adhoc - adhoc_c60f4dbc.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: 203.5 s
total steps: 300

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe pen lies diagonally near the center-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen’s middle and rotate the jaws to grasp across its shaft.

move_to

right_x0.3900right_y0.2200right_z0.1500right_yaw-0.8000

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, 0.7937, 0.6018, -0.3794, -0.0196, -0.0116, 0.9998, -0.0139, 0.7914, 0.609, -0.3798, -0.0219, -0.0128, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1792 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2952 right_y=0.0034 right_z=0.1831 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.5265, -1.5248, 10.5231, 1.79, -0.0269, -0.0757, -0.0366, -1.0188, -1.306, 9.7709, 1.873, -0.0562, -0.0317, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.22,"right_z":0.15,"right_yaw":-0.8},"note":"The pen lies diagonally near the center-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen’s middle and rotate the jaws to grasp across its shaft."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteThe pen is visible to the right of the right wrist’s jaw column, with its midpoint still ahead of the fingertips. I’ll shift the gripper toward the pen and slightly forward before lowering.

move_to

right_x0.4150right_y0.1600right_z0.1300right_yaw-0.8000

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, 0.7986, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.8558, 2.2368, 1.9244, -1.3216, 0.9459, 1.5356, 0.9989] state[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.3831 right_y=0.2282 right_z=0.1285 right_yaw=-0.7119 right_pitch=-0.0636 right_roll=-0.0932 right_gripper=0.9989 state[joint_eff]: [-0.0479, -1.6068, 6.9949, 1.7411, -0.0562, -0.0659, -0.0171, -1.0735, -13.4496, 7.8291, 0.0611, 1.0379, 0.398, -0.022] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.16,"right_z":0.13,"right_yaw":-0.8},"note":"The pen is visible to the right of the right wrist’s jaw column, with its midpoint still ahead of the fingertips. I’ll shift the gripper toward the pen and slightly forward before lowering."})

tool

executing move_to over 6 steps (0.6s)

step 25

assistant

agent noteThe pen now crosses the open right jaws, but it runs nearly parallel to their closing direction, which would make it slip. I’ll raise the gripper and rotate it so the jaws can close across the shaft.

move_to

right_yaw0.4500right_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.72, 2.2112, 1.7752, -1.2564, 0.9066, 1.417, 0.9989] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9998 right_x=0.3925 right_y=0.164 right_z=0.0972 right_yaw=-0.7937 right_pitch=-0.114 right_roll=-0.2455 right_gripper=0.9989 state[joint_eff]: [-0.2803, -1.4291, 7.2, 1.746, -0.0757, -0.0806, -0.0122, -2.1949, -16.3077, 7.159, 0.9304, 0.8767, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":0.45,"right_z":0.14},"note":"The pen now crosses the open right jaws, but it runs nearly parallel to their closing direction, which would make it slip. I’ll raise the gripper and rotate it so the jaws can close across the shaft."})

tool

executing move_to over 8 steps (0.8s)

step 33

assistant

agent noteThe pen now runs diagonally between the right jaws rather than along their closing direction. I’ll lower the open gripper onto the middle of the shaft for a controlled grasp.

move_to

right_x0.3900right_y0.1500right_z0.0150right_yaw0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.4603, 1.5043, 0.8955, -0.1726, 0.2924, 0.0429, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=0.0003 left_pitch=-0.0133 left_roll=0.0005 left_gripper=0.9998 right_x=0.3863 right_y=0.1387 right_z=0.1162 right_yaw=0.1744 right_pitch=-0.1876 right_roll=-0.1792 right_gripper=0.9989 state[joint_eff]: [-0.1573, -1.2513, 7.1863, 1.7607, -0.0757, -0.0708, -0.0122, -0.2667, -8.1026, 6.7897, 1.8437, 0.0317, -0.0415, -0.0073] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.15,"right_z":0.015,"right_yaw":0.25},"note":"The pen now runs diagonally between the right jaws rather than along their closing direction. I’ll lower the open gripper onto the middle of the shaft for a controlled grasp."})

tool

executing move_to over 7 steps (0.7s)

step 40

assistant

agent noteAt table height the pen’s shaft is just left of the right jaw center. I’ll shift about a centimeter toward it while closing, then check whether the fingers actually hold the pen.

move_to

right_y0.1600right_z0.0040right_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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.4541, 1.75, 0.7052, 0.2165, 0.234, -0.0113, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.9998 right_x=0.3808 right_y=0.1443 right_z=0.0119 right_yaw=0.2445 right_pitch=-0.2481 right_roll=-0.1887 right_gripper=0.9989 state[joint_eff]: [-0.3214, -1.347, 7.0632, 1.7021, -0.0464, -0.0464, -0.0122, 0.212, -7.1316, 4.9983, 1.5702, 0.0952, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.16,"right_z":0.004,"right_gripper":0},"note":"At table height the pen’s shaft is just left of the right jaw center. I’ll shift about a centimeter toward it while closing, then check whether the fingers actually hold the pen."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe right gripper closed with a reading near the empty-grip threshold, so the grip is uncertain. I’ll lift a few centimeters and use the overhead view to see whether the pen comes along.

move_to

right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8078, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.4969, 1.7855, 0.7113, 0.2398, 0.2539, 0.0158, 0.0425] state[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1754 left_yaw=0.0 left_pitch=-0.0153 left_roll=0.0003 left_gripper=0.9998 right_x=0.3778 right_y=0.1585 right_z=0.0046 right_yaw=0.2552 right_pitch=-0.2484 right_roll=-0.1856 right_gripper=0.0425 state[joint_eff]: [-0.253, -1.4017, 7.0222, 1.707, -0.0415, -0.0757, -0.0122, 0.3214, -6.3521, 6.5299, 1.4042, 0.2564, 0.0904, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095},"note":"The right gripper closed with a reading near the empty-grip threshold, so the grip is uncertain. I’ll lift a few centimeters and use the overhead view to see whether the pen comes along."})

tool

executing move_to over 6 steps (0.6s)

step 56

assistant

agent noteThe pen remains visible ahead of the right fingertips after the lift, so the close did not pick it up. I’ll reopen and advance the gripper along the shaft to grasp its middle rather than its near end.

move_to

right_gripper1.0000right_x0.4350right_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]: [-0.0204, 0.8082, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.498, 1.5867, 0.8577, -0.0986, 0.2504, 0.0116, 0.0441] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1753 left_yaw=0.0003 left_pitch=-0.0156 left_roll=0.0005 left_gripper=0.9998 right_x=0.3796 right_y=0.1606 right_z=0.08 right_yaw=0.2619 right_pitch=-0.2427 right_roll=-0.1843 right_gripper=0.0441 state[joint_eff]: [-0.0889, -1.3333, 7.0496, 1.6874, -0.0806, -0.0806, -0.0171, -0.4581, -8.7316, 8.4855, 1.5751, 0.1099, 0.0024, 1.0281] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.435,"right_z":0.12},"note":"The pen remains visible ahead of the right fingertips after the lift, so the close did not pick it up. I’ll reopen and advance the gripper along the shaft to grasp its middle rather than its near end."})

tool

executing move_to over 10 steps (1.0s)

step 66

assistant

agent noteThe advance shifted the pen on the tabletop, and it has disappeared below the right wrist camera’s lower edge rather than remaining far ahead. I’ll lower the open jaws at this new position and check alignment before closing.

move_to

right_x0.4200right_y0.1700right_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]: [-0.0204, 0.8089, 0.6029, -0.3805, -0.0196, -0.0113, 0.9998, 0.4358, 1.6966, 1.1107, -0.2821, 0.197, -0.0586, 0.9949] state[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1753 left_yaw=0.0 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9998 right_x=0.419 right_y=0.1609 right_z=0.1029 right_yaw=0.282 right_pitch=-0.2966 right_roll=-0.2009 right_gripper=0.9949 state[joint_eff]: [-0.1983, -1.3744, 7.0632, 1.7411, -0.0611, -0.0269, -0.0171, -1.347, -7.4462, 9.4427, 1.7021, 0.0366, 0.1197, -0.2027] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.17,"right_z":0.009},"note":"The advance shifted the pen on the tabletop, and it has disappeared below the right wrist camera’s lower edge rather than remaining far ahead. I’ll lower the open jaws at this new position and check alignment before closing."})

tool

executing move_to over 7 steps (0.7s)

step 73

assistant

agent noteWith the jaws lowered, the pen is still visible behind the right fingertip assembly in the overhead view and absent from the forward-looking wrist camera. I’ll back the gripper off a few centimeters to bring the shaft between the fingers.

move_to

right_x0.3850right_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8108, 0.6029, -0.3813, -0.0196, -0.0113, 0.9997, 0.4477, 1.8809, 0.9535, 0.0109, 0.1898, -0.0547, 0.9959] state[eef_state]: left_x=0.2956 left_y=0.001 left_z=0.1746 left_yaw=0.0 left_pitch=-0.0183 left_roll=0.0004 left_gripper=0.9997 right_x=0.4129 right_y=0.1653 right_z=0.0103 right_yaw=0.2957 right_pitch=-0.3449 right_roll=-0.2003 right_gripper=0.9959 state[joint_eff]: [-0.1299, -1.4427, 7.4188, 1.6923, -0.0366, -0.0464, -0.0122, 0.6632, -8.1983, 5.094, 1.4286, 0.3346, 0.0952, 0.0855] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.385,"right_z":0.025},"note":"With the jaws lowered, the pen is still visible behind the right fingertip assembly in the overhead view and absent from the forward-looking wrist camera. I’ll back the gripper off a few centimeters to bring the shaft between the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 76

assistant

agent noteThe right fingers now overlap the pen’s middle in the overhead image, although the low wrist view is occluded. I’ll make one more close at this backed-off position and check the settled jaw gap.

move_to

right_gripper0.0000right_z0.0040

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8139, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.4744, 1.8069, 0.8787, 0.0025, 0.1982, -0.0402, 0.9959] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1739 left_yaw=0.0003 left_pitch=-0.0206 left_roll=0.0006 left_gripper=0.9998 right_x=0.3905 right_y=0.1654 right_z=0.0143 right_yaw=0.3063 right_pitch=-0.3515 right_roll=-0.1993 right_gripper=0.9959 state[joint_eff]: [-0.1299, -1.1692, 7.0496, 1.7851, -0.0708, -0.0659, -0.0073, 0.6906, -9.9624, 6.3248, 1.3748, 0.1343, 0.0562, -0.0073] 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":{"right_gripper":0,"right_z":0.004},"note":"The right fingers now overlap the pen’s middle in the overhead image, although the low wrist view is occluded. I’ll make one more close at this backed-off position and check the settled jaw gap."})

tool

executing move_to over 10 steps (1.0s)

step 86

assistant

agent noteThe settled gap is essentially empty, and the overhead image places the pen slightly left and closer to the base than the right jaw center. I’ll reopen, raise clear, and move toward that measured shaft position rather than repeat the same grasp.

move_to

right_gripper1.0000right_x0.3600right_y0.1900right_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]: [-0.0204, 0.8135, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.4782, 1.8256, 0.8654, 0.0273, 0.1982, -0.0406, 0.0118] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1739 left_yaw=-0.0002 left_pitch=-0.0206 left_roll=0.0007 left_gripper=0.9998 right_x=0.3882 right_y=0.1661 right_z=0.0059 right_yaw=0.3099 right_pitch=-0.3587 right_roll=-0.2009 right_gripper=0.0118 state[joint_eff]: [-0.2256, -1.3333, 7.0359, 1.7216, -0.0464, -0.0415, -0.0171, -0.6222, -7.4051, 5.3812, 1.5214, 0.0562, -0.0269, 0.9548] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.36,"right_y":0.19,"right_z":0.07},"note":"The settled gap is essentially empty, and the overhead image places the pen slightly left and closer to the base than the right jaw center. I’ll reopen, raise clear, and move toward that measured shaft position rather than repeat the same grasp."})

tool

executing move_to over 10 steps (1.0s)

step 96

assistant

agent noteThe pen has reappeared low and to the left in the right wrist view, showing the jaws are still to its right and slightly too far forward. I’ll move leftward and back a little to center the shaft before descending.

move_to

right_x0.3350right_y0.2300right_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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.5804, 1.673, 0.9211, -0.2344, 0.2413, 0.033, 0.9954] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3558 right_y=0.1871 right_z=0.0497 right_yaw=0.3277 right_pitch=-0.3965 right_roll=-0.203 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.3744, 7.0085, 1.7265, -0.0513, -0.0708, -0.0171, 0.5265, -9.5795, 8.6496, 1.199, 0.2808, 0.0611, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.23,"right_z":0.07},"note":"The pen has reappeared low and to the left in the right wrist view, showing the jaws are still to its right and slightly too far forward. I’ll move leftward and back a little to center the shaft before descending."})

tool

executing move_to over 4 steps (0.4s)

step 100

assistant

agent noteThe pen’s silver tip and shaft are now nearly on the right jaw column in the wrist view. I’ll lower while moving slightly toward the shaft, aiming to catch the portion between the jaws rather than push it along the table.

move_to

right_x0.3200right_y0.2430right_z0.0070

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.7177, 1.673, 0.9913, -0.3321, 0.289, 0.1188, 0.9959] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3332 right_y=0.2289 right_z=0.0638 right_yaw=0.3709 right_pitch=-0.4026 right_roll=-0.1998 right_gripper=0.9959 state[joint_eff]: [-0.0752, -1.347, 7.241, 1.6923, -0.0269, -0.0415, -0.0171, -0.0205, -6.8855, 8.1846, 1.0769, 0.4078, 0.0855, 0.0464] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.243,"right_z":0.007},"note":"The pen’s silver tip and shaft are now nearly on the right jaw column in the wrist view. I’ll lower while moving slightly toward the shaft, aiming to catch the portion between the jaws rather than push it along the table."})

tool

executing move_to over 4 steps (0.4s)

step 104

assistant

agent noteThe last descent stalled around 6 cm above the table, so the current sideways, rotated pose is not tracking the low target. I’ll straighten the wrist and extend the arm slightly to make a table-level approach reachable.

