStWcqO5_uWFSb-qiFJnGcudUttMlT3BdR42RghhyO5n7uw0JEX-jyhqkgLoXX8a7qMGzrKlokf07wMYpG33UZB06mhMP96lHQkaNJBaYdNz7U7K7txViEHyb0A4a8M_wUKy8=",
  "id": "rs_0254de1b53a9f971016ab4360f88d087d0b276868777a8ab09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The rotated left-arm pose pulled the fingertips back from the cap instead of reaching it. I’ll park that arm clear of the center and pick up the longer pen with the right arm, then return to the cap.\"}",
  "call_id": "call_UN7p2Ps1mcwipF2kUECMtkai",
  "id": "fc_0254de1b53a9f971016ab43610709887d08e68ceb30efeda9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UN7p2Ps1mcwipF2kUECMtkai",
  "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]: [-0.5026, 1.4429, 0.5251, 0.0242, -0.8551, -0.627, 0.9964, -0.02, 0.8177, 0.6128, -0.4385, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3283 left_y=-0.0243 left_z=0.0709 left_yaw=0.4895 left_pitch=0.0289 left_roll=0.1184 left_gripper=0.9964 right_x=0.2891 right_y=0.0019 right_z=0.1657 right_yaw=0.0004 right_pitch=-0.0828 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -4.9573, 5.559, 1.3993, -0.2906, 0.0952, -0.0122, -0.1709, -1.4838, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac3294e2a889d6e72f260768abcf4f4384322e6638cd86463ccc9f7798b1d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479d451054abe26ae0bb9880831a059b1f8b948ed2b578b790396ef3adc43116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90076eb5f563781bc7987d53f86c158d57f6e6e1eb0f8e9e7bf02385f13632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.98 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4728, 2.2211, 1.8385, -1.393, -0.7506, -1.9011, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4026 left_y=-0.0666 left_z=0.0914 left_yaw=1.32 left_pitch=-0.2274 left_roll=-0.0184 left_gripper=0.9964 right_x=0.2913 right_y=0.0017 right_z=0.1723 right_yaw=-0.0003 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.6496, -11.6308, 4.9299, 0.0024, -0.3834, -0.0073, -0.0073, -0.3487, -1.1966, 7.2547, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5713, 1.9556, 0.8513, -0.2314, -1.0412, -1.1015, 0.9964, -0.02, 0.8116, 0.6128, -0.4282, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3534 left_y=-0.0417 left_z=0.0101 left_yaw=0.7458 left_pitch=0.0459 left_roll=0.1826 left_gripper=0.9964 right_x=0.2903 right_y=0.0018 right_z=0.1694 right_yaw=0.0 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9487, 4.4376, 0.7155, -0.4078, 0.1734, -0.0122, -0.1436, -1.6615, 6.9675, 1.8242, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5026, 1.4429, 0.5251, 0.0242, -0.8551, -0.627, 0.9964, -0.02, 0.8177, 0.6128, -0.4385, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3283 left_y=-0.0243 left_z=0.0709 left_yaw=0.4895 left_pitch=0.0289 left_roll=0.1184 left_gripper=0.9964 right_x=0.2891 right_y=0.0019 right_z=0.1657 right_yaw=0.0004 right_pitch=-0.0828 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -4.9573, 5.559, 1.3993, -0.2906, 0.0952, -0.0122, -0.1709, -1.4838, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac3294e2a889d6e72f260768abcf4f4384322e6638cd86463ccc9f7798b1d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479d451054abe26ae0bb9880831a059b1f8b948ed2b578b790396ef3adc43116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90076eb5f563781bc7987d53f86c158d57f6e6e1eb0f8e9e7bf02385f13632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYWxvRlRJdOwJLaOUvUF5-P36jDgAA7v1sw6Q-zMoW8ZcIKdBuejO7r_GAIGSa2HcOH39dRO_KcxOu11I4PYxkmggXK6lyTzL5-5r1Se0kHJDQgCoIjvGiK7EnK5Kd1NbIUG8KyX8DuTynJC0OL5HPG2w3qwyAkO7_H6RG_DD39m5qFWdcZl0juWyoCkJTYTciuUWfgs86pDtvLiPnYS5ZK58Wv6QybJzUAPKYKxb-CAHwJCT_rmRocvgBlhrrpqdMFVxwPTQwFO_FkxiqyZRR1H96HPGm0jtJF2orjfQO6KvpEBoWqHa6pLx8p-j75HkF_niESCa6W-4XCMzGERRL_so0KpMrpkzLrbOuaKQJp99prAR7OmL7P20eU-rQ1sknLEdYzg14HUSNGVqia4tc4_qXgAT4h1lpMB9CyuvmgaLIINcEf4-UBQ3ZalNerew3iAGQlCSC0xUIHugKaqSUzcc6HutvjPN4MpULCR-UAQv36nomehn9CGFb8diuUjiw2UZZJAJk9n6EIzRe3gVtS2VXFWo7D_Mfj673OQxmVJgWS7t9O3z8jkYL4K4TaQiYVrdoPIYcDCH6Wc8srUAMeP24Y3a45nu5ysvzBGFjaSAFHrYT4755YasH0rvzz9tgnuZmJrnsio08-2X-vZ0YN1NnZGouvTPpqPCFmkNb_O1V1eUfi4MgIlgRjCronzR-1E3p4DaTKbb6_1YEVty-QhZrdTaR9anij-SVGRPrAkM5pzbFyPIxfvLqmHMM7T1D11q6fBaPUepbXSnZXOM4ZHQ1YbYMZhNvtWrv1lPcnwlqBUmu3A0BCKNUPkJ_nmQAEN5m3hInEwy2EzQNT-hYlXLTIp7N6fAVr0eo2qFlaJvidRDBN09ZAezXpUOUyEiD58_KluuLploxImFzFlWaDc_PkBzUz9--OHG6kCze9XbZZtR-62MreDqV4gX3cFtsxowDtorVuwI5TPyPVZna0dCRoNsY_ZnfG5YUQHQs5__f359_NTAVLTKfEgBhj4xTHbe2fMVADW_z-voyA5qhtZELBqdnhikdOyYXwIe_7LFZoSevBukfDYSxY0lZVpMco6OCcKAGaePer5yJ-SgXh4MAhq0t_K0Q2NG8va3S5zksEdkoBPzgqqKmPfCpgMKCux4Dp7ZHNkcnpk0mLmp74N3VexNYCtxacdeKfBHe_rMod9eCCgn_tgdYhEZPD4j0ysn2HklueSvrZKVWNxQVeRjN6MEA4f7blhGXXZeOOjIdgtgzvuScB57TzVOXe8qJ7IwA25_-yf-RjMVit1XLOSPZ-h5kSJhQlAP4KFQbjS2WtfU1oSJ72NB-_r5XUVmsEi3N24PDfwwCdHcGZCWRUqVhoMW3tTVYC-AAVvelCgaW1mWsjdIRNQRfWZLDQqIdj5dG9xNFrs-Ajxs6UTV3cJqPWIujXwlMcz9bN4InzIuZBDV8g1A9G7SHgew4hlLLkzw_iLdKeM_gwGzgPauYv4vJ5GXBeiW1vyzrUDPGUh0A01UDjvTngs5sFgWIHJPu3-J5er9r0sgRy-YweHcHLOMiWc3m_G-WTv3Ii7MllYG5YDAmUSIGQJw7JlXWjtBqZfL1KE1ctU8PNmj-6WwJ7IK-Xi1SumO1NXzhE0kHtL_v0OswNMNrVoq6Fjz4Ik445Ipf-DdduCFkhQbu5H7aR4kBwrgMFU0IgXN6zLQ3bslBOCCYUEEZad7yZ9gxTLL-FWJXv7F-_sH2WieAZJdBhlYuo1GfDLbqlgxPJ0X33VpZkomQ0zTXRv-OGy7500E_1EiMCAcGpJDX6ZEaaXputn0sF91egYm3ShiqhOsV0kwNlGvXhUioAUHJkUA_cKXzcG0E9_XHqG-XT6NJ_TA-wvnCm3WW16_NAjuHUwipYtiyNqvABIG_Jv71BaXFzEVw-USpZc2lcp9zJmSGDMg0E1vLYBKysgowdPw4OkxUTDFb_OaefiIxFOGJ1hKmqfdqEQO9IwYnRN8xRWt39PXkUnpNQq-n2AoygopzHW-Gp4XwJd31rI7tcjagNfiMBmtW_wG9HxGAvhBlJlr2DdUDN5LxHG4i89VW3MSYqYPozvyoA6pgWsaHfYAs7ff-gCTOKScTP73F4qGZRlmkZtHh3heuihky0KxYYphKFRYPJFcOKpXr3pqBtTYqN8X7wx38jBCE8tbvamPz_wTfzhQXlIVJylVAN9BoayIT7fOn69zwTEVtTxxnkdNKx_pgTHLZPwvd2PYHfDphNZCKI37eFxhOA5evZ_Rm48LeBwQ9SG84=",
  "id": "rs_0254de1b53a9f971016ab436137a2887d0896c1dcfc78926b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.385,\"right_y\":0.12,\"right_z\":0.12},\"note\":\"The pen remains on the right side, ahead and left of the right gripper in its wrist view. I’ll bring the right gripper above the pen while finishing the left arm’s move back to its parking position.\"}",
  "call_id": "call_XALGMy9rtxnlsN4fp7OY9Lp8",
  "id": "fc_0254de1b53a9f971016ab43615bdfc87d080307c3a35b7180d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XALGMy9rtxnlsN4fp7OY9Lp8",
  "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]: [-0.0582, 0.7876, 0.548, -0.3313, -0.1684, -0.12, 0.9964, 0.429, 1.4258, 0.7433, -0.0933, 0.2962, 0.2321, 0.999]\nstate[eef_state]: left_x=0.2931 left_y=0.0162 left_z=0.1674 left_yaw=0.1365 left_pitch=0.0089 left_roll=-0.0015 left_gripper=0.9964 right_x=0.366 right_y=0.1146 right_z=0.098 right_yaw=0.0431 right_pitch=-0.1736 right_roll=-0.0361 right_gripper=0.999\nstate[joint_eff]: [0.1162, -1.7709, 11.0291, 1.8193, 0.0562, 0.2222, -0.0073, 0.4444, -6.5299, 8.6359, 1.746, 0.359, 0.2027, -0.0122]\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,$blob:f9f47d3e6b01b0164ddc3a554b1c9856649fb5a64c44d0cc38b357c7a35ad11f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c327fa90e843bc33bbd5a066bac8ff5e12d9e523226495ebb3bc96edd8a917a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84574b24b9519614bc8f6db0202e9610e67569bfa0732486a72126cc90f44ff7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.412 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.2211, 1.8324, -1.3933, -0.7506, -1.9141, 0.9964, -0.02, 0.8074, 0.6128, -0.4194, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4024 left_y=-0.0587 left_z=0.0902 left_yaw=1.3466 left_pitch=-0.226 left_roll=-0.0212 left_gripper=0.9964 right_x=0.2913 right_y=0.0018 right_z=0.1723 right_yaw=0.0 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -11.7812, 5.4085, -0.0269, -0.4225, -0.1783, -0.0073, -0.1846, -1.1145, 6.9949, 1.746, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5026, 1.4429, 0.5251, 0.0242, -0.8551, -0.627, 0.9964, -0.02, 0.8177, 0.6128, -0.4385, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3283 left_y=-0.0243 left_z=0.0709 left_yaw=0.4895 left_pitch=0.0289 left_roll=0.1184 left_gripper=0.9964 right_x=0.2891 right_y=0.0019 right_z=0.1657 right_yaw=0.0004 right_pitch=-0.0828 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -4.9573, 5.559, 1.3993, -0.2906, 0.0952, -0.0122, -0.1709, -1.4838, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0582, 0.7876, 0.548, -0.3313, -0.1684, -0.12, 0.9964, 0.429, 1.4258, 0.7433, -0.0933, 0.2962, 0.2321, 0.999]\nstate[eef_state]: left_x=0.2931 left_y=0.0162 left_z=0.1674 left_yaw=0.1365 left_pitch=0.0089 left_roll=-0.0015 left_gripper=0.9964 right_x=0.366 right_y=0.1146 right_z=0.098 right_yaw=0.0431 right_pitch=-0.1736 right_roll=-0.0361 right_gripper=0.999\nstate[joint_eff]: [0.1162, -1.7709, 11.0291, 1.8193, 0.0562, 0.2222, -0.0073, 0.4444, -6.5299, 8.6359, 1.746, 0.359, 0.2027, -0.0122]\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,$blob:f9f47d3e6b01b0164ddc3a554b1c9856649fb5a64c44d0cc38b357c7a35ad11f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c327fa90e843bc33bbd5a066bac8ff5e12d9e523226495ebb3bc96edd8a917a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84574b24b9519614bc8f6db0202e9610e67569bfa0732486a72126cc90f44ff7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYc3DKb9AcokhpMjBNyGwSFqhW9XtLpXSCWiBLmahTkbcbFyYhsAwgTgfvO54Rg-obwORy2pPyQcyB8p-YNH-gjNVaGL0GEzfOq7rK7c8G7ezB6_c6rtScjGQz5DfSTd-PC3p92Qd6PAzvuIhGU0v10GDX3PoDIvohc87sQsi9YlsruVM8KosPnTO-DYpCJqi9nvvQlEu4kjrVN8ABF9Jrb1CIwk-U392701A_f5WAEUgfKtorjpymiqvP0vKfXY5nkgYan3t5dra0q-NMePW6IUf1B_7EVfaTEfQofeivbfYzwgzKlxMBYa59byiVXFhQuZOT9Zuz6zXh6-vaQwUb_Xcyc9HnmoBiGuTE5JHZ0CA6Uz2hnLIUir2xF_9mvfkx5P_Bwr5G3uMDhnIGQpKnlyytLx6pO2p_sO8H_6smrHMrAK5FeUwzaEzFJB14-kjsTvfLAViIb1xJ1RQpplzkHfyt-G9Zaljm_wWGagUz_yKm3_n239tK77Q4mlL3S5r2em_rmQNzhyKSZ77DyNvCxs6pYQw1rLBcFNjOko5VWjchmzsh-LQPwmyMBQGybBXOHDHXAAn2aOER2ZuNwmbYTZjdavTZvgxi8hLjPUdIUy5OWDylJazkuT3mWKRcM-h0e9c2tIvGPE3WJ_Z8IgA1WTsnnvxiAeDkk-2fbBEnLfh2I0G4l0wHdNh0ScLrp4hHenUmg4lS7vNGqwLJEwj4Iul_OwzjeFtQPHom5alIbcwyRnHrYtW_7huuOQxaQYYNCi-H2CWwIZvRg0lnRBGENgRzeQFuapZcJyo1O4VmMCdA9HPAqKG1I7L70_hyww8Rm_I6xOBY2YOtyLk3CMwXK_4Tb0DXsdWp95OZFbSIHA1fhOufG5fu1Qr_BHgPl-ZeEjYOCObtuyq6Aa5MTlgJkzRs8y2NxmDx4Nz15weTFub6Gtq13ZxH-LY_Awvcq8NGFL-j5ZdHTy9CXsrEP3aHAZV3SsvmFNIlaeiQuSF2c81hXje3g54DM6OHXVpmXPY08k6aQ_XWzx4a_rjqyMSCpMMGBXskkwJbR_q767j7ia6HfG-tt1GFI7VAfPo_uB4kw8Uh6f7F0IQbXBtB9OeVEtNruH-CTroxQAcDvos9LqK11xsuo2S3t4nB5E8POnOLBcf4mMq6jeFRPizqGoNsuqqmASHiAypD-UpLr6p8Vyq4pn-QOwrQVkjS0keY_jzoRc5herR08AmaPo-PXbtNqemW2LcqHcFs2Pc12ad-RxQfMNxGiWrwiurDVlm5B085IVuIvj6pPuTXAvKww9WT-oPWYIpZKalDl5SrzrpQiSR8vdbfujV8yHP83Q6evxdHlZX_V2wX3vnI22VSmLsy8MfbNjjW03XHSwn17LK6U0gHyUuHycyABs3gOZkVc_trVPTeObP8YTvs-dd_RjepgV0wwrw_uniKBVwSJCzI3g803uZz-Eb7ZQ2ANmcVlQO194fm_9GfH1Df9-J_KpxFnCjrF0M5Zb40RRadpyexpgs4HkwZoc1Sws-fzozZLCUu7sZXZZ0cGeCr90Bh0Uu0R1kVUw42bt9Z2-lDhwrzjRqM7Xz_7wkvpK6EV8k4TXK_4jh0GXV-R2EJzVzFhxD6ArLkGazzdM_PgZvYaIgQJBUktClhy30fjGPDgiXT8nNz6Ktx3JaxAdfLMAn_RwiqQSXC1P867LWQ_UOcqIkBDZbEDfxiMQ4LDwJgwOpDqCMQyHd48Y3E9mAjEJh5DbfYf0YD9ffJDwn_cHW3eddTv8KeBKx64zSFw5yXnqJPvvsYoBJ2OhECEGXB14QiQODirxhp8RwE3kRMCt9OcPlus4Z2G-azXIw5D1PRkyiDt9l1qUpC-ImfOwyrO3K6_lQRyux865brRtU32vwezNj5hl3MZ7nsZpT8N_gwDrXJ6ODCN5VdM77XCtQHaUksRvpg1i-fd1O4_2HpsfdU49ei822ojkJDEVTNeEc95qLN9H61YgxHBSU8weq7E393xWpUKVC-oQRVVCniSQ-k1borz4ERFIM7VF1Q6xX2ZiF8Gv2v5mOdDOWninzcT8YdjzJdzbwxmp34G-xcGRGetkHco0Z0UDVoe1LkRMgClR4CUZhGlCfO_uQRcMrnCoKYTDHcQOhT7r_jPZI1PZdeiKUEQGWSXJF8PrHaPcB-TL-ebaJgZmCukNks0Rvc4XOV3BAPCo_OKf9YI7J1uQU0xBYK2UjmcLECdUjNwC4WvHyQ85uMFUaLmrqBt0X3VfXRfIbmv1O8rzNuapXQERZMfxHvfxP2y15SN2iAspujyUwK2FfhcDwfqajh4ZwzG97Hj-WO-8N86SAok5URehpbnbA9d4Fa5t-2m1V4zirGgaej-rQPXLPAK4LrsE18hCcmavGB9sulEuGKD8MT8DSngptkfdRyJPYJ6UxA027f8ME1quYPtCflcjLdiwYiCjTiW-OG8YIT3Br0HWZ30v8uLSvg5LFdrwEnBu-E4QjbBWphUPrD5HbTp98YjdZ8mqxf7pjs1be_V_s0Aa7srAQl8BLjqz2sEn-_5oebHWBlVuLXfIGtJNLjVnU3ti6JlMn9h-WYS3Ul81sOPFw12hZ8k-IpL2SIYU-b9HHy_5w3T2X4ko8nfuPuv_vUmqsIgUl3Eonh9NmRu-jbhpI-E3PABb-ovwSWU5-VpFFI-W9LCE_os0L585vngPl-buUDB-BUgfapYNZoFB74W9JGUTYmLUdYuaTQyaVJfG_LQ7TcZCNv7oNAumNxpey53oEoJvrdWLZp867uFyR6Ot_pBXpW4on-QnPCfPP7oVci0ujOC-8pA4tD_",
  "id": "rs_0254de1b53a9f971016ab43618ee7887d09bd66c9d387a2a81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_z\":0.009},\"note\":\"The long pen now crosses the right gripper’s jaw column near its nearer end; its other end extends farther forward. I’ll lower the right gripper onto that section, with a small sideways correction, before closing.\"}",
  "call_id": "call_mQrVjRJA3ejaeywp2m1arOmh",
  "id": "fc_0254de1b53a9f971016ab4361bc9c887d0945efb585694ea2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mQrVjRJA3ejaeywp2m1arOmh",
  "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]: [-0.0559, 0.7925, 0.5491, -0.3557, -0.1581, -0.1146, 0.9964, 0.4576, 1.6905, 0.5861, 0.2459, 0.3111, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2903 left_y=0.0152 left_z=0.1615 left_yaw=0.1274 left_pitch=-0.0199 left_roll=0.0027 left_gripper=0.9964 right_x=0.3552 right_y=0.1186 right_z=0.0021 right_yaw=0.0415 right_pitch=-0.2452 right_roll=-0.0645 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.5658, 6.9265, 1.9121, -0.2173, -0.1099, -0.0122, 0.3761, -6.8034, 4.9162, 1.3846, 0.2076, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2bf8d74456c068e8db1986b5d412cd0be327117e133538433c1143e76a83023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f573bc8faf8868b5228a9aa53f3d6e500d6251b8acc7ca4a1eab57d0c6fe254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493395c0337af3ccd5f3ea430a634029d76ea40cdc27a8677001757ffbd83a28",
      "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 · 2.663 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5713, 1.9556, 0.8513, -0.2314, -1.0412, -1.1015, 0.9964, -0.02, 0.8116, 0.6128, -0.4282, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3534 left_y=-0.0417 left_z=0.0101 left_yaw=0.7458 left_pitch=0.0459 left_roll=0.1826 left_gripper=0.9964 right_x=0.2903 right_y=0.0018 right_z=0.1694 right_yaw=0.0 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -9.9487, 4.4376, 0.7155, -0.4078, 0.1734, -0.0122, -0.1436, -1.6615, 6.9675, 1.8242, -0.0611, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0582, 0.7876, 0.548, -0.3313, -0.1684, -0.12, 0.9964, 0.429, 1.4258, 0.7433, -0.0933, 0.2962, 0.2321, 0.999]\nstate[eef_state]: left_x=0.2931 left_y=0.0162 left_z=0.1674 left_yaw=0.1365 left_pitch=0.0089 left_roll=-0.0015 left_gripper=0.9964 right_x=0.366 right_y=0.1146 right_z=0.098 right_yaw=0.0431 right_pitch=-0.1736 right_roll=-0.0361 right_gripper=0.999\nstate[joint_eff]: [0.1162, -1.7709, 11.0291, 1.8193, 0.0562, 0.2222, -0.0073, 0.4444, -6.5299, 8.6359, 1.746, 0.359, 0.2027, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7925, 0.5491, -0.3557, -0.1581, -0.1146, 0.9964, 0.4576, 1.6905, 0.5861, 0.2459, 0.3111, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2903 left_y=0.0152 left_z=0.1615 left_yaw=0.1274 left_pitch=-0.0199 left_roll=0.0027 left_gripper=0.9964 right_x=0.3552 right_y=0.1186 right_z=0.0021 right_yaw=0.0415 right_pitch=-0.2452 right_roll=-0.0645 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.5658, 6.9265, 1.9121, -0.2173, -0.1099, -0.0122, 0.3761, -6.8034, 4.9162, 1.3846, 0.2076, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2bf8d74456c068e8db1986b5d412cd0be327117e133538433c1143e76a83023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f573bc8faf8868b5228a9aa53f3d6e500d6251b8acc7ca4a1eab57d0c6fe254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493395c0337af3ccd5f3ea430a634029d76ea40cdc27a8677001757ffbd83a28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYfbEPFn5_KgrfL22jcd1OzVKuuJDKgvvRKaDHHuhxpyt_hZ844U6miWya4YjU1AZtUHrzSug_i8tanEbkWC2EnFc3mCkx7NDVpKc15Kvsau2CgRL-VuJL0xmYUHruBo_aiMf12caakqJR0N6uWGg1Sj6RRT_pxrsP7py1jkpaIONJpMzFoiossRMcgVemH5wmi68E_nDMhQG61uy6OxErvIBZAsKihb7nkkbHribelsf8AXPjwpHQQRkRawFUqdgw_bQ-OzyzjZ0iHzI5OMjT-7cUIg6vV9eDhlaoZsx4sUVXmtw95UlS-j_6wi--ypd5flGW69W1PNozKCSfvor7pwXzPGiyGacpFrXAVkPAXCvrP_AkLMC9CZUyvm2GqkKZNlrjjjBPSFr5BkqbLimVbaMIy4KZKMIZrFbpPUNcWZRcKzExK1hDSbIQFxUeI1b9GDASBltFz4U8KIQlifw3p0EjQ02mCD8RA4Xt6t6Yksk1K62Xkw0cJPmFTp7UMfbwSHXkyUtp3X0Hu__MOnew1Ldnw7gLwaJIssMl3Ge6ZAc3E0AXZINUu7SxRQ0AqIaBMrXv3ySIio1_axZJD-Yz7RYH57J2f-klbhRiTWdSuE9X-OgkE9Jyd2RfjCC957B3g6veT81M-i0hml0Tva3d2EdRrhh5lDmSFms3px-zrByiRsIznsIsjxwKDpxcQpy99_O6Sp6fyMSjyRTgTLLwyJ1tjZBnW9XBGLtTM7vNhHG5bXwEngIZlXuRTu_taY0mWOox-KDehtl1G_KTwc15w9e46bZykmYpg9yuHSArbpvGJnqw6tBkh0xDDdTnKT3WHhiB6UauKKd5xO3_MmSK_GHqooboZ4Af4JLgl0O-PIqaBkke2xq_foC_aMqh8oDhc401u5cuR4WS0RH_29IqHRS3HmXtaxYUcbFNjl_4r3uBFQ3d_B5S9UdyG1HEp75rbXABp0pyosZ03uVtwCzACWJZffkkq487d3GBAmUzu8QvXr9LWHrUTQNNg3j3sWLwfTxCBJr6h8xvBBSlhszsH30aooo5dpM5O1PqFqG02cSYXaZ3lCAiElUQiWYCjzoLWHmto3BvqdyHC6pcbTyHbXzFoGHEX_Mm0FLrloV8UqVm25ccytwnqcxPP-PGEkh69sbN31ahvPa4KbGdtnOMVkAcfD1H_qHNKsokz87vAO-NLvr-FBZH9VGlYWqHgdkovwtYQIRoT6KHEzCIWn3kVStahAeYRjDHhLA6ns16fXeX2t3xmcc1-807CVA2wcx8sOEmjG00ijUOTSyhWnYU8C1VjavLsItuGn6z2heHxEuZbVVvShgPmySCuji9a7Pf_u0KPL-8Rme9Ionw2EWzh3HV7lLcA3GVMVXkhYXqTHo6JAyBpsiZvWf6u_reYCUBre1qkzE_0IN-jHqScY7ovDZ0y_Whl-_3j7crlOCfwrQrtdk0ANVVSmYHZGRt0JXUCsK5OsaTE_ZCoDlrb3j9Ygg==",
  "id": "rs_0254de1b53a9f971016ab4361e2bc487d09d99f36ff56271b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, the pen shaft passes between the right jaws near their closing point. I’ll close around the shaft and inspect the settled gripper opening before lifting.\"}",
  "call_id": "call_EuIZ18rb5isPm05qpFxm45Kp",
  "id": "fc_0254de1b53a9f971016ab4361ecf2087d09efde793e0607c1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EuIZ18rb5isPm05qpFxm45Kp",
  "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]: [-0.0559, 0.7937, 0.5484, -0.3645, -0.1577, -0.1219, 0.9964, 0.4587, 1.7012, 0.5812, 0.2733, 0.3122, 0.2504, 0.0477]\nstate[eef_state]: left_x=0.289 left_y=0.0152 left_z=0.159 left_yaw=0.131 left_pitch=-0.0304 left_roll=-0.0016 left_gripper=0.9964 right_x=0.3568 right_y=0.1197 right_z=0.0011 right_yaw=0.0439 right_pitch=-0.2341 right_roll=-0.0617 right_gripper=0.0477\nstate[joint_eff]: [-0.2803, -1.2376, 7.0632, 1.7509, -0.1294, 0.0024, -0.0122, -0.4444, -7.6376, 5.2718, 1.1795, 0.1294, 0.0171, 1.2137]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3592a1abe4595fe712d2a840730a8dfe506467e4245c9b2f93eda14b528abde1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc2befb6755a1c5e20475222ffb3228641e061792d40eca985b62281f0b2bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b31e345e50622dcf15ca8008793047f9271504ef1997195ab9e0851fca2abe",
      "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 · 4.482 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5026, 1.4429, 0.5251, 0.0242, -0.8551, -0.627, 0.9964, -0.02, 0.8177, 0.6128, -0.4385, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3283 left_y=-0.0243 left_z=0.0709 left_yaw=0.4895 left_pitch=0.0289 left_roll=0.1184 left_gripper=0.9964 right_x=0.2891 right_y=0.0019 right_z=0.1657 right_yaw=0.0004 right_pitch=-0.0828 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -4.9573, 5.559, 1.3993, -0.2906, 0.0952, -0.0122, -0.1709, -1.4838, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7925, 0.5491, -0.3557, -0.1581, -0.1146, 0.9964, 0.4576, 1.6905, 0.5861, 0.2459, 0.3111, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2903 left_y=0.0152 left_z=0.1615 left_yaw=0.1274 left_pitch=-0.0199 left_roll=0.0027 left_gripper=0.9964 right_x=0.3552 right_y=0.1186 right_z=0.0021 right_yaw=0.0415 right_pitch=-0.2452 right_roll=-0.0645 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.5658, 6.9265, 1.9121, -0.2173, -0.1099, -0.0122, 0.3761, -6.8034, 4.9162, 1.3846, 0.2076, -0.0855, -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 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7937, 0.5484, -0.3645, -0.1577, -0.1219, 0.9964, 0.4587, 1.7012, 0.5812, 0.2733, 0.3122, 0.2504, 0.0477]\nstate[eef_state]: left_x=0.289 left_y=0.0152 left_z=0.159 left_yaw=0.131 left_pitch=-0.0304 left_roll=-0.0016 left_gripper=0.9964 right_x=0.3568 right_y=0.1197 right_z=0.0011 right_yaw=0.0439 right_pitch=-0.2341 right_roll=-0.0617 right_gripper=0.0477\nstate[joint_eff]: [-0.2803, -1.2376, 7.0632, 1.7509, -0.1294, 0.0024, -0.0122, -0.4444, -7.6376, 5.2718, 1.1795, 0.1294, 0.0171, 1.2137]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3592a1abe4595fe712d2a840730a8dfe506467e4245c9b2f93eda14b528abde1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc2befb6755a1c5e20475222ffb3228641e061792d40eca985b62281f0b2bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b31e345e50622dcf15ca8008793047f9271504ef1997195ab9e0851fca2abe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYjx0VDDfrQyABhuBhvov5WXiDy4vAVCUCBHZgeVGjR68QvkCTvOiNrKt-3Cw499ZNL6xGzbxTr7sITdXoXxKQKiVsgfkFwC70zycAhh2uP92U_LluI1Lt8yhm-xhbh2TAHFw1A0XIco0M7kDM1AoSWHcuBeFaX5vArbTJid766ghyF8LJlATPAqgx5icx1zOLxoAuP94CEnCg3EVS5CK68iRlMBOjGJ-yx6fw6c-QEtUzBi-ud45aql1UNGDyw6UEOoJtkmFGYVe8o9xP0_FU8MEYbTYYAu69ZJ8PsqMoFHLGYIY_RtXxYKXd2rpxpRGW_HCBdRA56zxz7Msm2Sikjx3_WWInAV24Mmun9zk1SGvs1NdIaq_ImuFmDrCs3NeCNJFToc30DUwzk4FcWnQhG-2LiFl4YWNB28vtV8c66_4OYHY-X17OejjZEttXeiwBkFOgtGXaFfRu6LHOSenW3qVVWwl7SGGtimoYsSKXyqAkKYW_4ROMhEMiFmbM15TD8wWB54-3S_Rd856WGfCgYNE67nVy-D3xtUbXLM_rUFfyFxdagzTFhhXbqEmQ4kwAHSiyC1bXaRkJSgwk0bo_tOMSQTMEKlf7pU0aahoDNzDxosjkLu1VtIB8HvHAfrdAonkIr8-bdSpL0umfpcR0POtx3Q09IcT9RN6nTUDNZvyjxWk2w1YsqjKAaNpm4QbLtkLQgP5VcUt4Ow90DyYp773wzm5AOFVcsw2-Wq9OqOGSIZhZV9qyhe6MT2kBwxnw92Ietv-ZEFFfg_ouLJPTKBHu9q7KK6qmQP_G-Tf05QCJaDfJb9HfIqdO-FSuwlmEh-aqOHWYVpOSqPlIfJVlffNK08vPWez8ABgAfZNxglQkInEqxT3X7kPNNpjyndEDS1F4mraYdA8wXc7BQEc2MDyiRlZCSeH9d8PbphNfULSlcnOYkk59MnFngRNxNZhYw7sTrnMe4D-1b9Apez4vpmJ5LxgN7GuhswqdSu9TsjTB7f1pKzqrsz8sTWnQryXvX9pFIoPoTQgCynewi2iV0QzA3EJxx-pOZo2QSM4zl5aXDLRRY4mMCL5a9q7CXylDY-w8i_ry0nrKE0g3gKlEcpSfhJu5wLO_-MN8udHtLSFEmWTF3Jqw4ldvI3q3zvic4xFOnXb_aFIu48zYza1uWlu19mVuljB-dmzCyzqCeD0Klo9wm78_4YMAAiqF4mDkjCvLFjd2mvUWr7h93E2Ed9A==",