move_to

right_x0.3750right_y0.2300right_z0.0150right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3069, 0.1501, 0.996] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3501 right_pitch=-0.4105 right_roll=-0.2027 right_gripper=0.996 state[joint_eff]: [-0.3761, -1.3607, 7.0359, 1.746, -0.0659, -0.0317, -0.0171, -0.335, -7.4188, 7.8017, 1.1209, 0.2418, 0.0806, -0.0024] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.375,"right_y":0.23,"right_z":0.015,"right_yaw":0},"note":"The last descent stalled around 6 cm above the table, so the current sideways, rotated pose is not tracking the low target. I’ll straighten the wrist and extend the arm slightly to make a table-level approach reachable."})

tool

executing move_to over 4 steps (0.4s)

step 108

assistant

agent noteThe arm held the previous low pose rather than extending or turning, so I won’t keep resending the blocked target. I’ll raise it clear of the table first, then approach from a reachable angle.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3073, 0.1501, 0.996] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3498 right_pitch=-0.4103 right_roll=-0.203 right_gripper=0.996 state[joint_eff]: [-0.1299, -1.2513, 7.0496, 1.7314, -0.0562, -0.0611, -0.0171, -0.2393, -7.4188, 7.788, 1.1453, 0.2466, 0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The arm held the previous low pose rather than extending or turning, so I won’t keep resending the blocked target. I’ll raise it clear of the table first, then approach from a reachable angle."})

tool

executing move_to over 7 steps (0.7s)

step 115

assistant

agent noteThe long dark line I followed is the table’s center seam, not the pen; the actual loose pieces are the short black item on the left and the small pale item ahead of the right arm. I’ll redirect the right gripper toward the pale piece now visible in its wrist camera.

move_to

right_x0.3950right_y0.2400right_z0.1000right_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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6054, 1.2701, -0.6678, 0.3027, 0.1459, 0.996] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3365 right_y=0.2369 right_z=0.1508 right_yaw=0.3605 right_pitch=-0.3859 right_roll=-0.1904 right_gripper=0.996 state[joint_eff]: [-0.1983, -1.3744, 7.2137, 1.6923, -0.0708, -0.0611, -0.0171, -0.3077, -9.0325, 8.0615, 1.1355, 0.1294, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":0.24,"right_z":0.1,"right_yaw":0},"note":"The long dark line I followed is the table’s center seam, not the pen; the actual loose pieces are the short black item on the left and the small pale item ahead of the right arm. I’ll redirect the right gripper toward the pale piece now visible in its wrist camera."})

tool

executing move_to over 5 steps (0.5s)

step 120

assistant

agent noteThe pale piece is still ahead and slightly left of the right jaws in the wrist view. I’ll advance and lower over it, keeping the jaws open until its position is clearer.

move_to

right_x0.4000right_y0.2550right_z0.0350right_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8173, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.7231, 1.9034, 1.409, -0.6991, 0.4084, 0.3637, 0.996] state[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0005 left_gripper=0.9998 right_x=0.3708 right_y=0.2385 right_z=0.0824 right_yaw=0.0948 right_pitch=-0.4851 right_roll=-0.2512 right_gripper=0.996 state[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0415, -0.0171, -1.1692, -10.4684, 8.9231, 1.2186, 0.4957, 0.3199, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.255,"right_z":0.035,"right_yaw":0.1},"note":"The pale piece is still ahead and slightly left of the right jaws in the wrist view. I’ll advance and lower over it, keeping the jaws open until its position is clearer."})

tool

executing move_to over 4 steps (0.4s)

step 124

assistant

agent noteThe right arm is again falling well short of the low target, so I’ll leave that piece alone for now and raise it clear. The black pen-shaped piece on the left is unobstructed; I’ll bring the left gripper above it.

move_to

left_x0.3900left_y-0.1600left_z0.1400right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8185, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.7197, 1.9316, 1.4322, -0.6998, 0.4381, 0.4385, 0.996] state[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1726 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9998 right_x=0.3783 right_y=0.2367 right_z=0.0802 right_yaw=0.0238 right_pitch=-0.4637 right_roll=-0.2363 right_gripper=0.996 state[joint_eff]: [-0.3624, -1.4564, 7.0632, 1.7314, -0.0464, -0.0855, -0.0171, -0.9778, -10.7556, 8.8957, 1.2527, 0.486, 0.2515, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.16,"left_z":0.14,"right_z":0.17},"note":"The right arm is again falling well short of the low target, so I’ll leave that piece alone for now and raise it clear. The black pen-shaped piece on the left is unobstructed; I’ll bring the left gripper above it."})

tool

executing move_to over 15 steps (1.5s)

step 139

assistant

agent noteThe black pen is clearly visible in the left wrist camera, just left of the jaw column, with its thicker end nearer the fingertips. I’ll shift left slightly and lower the open jaws across its narrow shaft.

move_to

left_x0.4000left_y-0.1300left_z0.0160

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5858, 1.4937, 0.8452, -0.1131, -0.4587, -0.3546, 0.9997, 0.7223, 1.9297, 1.7027, -1.0718, 0.416, 0.4126, 0.996] state[eef_state]: left_x=0.3757 left_y=-0.1511 left_z=0.1175 left_yaw=-0.0135 left_pitch=-0.0969 left_roll=0.0341 left_gripper=0.9997 right_x=0.3653 right_y=0.2315 right_z=0.1395 right_yaw=0.022 right_pitch=-0.557 right_roll=-0.3057 right_gripper=0.996 state[joint_eff]: [-0.3487, -7.0085, 9.3333, 1.8339, -0.359, 0.0317, -0.0171, -0.5675, -12.3829, 9.4974, 1.3944, 0.3932, 0.2271, -0.0073] 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_x":0.4,"left_y":-0.13,"left_z":0.016},"note":"The black pen is clearly visible in the left wrist camera, just left of the jaw column, with its thicker end nearer the fingertips. I’ll shift left slightly and lower the open jaws across its narrow shaft."})

tool

executing move_to over 7 steps (0.7s)

step 146

assistant

agent noteThe pen’s thicker end now crosses the left jaw column near the fingertips at table height. I’ll close the left gripper and inspect the settled gap before lifting.

move_to

left_gripper0.0000left_z0.0030

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4877, 1.7866, 0.6846, 0.2951, -0.3996, -0.3012, 0.9997, 0.7216, 1.9316, 1.6997, -1.0893, 0.4103, 0.411, 0.996] state[eef_state]: left_x=0.3889 left_y=-0.1244 left_z=0.0104 left_yaw=0.0119 left_pitch=-0.1588 left_roll=0.0625 left_gripper=0.9997 right_x=0.3615 right_y=0.229 right_z=0.1364 right_yaw=0.017 right_pitch=-0.578 right_roll=-0.3187 right_gripper=0.996 state[joint_eff]: [0.335, -7.5966, 4.5744, 1.7949, -0.0562, 0.2076, -0.0073, -0.1162, -10.2632, 6.3385, 0.8376, 0.2613, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"left_z":0.003},"note":"The pen’s thicker end now crosses the left jaw column near the fingertips at table height. I’ll close the left gripper and inspect the settled gap before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 156

assistant

agent noteThe left jaw gap settles around 4.8 mm, which could indicate the pen, but the wrist image still shows its tip. I’ll lift to confirm in the overhead camera whether the pen actually follows.

move_to

left_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.813, 0.6739, 0.334, -0.3962, -0.308, 0.0478, 0.7216, 1.9316, 1.6997, -1.092, 0.4072, 0.4107, 0.996] state[eef_state]: left_x=0.389 left_y=-0.1238 left_z=0.003 left_yaw=0.0158 left_pitch=-0.1581 left_roll=0.0542 left_gripper=0.0478 right_x=0.3607 right_y=0.229 right_z=0.136 right_yaw=0.0184 right_pitch=-0.582 right_roll=-0.3183 right_gripper=0.996 state[joint_eff]: [-0.3487, -7.4872, 5.2718, 1.4481, -0.149, 0.1343, 1.2186, -0.1983, -10.1128, 6.1333, 0.7546, 0.2076, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095},"note":"The left jaw gap settles around 4.8 mm, which could indicate the pen, but the wrist image still shows its tip. I’ll lift to confirm in the overhead camera whether the pen actually follows."})

tool

executing move_to over 6 steps (0.6s)

step 162

assistant

agent noteThe left grip kept its roughly 5 mm gap after lifting and its wrist view cleared, consistent with holding the cap. The longer pen lies across the right wrist view; I’ll lower the already-aligned right jaws onto its shaft.

move_to

right_x0.3700right_y0.2300right_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]: [-0.4847, 1.5833, 0.8013, -0.0277, -0.3927, -0.3134, 0.0535, 0.7216, 1.9316, 1.6997, -1.0924, 0.4068, 0.4076, 0.9961] state[eef_state]: left_x=0.3874 left_y=-0.1235 left_z=0.0771 left_yaw=0.0164 left_pitch=-0.1631 left_roll=0.0502 left_gripper=0.0535 right_x=0.3606 right_y=0.229 right_z=0.1359 right_yaw=0.0203 right_pitch=-0.583 right_roll=-0.3198 right_gripper=0.9961 state[joint_eff]: [-0.1026, -8.2393, 8.9231, 1.5263, -0.2613, 0.0366, 1.0281, -0.3077, -10.1128, 6.2974, 0.7497, 0.1636, -0.0464, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.23,"right_z":0.005},"note":"The left grip kept its roughly 5 mm gap after lifting and its wrist view cleared, consistent with holding the cap. The longer pen lies across the right wrist view; I’ll lower the already-aligned right jaws onto its shaft."})

tool

executing move_to over 9 steps (0.9s)

step 171

assistant

agent noteThe right gripper reached table height, and the pen shaft passes just left of its jaw center. I’ll nudge left about a centimeter and close across the shaft, then check the gap.

move_to

right_y0.2400right_z0.0020right_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]: [-0.4847, 1.5795, 0.8009, -0.0563, -0.3923, -0.3134, 0.0585, 0.7128, 2.0541, 1.38, -0.6781, 0.4004, 0.4061, 0.9958] state[eef_state]: left_x=0.3831 left_y=-0.1213 left_z=0.0739 left_yaw=0.0182 left_pitch=-0.1853 left_roll=0.0622 left_gripper=0.0585 right_x=0.3619 right_y=0.2265 right_z=0.0127 right_yaw=0.005 right_pitch=-0.6085 right_roll=-0.3365 right_gripper=0.9958 state[joint_eff]: [-0.1983, -6.5573, 6.106, 1.6874, -0.2076, -0.0708, 1.033, -0.7726, -9.1556, 5.2991, 0.823, 0.1197, -0.3639, -0.0415] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.24,"right_z":0.002,"right_gripper":0},"note":"The right gripper reached table height, and the pen shaft passes just left of its jaw center. I’ll nudge left about a centimeter and close across the shaft, then check the gap."})

tool

executing move_to over 10 steps (1.0s)

step 181

assistant

agent noteThe right close was empty; the pen is now almost exactly on the jaw column but sits ahead of the actual grasp point. I’ll reopen, advance about 2 cm, and try to catch the exposed shaft rather than close on empty space.

move_to

right_gripper1.0000right_x0.3900right_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]: [-0.4847, 1.5795, 0.8001, -0.0654, -0.392, -0.3134, 0.0585, 0.7341, 2.0731, 1.3972, -0.6624, 0.4103, 0.4194, 0.0118] state[eef_state]: left_x=0.3815 left_y=-0.1206 left_z=0.0721 left_yaw=0.0188 left_pitch=-0.1941 left_roll=0.0669 left_gripper=0.0585 right_x=0.3634 right_y=0.2378 right_z=0.0112 right_yaw=0.0171 right_pitch=-0.5896 right_roll=-0.3278 right_gripper=0.0118 state[joint_eff]: [0.0068, -6.8308, 6.188, 1.5849, -0.2369, -0.0415, 1.0281, 0.4308, -8.6222, 5.7094, 0.4908, 0.4518, 0.105, 0.4469] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.39,"right_z":0.035},"note":"The right close was empty; the pen is now almost exactly on the jaw column but sits ahead of the actual grasp point. I’ll reopen, advance about 2 cm, and try to catch the exposed shaft rather than close on empty space."})

tool

executing move_to over 10 steps (1.0s)

step 191

assistant

agent noteAfter advancing, the pen’s shaft crosses the right fingertips with only a slight lateral offset. I’ll lower the gripper, correct that offset by under a centimeter, and close again.

move_to

right_z0.0020right_y0.2280right_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]: [-0.4847, 1.5795, 0.8001, -0.0681, -0.392, -0.3134, 0.0585, 0.7013, 2.0941, 1.5166, -0.7616, 0.3882, 0.3664, 0.9954] state[eef_state]: left_x=0.3811 left_y=-0.1203 left_z=0.0717 left_yaw=0.0191 left_pitch=-0.1965 left_roll=0.0682 left_gripper=0.0585 right_x=0.3796 right_y=0.2378 right_z=0.03 right_yaw=0.033 right_pitch=-0.6126 right_roll=-0.3348 right_gripper=0.9954 state[joint_eff]: [-0.0889, -6.7624, 6.0786, 1.453, -0.2173, -0.0562, 1.033, -1.0872, -9.894, 8.4991, 0.7741, 0.3004, 0.0611, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.002,"right_y":0.228,"right_gripper":0},"note":"After advancing, the pen’s shaft crosses the right fingertips with only a slight lateral offset. I’ll lower the gripper, correct that offset by under a centimeter, and close again."})

tool

executing move_to over 10 steps (1.0s)

step 201

assistant

agent noteThe second right close is also empty; the pen is visibly to the right of the closed jaw tips. I’ll reopen and shift the gripper toward the shaft using that wrist-camera offset, then make a fresh approach.