  "id": "rs_0254de1b53a9f971016ab436221bb487d0953fd41ee3f9fe7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper settled at an opening of about 4.5 mm, consistent with gripping the pen shaft rather than closing empty. I’ll lift it and confirm in the overhead view that the pen comes up with the jaws.\"}",
  "call_id": "call_JOlmkiVP82aNYI5WG7aYFbr7",
  "id": "fc_0254de1b53a9f971016ab43622483087d08d0f309e7bdccdac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JOlmkiVP82aNYI5WG7aYFbr7",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7956, 0.5484, -0.3782, -0.1577, -0.1223, 0.9964, 0.4587, 1.4139, 0.8505, -0.2909, 0.3096, 0.2501, 0.0534]\nstate[eef_state]: left_x=0.2871 left_y=0.0153 left_z=0.1558 left_yaw=0.1313 left_pitch=-0.0458 left_roll=0.001 left_gripper=0.9964 right_x=0.358 right_y=0.1208 right_z=0.113 right_yaw=0.0456 right_pitch=-0.2419 right_roll=-0.0633 right_gripper=0.0534\nstate[joint_eff]: [-0.2393, -1.2103, 6.9812, 1.8486, -0.1294, -0.0171, -0.0122, -0.3624, -7.5419, 8.8, 1.3162, 0.1636, -0.022, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8509b504903c2c4d498cd305904db42c403e3014bb7f33ccc73b3e8a2fa971c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e5c564ae9144a128f1bce261e4af8974fca978b9890b4daba1e12249dc0c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a826bff6b62c4e1be807a7d0330b4b6b09ad3184771ae99613cc131a3786c0",
      "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 · 16.72 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0582, 0.7876, 0.548, -0.3313, -0.1684, -0.12, 0.9964, 0.429, 1.4258, 0.7433, -0.0933, 0.2962, 0.2321, 0.999]\nstate[eef_state]: left_x=0.2931 left_y=0.0162 left_z=0.1674 left_yaw=0.1365 left_pitch=0.0089 left_roll=-0.0015 left_gripper=0.9964 right_x=0.366 right_y=0.1146 right_z=0.098 right_yaw=0.0431 right_pitch=-0.1736 right_roll=-0.0361 right_gripper=0.999\nstate[joint_eff]: [0.1162, -1.7709, 11.0291, 1.8193, 0.0562, 0.2222, -0.0073, 0.4444, -6.5299, 8.6359, 1.746, 0.359, 0.2027, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7937, 0.5484, -0.3645, -0.1577, -0.1219, 0.9964, 0.4587, 1.7012, 0.5812, 0.2733, 0.3122, 0.2504, 0.0477]\nstate[eef_state]: left_x=0.289 left_y=0.0152 left_z=0.159 left_yaw=0.131 left_pitch=-0.0304 left_roll=-0.0016 left_gripper=0.9964 right_x=0.3568 right_y=0.1197 right_z=0.0011 right_yaw=0.0439 right_pitch=-0.2341 right_roll=-0.0617 right_gripper=0.0477\nstate[joint_eff]: [-0.2803, -1.2376, 7.0632, 1.7509, -0.1294, 0.0024, -0.0122, -0.4444, -7.6376, 5.2718, 1.1795, 0.1294, 0.0171, 1.2137]\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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7956, 0.5484, -0.3782, -0.1577, -0.1223, 0.9964, 0.4587, 1.4139, 0.8505, -0.2909, 0.3096, 0.2501, 0.0534]\nstate[eef_state]: left_x=0.2871 left_y=0.0153 left_z=0.1558 left_yaw=0.1313 left_pitch=-0.0458 left_roll=0.001 left_gripper=0.9964 right_x=0.358 right_y=0.1208 right_z=0.113 right_yaw=0.0456 right_pitch=-0.2419 right_roll=-0.0633 right_gripper=0.0534\nstate[joint_eff]: [-0.2393, -1.2103, 6.9812, 1.8486, -0.1294, -0.0171, -0.0122, -0.3624, -7.5419, 8.8, 1.3162, 0.1636, -0.022, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8509b504903c2c4d498cd305904db42c403e3014bb7f33ccc73b3e8a2fa971c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e5c564ae9144a128f1bce261e4af8974fca978b9890b4daba1e12249dc0c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a826bff6b62c4e1be807a7d0330b4b6b09ad3184771ae99613cc131a3786c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab43624c6cc87d0899b76da44b75fe0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"left_x\":0.375,\"left_y\":-0.078,\"left_z\":0.11,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen rose with the right gripper in the overhead view, confirming the pickup. I’ll keep it raised on the right and bring the left gripper back above the small cap for a fresh alignment.\"}",
  "call_id": "call_jaAcNgaqnMxtnTpQDUO4JC4q",
  "id": "fc_0254de1b53a9f971016ab43627635487d0ad07c0a7f0dd48d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jaAcNgaqnMxtnTpQDUO4JC4q",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3412, 1.3312, 0.5461, 0.0582, -0.2844, -0.2092, 0.9964, 0.4587, 1.3884, 1.037, -0.5621, 0.3027, 0.2455, 0.0534]\nstate[eef_state]: left_x=0.3497 left_y=-0.0678 left_z=0.0786 left_yaw=0.0008 left_pitch=-0.1216 left_roll=0.0351 left_gripper=0.9964 right_x=0.3523 right_y=0.1192 right_z=0.1548 right_yaw=0.0473 right_pitch=-0.2983 right_roll=-0.086 right_gripper=0.0534\nstate[joint_eff]: [-0.3077, -5.2718, 9.7162, 2.0684, -0.2369, -0.0513, -0.0073, -0.3624, -7.2137, 9.6889, 1.7558, 0.2027, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aebee6fc056e590e82ba46a9b2cbf6c925f1b2d59993b43f17983a28e3fe38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fdd6ce32c8f55de2b2e23a83c9cd66dc44a8bdcee47447ccacbac4f81cab24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e525b029e07f6c2af43898c6bc5913dd8ea57e018c4ca149ebcba131e6bfd02",
      "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 · 2.805 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7925, 0.5491, -0.3557, -0.1581, -0.1146, 0.9964, 0.4576, 1.6905, 0.5861, 0.2459, 0.3111, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2903 left_y=0.0152 left_z=0.1615 left_yaw=0.1274 left_pitch=-0.0199 left_roll=0.0027 left_gripper=0.9964 right_x=0.3552 right_y=0.1186 right_z=0.0021 right_yaw=0.0415 right_pitch=-0.2452 right_roll=-0.0645 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.5658, 6.9265, 1.9121, -0.2173, -0.1099, -0.0122, 0.3761, -6.8034, 4.9162, 1.3846, 0.2076, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7956, 0.5484, -0.3782, -0.1577, -0.1223, 0.9964, 0.4587, 1.4139, 0.8505, -0.2909, 0.3096, 0.2501, 0.0534]\nstate[eef_state]: left_x=0.2871 left_y=0.0153 left_z=0.1558 left_yaw=0.1313 left_pitch=-0.0458 left_roll=0.001 left_gripper=0.9964 right_x=0.358 right_y=0.1208 right_z=0.113 right_yaw=0.0456 right_pitch=-0.2419 right_roll=-0.0633 right_gripper=0.0534\nstate[joint_eff]: [-0.2393, -1.2103, 6.9812, 1.8486, -0.1294, -0.0171, -0.0122, -0.3624, -7.5419, 8.8, 1.3162, 0.1636, -0.022, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3412, 1.3312, 0.5461, 0.0582, -0.2844, -0.2092, 0.9964, 0.4587, 1.3884, 1.037, -0.5621, 0.3027, 0.2455, 0.0534]\nstate[eef_state]: left_x=0.3497 left_y=-0.0678 left_z=0.0786 left_yaw=0.0008 left_pitch=-0.1216 left_roll=0.0351 left_gripper=0.9964 right_x=0.3523 right_y=0.1192 right_z=0.1548 right_yaw=0.0473 right_pitch=-0.2983 right_roll=-0.086 right_gripper=0.0534\nstate[joint_eff]: [-0.3077, -5.2718, 9.7162, 2.0684, -0.2369, -0.0513, -0.0073, -0.3624, -7.2137, 9.6889, 1.7558, 0.2027, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aebee6fc056e590e82ba46a9b2cbf6c925f1b2d59993b43f17983a28e3fe38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fdd6ce32c8f55de2b2e23a83c9cd66dc44a8bdcee47447ccacbac4f81cab24b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e525b029e07f6c2af43898c6bc5913dd8ea57e018c4ca149ebcba131e6bfd02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDY5-zEGvv1ub2Qudwd39A8RfV23Z-xW61FSIzMgwnBNhv3EBydnNFCm8dLvO-q-B9X83_VEARvkZT3XVbR_Gj7ihuwiE7GHj25V2jIeyltp-SB2aqaMrB2w9ai3PtTOcyhTyRd8PqlFEGIBhVdojluzAOUA06YVp4py_hiC4O3cgEy1h2cNFRzhkoh5UHl7POh1WuP1f0dTGLYVrmrOlx7POaILFDH8nVELWLxQVRgs0uDnBs4ndJTxp2lorM0XM9vw88d1DRVBpJThaYhHCddhaKqR1RZpUqX2IJDu4dxMJIBBacUU8ql25gYQsKjNJVs_QpBvYgKxZj5A6ZOQ-3-yBJFJ1R6VaMnQQPl1SmYma2qASRqk3nPMVtPtAAFkGzq4aXfwTnNtG2h-s6PS0XHo6K6unJnXLO46oGOJTtMB1xOU0tVP2uJLLSLAzY-bXNjB57zhUzQ_j62hlJk8ylfCZnHgo2xsY5fOE6JOCC-2XbOhXcMsKWu5vbtx44eZofPrVIO1c4VXtfMK1k6SpC_TOA5KPjEm0HQ2IxAHO4i64D4MfU_eK-NoFnIig8BzqmW3slevNbmm9PxGFbMkT-4kDsyUR1G1Vhgt2sNAVh34PKrTxgRUIjTI6Pblx_pK9dVv_9HqjOqAbJuYSTCvGaoHJjLv1Ztl_Ve--roqxWcn8Hofp-KedpHsHQq_wtz05TUaNnf1m68HGSso4wETPN-PdN5_luR59E7mRq53HkJ9UVWnG4XLyeF4xhcD8SeStJ4pGlBFm3lQsweZcyama1o4x_35lGTOHP6ssaJui-3omfJEJLzGp-qEFxsgvY1MljVIOuibi2ufYDGLsNqtLYMa0qGyuYEjq1MGNJN5vpI0y5tJNdgt04Qs9Cs8z3ezLg_FM4FJd0qjYeTL18-_h_bW0aoIdywqov1Ftv8fwqr1H004WJ6DU5zJDbqZGQRX0LQDVaxwL1s88s4TndZXTT-nLbMdrthOJJo6xpAWqV-rbcHPwCnbzcoQ-jY9bTboeWYYPK2hNb4M15N3UdXQhIbJmIBVtf6xwPj9KXp--d5GFeI9Ms319C2Vp6aJ3L2FpjvIlum8QprvNOYcyhvSvgqDC64luW-g5hfeJq5Nd1Mt9QD2ZNU3xwRdBxIRz6o6qiJOvN92jkIvjJC-GawSgKPY8rp8BOiAgA4So2DyShJgYgb_TOkT_F6Eikn_i9wNABP6Sw63FRYJA1wuwZnRLPHoB57nt3PkNoXqa8jWqOwxPXolalJDMFFYNZ7xK7rHZK99A8aXCCTH2Lhxc0KyEAko9Fzy-DHzw7dalTFyLY4J2iAChNozBYITlq7eNXE_pCDI-3mFdLJsF2QoQfXi9ycz7KsLNOTiAsdUBXbVIRXru5YDaREJPN3d-xHH4QQujgUESnJnCwSNJUkXrcqj0aTddBEpG4CW3-ha0ej561J-g6WmQpfuOoDs6tDJnrvw2xoNPsjIp75k-Xmu-g7P6hAiQGjAVRt4E72cjzoP0Nnmtm39_GbRoamAX_dH1mMDEDVKuT8rp0KxlbPNKYo-xGc2Npd76LLu47VP4pbJZPOv0sjXBnbz9AJmK9O7Kii5qVvc0L8d-0GI4zb-d8rrhxF0bln_MMe-hTkWBeUYmZMEp0OmwPgaav8VtrzdqjLa6GGYeeiBYSuQsubQDQZqwpVR_h0h7gLmpkPBwccFBkk_kXJW4PyERMLA7bw_XHDxW3dNCu6Ku_l1i3b5CODK0sl4-AuyujAJfdCgdlLWduSLr1bJ1Y9aM3Vs7De1u8cdF_NYok6_qCt-lTEp6mx0hl5ASfGhINe41mtWO-pBEbgABq9zQFgyYQ70_4UfKIJMApVLnNh1aitrekpGJ22ulxY38THBByCiCMOZjwLvB9sbY610v2J6LmimWm1fgu_R1YIZojrjzsBVEYvlMKjQl-6fslZdM60QX96B5t6NFTCAQ9ZInLbx3pAvVafNwYTH8Kzpg93f2Xjdz23CvgzMmROGSfPaaOrEu7IPxIxBKQnFGJKfIIt7jWeLFS-yxecFTbH9yrwPm9e-vsuK1cT-nYtDKdjRpibNJuyJ8P88DIEWZhMXJP9m_70Gzncs4R9_2JRb08TS2AEl1lnnaTQVRa6hWINkYWIkqKKV86K92XzTtpyQGjrOJ2kanusLqSjO3ZVBpyOn5GvEnV1Y1M7stW3zwGizypm2g4dOoeqWoFGs9BQ6ZXXoVJi7yjo-MCUuMMG-9cvfyJYGZF_hfuPTM4B7EwXC4mF8AzC_l2nYbRNmGW2gIbGPBGsa1JHVZnzwjLla9h2EhaSDPRIlC1HR3smgqCTosRmpr8HHnUnduJMN6qM5qW7aNT34-GPPF1nfVS8tpTkAPnXaIGBXLsWTlzS4xb_YZGnYqlq_ey9y4IXNIUziF1t3Ht44iu-WI3tiIdmI5BkmfUIBENLEuOwwGbZ9gPQNNqgu25Y2cxdrkI3RadH4xy2wfPHysa-u8AjVWf5Y_LHzRIUQAC9MMCrO87p1NmvnTRfy-w0gK7NBWVQWJUAj4Hrgeyl8ZVnLeXeSlRh4a0rnoyU1if2WlH-J6-KDdqPA_kp9qZ0rMC7cA5GZ731hhTr6Hf4wV1aN_RaRF_SB7gBsn7DaRCnXqmHH4-QyNoG2bixn1if56JJvZu6czmnwizmPoumPAbr45LfSwJGvxAUDA73j8tMZsaoEDxklWWDMFq6EqFmjfkCH_tyAzRIlc4g2ypV6_VcykbA_TQNadKevdoYvdoWHYvRxkTkQxUjwJiYXyijRjpT5H1kBePY=",
  "id": "rs_0254de1b53a9f971016ab4362fe16887d086ed3827c00ef553",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.094,\"left_z\":0.045},\"note\":\"The cap is ahead of the left fingertips and slightly right of the wrist camera’s centerline. I’ll move forward and a little toward it while lowering partway, then check whether its thicker tube is between the jaws.\"}",
  "call_id": "call_IChhDWEw6CP7cTS3nhEjh24z",
  "id": "fc_0254de1b53a9f971016ab436390e7887d0958357ff619d38cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IChhDWEw6CP7cTS3nhEjh24z",
  "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]: [-0.3706, 1.6314, 0.6121, 0.178, -0.3069, -0.2298, 0.9964, 0.4587, 1.3907, 1.0386, -0.5884, 0.3019, 0.2424, 0.0582]\nstate[eef_state]: left_x=0.3697 left_y=-0.0825 left_z=0.0206 left_yaw=0.0083 left_pitch=-0.2224 left_roll=0.0758 left_gripper=0.9964 right_x=0.3481 right_y=0.1173 right_z=0.1508 right_yaw=0.0461 right_pitch=-0.3235 right_roll=-0.0989 right_gripper=0.0582\nstate[joint_eff]: [-0.6222, -7.5692, 8.8, 2.1954, -0.1734, -0.0464, -0.0073, -0.212, -5.8462, 6.5436, 1.5409, 0.0904, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cfe14efa715a02dd641b524839f54d2e92f3b5944d9b677a59111bafc5020f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11be6930492669c834c09ec37a605efa1b9e6833ea602af3406adc52db0dfeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e66f79c4f9b9c83af42f377bf75ea4d4dc0f0c22c892940e94a3fb8627bc26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.612 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7937, 0.5484, -0.3645, -0.1577, -0.1219, 0.9964, 0.4587, 1.7012, 0.5812, 0.2733, 0.3122, 0.2504, 0.0477]\nstate[eef_state]: left_x=0.289 left_y=0.0152 left_z=0.159 left_yaw=0.131 left_pitch=-0.0304 left_roll=-0.0016 left_gripper=0.9964 right_x=0.3568 right_y=0.1197 right_z=0.0011 right_yaw=0.0439 right_pitch=-0.2341 right_roll=-0.0617 right_gripper=0.0477\nstate[joint_eff]: [-0.2803, -1.2376, 7.0632, 1.7509, -0.1294, 0.0024, -0.0122, -0.4444, -7.6376, 5.2718, 1.1795, 0.1294, 0.0171, 1.2137]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3412, 1.3312, 0.5461, 0.0582, -0.2844, -0.2092, 0.9964, 0.4587, 1.3884, 1.037, -0.5621, 0.3027, 0.2455, 0.0534]\nstate[eef_state]: left_x=0.3497 left_y=-0.0678 left_z=0.0786 left_yaw=0.0008 left_pitch=-0.1216 left_roll=0.0351 left_gripper=0.9964 right_x=0.3523 right_y=0.1192 right_z=0.1548 right_yaw=0.0473 right_pitch=-0.2983 right_roll=-0.086 right_gripper=0.0534\nstate[joint_eff]: [-0.3077, -5.2718, 9.7162, 2.0684, -0.2369, -0.0513, -0.0073, -0.3624, -7.2137, 9.6889, 1.7558, 0.2027, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3706, 1.6314, 0.6121, 0.178, -0.3069, -0.2298, 0.9964, 0.4587, 1.3907, 1.0386, -0.5884, 0.3019, 0.2424, 0.0582]\nstate[eef_state]: left_x=0.3697 left_y=-0.0825 left_z=0.0206 left_yaw=0.0083 left_pitch=-0.2224 left_roll=0.0758 left_gripper=0.9964 right_x=0.3481 right_y=0.1173 right_z=0.1508 right_yaw=0.0461 right_pitch=-0.3235 right_roll=-0.0989 right_gripper=0.0582\nstate[joint_eff]: [-0.6222, -7.5692, 8.8, 2.1954, -0.1734, -0.0464, -0.0073, -0.212, -5.8462, 6.5436, 1.5409, 0.0904, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cfe14efa715a02dd641b524839f54d2e92f3b5944d9b677a59111bafc5020f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11be6930492669c834c09ec37a605efa1b9e6833ea602af3406adc52db0dfeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e66f79c4f9b9c83af42f377bf75ea4d4dc0f0c22c892940e94a3fb8627bc26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDY958E_g9LV88cg8agUiFB4gMb064g-94qFlbyupwnhGuM2tHf1OrzF83wy7XVQUd4Kyzs0rs41uvi5qkWNEA3N6TYwcX2KDG87wwIgr0uQvVcR2osoJ6sqi7aSLJ1lsavYoWgnRhL1sggiTo5S5qujDC6Vs5Yh3qruOAaKYc3LFw1wns3zFiCJa5h3_uXXovt0Zt5Hg6cTSSPy0JIcv0-uN43D80lcEl-9uCN-7BVezCKXjN0gg6-GtAMoDCfNw53O8_icMhdHApcGLvPMzzTphpKzfVJfIbTPxvyS3-cEga_CZD1ZOqqJjL-Yz2sktNiHHNZtosG7ZQXpBYLuy956wG01TLVq7NC3DcV8oFAwVaJPoL6P_fxuEPQP6W-wf0MLydxerKihuO-Bm9b5i4nJces-iAdNt229nU8EMRBeGOneJCIHBhZdkuafOaAMa2RxV87ZcKiJT797QvIFsQzN3YiMEttzDlfpDaas96YsAD4IoRQ2Bu7lxBkJqVLGent_zsqBSFC_0e_WreZcqFKXKrJrdM3bYwUHSu0OteF_WVdd8V3XLFLROQX5PdKkJoViqQj1xtuYPIAuUbcbmvVRSKiztaRFWZL3OOKXKxl22Q5Qnm0RlBPQQc3B88SCjAi7Sq8P1RTFIeCUzn6AEnSjao1mTwrYma1xGueEOBmnpRGbLI-2mGve9gRVbtPj6U0U8iDNFq1PTkmaSCIPl3rUvZQOS2Uizd7PJHQGw_mSTFJ0anK_j13kVM1X5M_1xSsXcAF7JckP1CDDxRXAi0luYKZQKO4J1vicjIkjY4IQuqdt0iNYNT1YPcJ0i_S_ELcYe9EDLGu2O-LODJZfxu04E8bLkAvMPFIJNPeCUINDrDsSQPOHB1I0QnZliu7RBBMldqPBGNfHcPYWSCzjlzLTh_426Jvo4b9U0xiDrNiHUdlB1qBRpThrkjAy0ccoGNOdiOikYYy5CnGA8E-Umv8lRPjv2aZuKXQAnsCIYZt-iXPO6moHcrKQhVLnyvRU8xla6uS9eAnox1OkI8nB0jtPSjOMam1iKWWYsRYU8KULfj0WS6uMvDZ0ynM3EvvviPB-jV48coPbX3G0HFgRV_53kdUpQjgPv8arhPfB8oOvtie5YzslpRbSr6sBo8UMW5JprcxTNrwtSSJsCInvL_H9hVYVfs3aOP43E1shE16uk1lPShx4xX45RMIjTCdE-csO5m5FovAxLV-rSmvjc7DF5_F1ga5yzcjPWOEdgBcXeaF5M9VReVVxooUUA2Me8oNvoYc5k1pmGdKDI84vfAgm0IgJwoGiHMujxq6H1lCKqoNy7yrEPhan8hK8z1hGUjFEZWMOm35Y_YGrWnAX2mCHOv73KhD3FRwoFysb8Y0BuwdcUIhva-t19ly2lHqK6xxBm7KlY7FNJff1-lNIYu4UOwJdulfF9Inp3Ze23P1feBeBMnJEv-wj0iNhMB6jmCBYNFHcZcpPrFcgJe9WexvFDDUtbZro_K6vUlIaWMkO2-_fyZLc_CWEwMor9KsrvZN7vX_MZQyWxjNXyXlwJts51CCbPB9M9AzQKtYMRjp9PzeF8lMOkKtk2O1udxodvcmDYb3UJn8cfPiPapPEl63oMNN8sXodHf7E2zrY1y8wvzbVhZfVpQsR3doIKBPKzbVp6m5q9rzaVtpP2DpzwjefVVifOg0uMwtrAhEJ9E0WtcVlndl6-MXL17yADfTLX7yxHdzP-9EXkuFSrPj6BH4f-_twXnL4xw0Tv53vjLo2m06mcYwY68_kIjT9tyxCRpCs",
  "id": "rs_0254de1b53a9f971016ab4363b317487d0bdee61f99626d3cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.095,\"left_z\":0.012},\"note\":\"The cap’s thicker body is still in front of the left gripper’s closing point in the wrist view, though its sideways alignment is close. I’ll advance about 3 cm and lower just to cap height before trying to grip it.\"}",
  "call_id": "call_05SiQJ4spN5ctHmozrSy9J3K",
  "id": "fc_0254de1b53a9f971016ab4363c572087d08397281212e00151",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_05SiQJ4spN5ctHmozrSy9J3K",
  "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]: [-0.3737, 1.6562, 0.6312, 0.2211, -0.3073, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5938, 0.2951, 0.2424, 0.0613]\nstate[eef_state]: left_x=0.3806 left_y=-0.088 left_z=0.0252 left_yaw=0.0075 left_pitch=-0.1873 left_roll=0.0555 left_gripper=0.9964 right_x=0.3469 right_y=0.118 right_z=0.1495 right_yaw=0.051 right_pitch=-0.3314 right_roll=-0.0961 right_gripper=0.0613\nstate[joint_eff]: [-0.5128, -7.5692, 7.6103, 1.7509, -0.1832, -0.0073, -0.0122, -0.3624, -5.7915, 6.8308, 1.3407, 0.1929, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06051930cc9f01095677c625ac0bbaf13d9d18ab75c66d8def6195116837355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafa5a4c0c2ebfa18b427a805c9879d4e7aab9f6dbb356314a6709dd56149b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae22ff40b802a7ec81f23138e9d74ff78eb054a8738d96c1d91c1d00ad29f01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 5.284 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0559, 0.7956, 0.5484, -0.3782, -0.1577, -0.1223, 0.9964, 0.4587, 1.4139, 0.8505, -0.2909, 0.3096, 0.2501, 0.0534]\nstate[eef_state]: left_x=0.2871 left_y=0.0153 left_z=0.1558 left_yaw=0.1313 left_pitch=-0.0458 left_roll=0.001 left_gripper=0.9964 right_x=0.358 right_y=0.1208 right_z=0.113 right_yaw=0.0456 right_pitch=-0.2419 right_roll=-0.0633 right_gripper=0.0534\nstate[joint_eff]: [-0.2393, -1.2103, 6.9812, 1.8486, -0.1294, -0.0171, -0.0122, -0.3624, -7.5419, 8.8, 1.3162, 0.1636, -0.022, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3706, 1.6314, 0.6121, 0.178, -0.3069, -0.2298, 0.9964, 0.4587, 1.3907, 1.0386, -0.5884, 0.3019, 0.2424, 0.0582]\nstate[eef_state]: left_x=0.3697 left_y=-0.0825 left_z=0.0206 left_yaw=0.0083 left_pitch=-0.2224 left_roll=0.0758 left_gripper=0.9964 right_x=0.3481 right_y=0.1173 right_z=0.1508 right_yaw=0.0461 right_pitch=-0.3235 right_roll=-0.0989 right_gripper=0.0582\nstate[joint_eff]: [-0.6222, -7.5692, 8.8, 2.1954, -0.1734, -0.0464, -0.0073, -0.212, -5.8462, 6.5436, 1.5409, 0.0904, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6312, 0.2211, -0.3073, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5938, 0.2951, 0.2424, 0.0613]\nstate[eef_state]: left_x=0.3806 left_y=-0.088 left_z=0.0252 left_yaw=0.0075 left_pitch=-0.1873 left_roll=0.0555 left_gripper=0.9964 right_x=0.3469 right_y=0.118 right_z=0.1495 right_yaw=0.051 right_pitch=-0.3314 right_roll=-0.0961 right_gripper=0.0613\nstate[joint_eff]: [-0.5128, -7.5692, 7.6103, 1.7509, -0.1832, -0.0073, -0.0122, -0.3624, -5.7915, 6.8308, 1.3407, 0.1929, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06051930cc9f01095677c625ac0bbaf13d9d18ab75c66d8def6195116837355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafa5a4c0c2ebfa18b427a805c9879d4e7aab9f6dbb356314a6709dd56149b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae22ff40b802a7ec81f23138e9d74ff78eb054a8738d96c1d91c1d00ad29f01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZAtlulZSIg9FYHrK1c_dyWvqmobcVS2z_3bJp1vqlc5cMlc3gZmbZ6jaKfgxpNOONAoAnlfpJMWal9PhLQnGdAfyuIY45BNsRVTV4utFMDMdzc7sdZ0xR0W0KI_SHS9Z82TNhC2UEB5cNPCqhkd1gqiJjNxpv9z_1lkVEkcB94ZelTne0rbNzx8ttUfrBFmr2kz1D3C4ZBhW2A9qqFLUPcv9LStGAmqEEcjbCCRDURK59nE_hW-p6l71aZxiMzEmtysVd4VABgP5Y8KliN8LsUCh4uWJrc3mu2zPVw3MWV4XUmNSJEyE1hQk-seJs23PCCT54xrU4jIdA3M8iwD9BCeizFNyL5zfgf-l-X3-M-5uP-gPiM91qSgW67GwFdy-wvJnAc8azn7qmvN3cYpRtY74BLuW980a82fHl7NXDzgAAmRq4vQpHOBw57qNBRVR4SsDibFaREH5eFPs09sS3ZkGAy6AGNIIqnj0Gteh546UEPcFHZnTE0Rd6QtugzayImDgYoIcdU959OYlCTqKb1aJqajs_X0ckGQMSJeUd-zPuxekFDuVm4IqdrJ_lOu_2_z67Snlh4O9cF8O-NKuEYrOYJRZAp2DTyR5q6Fa4wuvl7yp61rx9lW-bBb292spIo20bI5sqtNVRBfrktMkd6v-Jsbo6ZNV9GYoHyi9mOEU94qhOxmCo8cnDH1BMwXnyYrgklujfqRgWuRpj1MlAY4k5TDl4-Kwpagw9qZJHjoQMaBSpREIvswc39diQtGde91-omYgBxiG8PgSc5NS0BiKqjmd7HAaHWGD0fd_iwyQpw8C3BDxPRK25NXudCmPWDlx-iYwzx32g4YeTeynXzgQp25hU7ZGRdGa7EkNT_URgHwgGv9SM3Z6QKRWpfxkO4lGEP25YaCyLc6Nsj3lA4FeiH7axHXoTQrsKb98kPZHKMK5cmVbpIO1PR4QsTsF-x3sohpu17Iby3-6gqNq9wVmkXycBe7MetJ3Uacqd5iMmVemqiN3lRn2RRt0TSXD5pEDb-8r8iJtbObJbM3u0QVP4UVbpmp2fDQVsLf9Y81sCsoJdAkep1uAmG6AkWZ86VC5F7sCoTrDVZKZ4nQX3GQhXaVQ1l2048YmCl9BgjcZHIia8oaZcdOGAE5slAx_hHPfRZwGlfljIYCxz3tSAXAOJ5hJ8B15_Aq81h8rDkx7Eb6Jid_bsjw9QNj-sGTDpn09xrY_DGz4xxyD3TE40JlCvN1mYTIOLR62_Zg0P4djSrV9Ajiai33N911GLqBPdpnMS5gCDx27n71cheXTrb7eqlcZrN4eo8BHQFmdeXresW5tFFzNZ8BtHxLvixRuEJQbOe7nyfHTHkKpj4KxdDMLBlDM9x3QNXAkGdkxrXGQVXX4Jx4bvG78-3oxTRO6KanraVmAOz5F4VKsqy60JrLQ40QtbUDWO-0jSWs4IYDbHxvkiNMIK1K2XT8i3A4sP8uqPK-X_vtjx1WQmHWITpl2uWEYArHR88equYiZGkzetLjtm5nme8--AblHNQAfjblyPr-AyaVXXHZjgp_k87nO0CgFJC4hPbh1Q1dz-MrArmLP2h6JMNkZp5qiLS6R5DBFljxkhhMne5KfLz6ArNAJKrb87XZvwilLwxqpP9qZ1v9xXHhlgiazI9bntQcT5EbUY8pYcQgA3_C2Oya13g_M3Skb7GQDHuc5ioHUEcPsvIhPg4-WYbGzJY9KRbVOdxDtuVE9Le9hi3BrkoRk6pHU6Z_dQCcEJJdnpK5-8UowbwKgL7LvzFV_lX52WwzQucm3G7iAV2GsatBKDU2ZIVGM0HRpDJyKXR-HlyN0jmRxlgvZCxY3C9rYs1jIaBhKFIIzRMfMBKGyC8Fuu8PnveRtuuyPsZnv9Ch3eCpr3fVg2ok0lvTAjYuMo7iag_MXfPm7dCVnQfArlAEyJbuTOqgulQ5UY9r0AvWZVQBLjy9wm_2Y1Z-_HQnz7Jzs7FIRrh0mbsmAIxiVoSwwq86OEJH-L2sGKmx_MQcKq4y7jCR3TLzxezgABsr_h3zlVFixoNvmQZcBkdFzeBY9ZZEYmf3B1uQYKuA0VB_TyOucbr5afS4N2O1tEgvXlzkgfR37nkIZtEslh4geSQLkiaM-xziVDi_xuIXBEF4ORiPbzRlezVoSP-SQGnStYImNczVYSW0yQkhi2SJ1DHwFpAJms85w==",