move_to

right_gripper1.0000right_y0.2000right_x0.3850right_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]: [-0.4847, 1.5795, 0.8001, -0.0719, -0.392, -0.3134, 0.0585, 0.6926, 2.1002, 1.4158, -0.651, 0.3874, 0.347, 0.0113] state[eef_state]: left_x=0.3805 left_y=-0.12 left_z=0.0711 left_yaw=0.0195 left_pitch=-0.1998 left_roll=0.07 left_gripper=0.0585 right_x=0.3755 right_y=0.2295 right_z=0.0044 right_yaw=0.0385 right_pitch=-0.6133 right_roll=-0.3407 right_gripper=0.0113 state[joint_eff]: [-0.0068, -6.8034, 6.2564, 1.4676, -0.2222, -0.0366, 1.033, -0.8137, -10.4684, 5.3812, 0.8864, 0.2906, -0.0024, 0.9695] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.2,"right_x":0.385,"right_z":0.035},"note":"The second right close is also empty; the pen is visibly to the right of the closed jaw tips. I’ll reopen and shift the gripper toward the shaft using that wrist-camera offset, then make a fresh approach."})

tool

executing move_to over 10 steps (1.0s)

step 211

assistant

agent noteThe pen now lies between the open right fingers, angled across the bottom of the wrist view. I’ll move a little farther toward its centerline, press the fingertips to table level, and close.

move_to

right_y0.1830right_z-0.0100right_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]: [-0.4847, 1.5795, 0.8001, -0.0723, -0.3916, -0.3134, 0.0585, 0.6312, 2.0449, 1.3975, -0.6868, 0.3714, 0.2718, 0.9951] state[eef_state]: left_x=0.3804 left_y=-0.1201 left_z=0.0711 left_yaw=0.0192 left_pitch=-0.2003 left_roll=0.07 left_gripper=0.0585 right_x=0.3805 right_y=0.2031 right_z=0.019 right_yaw=0.037 right_pitch=-0.6345 right_roll=-0.3607 right_gripper=0.9951 state[joint_eff]: [-0.2393, -6.8855, 6.3385, 1.4725, -0.1685, -0.0464, 1.033, -0.8547, -13.5043, 5.4085, 0.8132, 0.232, -0.022, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.183,"right_z":-0.01,"right_gripper":0},"note":"The pen now lies between the open right fingers, angled across the bottom of the wrist view. I’ll move a little farther toward its centerline, press the fingertips to table level, and close."})

tool

executing move_to over 10 steps (1.0s)

step 221

assistant

agent noteThe last close was empty and knocked the small pale piece left of the right jaws; it is now plainly visible at the left edge of the wrist image. I’ll reopen, raise clear, and move toward that piece instead of squeezing at the same spot.

move_to

right_gripper1.0000right_y0.2900right_z0.0850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0727, -0.3916, -0.3134, 0.0585, 0.6144, 2.0308, 1.2678, -0.4885, 0.3855, 0.2295, 0.0112] state[eef_state]: left_x=0.3803 left_y=-0.12 left_z=0.071 left_yaw=0.0192 left_pitch=-0.2006 left_roll=0.0702 left_gripper=0.0585 right_x=0.3868 right_y=0.196 right_z=0.0008 right_yaw=0.0651 right_pitch=-0.5649 right_roll=-0.3415 right_gripper=0.0112 state[joint_eff]: [-0.3624, -6.6803, 6.065, 1.4628, -0.188, -0.0708, 1.033, -1.6479, -9.7983, 3.6991, 0.7204, 0.0806, 0.0073, 0.9646] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.29,"right_z":0.085},"note":"The last close was empty and knocked the small pale piece left of the right jaws; it is now plainly visible at the left edge of the wrist image. I’ll reopen, raise clear, and move toward that piece instead of squeezing at the same spot."})

tool

executing move_to over 10 steps (1.0s)

step 231

assistant

agent noteThe right wrist now shows the full pen: a dark shaft running to a silver tip, diagonally below and right of the jaws. I’ll reposition over the shaft’s middle before making another low approach.

move_to

right_x0.3500right_y0.2500right_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0795, -0.392, -0.3134, 0.0585, 0.7887, 2.1651, 1.8015, -0.984, 0.4046, 0.3634, 0.9948] state[eef_state]: left_x=0.3792 left_y=-0.1193 left_z=0.0698 left_yaw=0.0203 left_pitch=-0.2068 left_roll=0.074 left_gripper=0.0585 right_x=0.3777 right_y=0.2866 right_z=0.0732 right_yaw=0.1061 right_pitch=-0.6097 right_roll=-0.3579 right_gripper=0.9948 state[joint_eff]: [-0.0615, -6.8581, 6.0513, 1.4481, -0.188, -0.0464, 1.033, -0.4034, -11.1111, 8.4308, 1.0232, 0.5055, 0.4957, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.08},"note":"The right wrist now shows the full pen: a dark shaft running to a silver tip, diagonally below and right of the jaws. I’ll reposition over the shaft’s middle before making another low approach."})

tool

executing move_to over 4 steps (0.4s)

step 235

assistant

agent noteThe pen’s middle now crosses the right jaw column in the wrist view, with the silver writing tip pointing up-right. I’ll lower straight down at this lateral alignment and inspect where the shaft lies before closing.

move_to

right_z0.0050right_x0.3450right_y0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0834, -0.3901, -0.313, 0.0628, 0.7815, 2.043, 1.5475, -0.9333, 0.4046, 0.3569, 0.9959] state[eef_state]: left_x=0.3785 left_y=-0.1193 left_z=0.0691 left_yaw=0.0189 left_pitch=-0.2109 left_roll=0.0749 left_gripper=0.0628 right_x=0.3424 right_y=0.2468 right_z=0.0534 right_yaw=0.0638 right_pitch=-0.6731 right_roll=-0.4263 right_gripper=0.9959 state[joint_eff]: [-0.1299, -6.8034, 6.0376, 1.4969, -0.188, -0.0317, 1.033, -0.4718, -14.7487, 7.2, 0.9011, 0.2369, -0.1099, 0.0952] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.005,"right_x":0.345,"right_y":0.25},"note":"The pen’s middle now crosses the right jaw column in the wrist view, with the silver writing tip pointing up-right. I’ll lower straight down at this lateral alignment and inspect where the shaft lies before closing."})

tool

executing move_to over 4 steps (0.4s)

step 239

assistant

agent noteAt table height the pen shaft runs about 2 cm to the right of the right jaw center. I’ll lift slightly and shift right toward the shaft to avoid sweeping it sideways with the fingertips.

move_to

right_y0.2100right_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]: [-0.4847, 1.5799, 0.7998, -0.0895, -0.3885, -0.313, 0.0641, 0.7956, 2.0583, 1.4025, -0.7467, 0.4374, 0.3588, 0.9959] state[eef_state]: left_x=0.3775 left_y=-0.1191 left_z=0.068 left_yaw=0.0184 left_pitch=-0.2171 left_roll=0.077 left_gripper=0.0641 right_x=0.3398 right_y=0.245 right_z=0.0167 right_yaw=0.0664 right_pitch=-0.6316 right_roll=-0.4341 right_gripper=0.9959 state[joint_eff]: [-0.0205, -6.3111, 6.065, 1.4432, -0.2125, -0.0269, 1.0281, 0.4308, -8.294, 4.3419, 0.4957, 0.4762, 0.0952, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.21,"right_z":0.035},"note":"At table height the pen shaft runs about 2 cm to the right of the right jaw center. I’ll lift slightly and shift right toward the shaft to avoid sweeping it sideways with the fingertips."})

tool

executing move_to over 3 steps (0.3s)

step 242

assistant

agent noteThe shaft now crosses the open right jaws near their center, and the gripper is only about 2 cm above the tabletop. I’ll lower into contact and close across the pen, then check whether it is retained.

move_to

right_z-0.0120right_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]: [-0.4847, 1.581, 0.7998, -0.0902, -0.3882, -0.313, 0.0646, 0.7544, 1.9728, 1.2789, -0.6991, 0.4377, 0.3183, 0.9959] state[eef_state]: left_x=0.3773 left_y=-0.1191 left_z=0.0674 left_yaw=0.0183 left_pitch=-0.2189 left_roll=0.0777 left_gripper=0.0646 right_x=0.3334 right_y=0.2155 right_z=0.0181 right_yaw=0.0539 right_pitch=-0.6329 right_roll=-0.4465 right_gripper=0.9959 state[joint_eff]: [-0.1983, -6.9265, 6.2427, 1.4139, -0.2173, -0.0366, 0.9011, -0.3897, -12.1778, 6.2564, 0.9255, 0.3004, -0.0855, -0.0073] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.012,"right_gripper":0},"note":"The shaft now crosses the open right jaws near their center, and the gripper is only about 2 cm above the tabletop. I’ll lower into contact and close across the pen, then check whether it is retained."})

tool

executing move_to over 10 steps (1.0s)

step 252

assistant

agent noteThe right gripper closed empty; its wrist view shows the pen ending just ahead of the fingertips. I’ll reopen and advance farther along the pen so its shaft, rather than empty tabletop, reaches the grasp point.

move_to

right_gripper1.0000right_x0.3950right_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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.313, 0.0663, 0.7616, 1.982, 1.2121, -0.5541, 0.4721, 0.3176, 0.0132] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0184 left_pitch=-0.2196 left_roll=0.0781 left_gripper=0.0663 right_x=0.3415 right_y=0.2196 right_z=0.0062 right_yaw=0.067 right_pitch=-0.5586 right_roll=-0.4244 right_gripper=0.0132 state[joint_eff]: [-0.1299, -6.8171, 6.0786, 1.37, -0.2027, -0.0464, 0.8962, 0.1299, -6.8444, 4.5607, 0.486, 0.486, 0.0952, 0.486] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.395,"right_z":0.065},"note":"The right gripper closed empty; its wrist view shows the pen ending just ahead of the fingertips. I’ll reopen and advance farther along the pen so its shaft, rather than empty tabletop, reaches the grasp point."})

tool

executing move_to over 10 steps (1.0s)

step 262

assistant

agent noteThe pen’s dark shaft is now centered on the right jaw column and extends to the fingertips, while its silver writing tip remains forward-left. I’ll lower and close at this new position.

move_to

right_z-0.0120right_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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6804, 2.0117, 1.491, -0.7712, 0.44, 0.218, 0.9946] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3857 right_y=0.22 right_z=0.06 right_yaw=0.0797 right_pitch=-0.5727 right_roll=-0.4256 right_gripper=0.9946 state[joint_eff]: [-0.1162, -6.8308, 6.0376, 1.3651, -0.2222, -0.0659, 0.906, -0.9368, -9.4017, 8.1846, 0.8864, 0.2564, 0.0562, 0.0757] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.012,"right_gripper":0},"note":"The pen’s dark shaft is now centered on the right jaw column and extends to the fingertips, while its silver writing tip remains forward-left. I’ll lower and close at this new position."})

tool

executing move_to over 10 steps (1.0s)

step 272

assistant

agent noteThe close is still empty, and the pen is now visibly right of the closed jaws by a few centimeters. I’ll reopen and offset the gripper toward the shaft before one more grasp attempt.

move_to

right_gripper1.0000right_y0.1800right_z0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6788, 2.0907, 1.3605, -0.5598, 0.4419, 0.2111, 0.0112] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3855 right_y=0.2186 right_z=0.0018 right_yaw=0.0814 right_pitch=-0.5715 right_roll=-0.4298 right_gripper=0.0112 state[joint_eff]: [-0.3214, -6.7761, 6.1607, 1.3846, -0.2076, -0.0269, 0.9206, 0.1026, -8.0342, 4.7521, 0.9695, 0.022, 0.0562, 0.9353] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.18,"right_z":0.03},"note":"The close is still empty, and the pen is now visibly right of the closed jaws by a few centimeters. I’ll reopen and offset the gripper toward the shaft before one more grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 282

assistant

agent noteThe last shift overshot: the pen now lies left of the right jaw center. I’ll correct halfway back, descend, and close across the visible shaft.

move_to

right_y0.2000right_z-0.0120right_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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.068, 0.6075, 1.9957, 1.2907, -0.5686, 0.4179, 0.1333, 0.9946] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.068 right_x=0.3854 right_y=0.185 right_z=0.0182 right_yaw=0.0807 right_pitch=-0.5866 right_roll=-0.4371 right_gripper=0.9946 state[joint_eff]: [-0.0752, -6.694, 5.9966, 1.37, -0.2027, -0.0366, 0.9255, -0.9641, -12.9846, 5.2718, 0.7937, 0.2418, -0.0024, 0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.2,"right_z":-0.012,"right_gripper":0},"note":"The last shift overshot: the pen now lies left of the right jaw center. I’ll correct halfway back, descend, and close across the visible shaft."})

tool

executing move_to over 10 steps (1.0s)

step 292

assistant

agent noteThe right jaw gap is just above the empty threshold, so the grasp is uncertain. I’ll lift and check whether the pen moves with the gripper before attempting to fit the cap.

move_to

right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0692, 0.6369, 2.0457, 1.2884, -0.5026, 0.4416, 0.1497, 0.0415] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0692 right_x=0.3886 right_y=0.198 right_z=0.0035 right_yaw=0.0855 right_pitch=-0.5597 right_roll=-0.443 right_gripper=0.0415 state[joint_eff]: [-0.2256, -6.735, 6.0239, 1.3944, -0.2027, -0.0269, 0.8816, 0.2393, -7.0085, 6.2017, 0.9011, 0.0464, 0.2564, 1.4872] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.1},"note":"The right jaw gap is just above the empty threshold, so the grasp is uncertain. I’ll lift and check whether the pen moves with the gripper before attempting to fit the cap."})

tool

executing move_to over 7 steps (0.7s)

step 299

assistant

agent noteI picked up the cap with the left gripper, but repeated right-gripper attempts did not lift the pen. The pen remains on the table, so I cannot safely claim to have put the cap on it.

give_up

hindsightThe long dark line down the overhead view is the table seam, not the pen. The pen has a silver writing tip and dark shaft; its position in the right wrist image shifts substantially during descent because the wrist pitches and rolls, so alignment at hover height did not predict table-height jaw alignment. A settled right-gripper reading around 0.041 can still be an empty grasp: lift and verify movement. The left gripper retained the cap with a gap of roughly 0.05–0.07.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0726, 0.6365, 1.9663, 1.4761, -0.8082, 0.4328, 0.1436, 0.041] state[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0726 right_x=0.3861 right_y=0.1977 right_z=0.0714 right_yaw=0.0826 right_pitch=-0.5982 right_roll=-0.4619 right_gripper=0.041 state[joint_eff]: [-0.1709, -6.8581, 6.1607, 1.3651, -0.2466, -0.0464, 0.696, -0.1709, -12.9573, 8.3624, 0.906, 0.2662, 0.0122, -0.0659] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up the cap with the left gripper, but repeated right-gripper attempts did not lift the pen. The pen remains on the table, so I cannot safely claim to have put the cap on it.","hindsight":"The long dark line down the overhead view is the table seam, not the pen. The pen has a silver writing tip and dark shaft; its position in the right wrist image shifts substantially during descent because the wrist pitches and rolls, so alignment at hover height did not predict table-height jaw alignment. A settled right-gripper reading around 0.041 can still be an empty grasp: lift and verify movement. The left gripper retained the cap with a gap of roughly 0.05–0.07."})

tool

give_up: I picked up the cap with the left gripper, but repeated right-gripper attempts did not lift the pen. The pen remains on the table, so I cannot safely claim to have put the cap on it.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 9.328 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, 0.7937, 0.6018, -0.3794, -0.0196, -0.0116, 0.9998, -0.0139, 0.7914, 0.609, -0.3798, -0.0219, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1792 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2952 right_y=0.0034 right_z=0.1831 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.5248, 10.5231, 1.79, -0.0269, -0.0757, -0.0366, -1.0188, -1.306, 9.7709, 1.873, -0.0562, -0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620e9a91156ed1d8bf47ae3b353c89b4b631772fcd4c4d9e36c2e056cd063cff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d71a30c472a52310df00852e85f1124b74d572e334fe27f34bc0dfeba101eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ceb066cffa671a682072d122322991809cce84e791da5ed8830e71c59ad9fb",
      "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 · 4.456 s