  "id": "rs_0254de1b53a9f971016ab4363e6b4c87d08b04c54ee2aff8b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.001},\"note\":\"The cap’s broad section now reaches the closing area near the bottom of the left wrist view, while the fingertips are still about 2.5 cm high. I’ll descend straight down, leaving its horizontal alignment unchanged.\"}",
  "call_id": "call_12Oaaebyd4NFwLarqbNL58pq",
  "id": "fc_0254de1b53a9f971016ab436405a8c87d080389f07ea6505fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_12Oaaebyd4NFwLarqbNL58pq",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6315, 0.2211, -0.3077, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5945, 0.2943, 0.2424, 0.0647]\nstate[eef_state]: left_x=0.3808 left_y=-0.088 left_z=0.0254 left_yaw=0.0078 left_pitch=-0.1868 left_roll=0.0556 left_gripper=0.9964 right_x=0.3467 right_y=0.1181 right_z=0.1494 right_yaw=0.0516 right_pitch=-0.3323 right_roll=-0.0958 right_gripper=0.0647\nstate[joint_eff]: [-0.4171, -7.7607, 7.706, 1.746, -0.1929, -0.0269, -0.0073, -0.335, -5.5316, 6.6667, 1.2869, 0.0757, -0.0708, 0.9548]\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,$blob:e23f9a7a2d5604c6d00f66cb3a0f9763932c4dea884e4bf2bd118fa686aadf90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bc21f72749d6f9f79cc334161eaa595cdd1054e20bdbc9d046d92fcb7cdbcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a1d069d499cf0a36989603482be12eee681f4ea0768686111e2d1b34e31726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.475 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3412, 1.3312, 0.5461, 0.0582, -0.2844, -0.2092, 0.9964, 0.4587, 1.3884, 1.037, -0.5621, 0.3027, 0.2455, 0.0534]\nstate[eef_state]: left_x=0.3497 left_y=-0.0678 left_z=0.0786 left_yaw=0.0008 left_pitch=-0.1216 left_roll=0.0351 left_gripper=0.9964 right_x=0.3523 right_y=0.1192 right_z=0.1548 right_yaw=0.0473 right_pitch=-0.2983 right_roll=-0.086 right_gripper=0.0534\nstate[joint_eff]: [-0.3077, -5.2718, 9.7162, 2.0684, -0.2369, -0.0513, -0.0073, -0.3624, -7.2137, 9.6889, 1.7558, 0.2027, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6312, 0.2211, -0.3073, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5938, 0.2951, 0.2424, 0.0613]\nstate[eef_state]: left_x=0.3806 left_y=-0.088 left_z=0.0252 left_yaw=0.0075 left_pitch=-0.1873 left_roll=0.0555 left_gripper=0.9964 right_x=0.3469 right_y=0.118 right_z=0.1495 right_yaw=0.051 right_pitch=-0.3314 right_roll=-0.0961 right_gripper=0.0613\nstate[joint_eff]: [-0.5128, -7.5692, 7.6103, 1.7509, -0.1832, -0.0073, -0.0122, -0.3624, -5.7915, 6.8308, 1.3407, 0.1929, -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 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6315, 0.2211, -0.3077, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5945, 0.2943, 0.2424, 0.0647]\nstate[eef_state]: left_x=0.3808 left_y=-0.088 left_z=0.0254 left_yaw=0.0078 left_pitch=-0.1868 left_roll=0.0556 left_gripper=0.9964 right_x=0.3467 right_y=0.1181 right_z=0.1494 right_yaw=0.0516 right_pitch=-0.3323 right_roll=-0.0958 right_gripper=0.0647\nstate[joint_eff]: [-0.4171, -7.7607, 7.706, 1.746, -0.1929, -0.0269, -0.0073, -0.335, -5.5316, 6.6667, 1.2869, 0.0757, -0.0708, 0.9548]\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,$blob:e23f9a7a2d5604c6d00f66cb3a0f9763932c4dea884e4bf2bd118fa686aadf90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bc21f72749d6f9f79cc334161eaa595cdd1054e20bdbc9d046d92fcb7cdbcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a1d069d499cf0a36989603482be12eee681f4ea0768686111e2d1b34e31726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZG6v1-rpDlSivLXWVGCSicfsgDS0D_3NxpdRyRKYcPnwPu0dxlvOZcWcJIoeZa5vdz3UJY9IohdetLzpWbVYlt6SPf283gG5T45S6ZWhexR_dMl9nrUbbLCV5m6mWYHrIKHuwckbT_lipNVmPFFmAfK4Usr5nvGKLNvDc-7GzbpmH_VxZXTq-OrMomQwiC2IK1bh3NZF9_PHCYlNcl7s_TITZ53TQ_Im1hjvCqUXOCN1KmmqvaLXvVfzAo8vHfTu4SFZXkrpPrZ8hzVx-b_OFf9a0zjPbDWu5xLnc41Wmy6ku67rYWEFz7WlJERjDi5gj1WRlKjXl1FbMTL9nCs8Iz5Ev6JLDqD5z1onNm1bD-s7Id2bdqc-GufSue_o_SEt3D0YER37lO-3FUJcLtUWlc8QF6-TcI_LFgOs_k-JtdX8mS8KNEZQcuXYAqfjDK14QVo9rl7VeVGBLy03qO4fwbBSyLdlJNoPOMXIckmfJ8dA4CmpoITEziMQM-_TxxGvaqZXorUNteYfG9gcB92rfelnIL4bvecTa_LKBvSAan6NBPPZtJYOkyCjHQj1hxpdXe7SLOPLcK2TeCzrGGvGZ1FZ84ofkC7oHUyJry6ydp2o8NyRoUBjSqyR8NB2bdbtHqHyhKScMOtWlV312ZKjfkk3F0DzvsVKukaM5iG5Q8ePRbVVBxXTbNgo_6uH5nbv_7AS3HJVnWA_AumBFO_XqBJxg1lMKUXizCfXh9J_KeG8akAas9FE1QqvzR8EHkUpE9jJB3GqHlOSrerzE8hC4NYbVrfT0fiZvhsGLyqwbN4QlsBnTFlNTqomuez0ooNFoGuOxmnLim4-IAeaFqwqA8g2UwLI_teRGYF5qkKdS2vLw6Wgacz-GpN6t0ycFs3niRRTt-4jRdjEDvzaoUi7MrboLsyR0ejCXPd4iUmzB1ovaKhM7dmlgwJihHomFKo3fgKadeRv-xrZgTrmSVmyX3ZklRhIciYJFakXfkTHBIeXveQ4BbT-lVxxelNhp3omHVE6p4Jhx29t1zyIFnzok3ndxyUMZwlX_GIFV8rgy2ShUc-TTqBrBF_z5Z9e5C2lX73eBgZvGfgLiG5DsKjiBrqnYGDyb-qDZ0Jqihw54fRwNJ4On-XVZDy94Viskfil8ODXqw7vNJKoc2OeXYjo4C_xpLjNNygFM161-opJTfH8mXnhW2yLFMAkEWA9BJekrxF6KAXAIXCI6yfMW6vHfW4HJ-u_fsrMiwS_2JKQlWTcBj58oV8WF0mFMOztD-hhSHbDD--IfQwanhDy3uoIgvZykALCAxt59DtXEXARltyIft87zOA82AWkVbl0FmCnAG0DcSZBdMpH_D7o1Yqf2vP_Y-OD-HmHYhxSgh09x3WGiCFoWqqoqqndZjkK6USv4c4r3qKFOQyUNLsBPO9H5ETv9e9zt25Nv7E9L0vTFyh7diZxaYxHAE4j4C1yiVqrsHcLI78py9c39iAxrzLsA_Fe1ozHphkLYs_dThxAi6s74pYVlkJk1RPISSfC-0kGZ4u7Sl9nOs2SCnEoJ7ArucpcLX2_dl89OMUF5rLzj956BF558YidOVFdxBUWaJ_XPbuwXkgYwQebGDisY1BUQ-jST-iERkt-Kb9xNaqVdxgNSyyozXzAzntQIh7jsFs7Idgo2YMC5akOFIIAN--VZf3DLPR6iy9JrIrPQu0olsfSbANFYDrPZWISdq6jlni2Xvy9XBZKi8luwZy9cGyhgXDHPOJb0ilCZskIT1kQ9f_iuuLRU1JcW-6hKxpajqYmnlVeiWOtwITbUMaHo1c8IOe7CFhSzW6X1tMlZXrptUu7j0CYFMxA8nQ_BxWEf50u3Z0kdN-o2MIpSRkiZzOL6TibLwVC8S_EuDMv2n6yyisbb0pScm9P-uyWjqUOkCI1pbTwGnX0_94E6g0NUt1vD99k3FbGUEBAejxUsfUX7Ds4dQOJlDVCZOYT7sw9RN-6yP87uSxswC7TbiFHmixHLOQuT4FxNrJ8KGKGs7YxMtU-wmfWb0te3W96QKCZufAwjPcxzofaSOCRNnLxN0R7UGWuIMSZPGwS3JdtOOjusjKK-j7iX-2OvMFryXcZ-HxlquoAAKkABndud_6lsmBbXlNA8vwNjR3VULkkSPHQa7sBuIk7O2QXEAHrq-F5vvYJp_FRXrDieDFliUR-rXBA8__7rfPO4x3sCVFua1bUo53Al3P2eo_5vz308S8wwdMFnclTd26uK7UevbLAAaSvzPiTvHCZ6tsboYAiNBMKueO7RedOt_9ZolCwiLu5yWB_DIYZjofTcTfjz0zHR0jhRRrBdcINcuDXZRAT60V4yYWSc8KVsUijQoyrfPj8LQoybIdH5tDT0hHzDLrLll7uOMrR8_Ep2EMMA0SQO3dPons_AaePlkdzqn8pJr0zDS4ifmVPtslpBL19bfzqLSbSC7urjeCHEVOZSAQyTqZukXI3iPGspJi_glFJQJg93Hu5mn79dqc_0e7GDDHQ_lR20OFjSh42WXAjashr7TT1tkqA2H9YBCSnffN6V_R12Lf3f_UuT6WA0u7tjAEH0Ib7gslGIAdmchp3egWhjgpYEaSQ4D1ssAYaNIR6hRvg4v1G1TMDtrzv1fHfL_MuS8ITXqPjxRwo3NdmjrfdZB7RCT0Zf4UPV93wHqLlXuI9iNdtTsGvbzzB3eoYc88qMFA4dKROb3M3faKlVkYjdOwI0sC1_8wm7DJxuHiQxSbJlcBRgOTtn09m2OEd1M32tgHg3u1S_uJsX39kCEkmM0SNQm1njGwSXD_d50nk28EkeN52tXv3f6UrrwJaYrC9DPoQa9dVdI0cFksvIuTr31L6FiE4nW-aBHQmKP81gxS5DFw8WB",
  "id": "rs_0254de1b53a9f971016ab43642472087d0bb4c0ff62f088853",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped descending near 2.5 cm even though I asked for tabletop height; the cap is directly under its closing area, so it may be touching the object. I’ll close once here and use the settled opening to tell whether it caught the cap.\"}",
  "call_id": "call_2EOkWtKpmcAlnpGCo5JRQia0",
  "id": "fc_0254de1b53a9f971016ab4364552d487d0aad2269635b3e624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2EOkWtKpmcAlnpGCo5JRQia0",
  "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]: [-0.3737, 1.6562, 0.63, 0.2161, -0.308, -0.2447, 0.0081, 0.4587, 1.3914, 1.0386, -0.5953, 0.2909, 0.2417, 0.0682]\nstate[eef_state]: left_x=0.3795 left_y=-0.0874 left_z=0.024 left_yaw=0.0119 left_pitch=-0.1925 left_roll=0.0538 left_gripper=0.0081 right_x=0.3464 right_y=0.1186 right_z=0.1491 right_yaw=0.0548 right_pitch=-0.3341 right_roll=-0.0939 right_gripper=0.0682\nstate[joint_eff]: [-0.1162, -6.7761, 5.3949, 1.5556, -0.1197, 0.0904, 0.5836, -0.2393, -5.4906, 6.653, 1.2967, 0.105, -0.0415, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b2fcb9dae9e00cec3962c7b09df508447cd6f0e0eaf00936f995fb9fa59b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb05dc2a43674a564a873787d59ce0ad582e78b68ffe3ae876d88e563f98e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e52c005f465e854283d101044f0a1c7c4f328fa5dce100fe3df847e56b84ae2",
      "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 · 4.275 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3706, 1.6314, 0.6121, 0.178, -0.3069, -0.2298, 0.9964, 0.4587, 1.3907, 1.0386, -0.5884, 0.3019, 0.2424, 0.0582]\nstate[eef_state]: left_x=0.3697 left_y=-0.0825 left_z=0.0206 left_yaw=0.0083 left_pitch=-0.2224 left_roll=0.0758 left_gripper=0.9964 right_x=0.3481 right_y=0.1173 right_z=0.1508 right_yaw=0.0461 right_pitch=-0.3235 right_roll=-0.0989 right_gripper=0.0582\nstate[joint_eff]: [-0.6222, -7.5692, 8.8, 2.1954, -0.1734, -0.0464, -0.0073, -0.212, -5.8462, 6.5436, 1.5409, 0.0904, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6315, 0.2211, -0.3077, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5945, 0.2943, 0.2424, 0.0647]\nstate[eef_state]: left_x=0.3808 left_y=-0.088 left_z=0.0254 left_yaw=0.0078 left_pitch=-0.1868 left_roll=0.0556 left_gripper=0.9964 right_x=0.3467 right_y=0.1181 right_z=0.1494 right_yaw=0.0516 right_pitch=-0.3323 right_roll=-0.0958 right_gripper=0.0647\nstate[joint_eff]: [-0.4171, -7.7607, 7.706, 1.746, -0.1929, -0.0269, -0.0073, -0.335, -5.5316, 6.6667, 1.2869, 0.0757, -0.0708, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.63, 0.2161, -0.308, -0.2447, 0.0081, 0.4587, 1.3914, 1.0386, -0.5953, 0.2909, 0.2417, 0.0682]\nstate[eef_state]: left_x=0.3795 left_y=-0.0874 left_z=0.024 left_yaw=0.0119 left_pitch=-0.1925 left_roll=0.0538 left_gripper=0.0081 right_x=0.3464 right_y=0.1186 right_z=0.1491 right_yaw=0.0548 right_pitch=-0.3341 right_roll=-0.0939 right_gripper=0.0682\nstate[joint_eff]: [-0.1162, -6.7761, 5.3949, 1.5556, -0.1197, 0.0904, 0.5836, -0.2393, -5.4906, 6.653, 1.2967, 0.105, -0.0415, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b2fcb9dae9e00cec3962c7b09df508447cd6f0e0eaf00936f995fb9fa59b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb05dc2a43674a564a873787d59ce0ad582e78b68ffe3ae876d88e563f98e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e52c005f465e854283d101044f0a1c7c4f328fa5dce100fe3df847e56b84ae2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0254de1b53a9f971016ab43648481087d098e2699bd54f1c63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.085,\"left_x\":0.41},\"note\":\"The left gripper again closed empty, and the cap remains just in front of the fingertips in its camera. I’ll reopen, lift away from the table, and move forward over the cap’s middle before another descent.\"}",
  "call_id": "call_q2Pk0ZCzgcoav6o9vVMsPV8N",
  "id": "fc_0254de1b53a9f971016ab4364a193887d09c738cd5fc8a8914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q2Pk0ZCzgcoav6o9vVMsPV8N",
  "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]: [-0.3405, 1.6241, 0.8234, -0.0494, -0.2981, -0.2348, 0.9952, 0.4587, 1.3914, 1.0386, -0.5953, 0.2874, 0.239, 0.0713]\nstate[eef_state]: left_x=0.4007 left_y=-0.0831 left_z=0.0621 left_yaw=0.0347 left_pitch=-0.2328 left_roll=0.0693 left_gripper=0.9952 right_x=0.3463 right_y=0.1191 right_z=0.149 right_yaw=0.0592 right_pitch=-0.3353 right_roll=-0.093 right_gripper=0.0713\nstate[joint_eff]: [0.4581, -9.1419, 8.9915, 1.453, -0.0024, 0.0855, -0.0757, -0.2393, -5.4632, 6.6667, 1.3114, 0.0952, -0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cccd99e82594524a7d6f5b6b41ba659b1ea9ac03f5b58954d6cc68362e9d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bdcbd50767aa1519fca163544057d24e3f4f50cc36f9258cbaa5de2b1cfdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b947e6a60b4c7a2e694718b6e066dc3b824f00748756bb0e20a7eca44cb6bc9",
      "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 · 2.587 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6312, 0.2211, -0.3073, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5938, 0.2951, 0.2424, 0.0613]\nstate[eef_state]: left_x=0.3806 left_y=-0.088 left_z=0.0252 left_yaw=0.0075 left_pitch=-0.1873 left_roll=0.0555 left_gripper=0.9964 right_x=0.3469 right_y=0.118 right_z=0.1495 right_yaw=0.051 right_pitch=-0.3314 right_roll=-0.0961 right_gripper=0.0613\nstate[joint_eff]: [-0.5128, -7.5692, 7.6103, 1.7509, -0.1832, -0.0073, -0.0122, -0.3624, -5.7915, 6.8308, 1.3407, 0.1929, -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 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.63, 0.2161, -0.308, -0.2447, 0.0081, 0.4587, 1.3914, 1.0386, -0.5953, 0.2909, 0.2417, 0.0682]\nstate[eef_state]: left_x=0.3795 left_y=-0.0874 left_z=0.024 left_yaw=0.0119 left_pitch=-0.1925 left_roll=0.0538 left_gripper=0.0081 right_x=0.3464 right_y=0.1186 right_z=0.1491 right_yaw=0.0548 right_pitch=-0.3341 right_roll=-0.0939 right_gripper=0.0682\nstate[joint_eff]: [-0.1162, -6.7761, 5.3949, 1.5556, -0.1197, 0.0904, 0.5836, -0.2393, -5.4906, 6.653, 1.2967, 0.105, -0.0415, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.6241, 0.8234, -0.0494, -0.2981, -0.2348, 0.9952, 0.4587, 1.3914, 1.0386, -0.5953, 0.2874, 0.239, 0.0713]\nstate[eef_state]: left_x=0.4007 left_y=-0.0831 left_z=0.0621 left_yaw=0.0347 left_pitch=-0.2328 left_roll=0.0693 left_gripper=0.9952 right_x=0.3463 right_y=0.1191 right_z=0.149 right_yaw=0.0592 right_pitch=-0.3353 right_roll=-0.093 right_gripper=0.0713\nstate[joint_eff]: [0.4581, -9.1419, 8.9915, 1.453, -0.0024, 0.0855, -0.0757, -0.2393, -5.4632, 6.6667, 1.3114, 0.0952, -0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cccd99e82594524a7d6f5b6b41ba659b1ea9ac03f5b58954d6cc68362e9d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bdcbd50767aa1519fca163544057d24e3f4f50cc36f9258cbaa5de2b1cfdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b947e6a60b4c7a2e694718b6e066dc3b824f00748756bb0e20a7eca44cb6bc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZPlaWvjqFwPJ3dIsnZCmr7QP677BtOJcd-UMvYpDbH31JFFPUnmOWm7y5XyguQ3fWDB5xqePOncmUgGDebcqYQ7Pg2JuyIMXlPlFtKAmGgvStaXWcPmYcFeMyLE8sCMsnq3oq5E8u-Z-4wD72eUcFzi4R7abnzZTRv0DEOEc6i5s2rVT8DKsgIGBaaW_bQx1JXI8--beDcFvW-33MSKI4javNY59i80xbbNf9vz__DqzcpBkSQnk_hlLAQQhY1d-Cv-KWObz9mK5ZTH9_Fpzcy6G8KwHr1rcD5cA9BjxhcpT9yGbJLsAvMA1HCiKBMM89hEMIlJMk1c5_CjutEPezqnmf3RFymXyXIddMFy9ByM0g9Rr1lM4xICCesLEREEAbkzPLeYA4PK9O0fhe5K4FlH7oI6vsW_oXnK0WoJa_YTzsGA_b8gFMxk5376W4MvxMqhwy2d3JL4o3rTw_cS2k3yDEMRNW83bFrrCjCYVE2Xf-dxm3eIh6qLSrh4_jr5eaOfO3FoEqFZw9jmZTrwZJHqBX61Qrp9dZBYmdhwWK2XISLMKjHltfmWDBjd4jxjKpxBMqEmgAOY5Y4T2oBVaaYRKuSxrPnYpDnm4G7Gx2rc_R8_-Sls_aA69eE1TZ2WFHO5loM7DlV0auf4u1RIql31VvZXjJU87h4Az5bybS0qxtlTnfnfzmsoeNjs_rqgk4ZQCbIJaRR-8Y3qBLgjW5XWtwtEw-OjECuL8HY_alAsmy3cD1msL6nbBmQTStn2nYqUiPqLW6E27jyxkZQHZNLtmyLwpEZrjYe-KMJnmczvmUbaTXDG3v41nDxLRs3rlfLzu9woaXmhxV8aIOtBZcTlZv4nPTBHJpVX9nrE6mRPGlR6Z2zTZevwmh4VP6DhAIp7tXpCGT86uVHToYcPu3WbkivIJIKAEKfwN-_nMbn1836DDaIoOa003F_gi6s0EFjMivWDEh92eZIv0eqq9rAzgNFdveZdsOEsn4TkJSflPU-W3tcAKVbudCMw_iVkR5J1NHT91wdTkAcgLbm5eRMbXU3AHwZ2JGdXhkVCqQQ9tRJ5XHPvfGkT9PizcvI8le26aoXoTaJFqMa2tzn-Nyk9u5jCAbURaYF2rXdl20OLMwS0UPoIYEMurX9ukc3r_qo97gzm8gcG1-OG2HYRxB6QnzL7A4olXXL51m0zLTFe-qM971Kwo_sZV0uQIGsKZR8bHvlu9Sh2TfKILcyLKxdAS8T_6oGqD8SFpfQNQo34-9arb8n5D9h65XN7dCsHGf7M32eVJ7nJHRQo1iyMKXFN26XX6sZtwhpBVjPzzphJxJvXckuBdgYn65Vu18ifZV6k2WWmaNPgmXPqZRZGkhygGgxaQXMuQf36c5dI_zvEV_uyWxY1D1e1zN0IorUWjdbgMpyZNDeim85xedGbmFtGqFFI-hLifkavbP_ZY9uk7MURK-W6REEp41CXmraEiuKkYqzzKmgduFTmphjW5KA0tMbqPSswyxFRTj-Bt0d4O4fpndmgWDFdJrY4goPHV6GNeYstuvHZwX-FILw-vN7S79AE34E0Ls7cG_VM99XyygzjvHFuyemJSUdYMqvk11UAAW1d_1_r3MHR-j-CjzgynmcPzMcsqAMngE8dj-Q1QsK2ByEjgtjiUlYu3_Nsf2Kp9U0s8Xfk3yoP4jCbajmC2ac5t_d9f9TBVbsPkiyRVg=",
  "id": "rs_0254de1b53a9f971016ab4364ded4487d0b0ef3b08a5f1ff8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"With the left gripper farther forward, the cap’s thick section sits near the mouth of the open jaws in the wrist view. I’ll lower vertically at this alignment and check the resulting height before closing.\"}",
  "call_id": "call_32gfYIiWY3hgV3kOmH1F5XUk",
  "id": "fc_0254de1b53a9f971016ab4364f0fbc87d09673aaccc0eecfc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_32gfYIiWY3hgV3kOmH1F5XUk",
  "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]: [-0.3405, 1.8011, 0.7204, 0.2298, -0.3023, -0.2527, 0.9963, 0.4587, 1.3914, 1.0386, -0.5961, 0.284, 0.2356, 0.0738]\nstate[eef_state]: left_x=0.4014 left_y=-0.0826 left_z=0.0018 left_yaw=0.0482 left_pitch=-0.2316 left_roll=0.0598 left_gripper=0.9963 right_x=0.346 right_y=0.1196 right_z=0.1487 right_yaw=0.0639 right_pitch=-0.3373 right_roll=-0.0928 right_gripper=0.0738\nstate[joint_eff]: [-0.294, -5.4769, 3.7265, 0.9597, -0.105, 0.2271, 0.1001, -0.3214, -5.7094, 6.6803, 1.2576, 0.0855, 0.022, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da699f2d577eab36274148fa6528040855471cef45c8b41e009a6944febc224",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80b49b1adc9d7fc62ec27ac6c8e5a1e5fddc92192bfed37dfeb027424352fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1c3f11115b8d68f007f175f031b5e2e6497934170030df091c562e3b08f293",
      "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 · 2.577 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.6315, 0.2211, -0.3077, -0.2386, 0.9964, 0.4587, 1.3914, 1.0386, -0.5945, 0.2943, 0.2424, 0.0647]\nstate[eef_state]: left_x=0.3808 left_y=-0.088 left_z=0.0254 left_yaw=0.0078 left_pitch=-0.1868 left_roll=0.0556 left_gripper=0.9964 right_x=0.3467 right_y=0.1181 right_z=0.1494 right_yaw=0.0516 right_pitch=-0.3323 right_roll=-0.0958 right_gripper=0.0647\nstate[joint_eff]: [-0.4171, -7.7607, 7.706, 1.746, -0.1929, -0.0269, -0.0073, -0.335, -5.5316, 6.6667, 1.2869, 0.0757, -0.0708, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.6241, 0.8234, -0.0494, -0.2981, -0.2348, 0.9952, 0.4587, 1.3914, 1.0386, -0.5953, 0.2874, 0.239, 0.0713]\nstate[eef_state]: left_x=0.4007 left_y=-0.0831 left_z=0.0621 left_yaw=0.0347 left_pitch=-0.2328 left_roll=0.0693 left_gripper=0.9952 right_x=0.3463 right_y=0.1191 right_z=0.149 right_yaw=0.0592 right_pitch=-0.3353 right_roll=-0.093 right_gripper=0.0713\nstate[joint_eff]: [0.4581, -9.1419, 8.9915, 1.453, -0.0024, 0.0855, -0.0757, -0.2393, -5.4632, 6.6667, 1.3114, 0.0952, -0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.8011, 0.7204, 0.2298, -0.3023, -0.2527, 0.9963, 0.4587, 1.3914, 1.0386, -0.5961, 0.284, 0.2356, 0.0738]\nstate[eef_state]: left_x=0.4014 left_y=-0.0826 left_z=0.0018 left_yaw=0.0482 left_pitch=-0.2316 left_roll=0.0598 left_gripper=0.9963 right_x=0.346 right_y=0.1196 right_z=0.1487 right_yaw=0.0639 right_pitch=-0.3373 right_roll=-0.0928 right_gripper=0.0738\nstate[joint_eff]: [-0.294, -5.4769, 3.7265, 0.9597, -0.105, 0.2271, 0.1001, -0.3214, -5.7094, 6.6803, 1.2576, 0.0855, 0.022, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da699f2d577eab36274148fa6528040855471cef45c8b41e009a6944febc224",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80b49b1adc9d7fc62ec27ac6c8e5a1e5fddc92192bfed37dfeb027424352fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1c3f11115b8d68f007f175f031b5e2e6497934170030df091c562e3b08f293",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZSPgRDKi4ZfG-NTS89sTEnPMNdrBFySoagGcxdhSdDDMFP7KUd_sSbLvVwmycWDO4Jg5k77Q865bIjEbUo7dPYfayPOJopVj97PiJf4dHF9uYwJFOIX2oG_n8fcBxHaXub1c8OpOYWN15aai14l-Zl4PIDBtQJ4dCy3svnyljclfJBVcPsjtkakjrjfeAmmm4lyIUOBU9E459-iK3O-cMlS1AaNZkYk8Avr4RPn8Nll1Plza45tKgb0VdA3vFBeLRVJuvCFTJRf2rLV3uwTRXDJIRYyR26Tj-TgSzWMahpcZASvfzBumpU5u79sbqFjwgm9h6KWQ7kqFSTumChPAeoZKcG_shJkkicrmtQiCR7Cz5VL_szisi6wsLHfTb1Meqkj4U70x9SFMs7mff0iuU1KQiZ2IuiLpXkpmDUnryoABn1em1-FRuYNJOijGXi8KcNMCd1AZEQXpYqERu5rs3Bsv6hVPQr_ONLItBoGQv0VHAYZb0T12QqeFFcCOXeyxB2mvIOoLhxDBZYbdsNN-1SJEAjq28v-ps9-whYqBsVJlRKhlguS-8Iqbeddos5ZWZIlj74JOLWhWZtH8_IqtkOwOUwAgWgJIvWCh5Q74AAJ9uwHnHTp67W5qbPIzL_bmkdtYa61V7vwQPhZoBOAYeXZt4UdPcVHQF07z1THDO085tUoshulEwiTNCznWn9bJHNunPSpe-wHKV76YtpfeKhWya1RtPw_TgRfmki57CjoO6Trz8jNkPAYJ4NKuhA6VYTW3aYJ9ix7aVfnRJvjtxG70n8opVQLPQQYO4jP5OLphvStlfaisXNH2kHB7tkruNRhlvu9D02IJCTy-O1bjn-0Xq1nIMcJCJa1ObNQj59Vi3zmPPAYYw-lpdiqtZmyUmgdlX1KelagV3sMixBWF67ZaTzkdm7n7NjheEHuUFWG8GByhTVHF_zfI0MZQSr_0UALP5wJ7KQWGof0H0_7yZyP1IhNh6XaLq9M_J_-4eI-weYD_FsJxN7didipkfxSgp-57FaDybHgIBHBqWS8FQPNFW6q_tsnBrB5UgG7hXx7K_G0X4jupt2AoGhWHI47BMN9xlZf7LZE_fX-o99K4moyg7Qi0iKfGupAhJJvm4a7kgynlbDP195ioJ2Y_N7twZtmBbK0byCBRev5icI22_UqBcULlJ1Gphz4d1MlT1HxYtQbpTfRhsbLVVqhsdyOzX7yZb9E0w7_PunRZRQwYIEp0w85CdTkd0ofOBxQo-dozl3LLasXPhFTH-WeFE4gPBMGP94jOBGrbatwPgcRTMUkU6mGkacVqRAj9CkFMEMN_dZf9wfnrY9zLBW8b1ap2lAfoFwirELYPYnA_V1HWohe7zV2OMJfvsZBej1r9qriTYS1b7RXB53A6MJXmCOWdiTZZazXkkb5rZvUgUkg-aOORmqtYAR7eLkE_hvIlgws3qg3emDEngmXaK-9OXtdxBNsqHzGPclJs_IlnFXKqeweLK81-gImKB3RCykvm-VOK4=",
  "id": "rs_0254de1b53a9f971016ab436517fb087d0babd4999ff084171",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips have reached tabletop height, and the cap’s thick tube is now between the jaws near their tips. I’ll close on it and check whether the opening stays wider than an empty close.\"}",
  "call_id": "call_zteR2hdQVddwaSUVhIOPpG1G",
  "id": "fc_0254de1b53a9f971016ab4365231e487d0a68d891ff8496034",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zteR2hdQVddwaSUVhIOPpG1G",