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

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42c4bfba487d08945a8ab0b792ac3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxTP6RYpMulCpFJasPk7RGh3aN4ZpB5I31Vy3H5uNp2cAXa07nn08gxVlUwcvrX3oWxd-vWgK1K_S5aNVufxERGYyDb0GgS4xHootu9BIMKcI7gucqyw9HZ4jP63zzkXcqtGlewkDSpqI9oOuDsWa--4nCaCVlNvzN0s2jmdX9VdOGx4j0NmIrTU21YwhgEN7yXfkDlfqixGZ1-R6BJh_crM2QG65Qd0GvWQgmdoA1bdp07kkTnF8S19EZp7STuGqTbV-YzQIU3fYsb8YBuUPF30ZvGfpFJ0KvVPqvHzXyLaaglqoNwOYg8E_Fbp8Im1ctBIEFZhSHtAyoKEmjWL6jzCJ5zkJWNwCvSSwdsUtqQFG5XuGtuUr65P7IxeMSG8zCdsOfkuCI1tsKtPGKwygq0TFUhQRTFcQF_4Es5RoplvzlPSF9xHcA5AXx-yWJLKQ59cM3ucI_rGpp9xDzXnm99rzXhAoq3KFBPexnr2pPwL5xK8d78t3nLkqhEAGD5iBUM8l0v2RUu9sUrLqXIVaw8LNwLYtWlhafcGL-cHvI_hd2rpOFvHhtjDWig-nAwMLrH-B9WZsrlKjI445N-4eX-CD-grD45JTEtp5aSeKdQ2Uyn_plVmNBwT9W5-ImIld1BiJidOYBEHtrMy2q-HcyCO9HHklae-QVO1VXSFefyFAYuF3wHVtjfHpnE4vBWV5vFUiHBphMA4hB-RWxlhwVjALJsVEWw_xUKf85LKgV_btFocfkejUwokluI92fWIC4YCCbsiUvd7c1ooMadjoluUgvKv4ahYRvpQwCi-Mi0-e9TNJqG--nHtrc3qUeVJGGf9G6tyIZp-a_mzL9hRXlUwUAOKYiInrSsUDgnMdRk6Cd72qeV9ecZV3yHwns2HMnAzReno1MhZjeZb4V5LmG8BHPWPNuaUcZHDGhhx4Rvgu6f2uEF-Kpr2UVq0Llglyfc4xsqp2LpbmzRS018BNodZ7tS5P7DY_Q571Xkwg_rLl13tusow0U9q8Py1eJgMeHh1QSDAAjKPb-v7wfMlZc9SwxaiOYmLBl2FE-WYF8qmkl5dRA6oVyRPQGjWYHmMF5gu3yG0rR2dZ5ROxmSxfEPXQ9f9-s5BpjUhVJYqeXv5n3pvhkQyp5Xeejm0z2Yg3zWdyvxymnUQaHKtF8V-whgGJdvJENhMcgyfK5U4PnfiTHFscQVo7IE-q7eVFlyV2cmFZqs8jeUPCxZa5RFYGyE-WGb_2Hj329Vo-2xNfn6VLOZcQBpibrlVa43P1AjM9KYAqNDwS7Z1RvIkE2Vg05ilNM9Ju5aVPCEqxmGMFlIiUKHaGhwLNH_5SIs3nXdxu0HdewIYPeEOmnLw8oSOyhDPGVJxXDDEsaPO9I3Mw3BHK68fR9fq2Qu4WZ4cEuZO8Fc84jG1RHnAA8ud7Aek_HOUyqc_Emcgv6UsWUEO4E42c24WIif0KWttNeP8s2HZgrz3puuvo3aiGPdz4XThVZhmjfhOY16oR1n9F5cI7mqA-HLsb06KkvQ_AYnLlb66livZCv04famODMd7DOGY83fQpIXd2sUFIGWSq36IITuowl3HGIjTS-IYz7KKmBvTySQm8WMa55qcnEZyBK7HdWsREk8UcDPkT7Cj-4xWgPFU-zVH3jomF7sB1Xx3rlnyuMsZQjv4L0znuqEoXm2AArCQ877m6BarJSBOr5t5BtDrskjhczaPNcwCXL37Kn5vHX1uc360FYTo9WDKi6AifUoPw6coVtb7mEANXUGcTUR4yhs5D9BSv5XOMtWg8t2BylE5NiIixEax3W1YBiZ7zPQmKztHfx6U_E9OQTMY641FXx9WEQf_u7sr_OYpVt_ucdx9P5E3C2G4ShO1sCC2gpCkbqcv-W0dyS05cO3xruxLzkV3Uhzlph9WQn1jbzSBMafpMHo-yyfw9CBWmXr3TsarWuY3OcQIppjAWsh8oj8ymW8Br90JxV02puUSUsg5hiiYF1Hotsk9wz6tEbo-UAVk7u_OBH9ZZBxIKhiq9_IVu4YhZNjlqKXuDPAEcbE1biaJLslfBfq6EOmX30oFTxqBQ==",
  "id": "rs_01c5462672836ebc016ab42c51622887d0864bfd40768b965f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.22,\"right_z\":0.15,\"right_yaw\":-0.8},\"note\":\"The pen lies diagonally near the center-right of the table, and the shorter cap is to its left. I’ll bring the right gripper above the pen’s middle and rotate the jaws to grasp across its shaft.\"}",
  "call_id": "call_DXb1LR9hukn19HyLt11JRBwB",
  "id": "fc_01c5462672836ebc016ab42c52681087d0a66201d1f7d01ad9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DXb1LR9hukn19HyLt11JRBwB",
  "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]: [-0.0204, 0.7986, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.8558, 2.2368, 1.9244, -1.3216, 0.9459, 1.5356, 0.9989]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.3831 right_y=0.2282 right_z=0.1285 right_yaw=-0.7119 right_pitch=-0.0636 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -1.6068, 6.9949, 1.7411, -0.0562, -0.0659, -0.0171, -1.0735, -13.4496, 7.8291, 0.0611, 1.0379, 0.398, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f69301827a5b96c54c843bccfd905880ade80dbd1cd33368ebedda6d896dcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f330831778f1991e42c3b65e0b3fdf710114236ec936f8ac746bdc387b6894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a388eba37d3caa806364841d02475c4b8936aea8c602bc1dc307e33c80f0088",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.658 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, 0.7937, 0.6018, -0.3794, -0.0196, -0.0116, 0.9998, -0.0139, 0.7914, 0.609, -0.3798, -0.0219, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1792 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2952 right_y=0.0034 right_z=0.1831 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.5248, 10.5231, 1.79, -0.0269, -0.0757, -0.0366, -1.0188, -1.306, 9.7709, 1.873, -0.0562, -0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7986, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.8558, 2.2368, 1.9244, -1.3216, 0.9459, 1.5356, 0.9989]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.3831 right_y=0.2282 right_z=0.1285 right_yaw=-0.7119 right_pitch=-0.0636 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -1.6068, 6.9949, 1.7411, -0.0562, -0.0659, -0.0171, -1.0735, -13.4496, 7.8291, 0.0611, 1.0379, 0.398, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f69301827a5b96c54c843bccfd905880ade80dbd1cd33368ebedda6d896dcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f330831778f1991e42c3b65e0b3fdf710114236ec936f8ac746bdc387b6894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a388eba37d3caa806364841d02475c4b8936aea8c602bc1dc307e33c80f0088",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxZZ6Lcqb2f0rut0ssUBMVhLqqw2wernQictyR_kk3Q3ce_c688shPrgAHRt5cUUPQ-E-v10iRS5Etb3KG_80V-cFhd-cPlkOIXiaQlyowGvFKWO2Hbm43Re3hZli8hixKweg1L8iZICNJkfGHUAWoHDk3hvg830GZKK_Q62wpnwueniQyJqf5m9pkIo9TiS4l34U-VU94JT7dq0zRqYyUIKbmlbL8zB0l1cNxyAqToSWF6C8E18rinqz8bF7V1S9Tuj4TWLzA_sINwg-5GUt9rNneHunEZ73igE5Y0TFgH94kzP99LI5_ihnq1iN0TBAyOeZQ0iZEL9THP-Cc-XpSYZydWDalRKahFhiNEuaQAWO4s3ZQXH5yI1pprxJSgW5UyObxzYsgz-ANdQ7GywaBMadsEymQ9Da4MHHCCrrIHIuOHFjOOXe9fClgiHvDcj--o2JuiHhaSzgTraItpfaM_VgiwUXg5t-EbblJ4_pKErob02GtpDt-1PAlWWxWE4LWsXVRqzUXYvAjf8F33ndkQjiCJuLAYmPbWLrCqEGsbCFSANtAf7m9oheXsz6tq6vO9cmbKEB0ozaiVWVKq6X4Ylc2nAWHiIQa_LJqyR2pi4R6rGdipgAfEX4bbgf1h6fRPttxvkbSOg0sCUG7IPdwtQ8CNW61e1TWn-7sI_zJHJLvpvNFvyjS5Qi0TRViNx8ecuZfUWpTDghlemMMkApsakHiUtliaD669ayGkSOogTIGF2eH6hzY0bcpDJrE78lpICweLSxJ7moSTRxtcWhB93jjiXjzpD1Bftb36VBJ_NLRd8-MYu1hVzWlJdCGp4nqMfXSiIiS-yfv5UFU3RhP10kJvuMEhTAqq7Z8dDbvyATmVNf1MKIQrsZrSS2scoRcy_kDgu72SBjXCL0K_56yk59XYCj6EJmTl0oNO_RWTzUfLlYHZNpk1nX_gkBgYS8haIdMISeYt88YVBojrPjihYolmoH12slxqxE1P7FBqQEabKDiQiCqHjxL48oSOA67Uy774zsnWBwsQNrd5xSRYlLt6WOEBCZe3omnxZlWoP7hbnpwICxK2berDIroyKrfPsiB3VTAP_mnVjoYGc9o4soKI9Y5ZFpyCv0UsuBkM3WF9cGLl7L-4misDLHvBoIic8yNVTq0DH8dufQpJOSsURJWI5AoCA3vAMqvvjW4dzqFA_IWyCWrBI7SsdRKdUZiUusbwFWoA3lb3_b3ixhDgq99oRTiP7F4XW7tyibZ-F3_4kHqxxLgVzQsihsFrIEWgB8_Gr2GrMqEhtH8ZB2byDDadO81uj0kB9JCPhq4AFqJhE6C5Q5wmGZJK3GnTtK2M2as1TIgilwUm9TVm4QcKN64DMOdv6JV1LHhl8FlvVdCNRDBcWq1Hg3Lq0Dt-wkV2S32Ok3VSbeZsNw_-6ZILrH3vpz3aDQeRFBBgKnmgdLgBI-kUEXKCrfukhCi_2XgWcUYrf4dUCBQ6_JCaNzBNO92RhjfSmVwZjezRbvtLFfy-fTisJREMWgRRWPq6KQhhu_xnGYfNG09R_fzaKRVTdgaEWv-nGi8mzcnqwaFxYW9tpAF-js2zbrjBZaFm1z0d4JNb1btDoCfeCXJ5cUacGqkqz_ryhMzEnEieImoibGZm43tgB9axwykNqHXY8ENln9nwtu7wDrwZ6WWr1ckKpRlG9VXAQf9Tzi_YC72LfywHh03nNX0TgwN1QbQCP1JRZ3EeUfOuOqVZdcxioPXnJNmH5ebQLfhmLlbEz2c3uCUtj60SCbgCCozjEXlAETpo3Dr9qFbWI79Woek1l-OGjMC7BMqYyHx1mDBgn5FQ_MgpS_TBxW-A_J_-3eaYr-MpTx3SzchSntdFWz-Sh2-678JubrgVriFHxoiLeJpv31HKQTdwAmva-IpA-ZC36dGFyrCdSvbSriGBsQdV1Z4yI1fr_O5FIcD8ENUdOvC8oyjKstcHcFLHgunTqHwW_ThGO_8edaHBu_NEJC7Y0ObwCeBe5il6E-vz8aXSWmJ709TPxKZyZLnoC6HxfRKCZfbCc7tGn148e8dHZEp0GZ-4QWoiBu4WuLQ-UIA83OQutmE3zQ2aTMHxQMKF2ovL00gh5fUK9RcD1VzjRPwn7U1AAswSvOUzajyDBAweSVpXDmVAqyD58s8PmcDdT0Kc0tSd8rB-tQtD0tdHmO96DA0dhQTj1tzv_JVO0bUb2eAMF_1ioghJ7XyVpi5wueLrK1i_3imDKH4du8XM8wtNidQfi6pCeTE5Od-RrYR1w4kNo1ZDkViYWZpcOVipuAOfSr0xNO0dFIO2koIvTGVGDQ1OGxAQ6hEiQnWBWNFegoAn3WUjMwr2MvgKQkpToXkhe2ctjo_FWOMHjyNsoN8fDEKd41ga_76WCoi2FUMS2wjKUxzIsV49aQfTSKTVXxr7lz_bB7Zi7LA-Z5P8N6XngqqBoN_0qscw3d4xhHx2H1QnmfwiB5uEUOj1bX8isRixhvLLIN9gz3mAxM5v1eHnbU2oKfZemNLFZ0FxnusjV1PZTrGM4Wf6kn4Zvnj-fZZu_naaVF9Fug9UEdDYGGrC2JmVE1fhmg7WPTza-Cew4RWQPPNhaf66GwSkTT0fhnJoKf5zKJhKF4XP376mjTfhCib_8rS4GkJxSDEKvWTYynt8kooiEza6PmNIeCsDwmds57-kgMnY23gh4bSoHCaxJAfT45rO2LobkFARA5wPJZJCHEsrCE7LTdo4NnqcGi4p_n5DwpqpYwzbwfAxwblEywXEMgnL9LvM6dDFPagQ2GZGIiibDuyFk8iokP5s6b_oxur-cabbUwnlaGn3jQgOqqvllD9nqHZVeP25ISYMmP0wwsKEKHf3m1YLe-loIwJZszyDSwuEbQltqOyyLGvhCSKgDA==",
  "id": "rs_01c5462672836ebc016ab42c55da8c87d09d964b001277bcae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.16,\"right_z\":0.13,\"right_yaw\":-0.8},\"note\":\"The pen is visible to the right of the right wrist’s jaw column, with its midpoint still ahead of the fingertips. I’ll shift the gripper toward the pen and slightly forward before lowering.\"}",
  "call_id": "call_LY6TNvADcxxftvfuZz1jhMTS",
  "id": "fc_01c5462672836ebc016ab42c58b09487d099e75bf8d12d6d94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LY6TNvADcxxftvfuZz1jhMTS",
  "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]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.72, 2.2112, 1.7752, -1.2564, 0.9066, 1.417, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9998 right_x=0.3925 right_y=0.164 right_z=0.0972 right_yaw=-0.7937 right_pitch=-0.114 right_roll=-0.2455 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.4291, 7.2, 1.746, -0.0757, -0.0806, -0.0122, -2.1949, -16.3077, 7.159, 0.9304, 0.8767, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c377d3381376b14b22f5ece3e240b56292aec0f42ff820926973a4740b3ea11d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9ba49b9c59f9bc31bd90a0f862b6d172f742aeb27dda0083bf1859eb17dc44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d72f7fa5391306812dd9e6c19b5bf1bc38e8c8ff2d45800686ebeef517299e",
      "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 · 4.76 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]: [-0.0204, 0.7986, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.8558, 2.2368, 1.9244, -1.3216, 0.9459, 1.5356, 0.9989]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.3831 right_y=0.2282 right_z=0.1285 right_yaw=-0.7119 right_pitch=-0.0636 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -1.6068, 6.9949, 1.7411, -0.0562, -0.0659, -0.0171, -1.0735, -13.4496, 7.8291, 0.0611, 1.0379, 0.398, -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]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.72, 2.2112, 1.7752, -1.2564, 0.9066, 1.417, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9998 right_x=0.3925 right_y=0.164 right_z=0.0972 right_yaw=-0.7937 right_pitch=-0.114 right_roll=-0.2455 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.4291, 7.2, 1.746, -0.0757, -0.0806, -0.0122, -2.1949, -16.3077, 7.159, 0.9304, 0.8767, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c377d3381376b14b22f5ece3e240b56292aec0f42ff820926973a4740b3ea11d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9ba49b9c59f9bc31bd90a0f862b6d172f742aeb27dda0083bf1859eb17dc44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d72f7fa5391306812dd9e6c19b5bf1bc38e8c8ff2d45800686ebeef517299e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxfLCHKT8HWpsYRwKeYlGEQjaHIYT_Wx0z3nIR2L5Mltne0ILuQwO7jL2woWPqaMKzsvSLxgmUE8Rb0MqBtLxcC1P9JowMlTUJqjtvn897v12rhJ2hKzuNZ_YfWqqF8C55WcassgT7lrpUcELb5dAdcGsRUjXxYsTszZ_2fJaYLMykaGBLwK4rlsRGl5o8eaawxEuXwY5h_IjhZcW3pCfkQfki6jOF8EGd-emlrVFqu2RAaFfhp5BC5e4OkO0A7J7eUQQ1QDGLdW3zm6WuoKxh2u7YD6LeaJ3SeUwhtxVX4iSIBEEh6WXbM5uBG5FaBEsWuliWIlw1iXPnAESTj2DJJT8pr-4yzIqEluCRstldO4fNNSxtELnvKWZQXX81hZWapGcTc9nYLWP9zQmePOy2KvXXoKzd8mGr7uy6fywe6BWG-LiMZUgXB-6jQNMoTyEEHIg3Dag9D4DyRLsM5bhEpAWdealTeRL_Mu9VXbUCc0FLEbnY2sYpCQK67kO-KhIAPHLuQOVZnidhpzRamCLB9uiTnJAyE2yzr0tXQ7EGHU95KkNE5PMVssrXKXoYbrLeGRmKKbkzJDNoA7uHziTc6p_I-EUJN45dCJMhAMg97ulbcntH9iSmij1Mw0d4R5eXChzgkCVT_h9QbnWFUvfSBZLI929k97LKiHfI6AUXeYIQwaefVHHpIgJGaUDf5xcCSJ5JaIuFyoWPwzRL8E5JGlNN33oIZtJVNRtSq4YtRGRSqB9NP73Uk-yt5yG-pnE8DUJJeJwtASjU-vujKzai49Kdm8Auj1XgnSyyQZ4mDzxB0qWjHIsID2ODZaGzLh_D8147b8ybDpqRFEB_MmZzzpLyTXv8LHCrkP-fdfJ0JS95wrWvB7MtxCcJdIBkMPwNQlQspO4YoSmB3Gqj_G72ertdiLi8MnoeMbhCiVTMbgAQbYHiXuoWi1DBXAf6WijOEECrxDcsiBZFHAjzq3RkqpNFJVJVdGY1fi4eyXlAsylqK-02X65I0FdLhfSTe1gVdWJnW765yqqqEvWpGaLzsmCzdL_E0OAJ7N_KoMJqMBriD9AAEpsxC6KirMoy23pHYx6tOMMkydkhY9jsHNLPcY76NBz6Il1-kohCEif9vvk9mH9dOtqR1l5ZcdaTROUtiNy2VhFUqs6UuL9rcKB-C4znEUVlHCT_-i_bOPB20e2H3PddD8J_HoWnbut-GVoG5xGWL2G0SwnPupUKqId-ZzYdz5emjNkPPgrFNVXYdVmbWDmyNt4plcJ6IntnXbJsuwji73bOlR7UKOT2WklmvQaXH7bEBMC_iU4BmSN9kTQGJzh3DI_B65VXjl7VpvAGvdlA84uxw3OLmYqxXLPNg8GMd-iKO-JITwlNQdPunxZnS5X0wUxZ7efzJQ1_kQSLxSf3M-ZhGQLrwsT1LTDLB7-YHYPlkMlbfqCaCPBg1EFAeLjI5bzjmJ2kU7ecVgj_gm0_qo9qrStBv_zWrrQUmAfvtIFRqw-tUEr-iA8DoeZtCf4KIYu96MmHqF2llUtC8o5rN1MaJQ1A2l4YnnKrm60DrNMzMoUeT9oMDkBDUXOLkWkEycOjoXuoQxXRYGRY5uJ0g6id8iiDtgWW3r4zvPQk3kJGcrheBXY00t88nDluRq6LaRMn5MsSvaXyhVm-wbidXpQJaCauz7hzJyYgfEu_4NY2J1hG6QXT7-Vq9h6kG6BwyTBvu0NqaCQwjxDva686G32MXWMIriL7BJdNTLp_19vVFFI034O9T4caYWuH4-6L4gZ8ZBtRMx6y_WXKMAeaYw3MtwexLbRY6kNgzXw9xD9oenHNZ5xP2gOpBFIdKgWxvOR75-x8emt0Hfv5WKKYP0e7lg4A8aXRS8w6q2miWK_oRAnU0c2GNoz80m62K8ikxXs23CvJCj8JV0YUB-EuTwEl2R4cHToFJBOEw-gVbmjq_TMjLj_GpRtMWN9NJBr2jY17pli_7-Sswc25ixpCJ_oSCztADOQSvYsYmbbuTBw-wUPM6NOq6z843v7UO0HUzsg6kLzYXSEdqh3lMZZrWcQ-IhSu67NT12cekJmCfEdrObxKYRgIeaLG5UpzKXkNFt7BPpUzVkAq6nYoVxzycHMTt9dCRMAZJc-mGjAJ7-te0uMyZH5R-23bw6QrTWZzWob8Tt65mvxVlwvKi6w_-QYirgH5sssqw0PfLRe7Gubt_u1US5EVz_LFuT1iDsG1DGInaPmcPOQisvudk3Jf4FftxjPIc6M-ljm4PmYkHEnbfNf0-cEBu0QpSJ4DpGAAjazNKK9eokbeEOUahxu3Ny2x4mf-_ZPQ__GQkAWEc168aMjD3hs2erKsT0QC0akxyu5mN9JCW07WVJ8stQRUBqsCPOJiez_zZ6b12_ZaJnLrCb0AynD_m-wRtWDuUMSlRAw8fN2-nRmOXji8feWGasoHej_VOA4IY2j3y7nMP5U5Qs6d2_LBCp1VbFFD--NDdNkUj8WjVGJgnNBunF8TccmopMDY2sjgxXJ9Pxf-d5kXg67ru-LmKwrOxyw5tdu0_39z5dcNK42Q0ycyqNc-jgr59QOys_z9BKCbQvA84CWpDspVLfh4TBu1Zr_qqesH8kxQTXgwmpb8iLV0M3y7jP8TCoS02PURWb16TrT505oZcQdyUMbaC-mECC0HCRCLdyZwn8UcOXLk64veLm-BlpgngsY-vMZwEDUiRoNQRZqu28d4c1X81LZx8K0JgRDj9-Z5pYEyUR0m4iKvflChas6atQGngch6L2Q2EDZBnoQMblxMhx1-TUv5oLQxhIOpmJB-NoP2oKau41uVKe5ZJ1bnjrfSRngddTHOwghsnoy3SN6FVd8Mi1XD8dmXyb1ET68iUuPpfA8lOASbnnTu_CF4J-5-CikqZFNe5jYzx41P-y-gETDGEFRCv14C0-g66ELcnVMqDHZ0A-X2025_P8jYuLGx-AqYl0leP0clVRQybHoS-lL-5IVqNvWI5BjqxBmSSAmc0rQhSttoP7FgHZkGAqKp3u-HABV_cEKJjxEGe56_q7yXfIyWC1toNKKfy82JHqVYl0lgqqeTZf5KxpHetUWyU96XUHT_s5TO6w72lIcPzhX0CIZayw4jkZkwBENhcm92-YN-PSLm65G3cGEzUMkw_flBpEbQnbu7fJKHbdW9Wn3Vz2fTHdG9pZIH1v-yZxEH60aayXBdtxkyHL5CqanHpVf50tX-WMWfyJ_yER-urJuJoV0oGiZ7emu1d-o2Qb8ZpePAym-Ic-I501Vuv2Hzpy77Av7UOj4SczTX3HbOctMSFJk2Riz_XvoR0fWWgGkBf-o2RLpRxLV8aWSqsrAHRMzPxMkDIFWarR6_ccPVRx_RqkY7MnXEZONHUt6G8zWjdZgcJGKfTe_INihKF5cxuJE9MtQLYYRqqLrL3CGsma_8xS_UFK2gWw_jKOdZedx-wNfCQDZhD",
  "id": "rs_01c5462672836ebc016ab42c5af10087d0bfbccaa3ab6fb2e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":0.45,\"right_z\":0.14},\"note\":\"The pen now crosses the open right jaws, but it runs nearly parallel to their closing direction, which would make it slip. I’ll raise the gripper and rotate it so the jaws can close across the shaft.\"}",
  "call_id": "call_xdGJVK5HMLGzEkK64Nmnnp1s",
  "id": "fc_01c5462672836ebc016ab42c5ee5ac87d088f6bb5854541490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xdGJVK5HMLGzEkK64Nmnnp1s",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.4603, 1.5043, 0.8955, -0.1726, 0.2924, 0.0429, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=0.0003 left_pitch=-0.0133 left_roll=0.0005 left_gripper=0.9998 right_x=0.3863 right_y=0.1387 right_z=0.1162 right_yaw=0.1744 right_pitch=-0.1876 right_roll=-0.1792 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.2513, 7.1863, 1.7607, -0.0757, -0.0708, -0.0122, -0.2667, -8.1026, 6.7897, 1.8437, 0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dffca2be95f767e4c751750724257562fd7943c088820b8d61b925a96a5e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eddeb82b9feb4ce63a0d1a46c70e40046387ebe7d4d0aad81a26a746ae1e15cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42c6cff30cec712d034c755c47c355a55326b0a86a3515e5ba5416a38267e1c",
      "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 · 3.385 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, 0.7937, 0.6018, -0.3794, -0.0196, -0.0116, 0.9998, -0.0139, 0.7914, 0.609, -0.3798, -0.0219, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1792 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2952 right_y=0.0034 right_z=0.1831 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.5248, 10.5231, 1.79, -0.0269, -0.0757, -0.0366, -1.0188, -1.306, 9.7709, 1.873, -0.0562, -0.0317, -0.1148]",
      "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]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.72, 2.2112, 1.7752, -1.2564, 0.9066, 1.417, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9998 right_x=0.3925 right_y=0.164 right_z=0.0972 right_yaw=-0.7937 right_pitch=-0.114 right_roll=-0.2455 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.4291, 7.2, 1.746, -0.0757, -0.0806, -0.0122, -2.1949, -16.3077, 7.159, 0.9304, 0.8767, 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]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.4603, 1.5043, 0.8955, -0.1726, 0.2924, 0.0429, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=0.0003 left_pitch=-0.0133 left_roll=0.0005 left_gripper=0.9998 right_x=0.3863 right_y=0.1387 right_z=0.1162 right_yaw=0.1744 right_pitch=-0.1876 right_roll=-0.1792 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.2513, 7.1863, 1.7607, -0.0757, -0.0708, -0.0122, -0.2667, -8.1026, 6.7897, 1.8437, 0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dffca2be95f767e4c751750724257562fd7943c088820b8d61b925a96a5e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eddeb82b9feb4ce63a0d1a46c70e40046387ebe7d4d0aad81a26a746ae1e15cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42c6cff30cec712d034c755c47c355a55326b0a86a3515e5ba5416a38267e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42c619e5087d0b161297a8635a9f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.015,\"right_yaw\":0.25},\"note\":\"The pen now runs diagonally between the right jaws rather than along their closing direction. I’ll lower the open gripper onto the middle of the shaft for a controlled grasp.\"}",
  "call_id": "call_5aTkANvzCkvYkhkR1RuxByW4",
  "id": "fc_01c5462672836ebc016ab42c6470f087d0860517f62155f0d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5aTkANvzCkvYkhkR1RuxByW4",
  "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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.4541, 1.75, 0.7052, 0.2165, 0.234, -0.0113, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.9998 right_x=0.3808 right_y=0.1443 right_z=0.0119 right_yaw=0.2445 right_pitch=-0.2481 right_roll=-0.1887 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 7.0632, 1.7021, -0.0464, -0.0464, -0.0122, 0.212, -7.1316, 4.9983, 1.5702, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835dfbde97e7dfc26d4a5c47aa0052cb3da44e2e12409f289dddafbb4b6ae20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf42f97db66e73172bad825e3ab1e6af6a84ea7945bbd79a043ca826cd5d2bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de2952784f0bb306e0c4a64c76f37985cefdd7d2d9ba49594736c4abdb2f94f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 1.796 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]: [-0.0204, 0.7986, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.8558, 2.2368, 1.9244, -1.3216, 0.9459, 1.5356, 0.9989]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.3831 right_y=0.2282 right_z=0.1285 right_yaw=-0.7119 right_pitch=-0.0636 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -1.6068, 6.9949, 1.7411, -0.0562, -0.0659, -0.0171, -1.0735, -13.4496, 7.8291, 0.0611, 1.0379, 0.398, -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]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.4603, 1.5043, 0.8955, -0.1726, 0.2924, 0.0429, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=0.0003 left_pitch=-0.0133 left_roll=0.0005 left_gripper=0.9998 right_x=0.3863 right_y=0.1387 right_z=0.1162 right_yaw=0.1744 right_pitch=-0.1876 right_roll=-0.1792 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.2513, 7.1863, 1.7607, -0.0757, -0.0708, -0.0122, -0.2667, -8.1026, 6.7897, 1.8437, 0.0317, -0.0415, -0.0073]",
      "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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.4541, 1.75, 0.7052, 0.2165, 0.234, -0.0113, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.9998 right_x=0.3808 right_y=0.1443 right_z=0.0119 right_yaw=0.2445 right_pitch=-0.2481 right_roll=-0.1887 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 7.0632, 1.7021, -0.0464, -0.0464, -0.0122, 0.212, -7.1316, 4.9983, 1.5702, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835dfbde97e7dfc26d4a5c47aa0052cb3da44e2e12409f289dddafbb4b6ae20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf42f97db66e73172bad825e3ab1e6af6a84ea7945bbd79a043ca826cd5d2bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de2952784f0bb306e0c4a64c76f37985cefdd7d2d9ba49594736c4abdb2f94f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxpk76JvM81T_F1G06bw4xJuqlxiVVBTJ5FOXF44AvMbPx2jaoDBWHYZGd-o6F5mka88lcvoZVyv7p0fg7gX3UdIN8Cj3AmrkWlIoVKDMCY9Ijh_BDEl9aK1WyvdF2OKu3lS4huExUe5Jr0VjrDzcV0fkDVyzaox8BD9PKqjnUeuIl6ifhA0TTNRTLlbsm6-4UbqNR-dx31NZljDVbRqoK57vUkkvIAu5rjtkJMyE0tYw2Y_xZ5APJji61RR6ZgkwjdkS6KUoyKDz0h9HHiq5MhVmSpXO_TshCjHOEIyEgw0juCHV_EGwQ_g95CStf0JCn5TkuRALShHmEjx8m8rCrYO2R193BxC-Nwg2nNfiPI2EA-g386mwk3fXc2nt1-weqO-TXcXV9SIB0o8xHzkfzTVZBZtiQIb2m95HEISh134PY0lxsRi4rtJ_tDb1j-6KMA6SrRUtKvnfvq1dr_4O6FA0CMUDcb25qN8qu78e6P9oCmx1C4pG0sLuSBUv6ncwtav4DkKSGS-Gxmp7dbuYcYHUNMA7eHwC5RnHlwyTdziiLPZN0Tmdxezfv2YybMDZtJx6eFBpUFgzuSadVxnavzJxyuoceVuWCA6m3zYRHdvr5kW376Qpeqx3X6AJm9H45dhY4MxVDFQ-GVYx_OgBfEGBHKNSjXTWN4ACBRwQ0d2MhRw4dm9gHgR1FXUSQrD6QKktdSmbUNLYOg-NLP8GYI6Dw769PIt8EeqfqX0Y-lgtYUJbrd8IVmobLDfSG0PEflwwCA_XrR7ZsKKPp60GV1R1RYiyrN5hNB059DE5bRH8pNzPbTkG7mvNnBBLibBMmZ0lo4rTwCjCRGY41BIRXcnzww_5_NyjZGmoGWJNM8Ry2Op5_qLiGvqLXVvbIKd6WmJAfdvFiJUhuPbFMeJGq7xGwpTZw3ksEU1SKxyeRxKc9WB2NvtvubR0YFBlHv2OTEQRBCbWsMJbxTaCK0KGtDA7E9Mq7vHL3ZaFGxwqo-oM1SaoSiS5iXj13jXjxac8r3XxRTLZ5KN1u1uxin9BiQq8Z2WOXlOkjjuBmytXCiiMG1ybK92jJHBmsuLbEnaMhPGRN9QXcnwvbWYj7_X2D6JjnnJLuJPiM7ZDhbwR1S8CZE2Xy3ba4MegG4UKI10KhI_utC3Z8hqo0hnoDNmL-m5gz5MAdYep4QqarPAvypx4gkXil1OyBnRNlyEQokIKa0jt-9glupnZynhSiKJibo6_EvorFfBfnfFzGv19vAB4EkGf4ODxGQY1tYJ7PWwlcmRfJhsXk_aQP8kqBnDZQhsV1lHtu1qFx5L9vkvn0qj5V2zi7iRHErUOgk4GFyQxlnV1dv_Sevln_almRMVIsfmSxfZB4i8CxD_mAt_YHHCogi2I8tPzVILvWfFRyaSSuwE6ytXfyWab3nLaYbsIig_P13i5smRJMOyP3lX4JQI0c21kOzcQ5zODsZzk38ge62Z4QRKDw2tVh4jJ5lD-vjTUCUj7Q24KBsm-8Assv23WdmdGv4_iClD18uIlPeQr05nHf2lpK_jz3V9cCDTKGv3f7oliNT2499nrkXCoS9fOKes518xd-h5qR-ItpvEkccTPTIfpWvSToMaR45dowyyX6mTwW_v18pTp8Gxyb9MaNPT6pUdzwbZ1xhnPic7kwzFVowljg0RKBfjAWHSC426MuVygcL4BQXz5Dx2kpdrFshQ7IcWQkxmdEcNPeaGe9aT5U5KmGmFCzo733DUfiFcQkuMi5c_Bh6efMQLP4UxaZi8wx7uW3wwsk-isGysvJcqBXi9oAfm6NwIBb5Fkmvk4BFcx1f799H7NeFEcBkqF0ms0CB22TA927bV9szNjDiTQ6GZFdx-7BZi0kCHcH9BbyTVtXYPO4pJzbhHw4DS5Q=",
  "id": "rs_01c5462672836ebc016ab42c66fb0c87d0893ef12b7b2e3019",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.004,\"right_gripper\":0},\"note\":\"At table height the pen’s shaft is just left of the right jaw center. I’ll shift about a centimeter toward it while closing, then check whether the fingers actually hold the pen.\"}",
  "call_id": "call_UK0GZ5SerPRjTRcSTekIvmSj",
  "id": "fc_01c5462672836ebc016ab42c68628087d09afbd804502e7834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UK0GZ5SerPRjTRcSTekIvmSj",
  "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]: [-0.0204, 0.8078, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.4969, 1.7855, 0.7113, 0.2398, 0.2539, 0.0158, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1754 left_yaw=0.0 left_pitch=-0.0153 left_roll=0.0003 left_gripper=0.9998 right_x=0.3778 right_y=0.1585 right_z=0.0046 right_yaw=0.2552 right_pitch=-0.2484 right_roll=-0.1856 right_gripper=0.0425\nstate[joint_eff]: [-0.253, -1.4017, 7.0222, 1.707, -0.0415, -0.0757, -0.0122, 0.3214, -6.3521, 6.5299, 1.4042, 0.2564, 0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec4638d79fe006a2241a9ad1cc817c7e1b3e7481d31aa2c7145ab5f6c7d3d23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b005772359a0084cb49eee0b44a11c2d804ed104d35a1aa22e3da245ecf07bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a665639f7ba5abe4fc6cfd1cb6ebf398fb09033a00ef60a94d61727baadc40",