  "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]: [-0.3408, 1.8061, 0.7158, 0.2775, -0.3119, -0.2615, 0.0196, 0.4587, 1.3914, 1.0382, -0.5961, 0.2832, 0.2352, 0.0753]\nstate[eef_state]: left_x=0.4075 left_y=-0.0832 left_z=0.0064 left_yaw=0.0573 left_pitch=-0.1934 left_roll=0.0451 left_gripper=0.0196 right_x=0.3458 right_y=0.1197 right_z=0.1486 right_yaw=0.0647 right_pitch=-0.3379 right_roll=-0.0926 right_gripper=0.0753\nstate[joint_eff]: [0.1026, -7.9385, 5.9009, 0.9744, 0.0806, 0.0659, 1.0281, -0.1299, -5.7231, 6.653, 1.2723, 0.1001, -0.0269, 0.4127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a70baf2e44acc28ea311de7a7fa280d8929a4dd60ac597dc1d1c0151f41d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd896d2c5217e7166191bfbec9dbb3d6bf9963c75bca02d061f99e68fae96d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a40e1be885b1b07458d981dfc3154c2e56de3dd894514f9d04a225cb3132c44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.806 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.6562, 0.63, 0.2161, -0.308, -0.2447, 0.0081, 0.4587, 1.3914, 1.0386, -0.5953, 0.2909, 0.2417, 0.0682]\nstate[eef_state]: left_x=0.3795 left_y=-0.0874 left_z=0.024 left_yaw=0.0119 left_pitch=-0.1925 left_roll=0.0538 left_gripper=0.0081 right_x=0.3464 right_y=0.1186 right_z=0.1491 right_yaw=0.0548 right_pitch=-0.3341 right_roll=-0.0939 right_gripper=0.0682\nstate[joint_eff]: [-0.1162, -6.7761, 5.3949, 1.5556, -0.1197, 0.0904, 0.5836, -0.2393, -5.4906, 6.653, 1.2967, 0.105, -0.0415, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.8011, 0.7204, 0.2298, -0.3023, -0.2527, 0.9963, 0.4587, 1.3914, 1.0386, -0.5961, 0.284, 0.2356, 0.0738]\nstate[eef_state]: left_x=0.4014 left_y=-0.0826 left_z=0.0018 left_yaw=0.0482 left_pitch=-0.2316 left_roll=0.0598 left_gripper=0.9963 right_x=0.346 right_y=0.1196 right_z=0.1487 right_yaw=0.0639 right_pitch=-0.3373 right_roll=-0.0928 right_gripper=0.0738\nstate[joint_eff]: [-0.294, -5.4769, 3.7265, 0.9597, -0.105, 0.2271, 0.1001, -0.3214, -5.7094, 6.6803, 1.2576, 0.0855, 0.022, 0.5446]\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 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.8061, 0.7158, 0.2775, -0.3119, -0.2615, 0.0196, 0.4587, 1.3914, 1.0382, -0.5961, 0.2832, 0.2352, 0.0753]\nstate[eef_state]: left_x=0.4075 left_y=-0.0832 left_z=0.0064 left_yaw=0.0573 left_pitch=-0.1934 left_roll=0.0451 left_gripper=0.0196 right_x=0.3458 right_y=0.1197 right_z=0.1486 right_yaw=0.0647 right_pitch=-0.3379 right_roll=-0.0926 right_gripper=0.0753\nstate[joint_eff]: [0.1026, -7.9385, 5.9009, 0.9744, 0.0806, 0.0659, 1.0281, -0.1299, -5.7231, 6.653, 1.2723, 0.1001, -0.0269, 0.4127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a70baf2e44acc28ea311de7a7fa280d8929a4dd60ac597dc1d1c0151f41d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd896d2c5217e7166191bfbec9dbb3d6bf9963c75bca02d061f99e68fae96d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a40e1be885b1b07458d981dfc3154c2e56de3dd894514f9d04a225cb3132c44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZWUObgYuFj4lmFL14-qn4Ouwkc57Pnf6q3Us1wQ0Qv5Qi7_MAx6mCeughO-aLrKjoRNqVNqiJ4L-Y0V24xqdZeEueiIyePvxWSF7jApnYoTuYAWUa5pg-8-QSnNI6exZ0dynR2pnV1wa0cF8zt5MlSNnmdrkOM9FdKim3wf5cFXvSa9PLUX7kQEuFmAR-pHceeFABMVyPX4gxtRujCxhOq_lRVT_RMrNfHqQwtvVhA-dFdgrKfp95tFUTM8PxB_9_bRb1aPGhfvvh2I_iznLgej72TN6ddUcU_gkIIZ5dVWSkRGvKU7f7oQOZ14PGhMfblkGVhcQKe4IA8n8lEADhyeJkdT0oL_qnu_kC-zWkRW9uy8cYWhIfSieObwL-UjHVYfsd-GMyoBXWiTuuAvG_EOfQmP8VpFK8jW-Gxii3wzFxX1JNhkplBL4-e_GQD0Nc0JQY0sIidHj-2DUjMxY8USfYq2wc109l_UIepEVeaQv2l1Pav0i8qmidy60jH5In5uClPMIjPXfelD6VcWDd5GFu_Bq-Kzbm4HQ-YMdfUTt2vXIGHen_dWJNgWBzVWzPnIOtwYSRdrWvqr0ZvW7NlrEujM7AWjW9d28eXqVlL0mp6mL97gdTGDTcl0xBcdHPE059fzOWZ8RcXZDRUm2CoisTAWsyBCBNliKIeiwzNGySIsnBnXKGUFQ0rhvq_2iAOSQs2F76jvQ93S-efPn0jymrjVaXPlU13Z2jI1Uh1ux0MAOCv5gHh49F1wo58xWnSFo7kFBygNM_WLIMRA_yQkwvJty_mH3zR4XLbelzPj258NqyJH8VETWM-qQvabyYL1h7fOsuxHyVt3UnM5PeUeHkySUcd08oOnbHcrFgG17vjzx4pGDPO8AUsybT1GAyFCI9Bzhc1pQfMQMCiKbw3PjRNWTIuuBrvYhQISRQvufDVdl97M_3pFQH9KEjHwXv-XBv8GgMS0hEjuoQ4RWZWjpoiIuvU5jxCepLIztfQpK0tshTAbIR369-6o5t9IwpIK14EYz2I_aoXUXFmorTbq_m3XXyHU_fz8tSB4mx-arlWvbnYGV4KNv4B4prZGaUSIrQlW1z7Fsuxf-XQaq6btOJplCEx5Tob5JeGQXjdvz5VENTsc6il3PTkb1QSrmjP0N8T2QVxhPDZ-A1OUnt70XSAQaHAUNC54MHhYtmU7OvMJeL9H7QcMGyZTPH5KpwcsfQ5vKhJ9gn0ytamUR7jKhMzjJy1g6YVvArcBvVqIi3NX_6uPTkflJk-1yE63b3qPZUFonp0EUbT1rEevtkXyRPVkRNUvJu08T47qFsfyIUNpoLnEdBjy21ybhCqecqrwl6HHTM6WYRzR6MM0-kOvp46ZlFk361hzPvMYgJLOmohJn-DnkN2WbN5Fj-Fosjb_n39bcSFp7ZqdSBN23Q2XOKFedfZG1pW5qkvCI9-TsI6suGRANhQzKaz0_lbiR21LS2E1ZT5ayygDEyPoFUIGbpYXQz4PAl2XuPPADHobQg=",
  "id": "rs_0254de1b53a9f971016ab436551df887d0a2922fb587e3ada0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The left gripper reads under 2 mm, which usually means an empty close, although the cap’s narrow end remains visible by the fingertips. I’ll lift a few centimetres to verify whether any part of the cap actually comes up.\"}",
  "call_id": "call_GhmCDveBVpz9cexvjAA6tLxo",
  "id": "fc_0254de1b53a9f971016ab43655a81887d0a6d2b6d68a75e850",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GhmCDveBVpz9cexvjAA6tLxo",
  "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]: [-0.3408, 1.5818, 0.8791, -0.1295, -0.3077, -0.2653, 0.0185, 0.4587, 1.3914, 1.0386, -0.5957, 0.2832, 0.2348, 0.0758]\nstate[eef_state]: left_x=0.4048 left_y=-0.083 left_z=0.0873 left_yaw=0.0575 left_pitch=-0.2124 left_roll=0.0471 left_gripper=0.0185 right_x=0.346 right_y=0.1198 right_z=0.1488 right_yaw=0.065 right_pitch=-0.3372 right_roll=-0.0926 right_gripper=0.0758\nstate[joint_eff]: [-0.2803, -9.0462, 9.1966, 1.5556, -0.2027, -0.0171, -0.1245, -0.2803, -5.7231, 6.653, 1.2967, 0.0611, -0.0513, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cebefa151199428e57c31a7566ca99f6d2c1d6af1750253f436ba028eefcb3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70611c8c6b8e157cbea260be03af5cbb151d3458a9bc07b55ad2440f6f1e593",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4114b23e4db25ed7dfccd9b7bd5d54aff7a8321c8a62c0b8e2b5e8d2c8ce67",
      "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 · 10.95 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.6241, 0.8234, -0.0494, -0.2981, -0.2348, 0.9952, 0.4587, 1.3914, 1.0386, -0.5953, 0.2874, 0.239, 0.0713]\nstate[eef_state]: left_x=0.4007 left_y=-0.0831 left_z=0.0621 left_yaw=0.0347 left_pitch=-0.2328 left_roll=0.0693 left_gripper=0.9952 right_x=0.3463 right_y=0.1191 right_z=0.149 right_yaw=0.0592 right_pitch=-0.3353 right_roll=-0.093 right_gripper=0.0713\nstate[joint_eff]: [0.4581, -9.1419, 8.9915, 1.453, -0.0024, 0.0855, -0.0757, -0.2393, -5.4632, 6.6667, 1.3114, 0.0952, -0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.8061, 0.7158, 0.2775, -0.3119, -0.2615, 0.0196, 0.4587, 1.3914, 1.0382, -0.5961, 0.2832, 0.2352, 0.0753]\nstate[eef_state]: left_x=0.4075 left_y=-0.0832 left_z=0.0064 left_yaw=0.0573 left_pitch=-0.1934 left_roll=0.0451 left_gripper=0.0196 right_x=0.3458 right_y=0.1197 right_z=0.1486 right_yaw=0.0647 right_pitch=-0.3379 right_roll=-0.0926 right_gripper=0.0753\nstate[joint_eff]: [0.1026, -7.9385, 5.9009, 0.9744, 0.0806, 0.0659, 1.0281, -0.1299, -5.7231, 6.653, 1.2723, 0.1001, -0.0269, 0.4127]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.5818, 0.8791, -0.1295, -0.3077, -0.2653, 0.0185, 0.4587, 1.3914, 1.0386, -0.5957, 0.2832, 0.2348, 0.0758]\nstate[eef_state]: left_x=0.4048 left_y=-0.083 left_z=0.0873 left_yaw=0.0575 left_pitch=-0.2124 left_roll=0.0471 left_gripper=0.0185 right_x=0.346 right_y=0.1198 right_z=0.1488 right_yaw=0.065 right_pitch=-0.3372 right_roll=-0.0926 right_gripper=0.0758\nstate[joint_eff]: [-0.2803, -9.0462, 9.1966, 1.5556, -0.2027, -0.0171, -0.1245, -0.2803, -5.7231, 6.653, 1.2967, 0.0611, -0.0513, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cebefa151199428e57c31a7566ca99f6d2c1d6af1750253f436ba028eefcb3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70611c8c6b8e157cbea260be03af5cbb151d3458a9bc07b55ad2440f6f1e593",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4114b23e4db25ed7dfccd9b7bd5d54aff7a8321c8a62c0b8e2b5e8d2c8ce67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZaS2pzIYfJe7n88zJ1Oxu9dDviyQkYQXKJUNWECUYnyzeezvPEB5v7p2cbwOdSQNOjVm47SNLXo708iWmZDCD50ZM209B2o-bOgmumI_4qwztovwJqd15Z3VpKlw5ejVvV4wPWE3BgG1LnPyesnzMLosLzyELrTkAxxBNvd--zcJuk2HnIMlg1gcIVqAb9GBCjxQe3WW3JCS_9fSEHMdOfZlHk6LjVVkmh9sQt_8o3l8SJ4ph3RxOinXqzaFctVsRgpC28IdFgCFZCEpwyz5vN23l6MtNxb4sWsYgSEW9_M8v0njuUTJwBluvyO2hvh6bFowgdArzyiG9iJ-w6OZgqL3z5MEzMn8_VtujxC5_vN5hVpVaXoccZGdWuRIX8HI1HJgwLP_mqmwd6IH_3KepDGJu9bOqdBZ6w4Q9FVl2-X-7Jt-ZF9VoSjs2xOP49TH37Rco0syzmJVVgwCewwsabbuPr2sq28tjcS3C_pyKHg8QLsJ9ecf_oQGWXKkgY7SVl12wgAQ5P1IHSkqBYbtyNAPvFLkXJvhavg_nLtOcXnQBtpDkgo603YxYaeD-uFNlgHOnJJg6SpSNIpouSa6biE4jlJWEkYIVvUfAjVcoboMQl8LVviahNEUDNFL2BtN_x9R0a0g3BBMfbdYle2AHNg_Rlm0bPBWhicGzWq1hSCz01FCSmouzGckDD1nc2ZiCs_yTcgDJkak2oQk6_edBdL8XtdokEP58EVwhEPLAs8YAqeKyxVO2nc3tQPQ_Lc4eGjW-qIH6LoqII1CJW6qFV2TMfq3DWwYjX66BfFH8mNsuA7hn9r3_U3HfDjuQDEj4GhlJhXOlgE2oTpwWy5cz9MQOv0orRLzEeQjY0Mfi82hJw6H59cGQvM8zq5oqjuwB3vn833d-QjAIwkoRnsNjk5equ2_E7SLxvLy4dBjj5HVXL4TKQdSNniB8RLFO1Tb0BxWOb6Ex141MEE9aPKsHuo6Zp6u8QT7x4DGE-xb3u4IsAjNU84cnoW_bhNxhsnJ1tIcLFdOSvb3gRa1T6Zr1uP8OFdeTlnkZgPrkVqXgAdpg7VJCTpY-iqLwCcbMuDszT54gNMmAlsVPL8Mw9AXRlvX62PiRCffST8hl8ZxiIDEeFrV3QpKp6bF-s51OWLseRUuoX4LXjzkEJs-3-n066IBuOs761Txuu6sN9aZZrH4p4CkuVs_R-rAe2xaRAs0Paro5_4K9e_v06ktb5I-FbdNBWhrZThz6krqePqPbU1OHyXTNgZWfjfI0kbME69jiKA5GT-PX-OpU5I8kTddcq3455D-aQGlKfWLQPYbHgDUW_ypTysDziRgD5tC9s8OkkwMMhpGL5pHNarcH9CCGa5lifMV8tSRSu3TT1z4ecCOM5ardxz0wf6weTDVhk_O0-LGpYvOaPN1on4pJ3FB7D2aGa6e3vz3p1XNnuetuQgYmsbhT6fZ3p-HY795CG9ZFfRDSmhJy4lK-uLNrG3ufP9MHLLZEJXQtjPpM5t3_ArEXnqCU-ciK0kMaEvfmal2bfANr9UDsxrKhVfkJ6OH-4zYF1_Gb4CRhY9dRnO6ldAeFCKZ3pj8xVcAOfF4QNu0E4nw0XT0XKlqmWKAvmGKo_Nr1L1vBesrQP6mEgnnZ2JPFnjINZUvJM3UlEd1wZAbjSkhTmV_sHqg_Ghjqonjkg4feQXC5tIifZc1Vt4Ht50FC3vmIP5f297I8eVGEvnLqRaXim4im6NUBne16vUGAdFwl1Sbv_bVQqXmWKaq8dAjCWihaZRLtzoscBb0R6PqOFvlhysw7UGR5VAmbfh1NKl5994SdFf8GU-GhCna7R-mN6xUG_MzgH53SUtb2OKD4pFwE9kF9fD-ha3EyYva0r2T1zX8LMuBZx1a-uYICtFp52kIy-hOIl8p3qLtDAPWRrv39Azhu9Ub2fd1FwffZyw4ymLvlMG15VvzgdphBqaqfjggDKNMi5MXQmGjdE9goStL4OCAsyflIAy3eKxRtz86LgWp_XzQ0eYJ5-pw22MHIsB-EBbS6l108RXjPhECVoIOORNHa83OCIHznYU9Dj0JEm2_vEvGDJuX-OejJQVVia9Q-Ot4pi7vzQrCz2jGlFwq4FMZjxGXZ0SdkECe--DYBXIeOZWMeoRV4nOQUCHb-PsRqPXhMfwgEzr2K4UKKVUFy1eTxxDczvp7fByy2waRybDLDbBb-W3NTVCOWcZuzUXTtbkUFsYlAhVPUC1PUm7xAYM4S5OGHEAU1TEl1O4Is2nBMNYFk-DNzWif6AgXYTGTxr0dXdXrlYpQux2Yg-j-KpbZLxFfY6mlpsR-6QwA==",
  "id": "rs_0254de1b53a9f971016ab43658559087d088f1df19faf0bae2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.16},\"note\":\"The cap is no longer visible in the left wrist view after the lift, but the gripper opening is still too small to confirm a secure hold. I’ll move the left arm back over its own side to reveal the cap’s former tabletop spot in the overhead camera.\"}",
  "call_id": "call_VdKZEgMPRZxHIkVKSP2BaYQs",
  "id": "fc_0254de1b53a9f971016ab43659e65487d0b105bca17efb0b3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VdKZEgMPRZxHIkVKSP2BaYQs",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1089, 1.0168, 0.7513, -0.4931, -0.1734, -0.1265, 0.0197, 0.4587, 1.3926, 1.0317, -0.5964, 0.2794, 0.2314, 0.078]\nstate[eef_state]: left_x=0.3124 left_y=0.0001 left_z=0.1624 left_yaw=0.0966 left_pitch=-0.1744 left_roll=0.0337 left_gripper=0.0197 right_x=0.3443 right_y=0.1197 right_z=0.1454 right_yaw=0.069 right_pitch=-0.3466 right_roll=-0.0953 right_gripper=0.078\nstate[joint_eff]: [0.335, -2.6598, 7.2821, 1.6093, 0.105, 0.2466, 0.1148, -0.3077, -5.5863, 7.2684, 1.3065, 0.1245, -0.0269, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e714e53c97d2c297aab6ec36146f8a3c692cf2ca464aad18b727455123ca6ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd34ac279a864e227a452bb92cc58bcacbad7d694358ad42d31650467de5ca4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b21caa2b8a2e995c686436ed02f5e0283c1f33fe2d2e6daf40776c8fd32e3c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.151 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.8011, 0.7204, 0.2298, -0.3023, -0.2527, 0.9963, 0.4587, 1.3914, 1.0386, -0.5961, 0.284, 0.2356, 0.0738]\nstate[eef_state]: left_x=0.4014 left_y=-0.0826 left_z=0.0018 left_yaw=0.0482 left_pitch=-0.2316 left_roll=0.0598 left_gripper=0.9963 right_x=0.346 right_y=0.1196 right_z=0.1487 right_yaw=0.0639 right_pitch=-0.3373 right_roll=-0.0928 right_gripper=0.0738\nstate[joint_eff]: [-0.294, -5.4769, 3.7265, 0.9597, -0.105, 0.2271, 0.1001, -0.3214, -5.7094, 6.6803, 1.2576, 0.0855, 0.022, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.5818, 0.8791, -0.1295, -0.3077, -0.2653, 0.0185, 0.4587, 1.3914, 1.0386, -0.5957, 0.2832, 0.2348, 0.0758]\nstate[eef_state]: left_x=0.4048 left_y=-0.083 left_z=0.0873 left_yaw=0.0575 left_pitch=-0.2124 left_roll=0.0471 left_gripper=0.0185 right_x=0.346 right_y=0.1198 right_z=0.1488 right_yaw=0.065 right_pitch=-0.3372 right_roll=-0.0926 right_gripper=0.0758\nstate[joint_eff]: [-0.2803, -9.0462, 9.1966, 1.5556, -0.2027, -0.0171, -0.1245, -0.2803, -5.7231, 6.653, 1.2967, 0.0611, -0.0513, 0.7692]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1089, 1.0168, 0.7513, -0.4931, -0.1734, -0.1265, 0.0197, 0.4587, 1.3926, 1.0317, -0.5964, 0.2794, 0.2314, 0.078]\nstate[eef_state]: left_x=0.3124 left_y=0.0001 left_z=0.1624 left_yaw=0.0966 left_pitch=-0.1744 left_roll=0.0337 left_gripper=0.0197 right_x=0.3443 right_y=0.1197 right_z=0.1454 right_yaw=0.069 right_pitch=-0.3466 right_roll=-0.0953 right_gripper=0.078\nstate[joint_eff]: [0.335, -2.6598, 7.2821, 1.6093, 0.105, 0.2466, 0.1148, -0.3077, -5.5863, 7.2684, 1.3065, 0.1245, -0.0269, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e714e53c97d2c297aab6ec36146f8a3c692cf2ca464aad18b727455123ca6ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd34ac279a864e227a452bb92cc58bcacbad7d694358ad42d31650467de5ca4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b21caa2b8a2e995c686436ed02f5e0283c1f33fe2d2e6daf40776c8fd32e3c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZm9xQGeN2DZv7lmr3YQYB_MOE8gRvBjYS9apYwjfaRYZaO1FxogqQvjs_nLmBNvZ9ui7zeY1fKwmBPd9bgYVK_DIAb4mQ_lBnJU2Y0tdPNkEsWurNmsnSGuchwSMcA5Jd7K6rnr-p5IJtoPmeIIaaX3Qs9WVJVAV1GoDl9yLZBtQoGXLNWB9Wtp_CIJCEloSrLOXnWc0Goct2DLsfOF8yKwqHkcBUhVtf_POUUxv0DQJ4pPNt2rNyHWKL_QKSyidwxVn3KX9OXyORoQSy8JRlNeWerL4xd3UDHUzkbnhafU91fPIOh7uzhvvkXL7p8HJFWtbwRqbYAxl6sPDB1lLJ66bAKbwATsWjrLpkYxuQZ_IdjWsGE1d0grqkssHCIV_x6wJf6-Kqhgn_59IEt3j23L-mpq9hdKvTLhrq-hJ2N35dhhteswX4nQOz1N7w5-AGt2pxTmrqv9v2RkeO61GKNOnd04ae8hfnALPtphOshMDtUYnz7NXsa0jYS3wgUmlarswVs9_1xl_qZft8FHyWK1PgUTx87yWfFrOKKwnmK1XPeZJyunBlnfXVIys2Kt3NGvpO2OSJphjPoDYSm9OKAxWvZBk8n7inWOs4kZouYh7rOwU8h_jum1h8jYDJ3r0Bjr1WIJ0ZqKfnx3njJAc6vDqI5dhh4Wols0bGoYkOQaLP4VC0Xp9U474tvhsm4zajPo2qPLRYL1iL6uK4AvEJSoCU0sAPjPVT0QnZOijaeR-do0i1QIBg0fj9-aBfSGfgNZAOsNmxQk3S019UKbTLN9E353-Hlq_JVQma3saxZoQSpcwJ6zUpkP9ovZxsqv6B_TYPe-AEIKJVwht3Ze3S0RqXbt0ndjllTS0Jzp01dllJyiKDi0NPmZFg5Ei-hsekaQOt8cfoWzAlpxHcR9xrylixYmIOKFT_1xIm_cZchy7dMixcXEydJaadl9IBqmYe3WJck6sF3wRm6Mwq9PTdTyRiqXvRgRU72yvsRiF7BM3D8hleCWdkFw_Ub2V14LjKtzxrFG-ueWhkvz8UAjIlnakBX-kzHyDOQo9kUnNriSTuZ7y125FDMXUPk2TXuA5XVdSd-oS_VK-Ti1AUO7crZ2alEuOc1alGIeU6Z0OoZa5NVZv2gTiFJj9OskWNMIkRa-tcqCXP232fRuh9C7pUpcT_bBRsSSS5-OhLeUA2TB67SeYbju0XPs3cOrjXZ7KBOkEaTenljZRFmWhSVUCMW02VWnNHVC2zOQEKQ8RUGdsVlsM-I5B8dKUE07djE6IcH0hSTLe3kHKcsTkjpsyDmhIHCLEBi7mRLyJ84k7Hmx0lamg1BgrV28kjmq6cbznOpAEXV0lv9Sx-fCh5jme_nUEu3i1AXMSaYxbtVwUqm5hp-ciGDZ3irxv1u96bm7pcmkHRLjKy7-uMMhGTvMr_KdxQhz-wgneCsNn1Cv7nG7cxIWbv6RkRGLRVobNBDLfkrJyqXy4trk0etjA-HJFIwWdGe2Q3GErdnh30fdQklKd-wMu7yGkfxbShputqLYoSPRFDrZwpOx6_nxXuaXqchI2TYRiQbLaIraTyUczr5_gazszYdMtTCP_PzY-uAUyuMV-0CuMb667vKiWlV6NNPJEvYspnQhWeMEqZvSrZ9dqo9S2OUkGJcXw9US_-plhuNM0oOhXeay7e1b8lGewuT9fpqdMEGQ3S4mDT7rKsoznEMVEXWenmV6o6CBmU8BuTIlMgXAAmBAXxsyT0sSFYtBdYHFqVRTFDyrXPDxCIwUO8kHg1Png6mAm9i_EXedMcNiB8u_Zlxnsw_lui1ZWj-0iuEOONbyI260S64dQvVoqZGTIu7SqsJgKCctmD4Cvzzz59KFUuaxkX3fmCFWOFhtoPPVuomTiakjRt9jVffwjgKCPesFNzJjKodKSsgAv7Bc8dLLoVTuJuiR-I4L9slJK5wqP21zIWXYPs81U4xWKARI8KgXErh5xKy6qiPkmXU9LpwvcNsK1jWNlyjUSarjvyroevkKsava4IF5dfs-qBa9_m-VTR-W-oyrQb-SMWPxjPwnv7XxPGjpWh_jGZj0VX51qwgFCBkppb7gb1sNpzQfulMRXnlh425P_geSfEQujrNBVHWx6dZYUUYstfRWIZFPxCkHuPfUosAT6HMqXa8RIEwnGHSoldw8gxxR8QB7D_nqazR1Rahsgm2Z2Xp7rIyFb8YyCUw5f4W5CHhfl-9yP8JvwVW-J3E-su7YBkPkliBf8l6TIFiGrZqoTgSTfkftVlZguWFQze8zUUs_ahGlhmvetYLAxstdwFixd0kwpkI4LO_lDne3hjJhF8_f0BkKAgFq4r2y7GL4WOeEIqlf46xxuq9ew6VFrPrCoK18jgCXgtStySibUHFsVqG-Ol2nw_wiSb431ve2YZD0dajoGPrsmo8TG2hYNKymBi4sKQuORVUUvm8owKlS0qb-OpsxErivb0PK1PGk2Bj1wTjc3_kekwRgKyvoyJUWllRSuZUVVScoAiENwm2mbkhmF6NiLWH9WqMB7qduLpDeakTFCwI3b-E-AXA_KtO81usoi61TBYv_yB9rlNdAT1JFvNPH5WaQbi3wSW5KQ7jZyCkcN-wNFvSEpT8KAK43noBnuqQ9QSOalvsrwdAUvObdX96spa_-TEIJcKS6O8Ld48eAO-HLlV0JAtkT862Hx9Jx9za_svySnq1Y9mLJfQiysLVOPdYbiOV67036aH_5LKdx-DjLxRxmVuZB19JfUk7QjE6DXJdokQF1r-2KeVGUxua8bJbt9R0RucbBMyDntExeeB18NMX39UtZk9grfn1sDqqG0Y2y5qvo2IrO3QGUZfulS0nSpo6SkG2-bgXHH14qc3oDI4YBRJnyjNi_DiO3cpfwdxkZlzdKipRRFnEk7bjYykEE2hVKGQ2pvZ1y6KjPj3vv5_LDrRXFIz3OAtC08FhoSYuZJKPIBSTGwCFjIvOg296zvAlEKFhboDYWwkc-dTFQRSSh-ivTH-jLAJDWLuA_WnRqK9fyVxKHjq7DEQPg-QJa4dnkEspyi0DX-zbIxsYancdqw3KXSXJA5h7kpi8V7MY6zYmyrtt7wBoIWNqywn6-cepIoSHoA9JIaiJo6M2oU-E1eqJDT3AY6lyB0I4r9JJaXi6gxWkkoIf6F94TnQgPDs9EEHpw-IYz_tnoqn-iRuPtWi7LQJhpTRQHbDK3es7jlOoDFqGdSpHLug6v4pQf4DnmN7Kb0gxck-wc1Mu2PvjGYCCE2-dl6Pe_Em1B2Vm-Wx0UlImMAn2-jMELVfxM9qjw7fW1arVsksIELgJDVCWxkbbNWky4YgnHkZEIVC_ouXeBMOkqlow_Lu46nlEoieG1MHjgw2xq2MQrEOTdTzZofnY5iXlmoeUJWaD4nVy9KqhGuEgErbeAgWahlp1iLp2AfzOZTp43NIetKLt9SBtAm8vM6X7iQsfE7v8f_IBlKUnKbms3jmSp2WR5z6hUKil43Hb5nh_oV7nozhAJrlaBc_2kHdD99RJ0fVsCan8hoouqTEDTQrt1Bgn5XIdzOlx_L5Cj1Lozm6pqIDvu9oz2MweK8tbwHVGOsJUGY7b30p2LMxFsPrdSx1Hz88byNlA2p1eDtRdrjx3kIT9jQ5He3GqNThqgH_Ml3nA6WFyxJW2-A18NmQFcDyg8SVvC1Y1xgMlCor1G8DhStzVTgWWp_KC5F1i2Sswyt3BzzH9jPuhrs4Qluf-W9hcWJhvn3KdgKoSO91gXoM=",
  "id": "rs_0254de1b53a9f971016ab4365cf28487d0958d6f8e2824960c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZmMvy8ENDiFoTZUu-0PIjNorB9yS_COSMQr8zpcTbq958luIAgzYVhlKvBlz47PM5DnP3q4s625DUMkxvLZIYcdiGYRRsSgjkdGlNH2GIiS1GiMwIv9JIDDiRgWPYNZA6VuImFZgxyWk9hEvPMOkX3TK76zzDPJ7e05cmC3rVeEyBjYe0y7VPwz1L541KDewgOvpH47nEvflDb0PIKNkGqrWIj1XcuKjvexwWCoyKNGagIx-t67UCT5fyOGOC4Xs5rKkCum4T-RVPNjmHDdaT78MPU5BS3IfuvQPhfo1uQBSFWFyZSbdwtvkT9GOlRsLPF9DWkl8Up3s2uXhOzryqioKJNaR0MpxC9vK9cW1I3rO8mJcwPZ0W9dmBt3mU4CTEjQ-g4ruk4fcvNy2Mm-qalab9i5DRQloUnfXnzyVr96IZjxwN7lLM7ACS29H4_twtX8yXfFR0ltKmhMDapTzB1ciKuhuzQkzUXp0qdHusIqhcACeieGLPL5Uzlnf4wvJEh4QeIXU4x466cQUylU3yUgM7TIiglp6rnncD-DI60yQyTRzXqltJ-f6MNnd7IcOAE6J2AozSARCqOSmaJnc8rv833Sl-JC7Sv1IY_H4fHP7GSNfhLrEJWY-oNWFi3JRErxrwo_5tbto4t5sisENhwy0xUwwGThjHJbr7yYa61zhJOqHxZnWkQgV9DCxaVpvXt9Es9xHIBx4IT6SzHJLcLUWWKYY--RmBYhi7FdV1KDVnbay4WXWYLZw6_BAF9-14yaPCoPpOELsfNTc1Hk6vpsEwRJF_MH45hCq9uKwad5CfuOB1fnJn7BAUQISJAHdBQyMXb3HPBjBTcZ-syycRVglFM5TT1gb4FBsp_GUThfZtFx3gi_cxzCdw2Bm_ed7w0vPY_h_r1EqEI0NGmX7Uap6n2rUJ1qj49ScuP92cIC5YM_uwqsMgNIHXaCSKqy1vgWcQfh4nCmYS1DK1kEXFE4IRC9DKRr4gtZ0VnkMM6eYL6N791BARYbSxvnIGPuzQgKnUXa1KzL16JvG7suHPhvCCH7hbVv2f3OGKxJ8v32Z85fjZekEnCeHP0C1iMbEFBmFmApc49xps7kHQ50cv9OFPK5QhQXnudX6MyjcaJVnBGQuR0f7gVMWwK5mOM2rzzRdihWVhpxZ2bIz3KQFPkplOvb14minci1cVpjFlRQT8bsq3x2pUrgEkrkIL3c0SXHRwK9fbJYldSWrSyxipShoCIW8t-sHaKGZr6eXOPxMUqHu-DVuHjglee0lUbCTbM9DP2w4WShI8TrgLWuLkDKSG-paEkoIwJHbx_kBR0yzi6kbEEDzJSMbmE5b5pVSFKBzAHGy1ZVIWZ6rEEntT80hs6EjGAC83Yv7XYpAiacAxbUT_uyvfnctMeMKt71k-_yc1xowUI_sv5Kt8b7WLdJAIa8zU99m57Y4NpzjP-Db4cqHIklga17pXBxtp_iksurOPd_QxAIsdxi775j7Yy-vQdH1dNktoQghRwl3KXhRXF0uEWaFzGtx3SdIPAYMJhdUdqLCEDzaBctV1SKrfIwlG5cYFajZo-fF4ahT4jJX3GOZ0xqfXXrRi2bWGe-1bbISf_Qr0Ewp0V0Fy_o1QCfh2Z6DVKs_3K4ilSiz4-IIRpgFgrhnMzOAmgU0TWWfRx5hicALlPhF5KlW1mMQV9Yf1Z-qUc5-u0_Gl-j53RJkHe60AbGnaYM1OrRwT4sf704DXfEtqVsO_LjYmsUCpfM8U99S-lkGKEdHFCkLfIOG-VA7DphLR2u40rIiCiCzTNZuc1SIKGX2d6L2UFEzdIWCCRc-ZMY3lwIBMrjVDqVhAeeY9QW7_ifwL8kwmGzFs-xmuKPaaGxJy9oapuZdKysE-epQQ6Ov_BLAsQRJ_lrFyb5UCGLab8Z6ThBjXKA_6Dk5U5us3QLnlX5HfWPHBOsSLiOPNH6Sq_BcdaaQqlIv8vTWpZS9eo7asymGiUkhQ9-sDV0avMqGYhuFS_J1sE_0VIfxFYvqmkEuHuU_5E9JZ2c_W8Mj9mQleXCce9Mm9Xk4IJ1f75iXFA9Km2bu9K5HQekCfGJZHpqErJT41n3OfG277iqsvzHhBZxjkHmdnUhhWbaZjTgKIW4pvJGAT4N4juVyT8hReXb7TnwKQAhYKB3QUeHbuL-tbZ2najk92ilZ_Wpsvzgg3VvtAw2m0L4cJhTtBfzzm_tm5gQ9sb9He78QleYhe2_bo4OA_dEH3T4HBTHQoPi6f47k9YDn7OFzHp6JtRygbAm6NJTAhzAMrEr-CstiTYp-UcsnPN9d0NGZRRTg5AorKnyC_C8tA_ElxcjQAMRVCXNrvbDg2Jdqny501BhIQtQwEsZdlMggLMcbJST12L9_-zKGRCJ1th2zYQK8i84nI1n5WeXhnYMO-gZmkQx5W_-4HlT9lVfeouCdzScJXD8dHDtUT6t2cxZSD9YtARIKqnUNwvhGQO_1_NTklFDEAZy45MbVf7gcsFXJoyORZgcMtLLPTgpR-HhPDMkuq6PuCcHIb-eJa7nFYv5aWQ0frZZ503YzXSjPR5YwlYhWnlJ5uRWbhyWWvQZvwwE2eher-hYVkdYy0bhmQ6zkLFOxYFPtVqysHnp_WlhTTiNjWY-loS14T9A6765rS6Uk58ATP2E1r-bjc8HCs=",
  "id": "rs_0254de1b53a9f971016ab4366126f487d083f86b93d2b33a90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.23,\"right_z\":0.2,\"right_yaw\":0},\"note\":\"The cap’s former tabletop spot looks clear, suggesting the small piece may have come away with the left gripper despite its narrow reading. I’ll bring the held pen toward the middle at a safe height so the two pieces can be aligned without the arms crossing.\"}",
  "call_id": "call_h1kQBqpW4odKcEbVD1P83qaf",
  "id": "fc_0254de1b53a9f971016ab436644b7087d08b89eaf4b9d61db3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h1kQBqpW4odKcEbVD1P83qaf",
  "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]: [-0.1074, 1.0222, 0.7506, -0.5194, -0.1719, -0.1299, 0.0198, 0.7799, 1.6699, 1.4952, -0.947, 0.4419, 0.5316, 0.0811]\nstate[eef_state]: left_x=0.308 left_y=0.0008 left_z=0.1559 left_yaw=0.1 left_pitch=-0.2062 left_roll=0.0369 left_gripper=0.0198 right_x=0.3332 right_y=0.2284 right_z=0.1844 right_yaw=0.0555 right_pitch=-0.3965 right_roll=-0.1244 right_gripper=0.0811\nstate[joint_eff]: [-0.294, -3.0564, 7.1043, 1.7656, -0.1099, -0.0024, 0.0024, 0.1983, -8.0068, 8.9094, 1.1209, 0.5299, 0.3492, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa3e71fb5158815be84dd05955bd5ce2a87b833e0a8b4da68d37d1a5528c81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c908ec84cf7f03f7e5bc888b2a5dbb91ddfb3acd9dc97c5936c4ac088431b6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052e70ec94c851d38676eebd15764aec98daca07566e55f6570234f8f07701f7",
      "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 · 18.03 s