      "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 · 5.48 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]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.72, 2.2112, 1.7752, -1.2564, 0.9066, 1.417, 0.9989]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9998 right_x=0.3925 right_y=0.164 right_z=0.0972 right_yaw=-0.7937 right_pitch=-0.114 right_roll=-0.2455 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.4291, 7.2, 1.746, -0.0757, -0.0806, -0.0122, -2.1949, -16.3077, 7.159, 0.9304, 0.8767, 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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.4541, 1.75, 0.7052, 0.2165, 0.234, -0.0113, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.9998 right_x=0.3808 right_y=0.1443 right_z=0.0119 right_yaw=0.2445 right_pitch=-0.2481 right_roll=-0.1887 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 7.0632, 1.7021, -0.0464, -0.0464, -0.0122, 0.212, -7.1316, 4.9983, 1.5702, 0.0952, -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 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]: [-0.0204, 0.8078, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.4969, 1.7855, 0.7113, 0.2398, 0.2539, 0.0158, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1754 left_yaw=0.0 left_pitch=-0.0153 left_roll=0.0003 left_gripper=0.9998 right_x=0.3778 right_y=0.1585 right_z=0.0046 right_yaw=0.2552 right_pitch=-0.2484 right_roll=-0.1856 right_gripper=0.0425\nstate[joint_eff]: [-0.253, -1.4017, 7.0222, 1.707, -0.0415, -0.0757, -0.0122, 0.3214, -6.3521, 6.5299, 1.4042, 0.2564, 0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec4638d79fe006a2241a9ad1cc817c7e1b3e7481d31aa2c7145ab5f6c7d3d23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b005772359a0084cb49eee0b44a11c2d804ed104d35a1aa22e3da245ecf07bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a665639f7ba5abe4fc6cfd1cb6ebf398fb09033a00ef60a94d61727baadc40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxri8afh9wyMraADR-S-R9FR1DYRZELuGHqvWlprEvZUZuOfwrPQ6ye5JQ-ivIGeyJn7uVElzAV1-unXoelNVUSlQ6SQaRDP9hzO8yre7wIz2nvSVqvf7CRNMNHArQPBFqMQq7SwKpxOZiO04RCCflKYTFRYBbJ_luuVrYRXher8_X4Tf3Mu0i2_sbhE2gmGw_77wEyjU0MoymezcLJW8HZNnNGC1GWXniiSs1h4bnTVWSJ_NyrKck_9AXdHtj_1j8sI77X6u21NvwgclYzOs9IhJmIRQoFsHxkYdEW_lhkPTp0aw72D0PU-Rbew4P1_bGduVkJNIDlSxHwTMjbBDU7LxAVT0YLPi7B-e15OQdbr1bn-bEU9fmgDENP4FHQz9JvDuowgIJPxsrY4oEV60ThY-_HdZU7eXJHDe4lWyT86tub_f7sbZb1LF2LXA2PkImF9s6BuYElYUGGxnd7kqVhpi2plu6rg4w1czZk9pjZH-dkuxHHoGtRvejP38DMhSH-htKg1OiqjOriuC_oayIaQuNoWB5Hn61hYwTsEeqGFjFxY5W9QA4YlZw1Rit_VRwjNc3gvHNXB7i3rN5l-orQFG5d6I920gJbDEfbt4MA-qich03HpB7D7cefoOEJiqIwivsXhWIXQOqT6HWn_jwaA-f8cWvDBgk8Gyl3oIQjCTUEhiCXrOOIRGCCeQDUeNCAnwv0iBakJrXClaxkYvYnMqCb7fRjNsY0rhQF7QtaR4BuvbluBC9GN_zEMtCjDaiotb0F35AlgVEmlvJozoBTuwMP026R93f9DzkfmY5Kf9BUdM_gzt71h5_eXPNWpDzJodED_32oLV2Ho493jespoPhGiIQNT7vusiGkh0u76HVLwaPVRmQKViLf9N18HJMK2P76qAo1smDnBfwmUsKb9WNkmZ3N_n7U57xnmTZTOnzj1I06a3luu01FO90KTvc3cQEVWVMCDPWCaj43Frt9-T4VjM4hV8320DBYBDSG_DWuuW4NnYnBylPRL1VmC9ylMEi0fsv81a-iMEhMyXxdnj1SSU8xcXhEflrLWszk_qPFE_POV5QXj2OpeLwrqp9Bio0SaJA8FIyk1X5cna-6cZPCfQ_SbB0pA-DRPd3_iX5am6MmZUnByf_UtS_bArtg-sZUxS9GFtu5l_jcYaWyGTEubUR1VdM0WF08W0JMkIrJjZ5jzdeYjzoAuwck46Gb2expWaQWngz_QlVA1aFMUdALi-shDyYnaLojx9eT53riK_udPXB_mcJ57NJ2imhKENK3WIjCcNROkjwUvw1VC6eAvQ4plOryjWOy8xREqzBSMjbgMqL8nIDld-dCoSxaJP0olSFhGEayf8TyiuSEHM8TxG0xdTNI9Bi1sKshWCAmmMpTJ4RKWQC4dwDOrYVdEs6U-tcUOjN3PlxxOOv3ug==",
  "id": "rs_01c5462672836ebc016ab42c6aec6487d08d6deba80ada5022",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The right gripper closed with a reading near the empty-grip threshold, so the grip is uncertain. I’ll lift a few centimeters and use the overhead view to see whether the pen comes along.\"}",
  "call_id": "call_4GxQDxg8q1w9fDcSUsOERX8n",
  "id": "fc_01c5462672836ebc016ab42c6b637887d090ed6435cb2e074a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4GxQDxg8q1w9fDcSUsOERX8n",
  "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]: [-0.0204, 0.8082, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.498, 1.5867, 0.8577, -0.0986, 0.2504, 0.0116, 0.0441]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1753 left_yaw=0.0003 left_pitch=-0.0156 left_roll=0.0005 left_gripper=0.9998 right_x=0.3796 right_y=0.1606 right_z=0.08 right_yaw=0.2619 right_pitch=-0.2427 right_roll=-0.1843 right_gripper=0.0441\nstate[joint_eff]: [-0.0889, -1.3333, 7.0496, 1.6874, -0.0806, -0.0806, -0.0171, -0.4581, -8.7316, 8.4855, 1.5751, 0.1099, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9bf7b3e37b3a2f9fece323c05d4a1a82189be87db96d8f5de87b7fa76a91776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5a4de3ba9544e50d12349fc23c8f29649c383b37b45c1adf411706162af166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db4b76f3a0a888fe3925a3cdf8744715e964391c0ae94c8ab33d3bc0beaebe8",
      "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 · 3.567 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.4603, 1.5043, 0.8955, -0.1726, 0.2924, 0.0429, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=0.0003 left_pitch=-0.0133 left_roll=0.0005 left_gripper=0.9998 right_x=0.3863 right_y=0.1387 right_z=0.1162 right_yaw=0.1744 right_pitch=-0.1876 right_roll=-0.1792 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.2513, 7.1863, 1.7607, -0.0757, -0.0708, -0.0122, -0.2667, -8.1026, 6.7897, 1.8437, 0.0317, -0.0415, -0.0073]",
      "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]: [-0.0204, 0.8078, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.4969, 1.7855, 0.7113, 0.2398, 0.2539, 0.0158, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1754 left_yaw=0.0 left_pitch=-0.0153 left_roll=0.0003 left_gripper=0.9998 right_x=0.3778 right_y=0.1585 right_z=0.0046 right_yaw=0.2552 right_pitch=-0.2484 right_roll=-0.1856 right_gripper=0.0425\nstate[joint_eff]: [-0.253, -1.4017, 7.0222, 1.707, -0.0415, -0.0757, -0.0122, 0.3214, -6.3521, 6.5299, 1.4042, 0.2564, 0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8082, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.498, 1.5867, 0.8577, -0.0986, 0.2504, 0.0116, 0.0441]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1753 left_yaw=0.0003 left_pitch=-0.0156 left_roll=0.0005 left_gripper=0.9998 right_x=0.3796 right_y=0.1606 right_z=0.08 right_yaw=0.2619 right_pitch=-0.2427 right_roll=-0.1843 right_gripper=0.0441\nstate[joint_eff]: [-0.0889, -1.3333, 7.0496, 1.6874, -0.0806, -0.0806, -0.0171, -0.4581, -8.7316, 8.4855, 1.5751, 0.1099, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9bf7b3e37b3a2f9fece323c05d4a1a82189be87db96d8f5de87b7fa76a91776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5a4de3ba9544e50d12349fc23c8f29649c383b37b45c1adf411706162af166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db4b76f3a0a888fe3925a3cdf8744715e964391c0ae94c8ab33d3bc0beaebe8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxxmMdrSLtQykfNLZWkiXRjM397_u2eZTclpCaSiC2xqVYuvHgpX9fmD6mczrCd2YO-kLty0NUa5G-sIMkNnWTNuQflFWQI8E4-m-kv29WGGEeXdiAiyv6yer5Rkr50qD5PxmWlsFKy-t5lZi0cORJe1VVz7ymjxvZchHUfYn6q1xtmJdc63AAZXMuCX67ZIuXe3TEpN-_zj10DPdJyizxqJYO5tgcUq437grgHPBe8TXLzcQvatLAm-SLcEyIPaKq1mCCq53IWBoOO1fnR5jOPmNDRJdhkup0wySMZRa0qBwVslZfy_5VDo_kt3-FhmiPvIHYL0IK-sj9mk95KQY0OklhnlvF33f-1-JuUQUIjlhKR-8cgUtHtXMjFOYDPvgB1fu-5GE1SLdBaJuC-9YBZCfXjJOlRuU_3-mNoFG1hBx3mysI8mhi4TzR4CHpssB5-gsbUN5egQCGJUkQA1rz2cbX8mqGu3fiM1-ix95i3gYmLomVUORxCtL2vo8adQgUQb0-OivyrZH0UfufNins5SLROAHMBSJ6Sm5oR6Ursv56kYWwkoviuDT_0nEVq4zvPEDf5L2NTI3lEMaBKlQqV8SM7KwFWURgKbjugYKLwvGjZ752mJdO1iHynAQx5zlOMYAxEl9-RzDw4pqui-56--e8Dzd3iN_BSjUepSeKupJYtsrnL3XIfTEdYxo9CiAu78pzaRS7-BhddlP7GPo2Dac_K83zrzytY6hsMA8R47FgBzgFxt7mGbmSdNiJYYBP4s6GV8YGtIo_L_NaLSFm-ZuAkUkxYAAYkGyy6YLpe9hMM7EoI07a67atCIqWKsr8QpqU9gadbchjBeJ7RuOxrQz6CGQuf_gpu4pwBp-uaYI4K5ObV1GlKwvorwjWJvxJxwZY-GbkzrgSfpPuekDAlFkZ53-fC_LE8ntzOtPELB07XjNyOgzFyYjn5tNAvBOqSPBNQiYEife7puDluFRKr1Wckdl6i8XW5f5Zek8y28KcWND40aRnjfnUWYO1eJee0wO-GrbxQv0qCPqvG5inBJz36eqiL369qoZ5Jxmx-j5DzmX4vWxAHc1A7m8Iniesw7SpcJNFOWa2n-2GpY29ANteT1z01m7CtAj78qNFqCopvJDiWeML9cbnZKSKdqF34imOCU-1nAJZmrngUTvVG8yomwdKZmvw6EXKVgkdaV205swiVwEZw9cwAzKkbELDSLvXw8kLXbcKuwU3GxS5f91v4yjhzU9CN4jf0qOoMDvFyeBwxam2q0qPZUtiYLa1-i4o8si9WOyssdMCEkjdn6NuqwDRp0a8oKmjCw0A-XDu8yD5s2HcPc_Auqn7CMOXQrmDvARzEthfmD6fTp5zNt1ARu-MvXpugvhqsIalLo_EKcwQqXagszzlty4aJjcpsiL2FBZnW0xyebPD_5hJYulwtiuGaWzfe6KOX0iAqwpPnfIMU1BTVStuOPW18QvhmufshUMR8pOmy2_n8C6lTRth-LeQaBTEzHmcvFL4fRb7b_ctQ21BHJoS2LerInhK3jWAgTySBr_ka_Upk-18XZRP0DuLx6SWmrpUu_gQxmKFnU7DJBO8dH14A5SONtEiRuV2jTcc8wwQS0KERQV_sfarLiqHrEwZjAlU6o0Eb94nKunbhuYq8G0QSjfKVpnGC_BVP58LMfkAtGcKa-MDbEaDmGL4o0cHUmZRSFfIzexqK4keHrLvIHxJIhE60ZQ-XL_CQLyaVxacNglycLDS-2IpRzeTlt_roRbYAFdZOdSAf5QfZ8ka0TCQjv4ClzvHNMQKbwD9d_kmIUA-8LOunCTPHDql9kZyLu8U9eULxH1zPc5AFIELkkqxLGQA4TWefFKNQZlZy15uMdtS5-7aomFhr_gjRywT1MsgcaA7D3-QClFNcyCv2Mdw33vAWbyd9iG1LwUXi1jfbDLaZinkl1pg5LTz_5f5dzVXo00JZg-X8MLRfgU2iRgQ_fwSTvqbQSULZ9ZtZYQNw6KWWgi7yzt5dnqyCvAPo-JIWylkqJm4d49QJ5EuMs53zqbu2dYr4UgJCpeitoGjv8YXMXP9FeDlvdDk4yxEsoDqOFDmI7nm8G2J7NWbSUeFJclwMFLNeACODwEIA7pAlYdsLGHbYKb_Eqz-ky1FxU1NvmaGUv0tAfqQHwYTLBCBNxf9kokL7ATinggQMvXG8q617rB34kNanjpGDfy8rRh_QdML_DaxO5zTeqNNjfOY8rmJQ2Kgmj_gCo5APdZNiyxGYMyeeUit_MMZtEZ4LRnI_Szwpv6xCvHDm6vY0zbRnGWjpQTbuwnnyVOONPTd4g1oI3JZtWScno2A6LKEVmLbpLNBtohatIzcxonr0pQwwyHJSs9g5uEbFCs2Eep6AOfwcgKWTntEzL7yZHCtYXHk_WnpaSC0rkKwGo4VG6LarScEfpDjMWIQRNwHHldw4-WI8eG7dnj4E8M6raxhIssohWt8qLW8-qI06A_bk5ZGVXzVOBouEITucEXRhjxSsT-axH2pUoj-DLAGGVmLt9ZUJWU4Z7DYOyhNj-1HSKUmtWQ27fwms9lGkNjQE_mz7nmQFP9fN_Y3JMgeRq6VjTTKHchiCCwzmhf8mPZBGugHS4bpMr9B84UwcOO_VEflCeDxyHHdUmMzFjQaHBBbDNaRpC1wTXrfqsTBvw7g72K1ymUX8dJSs1TjHoPOKbeQ6BRcpb8-cFEqwwJG4X-638gTrxEqUbgP1VZw5wYNGqLZ2A9H-i50zRoYM7OwvlDSuzWWRVeeZtvbq-mkXDGAFZQp18KJo4ixeiVN5LsJfyoQtK1V3goH2ePac7kEjEomC_8EcZYXKcxNjIjAC-HbOwcOoDLYcgn5hVPlwqqAgrQNbyPTtAXgx",
  "id": "rs_01c5462672836ebc016ab42c6e1e2c87d0b082650a09c40b51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.435,\"right_z\":0.12},\"note\":\"The pen remains visible ahead of the right fingertips after the lift, so the close did not pick it up. I’ll reopen and advance the gripper along the shaft to grasp its middle rather than its near end.\"}",
  "call_id": "call_KnYDPY6OX3mIO3b3XaUdK3hm",
  "id": "fc_01c5462672836ebc016ab42c70feb887d080ab5519a460d05f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KnYDPY6OX3mIO3b3XaUdK3hm",
  "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]: [-0.0204, 0.8089, 0.6029, -0.3805, -0.0196, -0.0113, 0.9998, 0.4358, 1.6966, 1.1107, -0.2821, 0.197, -0.0586, 0.9949]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1753 left_yaw=0.0 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9998 right_x=0.419 right_y=0.1609 right_z=0.1029 right_yaw=0.282 right_pitch=-0.2966 right_roll=-0.2009 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.3744, 7.0632, 1.7411, -0.0611, -0.0269, -0.0171, -1.347, -7.4462, 9.4427, 1.7021, 0.0366, 0.1197, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6b13ff950a4f72dbeb56aebe5990900155c34c44f25557e9e38b4b5e58f691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ed0b948fa7ff50aa375a99dfa4b6d000c53338699ab49c783431469d54c468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9cfde1e0f48c77703e39aa74bf0136167db60b8b26538be84370d2f205c993d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 5.608 s