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

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.8061, 0.7158, 0.2775, -0.3119, -0.2615, 0.0196, 0.4587, 1.3914, 1.0382, -0.5961, 0.2832, 0.2352, 0.0753]\nstate[eef_state]: left_x=0.4075 left_y=-0.0832 left_z=0.0064 left_yaw=0.0573 left_pitch=-0.1934 left_roll=0.0451 left_gripper=0.0196 right_x=0.3458 right_y=0.1197 right_z=0.1486 right_yaw=0.0647 right_pitch=-0.3379 right_roll=-0.0926 right_gripper=0.0753\nstate[joint_eff]: [0.1026, -7.9385, 5.9009, 0.9744, 0.0806, 0.0659, 1.0281, -0.1299, -5.7231, 6.653, 1.2723, 0.1001, -0.0269, 0.4127]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1089, 1.0168, 0.7513, -0.4931, -0.1734, -0.1265, 0.0197, 0.4587, 1.3926, 1.0317, -0.5964, 0.2794, 0.2314, 0.078]\nstate[eef_state]: left_x=0.3124 left_y=0.0001 left_z=0.1624 left_yaw=0.0966 left_pitch=-0.1744 left_roll=0.0337 left_gripper=0.0197 right_x=0.3443 right_y=0.1197 right_z=0.1454 right_yaw=0.069 right_pitch=-0.3466 right_roll=-0.0953 right_gripper=0.078\nstate[joint_eff]: [0.335, -2.6598, 7.2821, 1.6093, 0.105, 0.2466, 0.1148, -0.3077, -5.5863, 7.2684, 1.3065, 0.1245, -0.0269, 0.5201]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1074, 1.0222, 0.7506, -0.5194, -0.1719, -0.1299, 0.0198, 0.7799, 1.6699, 1.4952, -0.947, 0.4419, 0.5316, 0.0811]\nstate[eef_state]: left_x=0.308 left_y=0.0008 left_z=0.1559 left_yaw=0.1 left_pitch=-0.2062 left_roll=0.0369 left_gripper=0.0198 right_x=0.3332 right_y=0.2284 right_z=0.1844 right_yaw=0.0555 right_pitch=-0.3965 right_roll=-0.1244 right_gripper=0.0811\nstate[joint_eff]: [-0.294, -3.0564, 7.1043, 1.7656, -0.1099, -0.0024, 0.0024, 0.1983, -8.0068, 8.9094, 1.1209, 0.5299, 0.3492, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa3e71fb5158815be84dd05955bd5ce2a87b833e0a8b4da68d37d1a5528c81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c908ec84cf7f03f7e5bc888b2a5dbb91ddfb3acd9dc97c5936c4ac088431b6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052e70ec94c851d38676eebd15764aec98daca07566e55f6570234f8f07701f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZrHy_oedWM-gp4odxODoWv9G3WuaDFmu6sqLEwutH-UjRTEUWh-mG-jF3QpM7m9yZ6-GfPjBu7UVxFHiNsdkQ7ceUWBqLoSIxW7k2mYVyLDuZW6YhuWyOmq-OMFh7cwF7bsIkd6GFXF3tkZJxAUPnjupedBBNZlkHro5dpIKi9Pph7V7AVoCXzrILz16E3abKp3GTGCV6fJpTizaMjRG4s64qQmx54RDSQ-AAeSbw1-RPvgq09s7kq4IcNoTaMX5w2J_nTXrsCMBx3gZMuXvibqEAqFasoQLpLjoA4vsdjzNmKt1mAtf55VLDo8tCESQSNPIFdUkqmgeUtwyuTIYJZ27Vq-DQhn3dgXAOQqNgp2BRWWnplZnC6qijZa53Ff3WbsZJ3_3sgiQaWMBnKSDFkwy74S4qf6pL4oq6T6O9zBN3H-u-WZDrkTdlsuC3tiNJQk1pppbD0v8xYfJ6BsUDYExakkDrDThgqiJ3vRsyeifWDqgtcGBh0NFc2De2ygY5EwDzvFrbmct0eb0kbShPcQQoX2SYl2mpjNLQNuUrh3mGWkqvp28taMrgI-tT2S6UIhRe4XDgDt86WfnzOUXNceZBvWGw5ZKmNC7elflGgwDL9LiLYJdZIuC83lIqZCQmvx8upmrBWkMZSgw5E46-CREAJY6uE_XbUqR22_THVTRgaX3DeCZ_w8eeIcyJAX6f1zr5kgUrPdm5r7RlKz5I5Ez20lxMio8-vK4OtSZHlbf42D68wEzuUCPypRcr9rv9-BvBciZe0SHLdMDnX1l0RXCBi290SBzge5B81rKivH_ZeJzn7JVMelKX1XH8UK4a1cWjL5PEqeFPyziz8geADlNNdQG90335e0G5OiEZfrtA5l_NDWXOOq3JY9xlk02q4Jb-gw5nGJabgaeAZYkh5rGBXvPJtZptXdSMb63z-BwDfiQmcWSt2SICNHbjric1X1gh6ThXv0Q7HVYU0e2NPjNlz1UNCmrlVDFAli7411jj86WWgwRJppPviD8LNdLcPbfb0JzIqAeh49bvOY1p8Hgv7_1X0mSQ3q_stoqxB1kDQuomQJJl-E9IkbBltqOidBiYEU8PyRwA_KxDQTNFXLqDEhEgWtu6hj4XnMpCa-GoI626llHvVMTUCmrPTvQdy0wpbv7oUeA8Z5WuBaU_oV2K2ACPUMmCat_0DFvfszD8aijdpGbP22S_Z5LzVU-Kwqwax3-0i_0pHp49gxwkWedXYDqXG5jCWLWfFdgnQqiPQCuz-pa1JfomcK4peGTRL1BZBLs6_tbS7ywzWXYQRenaM0sbGo26gfittMc2_gobF-81U6otA9n7ZIsgbmPoF8ebqO5x2MTsshSX-fAmA6T5smzPT0PHq-QuyyZ00IGtFLmVGPMrUUiODM1d8fAzQEnX3yI_o7dNKVcoNccNPJqDv22j6qrEM0EEJEx0QY81KVWSmMsd2NPH7r_hFUrltFjxaHxIA4CkQDpgCyNeeswDMUDG2i5ubfTK9TewvKuexL1_elU6_aoPp6A6MyrQGTCIrtrGJrCIbRWUhZ76JUUbhrJzcoGp35PHBnijWfTjkAMjBeYqQypn69dh4McGByZRDtRgYmOYHPAdfNMhd7dkdEWFvzN_6P37YGr-PA26DmNPc1g7K_0kfoqBN1nMPMagI2r7AQK7lyyiPpEOqfiKiDKQhN5RaifEHaV6I34-VMDYVvDlHXwVOKkWlZY0ZwoQRup4O4qoH3A-9tkY_Cfv_PkO56DcHaXsdo3YfChs6SE_7Hx1re1zMVPMKhk-2PGS9TRdVgq5zDfp-tkS3cvsXkuVMgcBTThnSvZslsVXSrCySk-jOgMPSSIDF1kDqgNrEoHbtwDNENa31z7RFgIkIsXkA3IAo9ukprfZBH0gdAqK_AgrUBuk1X-75tXC8jAbGjsC_MJt5jRvqLxngOipUyBRd3G55CY8CdgIvVLSm8yGFnWSEvn0jVEqIcfidouGJbokcTJPQ3oljlJF84t8v29AoIPjwM4026Rvwhy8D2g3Z8adEJnKeyMCgvw9PVut2XTrfVM2SxkOQbN4_jHUMn_9AQqD-cP9mag9ChgYy10yjvcfu7EgE0sl9xP3F0eDW7xoMAlr_oFQyvE44k1465ToL0X9DhDlTaeIGfMN0xA5APN0tPryL_5OAhDPhTmYcu2WpEleu-n1DptDJBR1bzOWhr3_D93B5aGN3nmCSEchJZB2YvFY9WpWa4SgMpK9wd-Q2YHHvj1k5VPMbsUCWsCWbEtJVgpgFwZ09ahujCX0EgKrdoQcNFtWxv20JhRC2DoJNWyIi48WsF3UC8sMb7hnAsU2qixI9pP0C9l7bWnMlL1iHfx24u1kIBuI2oF-n_g8JYsTLseECBeuWyK6o2vUuqaHIyL3DapBsyf456SOnvdEu97yXg2Lb95TRRi4Dwpm5m95bbIekY8nxeTbLe6lUTa8V2DoemKsO3UEOGn6Z9kx0dM6yFbNbf3ZC1qySJhp6tTtIgkNEhmm-7Q==",
  "id": "rs_0254de1b53a9f971016ab436689bc887d08ea4e4240e2c6ebf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen is held near the table’s middle-right, and the left gripper remains closed on the possible cap. I’ll bring the left gripper to the middle-left at the same safe height, leaving a gap between the arms so I can inspect their relative positions.\"}",
  "call_id": "call_AyPacdwzDE7tkaJIOGafbriJ",
  "id": "fc_0254de1b53a9f971016ab4366ac98487d0a0d40dd58600ddd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AyPacdwzDE7tkaJIOGafbriJ",
  "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]: [-0.8806, 1.4937, 1.0554, -0.4286, -0.6827, -0.6056, 0.0198, 0.7849, 1.6806, 1.4967, -0.9604, 0.4335, 0.5346, 0.0832]\nstate[eef_state]: left_x=0.3313 left_y=-0.2206 left_z=0.1678 left_yaw=-0.0118 left_pitch=-0.0628 left_roll=0.0355 left_gripper=0.0198 right_x=0.3301 right_y=0.2299 right_z=0.179 right_yaw=0.0583 right_pitch=-0.4182 right_roll=-0.1326 right_gripper=0.0832\nstate[joint_eff]: [-0.4991, -6.4615, 9.9897, 1.58, -0.6081, 0.0073, -0.0024, -0.7453, -8.9231, 6.3521, 1.1502, 0.232, -0.0611, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940afbb7e2c59b2b675bae6d8e1a954b849ff4c5116972e376c404dba546ceb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cab619b0433fbf69e30b4002f4969b9a44c05071778f5453575608f456bcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b50dd50c157f77578da811a7aec6a5064f4a4ada270d2af904b52fbcae4087",
      "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 · 3.613 s

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

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.5818, 0.8791, -0.1295, -0.3077, -0.2653, 0.0185, 0.4587, 1.3914, 1.0386, -0.5957, 0.2832, 0.2348, 0.0758]\nstate[eef_state]: left_x=0.4048 left_y=-0.083 left_z=0.0873 left_yaw=0.0575 left_pitch=-0.2124 left_roll=0.0471 left_gripper=0.0185 right_x=0.346 right_y=0.1198 right_z=0.1488 right_yaw=0.065 right_pitch=-0.3372 right_roll=-0.0926 right_gripper=0.0758\nstate[joint_eff]: [-0.2803, -9.0462, 9.1966, 1.5556, -0.2027, -0.0171, -0.1245, -0.2803, -5.7231, 6.653, 1.2967, 0.0611, -0.0513, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1074, 1.0222, 0.7506, -0.5194, -0.1719, -0.1299, 0.0198, 0.7799, 1.6699, 1.4952, -0.947, 0.4419, 0.5316, 0.0811]\nstate[eef_state]: left_x=0.308 left_y=0.0008 left_z=0.1559 left_yaw=0.1 left_pitch=-0.2062 left_roll=0.0369 left_gripper=0.0198 right_x=0.3332 right_y=0.2284 right_z=0.1844 right_yaw=0.0555 right_pitch=-0.3965 right_roll=-0.1244 right_gripper=0.0811\nstate[joint_eff]: [-0.294, -3.0564, 7.1043, 1.7656, -0.1099, -0.0024, 0.0024, 0.1983, -8.0068, 8.9094, 1.1209, 0.5299, 0.3492, 0.3101]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 1.4937, 1.0554, -0.4286, -0.6827, -0.6056, 0.0198, 0.7849, 1.6806, 1.4967, -0.9604, 0.4335, 0.5346, 0.0832]\nstate[eef_state]: left_x=0.3313 left_y=-0.2206 left_z=0.1678 left_yaw=-0.0118 left_pitch=-0.0628 left_roll=0.0355 left_gripper=0.0198 right_x=0.3301 right_y=0.2299 right_z=0.179 right_yaw=0.0583 right_pitch=-0.4182 right_roll=-0.1326 right_gripper=0.0832\nstate[joint_eff]: [-0.4991, -6.4615, 9.9897, 1.58, -0.6081, 0.0073, -0.0024, -0.7453, -8.9231, 6.3521, 1.1502, 0.232, -0.0611, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940afbb7e2c59b2b675bae6d8e1a954b849ff4c5116972e376c404dba546ceb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cab619b0433fbf69e30b4002f4969b9a44c05071778f5453575608f456bcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b50dd50c157f77578da811a7aec6a5064f4a4ada270d2af904b52fbcae4087",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0254de1b53a9f971016ab43670ff1887d0a3a65e36b25e6716",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab43678b8b087d08373b25e589c183c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ_GaqLPTfMmePor1aHcOBDTJMiHbVuzXlXL02SHBluumwzA8PsqA75hXNuH_avoQ7B109_LY8YV-l1-M68DghTQSXSZbWXCWdzaA11fvnkFq85vYo6sqkgPwr5PBhTtYT5XwfQ9RY5gJvP1SJMkc0lRG9jqebkkJ2DpUVnGSyXVs3wlSkrClnxbhhTyoGs7q3DZufmtTfMEELD85IECwzuoWOjqbhEigyVvp6euGosrVl4ra-JRMBCkpyUQyjaiZfvrH_1ZIYMEKp8NKNMLipeAy8ut_XU07xM1wB30fG4PgQ0tHq2FNyCpYkEk93t6e8SJGZHq6OT0gWFSY71slXFUh1piBfu9tFQL534sztVE4dQorvUmzpJxqYcyll3eK1l1STPFxIXu1b4IJ3L52pCXM-ZlPkL6dm-xW_w0gwU5S01n8j34Jyx3oqYtGYDkSwdoXfJvSrjj577DIQnsjMRbwWdPId6tb1TpF26euYwcjjXzrpp_bU4toeCZyFDJ__qrySZJ1ZT1melu7pT0KyYG1rHIEtCg8hGw5za1B8HFzFFrZytQLb0bVH88KkeE0H9i1jdUu4xs2VA7R8GE6ud19XvRdecHIvT6n6R1gIYDQG6H6-UpqCsjK_FoO-xi6s9WZAqzbUOUcb7teSoWkGPsqquAPfe14V3fHzZ-gVuf7AyQTAMmQQl1qfz_z6dLrskqUBXFLQjLN8mFSKghwWASik5hfjZ9dsVD2eQ2ZI7vIK_g-xRG-VGK1NkClwokOAmk4bqCqYhXf3Aaf-RLa74PW2NXw8dCxqowYPSGUt_pvDPUrOgjN_bfi-lNu_NiMaURVsyVJleXOFQ0lLvatJrumS_abGQ3C4y6-UV3lbAmzpa-5pbk1IsDIWWlulKOZR8pSOzKmj7_UmkQGpI6V4s7cHZwfxfnGdnjqSZeHLndWpHWgEIQuSzcoGTRI8bWoKpeTHjjyv7R8TgCnaDf4ZEViQNlFmWWS3QIXz-FrtpDTE3jGSUxgKkW5AKCwKUMCd5LUG0JER7L64RPiWImSmCX18hm7i6LfO-yIatlvCVvfd3BGURxrp6Z2jUNl3HR34xDv1FAoVHHAC6nNTtivQ73Zi5eJ6CBOFzkjn2m63xU5K5d4rBGkN73D0Ym4cCYhWDQuiqvVms_1a-ovFS-uA_cUELqg3naowUD9FQqN_IurnVShqZNy38vgnZTC1iZsnXuODCTTbpBEWF7fXw2Yo6-Ub88TR9aWZFoYn9YOEQfMgkh4gkUerla2H-PEVQziPIkJQkXB3OKRlSeDm8d_GVvQ1JKel21NBwzC1eu7OIqtbGADa5QGg-C1wqPJVHGiRI4rcgqyq-Rz2O3XydUAyY2hNkdkHD7ddDyeJ32w_n7D7KZs1N26yp2a1Thi0pmqUO0GriuPk3QdBBj0CyAamJaQ==",
  "id": "rs_0254de1b53a9f971016ab4367dccd887d0a27c15571fb982bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.305,\"right_z\":0.19},\"note\":\"The grippers are approaching the middle from opposite sides; I’ll shift the held pen farther toward the center line while retracting it slightly. That gives the cap room to come in front of the pen tip without the gripper bodies meeting.\"}",
  "call_id": "call_5Bqhb91mikJM3XxKLswhixY4",
  "id": "fc_0254de1b53a9f971016ab4367e505487d0bb28c753ae95b852",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Bqhb91mikJM3XxKLswhixY4",
  "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]: [-0.8509, 1.4715, 1.0321, -0.4808, -0.6773, -0.6128, 0.0198, 0.8612, 1.8313, 1.7496, -1.224, 0.4866, 0.6743, 0.0854]\nstate[eef_state]: left_x=0.3278 left_y=-0.2005 left_z=0.1596 left_yaw=0.0216 left_pitch=-0.1002 left_roll=0.068 left_gripper=0.0198 right_x=0.3181 right_y=0.2491 right_z=0.1888 right_yaw=-0.0384 right_pitch=-0.481 right_roll=-0.2181 right_gripper=0.0854\nstate[joint_eff]: [-2.1949, -4.547, 8.759, 2.1661, -0.3541, 0.0122, -0.0122, 9.0598, -5.7368, 8.4171, 1.7753, 0.2418, 0.359, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac615a882b4e7eb4285ebbd5502fe53d1d72029b95857ed4b6391dc76fe1c3c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5dba5c512c207febe8eddf06c60ec33aecba8c240cb7184e656651f145bf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce97340eafe783cbc8e00c3cd385cc5864c518cf7924c3daec8108cf5ea8b4c4",
      "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 · 5.863 s

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

message 104 changed as sent

message 113 changed as sent

message 119 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1089, 1.0168, 0.7513, -0.4931, -0.1734, -0.1265, 0.0197, 0.4587, 1.3926, 1.0317, -0.5964, 0.2794, 0.2314, 0.078]\nstate[eef_state]: left_x=0.3124 left_y=0.0001 left_z=0.1624 left_yaw=0.0966 left_pitch=-0.1744 left_roll=0.0337 left_gripper=0.0197 right_x=0.3443 right_y=0.1197 right_z=0.1454 right_yaw=0.069 right_pitch=-0.3466 right_roll=-0.0953 right_gripper=0.078\nstate[joint_eff]: [0.335, -2.6598, 7.2821, 1.6093, 0.105, 0.2466, 0.1148, -0.3077, -5.5863, 7.2684, 1.3065, 0.1245, -0.0269, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 1.4937, 1.0554, -0.4286, -0.6827, -0.6056, 0.0198, 0.7849, 1.6806, 1.4967, -0.9604, 0.4335, 0.5346, 0.0832]\nstate[eef_state]: left_x=0.3313 left_y=-0.2206 left_z=0.1678 left_yaw=-0.0118 left_pitch=-0.0628 left_roll=0.0355 left_gripper=0.0198 right_x=0.3301 right_y=0.2299 right_z=0.179 right_yaw=0.0583 right_pitch=-0.4182 right_roll=-0.1326 right_gripper=0.0832\nstate[joint_eff]: [-0.4991, -6.4615, 9.9897, 1.58, -0.6081, 0.0073, -0.0024, -0.7453, -8.9231, 6.3521, 1.1502, 0.232, -0.0611, 0.2027]",
      "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]: [-0.8509, 1.4715, 1.0321, -0.4808, -0.6773, -0.6128, 0.0198, 0.8612, 1.8313, 1.7496, -1.224, 0.4866, 0.6743, 0.0854]\nstate[eef_state]: left_x=0.3278 left_y=-0.2005 left_z=0.1596 left_yaw=0.0216 left_pitch=-0.1002 left_roll=0.068 left_gripper=0.0198 right_x=0.3181 right_y=0.2491 right_z=0.1888 right_yaw=-0.0384 right_pitch=-0.481 right_roll=-0.2181 right_gripper=0.0854\nstate[joint_eff]: [-2.1949, -4.547, 8.759, 2.1661, -0.3541, 0.0122, -0.0122, 9.0598, -5.7368, 8.4171, 1.7753, 0.2418, 0.359, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac615a882b4e7eb4285ebbd5502fe53d1d72029b95857ed4b6391dc76fe1c3c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5dba5c512c207febe8eddf06c60ec33aecba8c240cb7184e656651f145bf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce97340eafe783cbc8e00c3cd385cc5864c518cf7924c3daec8108cf5ea8b4c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaEPwEVhtJv34RZHvWnP_cBX8Ra7ts-I6-ttR81YOic_X3sbGe6zL7yoypgKWTOaClkkNZ_wAjjkSW9qI1qLTeRyEAw6hH6JF_7fqnOkgArQf65YbrPGWheyOnkN8Y0Jf6M7KMETrXGMFK0DS9PI_bLGKbrvdvTOrL6qBP32W6jN58msL09CTugzwihFgt6vOOymj-jyurfBh9XfqOebD8XNYsSgThzk467IfgQhPYs3A5n98tBmiNm7OJFnM1KxuGRhFGes3fIH9yZ24cdmnR868NFXFLSZ2wIh8a8b58Ip-GC1OKZHzJbtEuWksb9hA29AicS3Nwxr93e00rJ3XQJLiiT4b0Tkws8eF3kAzr2z1HeE9sNEZpHpTicyDKx77I95k9iwbxm3Ra6GHPtcrV787awkiRHkRkbj7ZKOuyDpyk-42Qq4nAsK0WnHH35dUSbmr4ijUbCTmZm7CaBxfBBdO1EzZQ2u-kF2hcuX8awS4xgZ8n7LY4DdJOgRUgZOem0UmFEpZsjhITAGHJ03ESFVu1VqsVPnRwTQ4rr3pzSVLsExpR6gLFZo44OhHytmK88YW-tzjpO13CmZ88r_8NFz5aiaG4TZhM6QqZ2kTTgdLA8TPbR6BMSlm0eMDDjgZYh9_-nphTdOLRVpsZIoDbkDs5AQgal9tGF_NI1FaBr6jWxXi1FPS4FX0tGpuHUQK8tDbSAfhuUv3HIaYFtW_74Q6ftVSEG6lmVEdF29UNVdFYfGNjM3ikdefUGtvAmTdJTavtce-pc4KjMioTzpw8TM05dc7c5InVtqdQvNjLUxvp43et4C_r8Xyo18hIN0f0zoi-cuULffpNMP5-907AB8z8pRc5oKKnYjNm5TtSHLgyLQDI3djmPNx2ZQ4pR90H1TKhlpx8jrjo0_h_Sa_E0-5VJnj-HlhWnWG5SVStbbfxaJqWwI3fsaFNkkE121UDqnka5pCeuE6pZaYgBbknPEYz18_QupzPfCFQXX99H5dxmHfQZSEyj0EHVg81qhDqFy19tafECh_OGwRiQOFgcdEhjzWml1sJJ8KhIfaRoOrg1hp0gS6o6PxO7MzZVnSPnTvYFKwlr_onNal-Ny11lu4WQT5cef_ULSRbC_PxqvJQHz5pQXCV910QQqThPzCnlvSMbUDw3S1VqFuAq2tNu_ro1ezf-41P-yzMwK0MqzY1KaTu7Wxq-iqR7rhWW-GxKgc-e8aKoe3x6_rwo4KnNENMh7cI4Ju5-dGjtbaB6VENEwLhpvwF1YIgE8tVEUjHahd-kwWr2XlrH2vjAdKaxK06tmQRSIODG3M1q4kteKQ90gx8o5_yJEvClKhEpGdCsUPE_awjh6AIVWZuH9MKpNubi94bksHhgYRTS7G04bWusGaSd_QLtR4wIk7AK9Pqf3aZTJEwij-YGgRFI9fuC21SCpHtf6ZHYYQDCOThRCadKaqHYt_HlwC5ixSuDExoRmgcxu1wdcDAUMVqE3SiBtc1JqDalNLDt2VdBiVyxbk6yJ40aA5dHjNHovrIPMVSMPe2J_lRjmHASPkW6susQRO-_b0mH2pJFBuC4saBAHREEK7EMwl6gk8rwCmNl6yDwK_O3sjaRW6V1JihWqx690nrsO7fBxgVHOcjyRC4hQ4QZ34zeJ1-ZNreVgu9Wlcem6eKHVY6muwUqgZT2sjTfcBv-h6k4ngXatuGRitQ6G3G_TClyb8PCTt25iw7Y9L9PrQeV3Sz2ryRaii7onRG6oZL0VwyCLq2wvX8ZbqCF8H6vuB9fX8m_FCuawdXaWHb_Jp2Fx6-rVynRTTthMoi9Kh3aJCvDeQFoeT9g2YL8m_U=",
  "id": "rs_0254de1b53a9f971016ab43681ea3087d0a1f533cca0f854c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.045,\"left_z\":0.2},\"note\":\"The overhead view shows the gripper bodies overlapping, and the right arm stopped short with a torque rise; they are crowding each other. I’ll pull the left arm away first, keeping it high, before attempting any closer alignment.\"}",
  "call_id": "call_ABQ1Nc7vvnnyoOK3R1aSMnDu",
  "id": "fc_0254de1b53a9f971016ab43683303487d08a46788758808133",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ABQ1Nc7vvnnyoOK3R1aSMnDu",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4061, 0.9165, 0.8085, -0.6151, -0.4004, -0.279, 0.0198, 0.8635, 1.8473, 1.7489, -1.2411, 0.477, 0.6731, 0.0867]\nstate[eef_state]: left_x=0.2895 left_y=-0.0456 left_z=0.2009 left_yaw=0.0679 left_pitch=-0.0857 left_roll=0.0498 left_gripper=0.0198 right_x=0.3147 right_y=0.2489 right_z=0.1808 right_yaw=-0.0444 right_pitch=-0.5094 right_roll=-0.2425 right_gripper=0.0867\nstate[joint_eff]: [0.253, -2.3179, 6.8308, 1.4823, -0.0415, 0.1929, -0.0122, -0.5265, -10.5368, 6.0376, 0.8718, 0.2906, -0.022, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65632a071fc2b4f2b18878d61ae01710a2f93bc415939d6d965d35c1d015dff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0b2ffebe7e5b7b9a9493586d2baca6c42c5134f172e21e18b2815556b9c186",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0114a0bce3c44e8a57397e451be76946a8663c8ad59b94a6d9040e67b9fc0868",
      "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 · 4.391 s

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

message 109 changed as sent

message 119 changed as sent

message 123 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1074, 1.0222, 0.7506, -0.5194, -0.1719, -0.1299, 0.0198, 0.7799, 1.6699, 1.4952, -0.947, 0.4419, 0.5316, 0.0811]\nstate[eef_state]: left_x=0.308 left_y=0.0008 left_z=0.1559 left_yaw=0.1 left_pitch=-0.2062 left_roll=0.0369 left_gripper=0.0198 right_x=0.3332 right_y=0.2284 right_z=0.1844 right_yaw=0.0555 right_pitch=-0.3965 right_roll=-0.1244 right_gripper=0.0811\nstate[joint_eff]: [-0.294, -3.0564, 7.1043, 1.7656, -0.1099, -0.0024, 0.0024, 0.1983, -8.0068, 8.9094, 1.1209, 0.5299, 0.3492, 0.3101]",
      "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]: [-0.8509, 1.4715, 1.0321, -0.4808, -0.6773, -0.6128, 0.0198, 0.8612, 1.8313, 1.7496, -1.224, 0.4866, 0.6743, 0.0854]\nstate[eef_state]: left_x=0.3278 left_y=-0.2005 left_z=0.1596 left_yaw=0.0216 left_pitch=-0.1002 left_roll=0.068 left_gripper=0.0198 right_x=0.3181 right_y=0.2491 right_z=0.1888 right_yaw=-0.0384 right_pitch=-0.481 right_roll=-0.2181 right_gripper=0.0854\nstate[joint_eff]: [-2.1949, -4.547, 8.759, 2.1661, -0.3541, 0.0122, -0.0122, 9.0598, -5.7368, 8.4171, 1.7753, 0.2418, 0.359, 0.2222]\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 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]: [-0.4061, 0.9165, 0.8085, -0.6151, -0.4004, -0.279, 0.0198, 0.8635, 1.8473, 1.7489, -1.2411, 0.477, 0.6731, 0.0867]\nstate[eef_state]: left_x=0.2895 left_y=-0.0456 left_z=0.2009 left_yaw=0.0679 left_pitch=-0.0857 left_roll=0.0498 left_gripper=0.0198 right_x=0.3147 right_y=0.2489 right_z=0.1808 right_yaw=-0.0444 right_pitch=-0.5094 right_roll=-0.2425 right_gripper=0.0867\nstate[joint_eff]: [0.253, -2.3179, 6.8308, 1.4823, -0.0415, 0.1929, -0.0122, -0.5265, -10.5368, 6.0376, 0.8718, 0.2906, -0.022, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65632a071fc2b4f2b18878d61ae01710a2f93bc415939d6d965d35c1d015dff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0b2ffebe7e5b7b9a9493586d2baca6c42c5134f172e21e18b2815556b9c186",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0114a0bce3c44e8a57397e451be76946a8663c8ad59b94a6d9040e67b9fc0868",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaLZN8toQtAE3b63Th4b6g-h0meNiq5akfzhDzVS4Q6hDkoWvKnGT6QS78Xsj-95A6_aW8eLWsD3CnzdxFIYlGzmKTvIAqnsccCp8oXZ8qRQUCDbaQhmAKz1o_Wi3_nDYHIEzNyU5el9lesUm8MqxitMI_sAroVTclbNDd4L9KBNBteS5hyOz43ymwXlJN_gC8M2qik6iqOl0QFwOhkuPiFFVhSAntwGeL6fwXVuUJmAz7e3j1VMyjT2RiVvjxZSEAhSZmTud9WFaees0zEGTLMm3Gro1Q46Pj8TmtVcPP-bm-_6ydxSzpQkwefcPqFJx90y-KlHHG5NFzq_6qwEQ8-iAEy3cecWtJi_eJbAJBmE-3yCTtwpBLdDum6KOyuLHijpoLp9C9719We07jqdGVlvuTJrTa6TJV0L1Y9zNxS7pw6r15ot_SmCdfjuxKsFB8no2zwca0xfxWUlgWGJBUguyxbAuUUPUvM1cmo3dBTPnPdSlgHq0fI62cZ3LtwCjdasrHpbPaJuRWcDKOeumXJu5gwzx4ft9Zvq4n7DxhwlUy-bvfVt6zDL8vThpWbKuwDLVjLWN2WNuDaHuww8wepwBdg7YGmjFNySQdttvQ1jeJ9-KgeoRl72d4ewK2vrVpYMVpC7nAD5RCXtkLan0C9iSQ65nZ3cZYWHTXyN4apeQvJCpaurd82qi3DZNokMnITJeurlja_kdr7W0fydpPhVy9QGM_dBVKfq-JUHT9VZO0sChkHjpI7AkyY_UoD6yy8wabp3E5mxWagTkJQIWVVLym0pdXLphq1O8vcRUbK_EIF7yUYLlWCEJHXONnsBFVKwn_NR5PtuHgY8zMMebqgKh6tCGyAV_M6xC9D_J_XuvWc249eVcLMcuINH2tZC_ENxsR9v6Dv7Dn169W0cc2DXoAVCjifdSOEywFBSjdVHHCYSA3hfwYGEnRCj7bQIWZ3KmklwLZPOS4HjbsHcWzYQWaFRHGuMlXCwc3a8hjNwLj3ZiNBHEdiO1gVJYwByb_Fmxd3Vk6CUJgXMnQJ7AySKSIr-UPqX3b-nifT_aHUN3_kGI1MmNE7IVq73n4iYjDhA8jMXUlSAO_u1nmQLo6pL8aBPJe37XsbuJUtRnpoIaTo2MdbECbD0siUxtWj_aiEi92MxKpHXg_Y_9v9LVXsk0H8Anx4V3RdQNHcT8_WdZEZ2sqqw3DARYMinOEv76iC6ag7_sdGYRFooUqS1tSlUMaFhvYVLRgL7n_xojega4so6VY1IqeAcHYVhJORryepS2U7jaQJ8qZqRcy2qBtd3eWnnKUFrwwfHW1JXt-fSGrU6Y18_D-BTaTwoZcg0SlXNmzcv6br6fmoZD1AP0xFtUJHcvw_NpcxCZZqFSgX8pMhTRxyflivMf7v8GM4p1JcWlGryVOuYV2a_vMZAcOHulkbEigy0017Hp-cf84iMG8iLT3bPEyPjc0793jtw2GxRIhfZ1BYYo2Ae9Vq4RigyHC_lF3jaoNMa6AGWuEnqbaXZLRbDDXxXr0bt_0JLvNabScF8xRSMi1D-331WhSvsRYzmbWbKbf4oDx6Fgefl6vrdraRUYPY9IsjmiYlyxqrIZLXBInL1_8Y_XdqpF5Mwigsv8OoAB-eyypQgUiCgZNVLnKkDlAa-wb7eZW4Zf886nECotWS9REW4Ca8KxGQNM1y8ctYh5mGEBhEoczWHKtCbpwtUCLb3xkTl83LJjsNkYQG2UqvPJ2O_exbxl1xsVhWVq1oUmh_OShjvSGOkAxS-nW9q7NCdh_6j6o7qNiBGKnnN6pbTjM-h0NDp4b2CQlxfNyjvwN7fy3Z_YEafC8_xDWyb87M8BmRcYjJOSRykZ1gIdVvsFmOuH3QcgQrExHlV4Uz8h168l8t-8mgc4i4zhJzg7kP5WJ3w7fLbwoxVMh17UlRsubGjEi81ULvV5BEaN09YiMUsYLb-IF_Hhvy7BdEiJtcaKbEoLy2TPECxTgv-SkPDU4BIr3G7m9s4rrRQkJQVG0JcELAO8MQ5WBkjAKW9yEFWdTS98_DnYb68gItOv0vKwevIoWyAOctbSyuAf7Ut-g-exq42mL4smwPBMtNeQ3J4shQhu2aY62gGP9Chg5mKbbYp4BCJrGHsqz_oFUmrM0DQDq4_4sRA63IDyflk5f9Kc3ZDiQX6pVvOf30a6IOlWum6OXeLTvsNpX7chh-6H6xwpiga2TuIySQhd3HSw0_gjrKqGuBU7ELc4jNZ3c9QkswS1JuporG0HOtf3Mtmna1RK0Zof77okNcm-FkDbE_lxLwjkUsFyZtD2fs9zDZMqmG5bwiUXVlT6f5a-MP8OQvrYighr32HJGB7CvhvCHIRudXbHZTtIml1RqVT3tx0BTqEFLEGuJ9vCMm2cuDYQpxsKrXQtoNtZ9edUiiC4vRCpiAWu3FVu65HCWY7JF1owRapISTfQxqih9NLVRC6WDZCcmX454m1j974nFMlH2u3B-cDHKzGumfIE5vgcCIGW0AnN3ytLjwbZFGSiU4LTC-iFhQVjEIdhMp1CS5RAwPeUNZJW6sDhwqM7vn9Nb52k9ZFx4FXfYmepdZjn3jNMMvx7reB_Pp6N713HLuRie8kRQztbTbJuB2g6MIDyHB1hAhltavI8CF0ypgdJn5omJuvcGtnUbccUvUp2oGx5CUipp9OKLaUIkYJ2WG1f3oR3ngDBo3lCRjOwjwHTSJtc6VwfTyCwoqX1ngtAkqcSzvDKAMNWhp1DexvSiAp5hi4KHceQ4mVM1hQ4sk3601IKIJjHI-eoST9UhpLLjbEG-ea4TSh1X91-GUdRAyCi36agMnKKF8CzbIRw6ZUArPgIzG_uzdPmlS1tRAGRegNHFwDV9l3u5Lgg24-Sx7YPkmkTiG9fC_lS5vQcGKLsvT9WydqjRZnYnb4n_bMB18bhmeI3Hxm4CI2GRj6iAnE9c4lLO079rqdyEb4RwaJfEWylywodE2cJWfnARrvlLKjj07TErzOvr8T0XQHTFP_6Qg5nRSC4WAxmfM-UPZNud77NOpEhjoXd2NpyKi98Fbc3F0wcXcg80s45xzqUca3zEe5z7EnTOGkyESETcAmwy2SDD6O488lRT_TxQfyh3IMd7klhziIZqqhsu3-lTpm5fNU_Kst2YOQ7A-bgN6TwLG0_YHmdJR71_pP4-UMFD1oWGnMRvs8TMvs1CqJMo7epWeORIVk5LiDLbKAGnVqgNwvKcJtj2pHw-EbSajTJwbm7RWmH0RhgTg2mfLiifuuBTuKYGNftyOKTM-1mFq3_Pw96DnDrD4KZljGKkJvEhZNNzsiQKdyX2-Yhw53RZYvaL7h1mKoWqaKhe2bivEWih9oiQGRnst4delV3RAAjN383OLa0vNvE2wxGGuhSbVbS3s49kLJw2fBhwj4BxgT6GnPnA35HGI0SdX8czjDObV-8dwhXVoSSJKMyCE",
  "id": "rs_0254de1b53a9f971016ab43686e95487d0b8c1dc1ea8a85839",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.305,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The arms are separated again, and the cap-like piece is visible at the left fingertips while the pen remains held in the right. I’ll move the right arm alone toward the center now that the left arm is out of its path, keeping the pen above the table.\"}",
  "call_id": "call_2wrlF7jbgD143QD8lcYuNEqc",
  "id": "fc_0254de1b53a9f971016ab4368a6c7087d0a18dc3dfd05b5a70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2wrlF7jbgD143QD8lcYuNEqc",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4065, 0.9226, 0.8043, -0.6243, -0.3885, -0.279, 0.0198, 1.0737, 1.8496, 1.4361, -0.7364, 0.8986, 0.7372, 0.0881]\nstate[eef_state]: left_x=0.288 left_y=-0.0472 left_z=0.1953 left_yaw=0.0589 left_pitch=-0.1066 left_roll=0.0515 left_gripper=0.0198 right_x=0.3161 right_y=0.3002 right_z=0.1581 right_yaw=-0.0243 right_pitch=-0.0638 right_roll=-0.2576 right_gripper=0.0881\nstate[joint_eff]: [-0.1162, -2.2359, 7.3915, 1.6093, -0.2662, -0.0513, -0.0122, 0.759, -7.8838, 5.9282, 1.2088, 0.696, 0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c94ec0c4bd30a8f716792f9cd587347f60a52601cef6d21a315d02deb52fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d6f8606b6fa6cdf1a93706692450011cea32fa4b0884450ac2dfd32eb18d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7f4565565f6f02bb4933db2a382cb2379b02f0d7fe6e05027acec1103c1319",
      "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 · 4.659 s

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

message 113 changed as sent

message 123 changed as sent

message 127 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 1.4937, 1.0554, -0.4286, -0.6827, -0.6056, 0.0198, 0.7849, 1.6806, 1.4967, -0.9604, 0.4335, 0.5346, 0.0832]\nstate[eef_state]: left_x=0.3313 left_y=-0.2206 left_z=0.1678 left_yaw=-0.0118 left_pitch=-0.0628 left_roll=0.0355 left_gripper=0.0198 right_x=0.3301 right_y=0.2299 right_z=0.179 right_yaw=0.0583 right_pitch=-0.4182 right_roll=-0.1326 right_gripper=0.0832\nstate[joint_eff]: [-0.4991, -6.4615, 9.9897, 1.58, -0.6081, 0.0073, -0.0024, -0.7453, -8.9231, 6.3521, 1.1502, 0.232, -0.0611, 0.2027]",
      "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]: [-0.4061, 0.9165, 0.8085, -0.6151, -0.4004, -0.279, 0.0198, 0.8635, 1.8473, 1.7489, -1.2411, 0.477, 0.6731, 0.0867]\nstate[eef_state]: left_x=0.2895 left_y=-0.0456 left_z=0.2009 left_yaw=0.0679 left_pitch=-0.0857 left_roll=0.0498 left_gripper=0.0198 right_x=0.3147 right_y=0.2489 right_z=0.1808 right_yaw=-0.0444 right_pitch=-0.5094 right_roll=-0.2425 right_gripper=0.0867\nstate[joint_eff]: [0.253, -2.3179, 6.8308, 1.4823, -0.0415, 0.1929, -0.0122, -0.5265, -10.5368, 6.0376, 0.8718, 0.2906, -0.022, 0.1294]\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 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]: [-0.4065, 0.9226, 0.8043, -0.6243, -0.3885, -0.279, 0.0198, 1.0737, 1.8496, 1.4361, -0.7364, 0.8986, 0.7372, 0.0881]\nstate[eef_state]: left_x=0.288 left_y=-0.0472 left_z=0.1953 left_yaw=0.0589 left_pitch=-0.1066 left_roll=0.0515 left_gripper=0.0198 right_x=0.3161 right_y=0.3002 right_z=0.1581 right_yaw=-0.0243 right_pitch=-0.0638 right_roll=-0.2576 right_gripper=0.0881\nstate[joint_eff]: [-0.1162, -2.2359, 7.3915, 1.6093, -0.2662, -0.0513, -0.0122, 0.759, -7.8838, 5.9282, 1.2088, 0.696, 0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c94ec0c4bd30a8f716792f9cd587347f60a52601cef6d21a315d02deb52fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d6f8606b6fa6cdf1a93706692450011cea32fa4b0884450ac2dfd32eb18d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7f4565565f6f02bb4933db2a382cb2379b02f0d7fe6e05027acec1103c1319",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0254de1b53a9f971016ab4368e747487d0b212ca916ecca01f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.06,\"left_z\":0.22},\"note\":\"The right arm has reached the center line with the pen pointed forward, and the left arm is clear to its side. I’ll move the cap forward first, still well to the left, so its gripper can approach the pen tip from in front rather than crossing the right arm.\"}",
  "call_id": "call_s09xzUIOis9X49sAN2x9KlWq",
  "id": "fc_0254de1b53a9f971016ab436906ab887d0b26482ae6d84bab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s09xzUIOis9X49sAN2x9KlWq",
  "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]: [-0.2455, 1.56, 1.2785, -0.4831, -0.2783, -0.1951, 0.0198, 1.0748, 1.8603, 1.4311, -0.7292, 0.886, 0.7364, 0.0897]\nstate[eef_state]: left_x=0.4418 left_y=-0.057 left_z=0.1996 left_yaw=0.0856 left_pitch=-0.1591 left_roll=0.0546 left_gripper=0.0198 right_x=0.3151 right_y=0.3024 right_z=0.1512 right_yaw=-0.0178 right_pitch=-0.0779 right_roll=-0.2604 right_gripper=0.0897\nstate[joint_eff]: [0.5265, -7.5145, 9.812, 1.5702, -0.0122, 0.2759, -0.0122, -0.2256, -10.4684, 6.6256, 0.7888, 0.5006, -0.0708, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375d4ecbbf26d4f9d07a38e4b3e548712073ec1ef9ffe1bbfa88ca3f2a4a9803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735f9bcfe227ac5221c75c3f5e74b5d0453cff115d50a2d8513a80cb04daa6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35cf7905c1f3cedb2f7fc8c7505f967294f2e87e8aee62121e8874aaf953b25",
      "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 · 6.661 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]: [-0.8509, 1.4715, 1.0321, -0.4808, -0.6773, -0.6128, 0.0198, 0.8612, 1.8313, 1.7496, -1.224, 0.4866, 0.6743, 0.0854]\nstate[eef_state]: left_x=0.3278 left_y=-0.2005 left_z=0.1596 left_yaw=0.0216 left_pitch=-0.1002 left_roll=0.068 left_gripper=0.0198 right_x=0.3181 right_y=0.2491 right_z=0.1888 right_yaw=-0.0384 right_pitch=-0.481 right_roll=-0.2181 right_gripper=0.0854\nstate[joint_eff]: [-2.1949, -4.547, 8.759, 2.1661, -0.3541, 0.0122, -0.0122, 9.0598, -5.7368, 8.4171, 1.7753, 0.2418, 0.359, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4065, 0.9226, 0.8043, -0.6243, -0.3885, -0.279, 0.0198, 1.0737, 1.8496, 1.4361, -0.7364, 0.8986, 0.7372, 0.0881]\nstate[eef_state]: left_x=0.288 left_y=-0.0472 left_z=0.1953 left_yaw=0.0589 left_pitch=-0.1066 left_roll=0.0515 left_gripper=0.0198 right_x=0.3161 right_y=0.3002 right_z=0.1581 right_yaw=-0.0243 right_pitch=-0.0638 right_roll=-0.2576 right_gripper=0.0881\nstate[joint_eff]: [-0.1162, -2.2359, 7.3915, 1.6093, -0.2662, -0.0513, -0.0122, 0.759, -7.8838, 5.9282, 1.2088, 0.696, 0.0708, 0.1343]",
      "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]: [-0.2455, 1.56, 1.2785, -0.4831, -0.2783, -0.1951, 0.0198, 1.0748, 1.8603, 1.4311, -0.7292, 0.886, 0.7364, 0.0897]\nstate[eef_state]: left_x=0.4418 left_y=-0.057 left_z=0.1996 left_yaw=0.0856 left_pitch=-0.1591 left_roll=0.0546 left_gripper=0.0198 right_x=0.3151 right_y=0.3024 right_z=0.1512 right_yaw=-0.0178 right_pitch=-0.0779 right_roll=-0.2604 right_gripper=0.0897\nstate[joint_eff]: [0.5265, -7.5145, 9.812, 1.5702, -0.0122, 0.2759, -0.0122, -0.2256, -10.4684, 6.6256, 0.7888, 0.5006, -0.0708, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375d4ecbbf26d4f9d07a38e4b3e548712073ec1ef9ffe1bbfa88ca3f2a4a9803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735f9bcfe227ac5221c75c3f5e74b5d0453cff115d50a2d8513a80cb04daa6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35cf7905c1f3cedb2f7fc8c7505f967294f2e87e8aee62121e8874aaf953b25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaX4M96o8PRLRa7WHCSYp2cGXePYuRe8Ia-j7dB4Crj4F3sOR2wADu5IObKCyM6Lw13LjvY0zj1SeYE_QNnJRUWXRuJrBYRz7jMEh1NxroD3u6OIChRBk8W4cvOs0jqN5PDFbrbWsdyLOSpTw5k6MyF48QUDRTW-KYFP6M_yQdGFuh7oDMdaE4Jr_SB5_iJ0nXaCN1zoKpTgidvLRWKOizyx2xwL-jvBloIIKwe5ZUoLHuxzIHfDDkLlL1Ww6ZpBy5Qxa2_eVcgrjsJqvIh0_mx-7vznxm87WSv2BqJKI2hbLKSwv5UQjeKzdc0ssnuwmxV025Old7s0nIVi4a_vq0dtKdvIYZdG1Raue0O6rGZ_HArp_QHKSEmPpU8Nl6Rf5hJ7rMGAwCy4u2dc7H_hJk_O__FzTXIgyxqC-xeFtXhGtpPWLjQB7z127gZMHLfBadh9tXDfCF3atu8rkNK5z-auTOsvEWToy-DC84c82O_6ARKmAQyA3cbo49MI2o6NWikZt6ZRJZkmkUEERHt8TsAqzewkaUw_X1qka2kSTIn4Vkht4cNhfDiFfQj0AgHIBEEqGZl3UbRAPw1GM41vfnkWI1JOiy9K-trGjFOv8vOllFCY-YgaVEs7iVB7apGHLm5ShG7YBmLiBQdu_gJisSbzDJpiFhygO53x9xTsEx6aD3xb4L3PFo1m1RFA2UXg1CIxc33jjBH98lLP3onZv0HDlYXDta4O5c0rFPqvw7GCoyPGzvlUqnoAzN3Jc8EyxwpfIwdCWeG0aQAQMHwq0I4XZPet_uWx5xnkg24eqXbImnfHHiMFAvRiDjIOnw7-7vTvujm5AJKsBq9Efb_VoWNjKk4-G_tiJphK5XZd_fCvf_9emiCZ-VoS4f_fOE5LCMxZ_ART2VRQjcJJXB3wOk5Rp1DNH334DRqll-EoaGj7D5djdnKlgYnoB3dJgBijTbgzslxikCDSzgDEUy0nlj-BGOKOfxmSAf90WFvRzUlsFOezlekXVNjXmJN3ragOyPE9D_rqjmOzQd4xuFSH_PtJq6UdEPhBMAvbSLzjcqeNTXom5xxt1XQb9aa8T-P4bWR_4Yu0-Ix5qSsWw0lvbQDNTSk1GZX5LmFvWuNhwSXEkielnWQMcW2k_6lNq0I5TpRt5-NWSAJZHW-53HUteLtTSjJ2qxgdw5qxQIOSlf5ImuOuwaAxhzZmnChVkcKHPDj2M2BIu9lYfdOXcwWKlM_K_CGhhZg1bPaJas-Be4K-xuU3U7-Sw0jvio3YSyD9uZBZ-oaKogNmdpbkCw2ysu0bvkPT8NJMy_nqpS1i1rH-BVxwP-jsIDEhqK5hiNF0LE9RyUysBTJofkXjBpfhLl918VoyutZPdY8cyRyT5MIdCG2qpsdtkVdSkcDcAlg_Q7u50aquOb78DG8GRxFSBE86PVxxSwxc2KV20ST8wJGLU9qL_k2w0LgtX5W-HZt5YoaKznyrXZnLeCwXjzbpGV0qDE63v3NMIV54Tw7dbaag7L4jtElUpudk74qk3dWqbEone7zURNfVmuUNq_4RgecaDQTzDiAUe2VO-qLtUPNC1hzsNKRAYrESsSDbskegy8pQb0cdTvBSZhnxy-5pEs6jkwFbbyE4uoUoN_8Bo2qerexaX0vm8QH7LUkbaitE3eY_wf0VeC7ah_8a1Ks69oVPC1upmu_FwhJW-aT1bhAJYjLGTRLbBbfDK-MeAZLeqo-COw4vgWYICOeWmNrc6hxGWKmazB20JriaW0-lLhysqcV5D-qrSaUqDzluQOSVbCehQ92ibzwDGtuk8kMmS6j08UbY9N7kW5FXCyu0mfphOZuI8L27ShqJ0wF1hujnBK_MgNdRmuSR7Y--4tpC2wxvQkNbYMloISGU37ZmyBcGvcpplWjFQkROwKUC2LL5CrpbEJZHjfZL9_t7jonV5h5WGq_DHMh_HtChzBUdYkFqfqO94D0EiB1pg4sRtlQxedQmn38aKp1Iqu-3v9MPCKXg0ZzvIE8-BXO_vmTAQEeYUvjxcJHWZ0VtpUd_lk3C3l9iDPNQ6-0pgZr4_F9plc1-tush1xrPlLxRFeX-Z_0AmOhJCN0n9WuXvPjSktofS2mFjHHFzS3fuiplc4mJiaOL-NCOG7DzY7LPsYMy2hduf3vL1h5J5Ne0gcI37ZEJ2ffHvhawnvJdupyLZsnZ3ps8Se22XRK2QFVgSbKIVHTWbIBfonr_AcSMDsyLORKRWTfdkvwhea3XkaPrtMjcMQ3K6gSh4ke2UJhshEMfwUi9voysua5eOiJWuhgJ04lcOO0T-rBgfumx-YhzD2ehx3j__fptPiTKb-g1AgVR-Qs5lQS8G-g1fbYPVbE1vSciSSS2ETurLK7gEZ56vY5SnkI0LjmLfEHBW_X7o3g608vCTn5VToHTAI9fxoYubrhPKzNfdDlCCL940wY4E8w8dRbvEOfW5gRtdPPG1wB_1TrJiQMF18DQuedsRE5ooy_Ma9JA2f3wj23rJvlEUrUK3AU0C4I0tTr0MqzqPuYuS51z7MgpuLlCNpa6N3BENz0yB8E_p_a4vJP8SnWdE7XRS5abWWzGx2W3VYm888mQR-4Cz8rNReGQkU3guF9Im3bkQztUklPMNW-bU2TMLr7miIibepyVZc-QQR2Do6aQt8N9FRNB_QSb_dLQFjk3Eiyz7fztiMl3LwVfa5F-cuJiWO0wg==",
  "id": "rs_0254de1b53a9f971016ab43693bd3887d09edabe0acc5e4625",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.18},\"note\":\"The pen’s exposed end is visible ahead of the right gripper near the top-center of the overhead view. I’ll slide the cap gripper across at a forward offset from the pen gripper, aiming near that exposed end while keeping their bodies apart.\"}",
  "call_id": "call_wNl9k7NKf0HzEDCJBKzURgEE",
  "id": "fc_0254de1b53a9f971016ab4369658b887d0a010bc2b34aeac6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wNl9k7NKf0HzEDCJBKzURgEE",
  "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]: [-0.6777, 1.9991, 1.7565, -0.8551, -0.6674, -0.6331, 0.0198, 1.0107, 1.8584, 1.4033, -0.8471, 0.9119, 0.8948, 0.091]\nstate[eef_state]: left_x=0.4424 left_y=-0.2111 left_z=0.1658 left_yaw=0.2217 left_pitch=-0.2176 left_roll=0.1864 left_gripper=0.0198 right_x=0.3217 right_y=0.2568 right_z=0.1397 right_yaw=-0.1846 right_pitch=-0.0939 right_roll=-0.2749 right_gripper=0.091\nstate[joint_eff]: [-10.4, -8.4308, 10.947, 2.0733, -0.0806, -0.2222, -0.0073, 5.3812, -9.1966, 8.3624, 2.0586, 0.1148, -1.7851, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09edd70ea9aecbc6c67ed3f7b5adf52e37c2be2e8d5feb41d43a738bd4df57c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc3fe72d8ba23e0ee80336059b9c5b93c73a48ce0005b010b4347879a32d26c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4480d95f48bcee63fd97aac6ae3271274e103bf742f83b4f70b3ff6a935d8",
      "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 · 12.96 s

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

message 123 changed as sent

message 131 changed as sent

message 135 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]: [-0.4061, 0.9165, 0.8085, -0.6151, -0.4004, -0.279, 0.0198, 0.8635, 1.8473, 1.7489, -1.2411, 0.477, 0.6731, 0.0867]\nstate[eef_state]: left_x=0.2895 left_y=-0.0456 left_z=0.2009 left_yaw=0.0679 left_pitch=-0.0857 left_roll=0.0498 left_gripper=0.0198 right_x=0.3147 right_y=0.2489 right_z=0.1808 right_yaw=-0.0444 right_pitch=-0.5094 right_roll=-0.2425 right_gripper=0.0867\nstate[joint_eff]: [0.253, -2.3179, 6.8308, 1.4823, -0.0415, 0.1929, -0.0122, -0.5265, -10.5368, 6.0376, 0.8718, 0.2906, -0.022, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2455, 1.56, 1.2785, -0.4831, -0.2783, -0.1951, 0.0198, 1.0748, 1.8603, 1.4311, -0.7292, 0.886, 0.7364, 0.0897]\nstate[eef_state]: left_x=0.4418 left_y=-0.057 left_z=0.1996 left_yaw=0.0856 left_pitch=-0.1591 left_roll=0.0546 left_gripper=0.0198 right_x=0.3151 right_y=0.3024 right_z=0.1512 right_yaw=-0.0178 right_pitch=-0.0779 right_roll=-0.2604 right_gripper=0.0897\nstate[joint_eff]: [0.5265, -7.5145, 9.812, 1.5702, -0.0122, 0.2759, -0.0122, -0.2256, -10.4684, 6.6256, 0.7888, 0.5006, -0.0708, 0.1538]\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 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.9991, 1.7565, -0.8551, -0.6674, -0.6331, 0.0198, 1.0107, 1.8584, 1.4033, -0.8471, 0.9119, 0.8948, 0.091]\nstate[eef_state]: left_x=0.4424 left_y=-0.2111 left_z=0.1658 left_yaw=0.2217 left_pitch=-0.2176 left_roll=0.1864 left_gripper=0.0198 right_x=0.3217 right_y=0.2568 right_z=0.1397 right_yaw=-0.1846 right_pitch=-0.0939 right_roll=-0.2749 right_gripper=0.091\nstate[joint_eff]: [-10.4, -8.4308, 10.947, 2.0733, -0.0806, -0.2222, -0.0073, 5.3812, -9.1966, 8.3624, 2.0586, 0.1148, -1.7851, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09edd70ea9aecbc6c67ed3f7b5adf52e37c2be2e8d5feb41d43a738bd4df57c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc3fe72d8ba23e0ee80336059b9c5b93c73a48ce0005b010b4347879a32d26c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4480d95f48bcee63fd97aac6ae3271274e103bf742f83b4f70b3ff6a935d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDafBNuTbI7Nf3wIu4jP7ii_xdrDbNmU0fM4DtyqmiDroP1EKzsLyS_nQ0Kwjb7RFCsBtPp-xDerEztzggqLDVhb-WVDRWbuYviqOAML27a4GXAMUEtP87b0xpULRVIj0-oUycQRY7ilTbZCls4drkKe_gS7zeljv_Vy6nRY9neAcX8hO5wLl8m3mSk8ZhR7xrQ_8ccw1a4moV-IxzRm7oUiypVg7jpyNkaZC6oQPKWdR3v_CJG3Z1otDxDx6AdoPi0TeuZI4JYGm_TSC3IDdnM5FEFXgFEWXcmJ6LdGMFGjWME1xFfmwJNRKiMS9T_hHK0TLfRblVnNcc1Hux4xHeYPKrpf7QWP8YvGaQWo1Ui41gIG1QpSkjf1opa8AtEAExm-J5BJwjdp-zUnQZana8NSp2JzrMX2sJ0RVAlcsrxcmzqMVqvPzD8o8mgnOp4ZaNDL-dbtkMuXsdIcttZwMViCO4lcnJ6Sk9KyNd37NE6XyADT217y9ifeGCARpoQyYG3C6-ZnAPtDYfp8kPyEiM1KNIe1QvlEBItH4iODCtqxFRGfAF65oZ5DcFSlhXX8ir9caAX3VtlITPHj13wSbhuNPc6DPGvSkBcle3n7BpVnAev55k9v4FFVHQRzvATrnT2h-J4pGOAqzFjq0OhhADNlOp7LA3dXcDpGPnJN4OgaSVc9uPf7kS4F93EMff-0_o1GG7BZTxzf4_Q38S887C2JCSXhFfw7XlxCesSF2s6OofsYhY2H-ihJQWfxfXYb2AOpRfp814KJue6RWoDDBNP9s8RMhsCgk2NN1m1uiL4ZGlNgsXircMfcVAvnK6lZqPE_fXjyoz86Dc5MXgGZz_vFqe_0Lm5ZEsWw5v1gYXm5N6mfHA9vruw6O8g8a8a4TO8uE2qweN5bKm8h206TwuswdBAZ0ItG8iMIoQjdwvjWvmiUIzCfa9r19KCnFzuCRHDWjuWPS-XeJuLtgEJyYoM-ui7a2Xi0rfZk08l0A3jxCo-QdNDWpl5QKpS7GEv-AuPpoMtLrYsWsG4UBsPl4s1-3c0UPtYUP5PIRfB3-azR5vPtrtf-O5xa7B3XLxxnhE7-qrVd9UPvYjqNrzaGim_wlVMwjggb3Pw1UwK-JvycCZ-KhkaPdO5m92rao3qCAzfrxA38W5FeQKxQ7hiopqVe9NKutUWsJA0QneXAXjeJA607LaPeSC2zJ5OOnl3xlzuNWQ4DsnxaHZdsw6rugs2c7LtubyD7VnKjQRbbgyGP0aISbAiOrfYSBiUdXOzQO3mG6NTV7Z7h_9QwXD7VY7n9Ijm9JbBBB3Ry2SEqQxS0dX2GXC7C6duTsSpFuI9Iiq4SlZVPhrVEYzlcNIk0TI879CXg1O3-UcuiAjWeh6_XSmWsvFhw9fp7alONJLhYK5FK-tb7wiozVUpSd7iHSWW4f9YAmeEQnM-ieSHfOOqjMscCQX9UG5fjCnxg8-Hp4D5Sub_XyEGzrG-n7akWKpyGSQ==",
  "id": "rs_0254de1b53a9f971016ab4369d0c5087d0aeeff5219b8f0db6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.07,\"left_z\":0.21},\"note\":\"The arms touched again before reaching the requested cap position: both shifted unexpectedly and their base torques rose. I’ll withdraw the left arm at once rather than pushing the two grippers together.\"}",
  "call_id": "call_8IZDYK1eSPmTUBFJEOB7K8qL",
  "id": "fc_0254de1b53a9f971016ab4369e6d9087d09d3fd1270df107fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8IZDYK1eSPmTUBFJEOB7K8qL",
  "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]: [-0.4683, 1.4429, 1.2495, -0.7971, -0.5674, -0.4423, 0.0198, 1.0138, 1.8584, 1.3884, -0.8555, 0.8932, 0.9009, 0.0916]\nstate[eef_state]: left_x=0.3643 left_y=-0.0738 left_z=0.2026 left_yaw=0.246 left_pitch=-0.2258 left_roll=0.1834 left_gripper=0.0198 right_x=0.3169 right_y=0.2553 right_z=0.1325 right_yaw=-0.1816 right_pitch=-0.1184 right_roll=-0.2852 right_gripper=0.0916\nstate[joint_eff]: [0.2803, -7.1316, 6.8444, 1.2283, -0.1392, 0.1734, -0.0122, -0.3077, -9.306, 7.2, 0.8132, 0.5592, -0.0855, 0.0611]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bfae7ba1de2e8280f27abf0bf8984bd24c89073c50f7c3fa61ac609d5efdd94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c7a5ca2f3e246dcc9762fd634213d23ab054204b2aefe5d833b07f08d25bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca621b49da85987682193b97ad59833a4efaa62e7b8d0caaa02b7163a681d576",
      "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 · 10.42 s

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

message 127 changed as sent

message 135 changed as sent

message 139 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]: [-0.4065, 0.9226, 0.8043, -0.6243, -0.3885, -0.279, 0.0198, 1.0737, 1.8496, 1.4361, -0.7364, 0.8986, 0.7372, 0.0881]\nstate[eef_state]: left_x=0.288 left_y=-0.0472 left_z=0.1953 left_yaw=0.0589 left_pitch=-0.1066 left_roll=0.0515 left_gripper=0.0198 right_x=0.3161 right_y=0.3002 right_z=0.1581 right_yaw=-0.0243 right_pitch=-0.0638 right_roll=-0.2576 right_gripper=0.0881\nstate[joint_eff]: [-0.1162, -2.2359, 7.3915, 1.6093, -0.2662, -0.0513, -0.0122, 0.759, -7.8838, 5.9282, 1.2088, 0.696, 0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.9991, 1.7565, -0.8551, -0.6674, -0.6331, 0.0198, 1.0107, 1.8584, 1.4033, -0.8471, 0.9119, 0.8948, 0.091]\nstate[eef_state]: left_x=0.4424 left_y=-0.2111 left_z=0.1658 left_yaw=0.2217 left_pitch=-0.2176 left_roll=0.1864 left_gripper=0.0198 right_x=0.3217 right_y=0.2568 right_z=0.1397 right_yaw=-0.1846 right_pitch=-0.0939 right_roll=-0.2749 right_gripper=0.091\nstate[joint_eff]: [-10.4, -8.4308, 10.947, 2.0733, -0.0806, -0.2222, -0.0073, 5.3812, -9.1966, 8.3624, 2.0586, 0.1148, -1.7851, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4683, 1.4429, 1.2495, -0.7971, -0.5674, -0.4423, 0.0198, 1.0138, 1.8584, 1.3884, -0.8555, 0.8932, 0.9009, 0.0916]\nstate[eef_state]: left_x=0.3643 left_y=-0.0738 left_z=0.2026 left_yaw=0.246 left_pitch=-0.2258 left_roll=0.1834 left_gripper=0.0198 right_x=0.3169 right_y=0.2553 right_z=0.1325 right_yaw=-0.1816 right_pitch=-0.1184 right_roll=-0.2852 right_gripper=0.0916\nstate[joint_eff]: [0.2803, -7.1316, 6.8444, 1.2283, -0.1392, 0.1734, -0.0122, -0.3077, -9.306, 7.2, 0.8132, 0.5592, -0.0855, 0.0611]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bfae7ba1de2e8280f27abf0bf8984bd24c89073c50f7c3fa61ac609d5efdd94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c7a5ca2f3e246dcc9762fd634213d23ab054204b2aefe5d833b07f08d25bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca621b49da85987682193b97ad59833a4efaa62e7b8d0caaa02b7163a681d576",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0254de1b53a9f971016ab436a23cf487d0be32ea91a7588613",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0254de1b53a9f971016ab436a6a11087d09c7c08386d363bbb",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab436aa91d887d09bfd8c996cc4ba7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.155},\"note\":\"The pieces appear offset front-to-back as well as sideways, so pushing the grippers together would risk another collision. I’ll bring the left fingertips back and down toward the pen’s level while leaving a substantial horizontal gap.\"}",
  "call_id": "call_1CorMN1qq4fmESKfZc379U0Q",
  "id": "fc_0254de1b53a9f971016ab436ad3f8c87d0b7e730652f817933",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1CorMN1qq4fmESKfZc379U0Q",
  "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]: [-0.6537, 1.3525, 1.0039, -0.778, -0.6312, -0.614, 0.0199, 1.0142, 1.8584, 1.38, -0.868, 0.8845, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3076 left_y=-0.0998 left_z=0.1505 left_yaw=0.2198 left_pitch=-0.2632 left_roll=0.202 left_gripper=0.0199 right_x=0.3139 right_y=0.2526 right_z=0.1283 right_yaw=-0.1814 right_pitch=-0.1339 right_roll=-0.3014 right_gripper=0.0918\nstate[joint_eff]: [-2.5504, -6.1333, 6.1607, 0.9499, -0.5641, -0.0952, -0.0073, 0.0205, -9.1419, 7.0496, 0.9158, 0.5006, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c79afd563100693d340cbce63e49ba2a93ef5b1abbccc494fee4fe71d722a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec03b42d7bfa60c769e2ca5201fc43196694b37823c0c6b82cc1bad0ede35d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af80f4df297df7bd733ece42d8ebb9135aa96716d45b01ee63f0b35ccbe05e67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.443 s

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

message 131 changed as sent

message 139 changed as sent

message 145 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]: [-0.2455, 1.56, 1.2785, -0.4831, -0.2783, -0.1951, 0.0198, 1.0748, 1.8603, 1.4311, -0.7292, 0.886, 0.7364, 0.0897]\nstate[eef_state]: left_x=0.4418 left_y=-0.057 left_z=0.1996 left_yaw=0.0856 left_pitch=-0.1591 left_roll=0.0546 left_gripper=0.0198 right_x=0.3151 right_y=0.3024 right_z=0.1512 right_yaw=-0.0178 right_pitch=-0.0779 right_roll=-0.2604 right_gripper=0.0897\nstate[joint_eff]: [0.5265, -7.5145, 9.812, 1.5702, -0.0122, 0.2759, -0.0122, -0.2256, -10.4684, 6.6256, 0.7888, 0.5006, -0.0708, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4683, 1.4429, 1.2495, -0.7971, -0.5674, -0.4423, 0.0198, 1.0138, 1.8584, 1.3884, -0.8555, 0.8932, 0.9009, 0.0916]\nstate[eef_state]: left_x=0.3643 left_y=-0.0738 left_z=0.2026 left_yaw=0.246 left_pitch=-0.2258 left_roll=0.1834 left_gripper=0.0198 right_x=0.3169 right_y=0.2553 right_z=0.1325 right_yaw=-0.1816 right_pitch=-0.1184 right_roll=-0.2852 right_gripper=0.0916\nstate[joint_eff]: [0.2803, -7.1316, 6.8444, 1.2283, -0.1392, 0.1734, -0.0122, -0.3077, -9.306, 7.2, 0.8132, 0.5592, -0.0855, 0.0611]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.3525, 1.0039, -0.778, -0.6312, -0.614, 0.0199, 1.0142, 1.8584, 1.38, -0.868, 0.8845, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3076 left_y=-0.0998 left_z=0.1505 left_yaw=0.2198 left_pitch=-0.2632 left_roll=0.202 left_gripper=0.0199 right_x=0.3139 right_y=0.2526 right_z=0.1283 right_yaw=-0.1814 right_pitch=-0.1339 right_roll=-0.3014 right_gripper=0.0918\nstate[joint_eff]: [-2.5504, -6.1333, 6.1607, 0.9499, -0.5641, -0.0952, -0.0073, 0.0205, -9.1419, 7.0496, 0.9158, 0.5006, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c79afd563100693d340cbce63e49ba2a93ef5b1abbccc494fee4fe71d722a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec03b42d7bfa60c769e2ca5201fc43196694b37823c0c6b82cc1bad0ede35d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af80f4df297df7bd733ece42d8ebb9135aa96716d45b01ee63f0b35ccbe05e67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0254de1b53a9f971016ab436afb48087d0b8eb51a31f324400",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa4IkA1LYPz1TSywlVdXPHRbDx0tZS-fkieXBQnNz4Me3xNouRLwcQZBk19r_ihAxSmU3aVVNcPufLBLUJMrGuz77xSGYW8fhNuHFfzp2lPJa0eFaArzOOtA2YaHoDvn6WxLYFHzYsF5Bz8Y2HOEifLqpHcSW6XMAbrkBYxdmSTfolfyJmHX5kLDDFUP0uOy-x2LMy-vFw5lH3LUzs8ednZ2jqNj9A_jn8iw46QKLdONtOA3QQJOWpvBLFVsdBpjMBnkRvM1C2sC-1w20vcAwS4h4bww0dAwX-5Y73oO_TKlg-jbD5lWrfcNCavijwUf1Tek4nRdfAgZ3uvHV5kIJosLJf8Kj_Vi7tk4OcZrn_08aqMbYGp1KI9F-yBsqkyEP5NYswiF1OXDz07AdMzmhj23PTprvgQ8iQdVWNS5z_pVLoUyHRUXunqD6zFXA4bLR1friKt2K6WXcjLpR2URdu3n7F_M2CZBeY7mlzjXHAHc0cntyQy2AybHBCkPGoHkaHHhEXVJX8lKARVLD9-H4wstzaGtYxvzpH8afIpNkvtUw3_gF17FPZGxpVqrgd__dMtWPIw99pe_7A5aT5Hzm-RhCHdlX1RtxDQ4Hdl64Lq1oBgpe5q4_gg_4ZNBgoQjXNNHD9OTEYG1WlAIluGDVJC6zCv1Jd-nd6K_qpUJvzLAdLhccHe1bHZd0OnXuB2yT3UDkhpj9eCiRPmtM36WScelQK5MNnexl68f4SwcOJEoVBk20a6Zss94tKsP4YqmgCwV8pmZlkFJ1WLq9MG1euJKmR1VMogQLAbJv_CSAekd85MlVP0uufG8YPNEuB6tcLXuvuI9Pp1jy5oGfVT30jkIsIbr-v22renyhGBr3VdkEQhc_DAkjFfs8fza7o2yxTuzIHvgM0lKwQA0bJOAoIqYVnUrJcIv9npMxxrAlUOkp-UJpfbD6QBN2syInW1LTS0Npc9-GqHwnrOCrxld6RRtcx99k45z0DPZWJsYCNtKNW2WIVaSIRpof1lNiLNiH6YOhNl21gf7irbBcoDGRoEB5zq2wrpP2m5dfZXKfjy_aDuNAwYFn2al6ZSuKdbYl7FvTJjL2aKpbFllhkK3-YhVqbF9rSvIonH0UGD8ufKA6E6a4ZUfvVTMS2yGlXZ9rCZxExU2IryVDyYTcbUbTSkUAXS9SogY9u3lTiBbysJgLXTf-Irxlk6thS5MIeS5YbhcUvfG4xqJ8arzaJ5xOTY7b3qbkrKTEeQ-2pKBlXdJHN7A6qBnYgmnjcVtIJKYnSvObDlccmtAv9z7kP6-llDkzqrHBHyx4e63KCwSWL8gOTtJoduvbM4aywP2cJov82iVTAckdAlzNNtTO2hNhMQ06IrjJ10H-xQ1pwM7GjsNufluEFm0gQwm85kMTXEMuPFfKUrBBcnzDaMcx32s1jkvnhu-rr78cNKRSpDowEbGd5qlx3_hBCAB80bNn3pCOI4udH4f7q3XEk-GE1UFBbIl2244w8F9iKeDku6RSwNFzvHfojellmjD0yneuQLZjnrFKMpf3mZgo6-txEem0W0nIvMCZIYV-bitD1gErgQki0DtPR9hVuWdDvjfDa036qEs2OinI9gsaBsjqX1y19-O6DGppjgT3pObmSP1cuRaYQUl7l3Uu26-r2Sf86TUITKMNCI42SQYmwuPXW_SW9_KoP86kxAnw7b-YKzxaHblV3p_zqWvOZ7GVd6qwhp0FSxXGuVbEODk22YoDt9tOpG_S1MVcjAOSftA8mdQzusLmkLQ9m3n9-Pdk-bgEX9yhemk3ZRTmTSmunUSoswtepVj8vQ-uFVFH5ZSofx540pZMJJvdGahDFCScLpX95gsDeFGt4w5NHdHeHkALAQRJA8ZmRH4pLYaEPPW8a54c1DTI4-Sc2DNw8N-T9f3kybwQ35k6Jnq-DAgQn4UeUxk872HSfUPFvYhRQxoocCgl0up7N9VID6lXs8CIJ_Aj6e_f58jrNIuDP0cSwNgg7MWhoZtGowqN5Vi0u5icXpT5aerxkfLKMY34tFexZv_cF_tlzlliy1dqq6lhdz1foeNHSw3lPhJewuTrfYykozLnbhJJahO41kPXRRP8kfhnqeMu7DpSIdjZVJS9HHjYgELQY_jBD2nokIjKnS2RgmY01CL2mNMYtEhfRYx_0yfjGBktwu79hhquafOCJil4r0_Z_iOJlcQVOXQVBkZDDIiNALBTOhIHt4s4jEmYUN3oh-cu7zZRmmM6KZFVZUvFNuC7nU5h61lrlzQVVIIpwoAgNvaqi0RzqPSGYMHJMqX9ItOxDo3R6I7v1yqZ2InCwzecxyMsDCX38WIUAWSe8whQ7n-E8U16zZjcrVnGChsuj4WsQ5-8AGyOO5fkdOpEuBin_xxPcDhMVaVBKY_iIeofziZIfru0B1jq4vPS1OJ0XkJ_M-KeguPm8L71qfbjONKB8o38120WgCcieRGGHzYBeQoyCHu3DUdL3XTxGEBv24T-eMR4E3S2tUquA-2ygSbdyOkpmZcbLioHs6SL4Lxb_BLi9j9v28S9ijnGWkjN3vX7UEqhSiIkQ-mU3syiS8qLX__5Io_vAcCREX1LObcbuswbje6qREDbN2QVYvme_44AMW8tNm990JUx-bgqTbIKyvdOmnSrccEIsmHomaumOdFZn4utLun58mVEPXs8YaG-ltHkfpyHwphp591xTSt1CkW6Oig8xDdBeH_gC-1ycmagiJ9OmEV5c56mnq0JN33JAdKsjw4fEd1p7DqYflAPIQ1cBb7jx4yOnJ0Fjfjc4hP-E_HM7AWAHjl_FtcPToiyHoJYKGrxJi_CRXTMcwhDhFPWsDTN6SsL2UIKOgFCSEwldS10f9t_iku6NU5mrV1Yr9wOpwFSQ5WDL2EPz1IQI_KrhxyY7yGxMzmRdTca3ggWKtPonVGJJxMvJSeds5dA9xAM-6GQ5KI4aCkjT_woy10pZVU0Sq1AwZ0UT-1lOH_VC8ugB5M6Lw1PGkRmI60eTDrb-yYhw5LRinhxANAPkdrv2YRh9LthZCTvnzEKesCiKf4H39FKyNRX5QsLMbI40oUyz3yVu5aMBlA2MwDC1erKPEKcPaKP7Zq_xY_ZXkpPSwFrYDPEqk23hWm_vJb-gevfN8UHJwl4jcdwayEqsdqAJqeFbcjOeiqawpupe1HrYYnJqQZXB6EHT1vLIitgMqJIQNHq3Ik4L8sJ-uVoB8toZQfHBWIBhvcfgaaESPTe6uqdH98JuzgPbP5qxjgzmGd0X3wTzHNe6-gAsPl60Hg446vBZw347va0KaOpxYDtMJGIrmTGF1W36_ALX3kV-4NfuG8yWN3YbncUJ2j7x_ixpxEBZC4SfccwVkvA2VPMtoFOeIo0WqMzDAt9C_NaWg-GcWqe7l5hLUx7Y30CZtWxaItaNKfC5ReixiDdiB2j5wb09luu6-oLDL5sCxVUN6rMkf64zJ41gtnRgY4PP4iJK2F86kZJGag3XATrL5k2-vBqVET9wkM7-zvYGFfRFbVMKcXT2_o4lBjl0nj3zXiv5Br-m25BfIRYQGTYRl-mw0iUuWUNfwSd4vTa6-P0TFu7UYSLVjYid7E7HBSxdV7YeT-QOSGuVgiLrwZry3og7MVn6X1T5Q7Ow0v4FlShsXLnKJOWi64YXEMRhuu5XwHlgT6fH2hMeT9sBd8LxmK9SBOkzn9p1in80wWh89VTpldT4hvE4vZgtK5NmwgFROiQ==",
  "id": "rs_0254de1b53a9f971016ab436b3a0fc87d08adce22d5dabf789",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.2,\"left_z\":0.255},\"note\":\"At nearly equal heights, the bulky gripper housings touch before their small held ends meet. I’ll raise the left arm well above the right and move it sideways over the pen-tip area; I will only lower it if the bodies have clear separation.\"}",
  "call_id": "call_JXeS8k2s12bCJqC7saVpRKbo",
  "id": "fc_0254de1b53a9f971016ab436b7722c87d0b5568f4721df200c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JXeS8k2s12bCJqC7saVpRKbo",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.3293, 0.9932, -0.7769, -0.6586, -0.6804, 0.0198, 1.0142, 1.8584, 1.3746, -0.8837, 0.8783, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3042 left_y=-0.1015 left_z=0.1561 left_yaw=0.2452 left_pitch=-0.2285 left_roll=0.1597 left_gripper=0.0198 right_x=0.3113 right_y=0.2497 right_z=0.1254 right_yaw=-0.1826 right_pitch=-0.1472 right_roll=-0.3189 right_gripper=0.0918\nstate[joint_eff]: [-1.4427, -5.1214, 5.6684, 0.8523, -0.5543, -0.0952, -0.0171, -0.0889, -9.2239, 6.4205, 0.7741, 0.4371, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4bf4273e2b972c6aadb1c0bc09e31e6e71c2776dc9ec9de89c088a80760162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa465474765cc105cb0eec0e6b542fb2eabc154d267b0d2b49016b273a1f14e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fac4cad1434e040198a0f262108626511623ec4c5e5f59485f5281915d7999a",
      "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 · 6.255 s

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

message 135 changed as sent

message 145 changed as sent

message 150 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.9991, 1.7565, -0.8551, -0.6674, -0.6331, 0.0198, 1.0107, 1.8584, 1.4033, -0.8471, 0.9119, 0.8948, 0.091]\nstate[eef_state]: left_x=0.4424 left_y=-0.2111 left_z=0.1658 left_yaw=0.2217 left_pitch=-0.2176 left_roll=0.1864 left_gripper=0.0198 right_x=0.3217 right_y=0.2568 right_z=0.1397 right_yaw=-0.1846 right_pitch=-0.0939 right_roll=-0.2749 right_gripper=0.091\nstate[joint_eff]: [-10.4, -8.4308, 10.947, 2.0733, -0.0806, -0.2222, -0.0073, 5.3812, -9.1966, 8.3624, 2.0586, 0.1148, -1.7851, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.3525, 1.0039, -0.778, -0.6312, -0.614, 0.0199, 1.0142, 1.8584, 1.38, -0.868, 0.8845, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3076 left_y=-0.0998 left_z=0.1505 left_yaw=0.2198 left_pitch=-0.2632 left_roll=0.202 left_gripper=0.0199 right_x=0.3139 right_y=0.2526 right_z=0.1283 right_yaw=-0.1814 right_pitch=-0.1339 right_roll=-0.3014 right_gripper=0.0918\nstate[joint_eff]: [-2.5504, -6.1333, 6.1607, 0.9499, -0.5641, -0.0952, -0.0073, 0.0205, -9.1419, 7.0496, 0.9158, 0.5006, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.3293, 0.9932, -0.7769, -0.6586, -0.6804, 0.0198, 1.0142, 1.8584, 1.3746, -0.8837, 0.8783, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3042 left_y=-0.1015 left_z=0.1561 left_yaw=0.2452 left_pitch=-0.2285 left_roll=0.1597 left_gripper=0.0198 right_x=0.3113 right_y=0.2497 right_z=0.1254 right_yaw=-0.1826 right_pitch=-0.1472 right_roll=-0.3189 right_gripper=0.0918\nstate[joint_eff]: [-1.4427, -5.1214, 5.6684, 0.8523, -0.5543, -0.0952, -0.0171, -0.0889, -9.2239, 6.4205, 0.7741, 0.4371, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4bf4273e2b972c6aadb1c0bc09e31e6e71c2776dc9ec9de89c088a80760162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa465474765cc105cb0eec0e6b542fb2eabc154d267b0d2b49016b273a1f14e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fac4cad1434e040198a0f262108626511623ec4c5e5f59485f5281915d7999a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa80z1H07ye01eBX1dY30EunUH_6ysypm1llx78B8mY7NoRxivL0vIwde9ERW5j9c3UE4bBbyCIVdsDsQ9QnUH4FuMHljQ3LyLOfl9KivWaPvkiIxij_nZ70pO_21-3r_EHiCUeNvuO_EpbZFsbglkKxMTxNzHOh_Z7tVBMZYgjzafnJ3nijYD8iNFysMmIO7PMMRvyFnSQt8iE4YFWkatFKz_y5tlCLCqNtz9-nJtav3YFHpmQuRzdte7gyTOfP5G3Ed6GOSsGSaBIeFsGPxxz29kAhYSB_G_4yNkzcPuXAwYksflyZ7ku4rmQThHoemh7tH1_c9o89kJQJMuw_AIDi--AN4g-PFKFF3VYCsgSW1usrcJOfXqg0ITbgXyS46HuJM0RIEFk07OSjriuteLaXkomlTTQ3nKQGEZrYaFz6DpEjS6NBEYe9LOt6m6rSjL7KO_APoropT-QNoSrmzDgBngIXzzdg_V9jc8Dv7r-hWqlM0ClMB38cF-3y-CI7krN7Clz0r3h-_jkRsTMSrWn--Gz9o6LsuOlzO7bkgknFeVUp-NO7iKZ50kB4a9QrFE20ogCHabUm8YgnyU4py9wywqJZ4QnwtjuhsxzYtiniffWHKopJoocuxzxp7z3MttQQZgdC_fkkHnaKPZFKE6gxKjY0MknFdr2yZdYb8J2AkcfQ9UzOMtxU9cva1i17lRfnOOtEb2idEs4eADxc4G_wDug5dCn5X37dubwn-byhcZ6bEz3doZDoqMlaCCESS9XuOqgRuisrNUcTqh-P7qADdhXMmKFdzkHTt2PRt_te6JJ2gAJWeckIVuLQKLEIimXpaDk4DoR0Y-DstAuHR_ID_peOQ_QILlLafwvM0SEVy-9Uy9cohgKiA_vmWbuUdxaiLK1FwaOdrDOv7Ns1bllWSeUtQO74D5OuUK_4Ni-EdKg0Yh8R6C_gNgEejIDhvtq1OAEXmLKMG6466ebYHGeFAMEPFgMw6cyf8V3TAIUjUrfSkccxRvjQjD6DpTn5tYQAaeFqE42OuSdbjZ3N7wyEB3s-HJ8YFT-SazMQhnvOvDDURElXhlqoOjZpq8ekY1Ue6PYUv8tam9iIGy2RBhVcY8Sarn7jrOD9OLdHxA5GaBFz0e_KN5vCNr88uMn-umsLcBPkwTrhwqfK8ZL5fVGiLQPmAeWZCJ1Vk3iXEUlksm1vU3e82-XlgHrStgafNnmIXKvxl7viEESHAVitra7UQ_cyE-nJaS-0yOeu_2wQPyyKMVLK-HKeXqlEUnfqwsCDTyNxlNgqhj0lTS93T57_aAP95FFaUUhBGDQ3GjZ5thG4VF8vACrWkQhL3mi2QEF3MDysK1_oGzXPEI0sP5WWif-1u04b_UBva2qZ4c1iQT_7bF2fOpP634h6tksMGAesPj61BMAzKA2cfcq3rsovDXKeMR9nO0yToc0wIh9BTn_YhWyrpIUlEE3B5hn5JsTd4wmCevv_z3rRorJ-jj58INzudpwdwzhvPg9mHy9ig8=",
  "id": "rs_0254de1b53a9f971016ab436bac5b087d0a57ce256730ebab2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.1,\"right_z\":0.18,\"left_x\":0.31,\"left_y\":-0.095,\"left_z\":0.25},\"note\":\"The left arm could not rise or move sideways while the two housings were still crowded, so I won’t force that path. I’ll move the right arm back to its own side and raise the left only as the space opens.\"}",
  "call_id": "call_QH7X2mVoPbGw8AUt38MlmUdb",
  "id": "fc_0254de1b53a9f971016ab436bb395087d09d0f1d2623bd100d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QH7X2mVoPbGw8AUt38MlmUdb",
  "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]: [-0.646, 1.3533, 1.3407, -1.0908, -0.6357, -0.6708, 0.0199, 0.7532, 1.2896, 0.9783, -0.8085, 0.7845, 0.5594, 0.0918]\nstate[eef_state]: left_x=0.3083 left_y=-0.0966 left_z=0.2374 left_yaw=0.2567 left_pitch=-0.2397 left_roll=0.1459 left_gripper=0.0199 right_x=0.2896 right_y=0.1054 right_z=0.1723 right_yaw=-0.1959 right_pitch=-0.1624 right_roll=-0.3178 right_gripper=0.0918\nstate[joint_eff]: [0.3624, -4.2735, 9.1556, 0.8718, -0.398, 0.2662, -0.0073, -0.3624, -5.559, 6.4068, 1.0818, 0.4469, -0.0708, -0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d83a76f0836cf123f314b7ccaa4c3e98b596c4134975d6528b22fc49de8abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4a7d4ba4294fe83072c62165dfcab242b3a80fa8ef7c0b2a42ab00a3f8cf5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f342b002336bfcbc4ab9ef26ed656ec97a619cf8c0e0b53b70f824ce718f832",
      "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 · 9.161 s

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

message 139 changed as sent

message 150 changed as sent

message 154 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4683, 1.4429, 1.2495, -0.7971, -0.5674, -0.4423, 0.0198, 1.0138, 1.8584, 1.3884, -0.8555, 0.8932, 0.9009, 0.0916]\nstate[eef_state]: left_x=0.3643 left_y=-0.0738 left_z=0.2026 left_yaw=0.246 left_pitch=-0.2258 left_roll=0.1834 left_gripper=0.0198 right_x=0.3169 right_y=0.2553 right_z=0.1325 right_yaw=-0.1816 right_pitch=-0.1184 right_roll=-0.2852 right_gripper=0.0916\nstate[joint_eff]: [0.2803, -7.1316, 6.8444, 1.2283, -0.1392, 0.1734, -0.0122, -0.3077, -9.306, 7.2, 0.8132, 0.5592, -0.0855, 0.0611]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.3293, 0.9932, -0.7769, -0.6586, -0.6804, 0.0198, 1.0142, 1.8584, 1.3746, -0.8837, 0.8783, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3042 left_y=-0.1015 left_z=0.1561 left_yaw=0.2452 left_pitch=-0.2285 left_roll=0.1597 left_gripper=0.0198 right_x=0.3113 right_y=0.2497 right_z=0.1254 right_yaw=-0.1826 right_pitch=-0.1472 right_roll=-0.3189 right_gripper=0.0918\nstate[joint_eff]: [-1.4427, -5.1214, 5.6684, 0.8523, -0.5543, -0.0952, -0.0171, -0.0889, -9.2239, 6.4205, 0.7741, 0.4371, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.646, 1.3533, 1.3407, -1.0908, -0.6357, -0.6708, 0.0199, 0.7532, 1.2896, 0.9783, -0.8085, 0.7845, 0.5594, 0.0918]\nstate[eef_state]: left_x=0.3083 left_y=-0.0966 left_z=0.2374 left_yaw=0.2567 left_pitch=-0.2397 left_roll=0.1459 left_gripper=0.0199 right_x=0.2896 right_y=0.1054 right_z=0.1723 right_yaw=-0.1959 right_pitch=-0.1624 right_roll=-0.3178 right_gripper=0.0918\nstate[joint_eff]: [0.3624, -4.2735, 9.1556, 0.8718, -0.398, 0.2662, -0.0073, -0.3624, -5.559, 6.4068, 1.0818, 0.4469, -0.0708, -0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d83a76f0836cf123f314b7ccaa4c3e98b596c4134975d6528b22fc49de8abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4a7d4ba4294fe83072c62165dfcab242b3a80fa8ef7c0b2a42ab00a3f8cf5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f342b002336bfcbc4ab9ef26ed656ec97a619cf8c0e0b53b70f824ce718f832",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0254de1b53a9f971016ab436be7e4887d09d01ded555f24e14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.31,\"left_z\":0.235},\"note\":\"The arms are clear again. I’ll put the left gripper ahead of the pen’s future path and near the center line while the right arm remains out of the way; this preserves front-to-back separation for one controlled approach.\"}",
  "call_id": "call_KZj2ooaOzS858Z6RFJL94wS1",
  "id": "fc_0254de1b53a9f971016ab436c2d25487d0bb176352b56a4893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KZj2ooaOzS858Z6RFJL94wS1",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8478, 2.4344, 2.7129, -1.5452, -0.6834, -0.9192, 0.0199, 0.7483, 1.2934, 0.973, -0.8082, 0.7727, 0.5457, 0.0918]\nstate[eef_state]: left_x=0.4182 left_y=-0.3 left_z=0.2112 left_yaw=0.2525 left_pitch=-0.2705 left_roll=0.1385 left_gripper=0.0199 right_x=0.289 right_y=0.1049 right_z=0.1682 right_yaw=-0.1889 right_pitch=-0.1784 right_roll=-0.3291 right_gripper=0.0918\nstate[joint_eff]: [-0.7179, -13.2581, 8.4581, 0.6325, -0.6667, 0.0073, -0.0171, 0.3214, -4.8615, 6.7761, 0.9353, 0.4469, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6478b8a3b4b10982a01746b7c07a55595114ec10fe3dbbc53016f681b1fb995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac415173c6a9ebe751016864fb63f98d920fbfac03935aa203d1fc6394e82e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fe9c651a6e444226787270770170b596fc0c864585b514eac0cebaa7a91559",
      "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 · 5.501 s

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

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.3525, 1.0039, -0.778, -0.6312, -0.614, 0.0199, 1.0142, 1.8584, 1.38, -0.868, 0.8845, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3076 left_y=-0.0998 left_z=0.1505 left_yaw=0.2198 left_pitch=-0.2632 left_roll=0.202 left_gripper=0.0199 right_x=0.3139 right_y=0.2526 right_z=0.1283 right_yaw=-0.1814 right_pitch=-0.1339 right_roll=-0.3014 right_gripper=0.0918\nstate[joint_eff]: [-2.5504, -6.1333, 6.1607, 0.9499, -0.5641, -0.0952, -0.0073, 0.0205, -9.1419, 7.0496, 0.9158, 0.5006, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.646, 1.3533, 1.3407, -1.0908, -0.6357, -0.6708, 0.0199, 0.7532, 1.2896, 0.9783, -0.8085, 0.7845, 0.5594, 0.0918]\nstate[eef_state]: left_x=0.3083 left_y=-0.0966 left_z=0.2374 left_yaw=0.2567 left_pitch=-0.2397 left_roll=0.1459 left_gripper=0.0199 right_x=0.2896 right_y=0.1054 right_z=0.1723 right_yaw=-0.1959 right_pitch=-0.1624 right_roll=-0.3178 right_gripper=0.0918\nstate[joint_eff]: [0.3624, -4.2735, 9.1556, 0.8718, -0.398, 0.2662, -0.0073, -0.3624, -5.559, 6.4068, 1.0818, 0.4469, -0.0708, -0.0024]\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 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8478, 2.4344, 2.7129, -1.5452, -0.6834, -0.9192, 0.0199, 0.7483, 1.2934, 0.973, -0.8082, 0.7727, 0.5457, 0.0918]\nstate[eef_state]: left_x=0.4182 left_y=-0.3 left_z=0.2112 left_yaw=0.2525 left_pitch=-0.2705 left_roll=0.1385 left_gripper=0.0199 right_x=0.289 right_y=0.1049 right_z=0.1682 right_yaw=-0.1889 right_pitch=-0.1784 right_roll=-0.3291 right_gripper=0.0918\nstate[joint_eff]: [-0.7179, -13.2581, 8.4581, 0.6325, -0.6667, 0.0073, -0.0171, 0.3214, -4.8615, 6.7761, 0.9353, 0.4469, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6478b8a3b4b10982a01746b7c07a55595114ec10fe3dbbc53016f681b1fb995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac415173c6a9ebe751016864fb63f98d920fbfac03935aa203d1fc6394e82e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fe9c651a6e444226787270770170b596fc0c864585b514eac0cebaa7a91559",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab436c6e98c87d0b3b9fae135718be5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbOEyRXlGFLOlLLqDBV0r21yk69g1qB2iOgKauOMhRiZAtjk2H53_SL-gz5e5IEYVw-Hk-zFeyT3GFx_eaAE7wDJ91tc1rdetY8ZGEQrSScfw2hUWYWe5R55t5WAGr6rRIPyXJq6aLtK0RUN1iQgsH0voVf4A7iXPo8EC4gLv9VjLFWXAPNWKISRT42Ac4jfZEjO585lFYwKX4KxcJrhm4ydoJfvhH_YPZcwCgx8gQfSsZZU7S2ML5-uht3LiPJjnKuJmtWLS_-tLHJXtDHUJdo1kp13UO4GAUYWTaDcaSYrxaqTnGAD1nf3w7GBjSnbz5Nn4Kz_O0XLoB1sWmHBad_5XwFeTGFMcvDeYr0HZhpBJanHk5dGSqXQZBAgpAlu1EHmHzsmrUrPCI3BN4R_71_DAPOGtuJiyJvygkcU-F_GwCOOLhSm-ukV-rGYR7UZWBsBgH85SgcjaRUVxWB_Cn13B6U4vsfEdCca1bAAVulf1kYxfijZzzzhzOcVzvKgoUPklUKaBTZimNz1qPKyWvg517CakWGjuNTB5Mw59n_VHdAR2HAJHM402gOHgdOD01_cOrMRIEOwfjefqDjcP7y-Fk4twTawJetI_lJdvZpBz74dnDS4AjUHaSp1TUVW-qEUJHVxYne_ClxPoMRaa0sOZHgIpHo7XhVpAkQ-FAxy0yfqFURnWRG1MUErHlpvixI30ci2XC7f8RQ8JatccodiOc_01tbbzC89zk27iNibg4mF2mgRw62Lvkuix06wAySEp9z_JA7kENdamJZ_6h8Y1-SIoKF7nnFE1LfVR3Ns4WPeKQwUlv64yJEnBmrZZonPx-XB3eMKGXte69YZgHWCL7WlrnYhDdlt5IkQHngYulAnYXeB0hqLmexi0VbhElgJ8Jnw6bajSHXmWUlrVGWPoghsj3EITwWTmqTlM0pKUgDsoLcMgqhvudUV_xrwZkkecfztAJAANIbINkErJJyBLVIIRtoLNkHn54zlp6LBqbMJIWYfS-iNu9y7Rq_b8aQ0xZuvEW_0aqCY1yaFb3PnwgUw7S2G2zLup0dfPPbSdDFcKkHmfetSoDcYHEyTri2zfA0Gn3uo8_E504Dmxwfkd8R667ssJ1VOClrZjd6j6g_mJs6FYdyofRa9zyE_Tfx1gZsSfhIAwV9fuqgyNERSSFiXXp9rDazTl8gO1gYR6_IeWWAVz5WhwfzHN_Js6wGKlJZk9wLGGRfHDutRY1ZVYZ-kr_Yf4POTrsij_Ey_SCBsBgNH-0QF59HVmJrzy1CNeVKuIo9vfqe_ATP6YEuoEZztbX1yMYCA73kLeYq5-HA9muQdEzuJ7IW4y9AvuM5B8vyg8IvAkMtwuQHAByE63DmR13yPQvjcDhcFBpNijJBJj1kTyZ_yG4Ee6pJFeI5ZfDU9GizEEhfDBRvyeJpIzY28dvQLO81wk4nnGLbvGp-2H4zkRYB_i7tSsw5doK9tBgnbxYO-3l5q_u0ultw8g==",
  "id": "rs_0254de1b53a9f971016ab436cb92d887d0b6487042cf9cf096",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.26,\"right_z\":0.205},\"note\":\"The cap gripper is now forward of the center line while the pen is still on the right. I’ll bring the pen toward it with the gripper bodies separated front-to-back, then check the exposed ends before attempting any insertion.\"}",
  "call_id": "call_R7RVWInstoNbC2ahlfzGs643",
  "id": "fc_0254de1b53a9f971016ab436cd29c087d08ec358f88b9872fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R7RVWInstoNbC2ahlfzGs643",
  "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]: [-0.7891, 2.4378, 2.7132, -1.6073, -0.7113, -0.8963, 0.0199, 0.9913, 1.8549, 1.6562, -1.3647, 0.8021, 1.0016, 0.0924]\nstate[eef_state]: left_x=0.4288 left_y=-0.2632 left_z=0.2092 left_yaw=0.3259 left_pitch=-0.278 left_roll=0.2274 left_gripper=0.0199 right_x=0.2934 right_y=0.223 right_z=0.1832 right_yaw=-0.2824 right_pitch=-0.2654 right_roll=-0.4079 right_gripper=0.0924\nstate[joint_eff]: [-5.012, -13.0393, 5.3812, 1.4188, -0.1441, -0.2125, -0.0122, 4.6017, -7.8701, 10.5778, 1.3016, 0.9548, -0.6227, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3182bec53114c8a2c745f6f421f9e5bb5e5502dd1163c266d83381a93c869f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5818718181f64bac62ea95d18d4332bdd8689b3a37e0fb82d3f17dbce84cb6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9474018d17bf72fd4bc6b67b21beeae0d7ea8a6eef0a912693b1f848d1f9545",
      "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 · 6.335 s

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

message 150 changed as sent

message 158 changed as sent

message 163 changed as sent

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.3293, 0.9932, -0.7769, -0.6586, -0.6804, 0.0198, 1.0142, 1.8584, 1.3746, -0.8837, 0.8783, 0.9012, 0.0918]\nstate[eef_state]: left_x=0.3042 left_y=-0.1015 left_z=0.1561 left_yaw=0.2452 left_pitch=-0.2285 left_roll=0.1597 left_gripper=0.0198 right_x=0.3113 right_y=0.2497 right_z=0.1254 right_yaw=-0.1826 right_pitch=-0.1472 right_roll=-0.3189 right_gripper=0.0918\nstate[joint_eff]: [-1.4427, -5.1214, 5.6684, 0.8523, -0.5543, -0.0952, -0.0171, -0.0889, -9.2239, 6.4205, 0.7741, 0.4371, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8478, 2.4344, 2.7129, -1.5452, -0.6834, -0.9192, 0.0199, 0.7483, 1.2934, 0.973, -0.8082, 0.7727, 0.5457, 0.0918]\nstate[eef_state]: left_x=0.4182 left_y=-0.3 left_z=0.2112 left_yaw=0.2525 left_pitch=-0.2705 left_roll=0.1385 left_gripper=0.0199 right_x=0.289 right_y=0.1049 right_z=0.1682 right_yaw=-0.1889 right_pitch=-0.1784 right_roll=-0.3291 right_gripper=0.0918\nstate[joint_eff]: [-0.7179, -13.2581, 8.4581, 0.6325, -0.6667, 0.0073, -0.0171, 0.3214, -4.8615, 6.7761, 0.9353, 0.4469, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 163 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.4378, 2.7132, -1.6073, -0.7113, -0.8963, 0.0199, 0.9913, 1.8549, 1.6562, -1.3647, 0.8021, 1.0016, 0.0924]\nstate[eef_state]: left_x=0.4288 left_y=-0.2632 left_z=0.2092 left_yaw=0.3259 left_pitch=-0.278 left_roll=0.2274 left_gripper=0.0199 right_x=0.2934 right_y=0.223 right_z=0.1832 right_yaw=-0.2824 right_pitch=-0.2654 right_roll=-0.4079 right_gripper=0.0924\nstate[joint_eff]: [-5.012, -13.0393, 5.3812, 1.4188, -0.1441, -0.2125, -0.0122, 4.6017, -7.8701, 10.5778, 1.3016, 0.9548, -0.6227, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3182bec53114c8a2c745f6f421f9e5bb5e5502dd1163c266d83381a93c869f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5818718181f64bac62ea95d18d4332bdd8689b3a37e0fb82d3f17dbce84cb6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9474018d17bf72fd4bc6b67b21beeae0d7ea8a6eef0a912693b1f848d1f9545",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0254de1b53a9f971016ab436d2020487d0b9c86bc2df31a807",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.03,\"right_z\":0.15,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.16},\"note\":\"The approach again stopped with both arms deflecting and elevated torques, so the gripper bodies are blocking insertion. I’ll separate them and return toward their own sides rather than apply force to the pen or cap.\"}",
  "call_id": "call_pY4UEwIifrbtSrw2bh16WyD3",
  "id": "fc_0254de1b53a9f971016ab436d475b487d09b790ed02f16462c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pY4UEwIifrbtSrw2bh16WyD3",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.1515, 0.8948, -0.8059, -0.5453, -0.4255, 0.0198, 0.4919, 1.2301, 0.8764, -0.8089, 0.6769, 0.3645, 0.0931]\nstate[eef_state]: left_x=0.2885 left_y=-0.0012 left_z=0.1559 left_yaw=0.3618 left_pitch=-0.2948 left_roll=0.2289 left_gripper=0.0198 right_x=0.284 right_y=0.0307 right_z=0.1417 right_yaw=-0.3057 right_pitch=-0.3017 right_roll=-0.4292 right_gripper=0.0931\nstate[joint_eff]: [0.1162, -3.9453, 6.7761, 1.4335, -0.3443, 0.0855, -0.0122, -0.335, -5.1214, 6.6667, 1.2625, 0.398, -0.0513, 0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2122f8ac7d774847518786f7380ce24fcb4bbe0408995aee86cb403f5dd16bfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90e0fefbaafe1fa639eee6ac958e1a030b532b0c364269ad14509c0c76f8300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75a215b97f5cbf0cddcecbfbc79dbd0a62ac68698f139a30de3699b831142c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]