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

message 19 changed as sent

message 27 changed as sent

message 31 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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.4541, 1.75, 0.7052, 0.2165, 0.234, -0.0113, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.9998 right_x=0.3808 right_y=0.1443 right_z=0.0119 right_yaw=0.2445 right_pitch=-0.2481 right_roll=-0.1887 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 7.0632, 1.7021, -0.0464, -0.0464, -0.0122, 0.212, -7.1316, 4.9983, 1.5702, 0.0952, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8082, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.498, 1.5867, 0.8577, -0.0986, 0.2504, 0.0116, 0.0441]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1753 left_yaw=0.0003 left_pitch=-0.0156 left_roll=0.0005 left_gripper=0.9998 right_x=0.3796 right_y=0.1606 right_z=0.08 right_yaw=0.2619 right_pitch=-0.2427 right_roll=-0.1843 right_gripper=0.0441\nstate[joint_eff]: [-0.0889, -1.3333, 7.0496, 1.6874, -0.0806, -0.0806, -0.0171, -0.4581, -8.7316, 8.4855, 1.5751, 0.1099, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "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, 0.8089, 0.6029, -0.3805, -0.0196, -0.0113, 0.9998, 0.4358, 1.6966, 1.1107, -0.2821, 0.197, -0.0586, 0.9949]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1753 left_yaw=0.0 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9998 right_x=0.419 right_y=0.1609 right_z=0.1029 right_yaw=0.282 right_pitch=-0.2966 right_roll=-0.2009 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.3744, 7.0632, 1.7411, -0.0611, -0.0269, -0.0171, -1.347, -7.4462, 9.4427, 1.7021, 0.0366, 0.1197, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6b13ff950a4f72dbeb56aebe5990900155c34c44f25557e9e38b4b5e58f691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ed0b948fa7ff50aa375a99dfa4b6d000c53338699ab49c783431469d54c468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9cfde1e0f48c77703e39aa74bf0136167db60b8b26538be84370d2f205c993d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCx2G06MqD87HQB4OH-wREeP3AZMIlo_pVIwfUzQTjib_nPm0ziPYbMmeCy8AC2ieYruI6Vi8q0RbU9FcwDC_H-qOPWkRosefDMIRhrnIzmF3_AJ9zIe3pTWWqyAy6oBqTI42Po_j5GZA_iLfC11FqW6sXDj6jB4ljNJAa0Ezx1QFvarwWKosTFEGpkpxsaiYfrmDUPUaxk2LPE-0BCEtu7vm1HJjBzlOi4jXRIlOS56Jn2v2ZkhrGcTvdtp3JoXaKXJU_EIrbVgAB8PQajXQjsHR6ri7tT5wD5PpFEY3a2lrmrSSSyK3IYSF95eATFKINqIegPxlvndVjPZoQll3JeRJ13Ha-n3fBSp6BVPFFTz-RYOZl7LdyipXFcvCFxWvDyErC_5eSv0c6Xm0YGb8IbDLIDfDFy7s6QtGfKilfvgCXVOB8Ao85oTqlZxe6X4cSKCiz07MpejTTCPWG4t93SZ3jaZBJDyi6aN8_DjWd5S77fUAVeJGdEOF9lteA7tPuPC4k8GQgPAf6WmVrJsxIiJlJAcNyY6-mGwFZk7AEl-U1X07uNUbxA_MBfhVzESJRfkzbJgAgQdSdyFY8Kpsx3PwbWWlRkEdPjC-S3Yl91XKVwMLHpclMEV33fkGOrnq8sg_XQpQ3Njqrovukshw-D3s9oWb6yuEarBmEAWjD4lbmtfFY7K0pYGztYF9C3UF73mYxHL3Cxxs6M-2tWS7gghghYJrl8d3Yu3cuio2aFkaXT6m2AJ9QPpzlK5GgleF8KpzzbY6DjByj4G7aUlfb__dGMv0IPoux3kgO84ychgzi4pYHKtkwTX7jYTeDkemOt2lrgr-cypvq5ALL4rLtQmvgmtVy_5WYFHZIU65A_TFfFA6FRxCza8RAWYADRRKJSoKOMnYt5hwYNw04LDGVNL92NcK81PeoV_OMOmIOBZwR4f3sRl56DlQNDslh1UIIyJpfXucfKr4GTfImfQcCGatBS1vYlxs6ObMTAHl9nB4vevvXyAKGbNLExhb8QIys0pVeW6YLcNyK_rZOUz8l-UE43I6UZRh-fUNlcrsIIPJxRWqRTO21myPAIJ-TfG6_uMZptFwyK22YCw6s306tZi_eAZXiLdpwrtxF6Q9oeC7foAFlvuzai0oWz2yZd2gViXMpSVwzTbjfn0cuPwWWAVFzNfeegvjET8Nx8XGuZjG6MRW9fq95q596ts53xZaRcnMwaOuEYczZj_EXlCdcD4tu0tkO4poF_0Cno8J6KSN1Ug0xwqXSfTEkYvPOpegajqSX1bGuyIGE78IKRcqPtwSMNO5ArAw2OF0y7VXzJ4qFpCi5FP4aMwxIza8ODJ-2gFXzmvZsvIqC3xxpKSJEvXM4i10OsEOtQ8urXPMmNeoD5yfA71Eb1Ufvai0t-Kg0Dl8UkR5WGD80JWqr0as3zQgMjR2ULSXHg5ul7QXL_nU9GB6H_WdCHYA-xvvENJihbzBFQZ1Sc8i0EUsUrarCBU-B4DQwuJNVY_FWHqcf0bpyKxW2AtgmUEqsCGFZ4Gy6UuffI81WpGGUACX367IRwVjMIKtxaw-5U4T_Q5m9vcdb3a8TsYZx1KJge2rMoLyEeMCe49SK4G59QKQVEf9VxyWg4wLhDeOpeUid2FviuEWyDDt1q7bNKDWAi48dWNhLRwxNwEJb9g0sPPSwKTTV-86IIYdYTnOyzOEMgT9p1dJA99FXGD-Wl7b4YgMvkZ_RW-2X24PeXwDixFFCO154Ses_PKl95uYmHskYzVFYFjsm5LRdCxSK8dntJSes81jDuyx2chqglVQZYMDNVtgQJBD6fCMT9SZIoDna4EszWEPHpq02ubh30iJechG-Kl2Dy22fuei9axDsUJ5cqYb5V9K_4jxLMGNQ0zUswuwmuAaM7moHPJJdt5Do0aF4oMcNqGZi1aK34tMf8uOm5bwN5yBIT32P41lEWHIx9fx88rrWaT2Cz846AxWVKhn5_U3DX32QA7GW_b6dLYiE8m87vfFTL7rIWsXJLyKEsuIiKxgVOWAMxepKJSlsDHsSI8oft80TpoVRjW98HEpKEbwU_HjFOMV53vWt3EiV_-dNoZJs1kRxY9tab_BwDs9VI0M219z2HbqAYlpLm8AuhsuyGPJnYO-E9G9o9a2maNBZ0paagniLzSlw8QL2aU_YKzUGCRjcV3vlpYWIh7epjHwOVHmSF9vrBosSUmB_2OxWQ717sT6i8QXsw4MX2Q-UbPUmq-H-1A3UPVTTitL1RDRv0kX-R_HVWJGAqeYg8U0kNL_D8=",
  "id": "rs_01c5462672836ebc016ab42c73b15887d094af02732a827eb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.17,\"right_z\":0.009},\"note\":\"The advance shifted the pen on the tabletop, and it has disappeared below the right wrist camera’s lower edge rather than remaining far ahead. I’ll lower the open jaws at this new position and check alignment before closing.\"}",
  "call_id": "call_Q8ARx6Yjfe51kfyhIx2hFlx6",
  "id": "fc_01c5462672836ebc016ab42c758c3087d0b478ee59fb3bc890",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q8ARx6Yjfe51kfyhIx2hFlx6",
  "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]: [-0.0204, 0.8108, 0.6029, -0.3813, -0.0196, -0.0113, 0.9997, 0.4477, 1.8809, 0.9535, 0.0109, 0.1898, -0.0547, 0.9959]\nstate[eef_state]: left_x=0.2956 left_y=0.001 left_z=0.1746 left_yaw=0.0 left_pitch=-0.0183 left_roll=0.0004 left_gripper=0.9997 right_x=0.4129 right_y=0.1653 right_z=0.0103 right_yaw=0.2957 right_pitch=-0.3449 right_roll=-0.2003 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.4427, 7.4188, 1.6923, -0.0366, -0.0464, -0.0122, 0.6632, -8.1983, 5.094, 1.4286, 0.3346, 0.0952, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159d8ce5c1f8f6414ad3c9a09e910bc057c23d246c5fc7b43eb0fe93edb4af37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62f52aab76615edefe7b50592bd1e26ebdbf937b34f8a709eafaf68331872da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef1485cd0027a7a0daf8144c5775952e84b35bf4a6432c5c839c4f288c1757b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.57 s

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

message 23 changed as sent

message 31 changed as sent

message 35 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]: [-0.0204, 0.8078, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.4969, 1.7855, 0.7113, 0.2398, 0.2539, 0.0158, 0.0425]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1754 left_yaw=0.0 left_pitch=-0.0153 left_roll=0.0003 left_gripper=0.9998 right_x=0.3778 right_y=0.1585 right_z=0.0046 right_yaw=0.2552 right_pitch=-0.2484 right_roll=-0.1856 right_gripper=0.0425\nstate[joint_eff]: [-0.253, -1.4017, 7.0222, 1.707, -0.0415, -0.0757, -0.0122, 0.3214, -6.3521, 6.5299, 1.4042, 0.2564, 0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "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, 0.8089, 0.6029, -0.3805, -0.0196, -0.0113, 0.9998, 0.4358, 1.6966, 1.1107, -0.2821, 0.197, -0.0586, 0.9949]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1753 left_yaw=0.0 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9998 right_x=0.419 right_y=0.1609 right_z=0.1029 right_yaw=0.282 right_pitch=-0.2966 right_roll=-0.2009 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.3744, 7.0632, 1.7411, -0.0611, -0.0269, -0.0171, -1.347, -7.4462, 9.4427, 1.7021, 0.0366, 0.1197, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "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, 0.8108, 0.6029, -0.3813, -0.0196, -0.0113, 0.9997, 0.4477, 1.8809, 0.9535, 0.0109, 0.1898, -0.0547, 0.9959]\nstate[eef_state]: left_x=0.2956 left_y=0.001 left_z=0.1746 left_yaw=0.0 left_pitch=-0.0183 left_roll=0.0004 left_gripper=0.9997 right_x=0.4129 right_y=0.1653 right_z=0.0103 right_yaw=0.2957 right_pitch=-0.3449 right_roll=-0.2003 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.4427, 7.4188, 1.6923, -0.0366, -0.0464, -0.0122, 0.6632, -8.1983, 5.094, 1.4286, 0.3346, 0.0952, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159d8ce5c1f8f6414ad3c9a09e910bc057c23d246c5fc7b43eb0fe93edb4af37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62f52aab76615edefe7b50592bd1e26ebdbf937b34f8a709eafaf68331872da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef1485cd0027a7a0daf8144c5775952e84b35bf4a6432c5c839c4f288c1757b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42c795d4c87d0968086d0ae0ac44a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.025},\"note\":\"With the jaws lowered, the pen is still visible behind the right fingertip assembly in the overhead view and absent from the forward-looking wrist camera. I’ll back the gripper off a few centimeters to bring the shaft between the fingers.\"}",
  "call_id": "call_0uWDPodudCUxiyyLJAaOTi9U",
  "id": "fc_01c5462672836ebc016ab42c7bba9087d0aa90c30d22950ac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0uWDPodudCUxiyyLJAaOTi9U",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.4744, 1.8069, 0.8787, 0.0025, 0.1982, -0.0402, 0.9959]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1739 left_yaw=0.0003 left_pitch=-0.0206 left_roll=0.0006 left_gripper=0.9998 right_x=0.3905 right_y=0.1654 right_z=0.0143 right_yaw=0.3063 right_pitch=-0.3515 right_roll=-0.1993 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.1692, 7.0496, 1.7851, -0.0708, -0.0659, -0.0073, 0.6906, -9.9624, 6.3248, 1.3748, 0.1343, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26cd79a0860b1483ea38f7df5767cde389d3c47b7e7314b9364abe3a74c62c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8bb664ec7894804a80ff642c832a9b0c8070493ff4880709df989c7163c6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d59abf30f332cf6b9a271e7218a3a6d190463e97584e038941e150f3db915e37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.258 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8082, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.498, 1.5867, 0.8577, -0.0986, 0.2504, 0.0116, 0.0441]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1753 left_yaw=0.0003 left_pitch=-0.0156 left_roll=0.0005 left_gripper=0.9998 right_x=0.3796 right_y=0.1606 right_z=0.08 right_yaw=0.2619 right_pitch=-0.2427 right_roll=-0.1843 right_gripper=0.0441\nstate[joint_eff]: [-0.0889, -1.3333, 7.0496, 1.6874, -0.0806, -0.0806, -0.0171, -0.4581, -8.7316, 8.4855, 1.5751, 0.1099, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "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, 0.8108, 0.6029, -0.3813, -0.0196, -0.0113, 0.9997, 0.4477, 1.8809, 0.9535, 0.0109, 0.1898, -0.0547, 0.9959]\nstate[eef_state]: left_x=0.2956 left_y=0.001 left_z=0.1746 left_yaw=0.0 left_pitch=-0.0183 left_roll=0.0004 left_gripper=0.9997 right_x=0.4129 right_y=0.1653 right_z=0.0103 right_yaw=0.2957 right_pitch=-0.3449 right_roll=-0.2003 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.4427, 7.4188, 1.6923, -0.0366, -0.0464, -0.0122, 0.6632, -8.1983, 5.094, 1.4286, 0.3346, 0.0952, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.4744, 1.8069, 0.8787, 0.0025, 0.1982, -0.0402, 0.9959]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1739 left_yaw=0.0003 left_pitch=-0.0206 left_roll=0.0006 left_gripper=0.9998 right_x=0.3905 right_y=0.1654 right_z=0.0143 right_yaw=0.3063 right_pitch=-0.3515 right_roll=-0.1993 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.1692, 7.0496, 1.7851, -0.0708, -0.0659, -0.0073, 0.6906, -9.9624, 6.3248, 1.3748, 0.1343, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26cd79a0860b1483ea38f7df5767cde389d3c47b7e7314b9364abe3a74c62c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8bb664ec7894804a80ff642c832a9b0c8070493ff4880709df989c7163c6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d59abf30f332cf6b9a271e7218a3a6d190463e97584e038941e150f3db915e37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyAU6CH-h4XJvfVmCF21dminrR1Rihf3sPdLwSCNsu7IjQYkLvUQNem2aIBnUZt3nhUWnaJKRkk3JN4_eCxSd_Zf-GJBuKOpDDIccT6m1O7DTvdgZl7P_iQTr3LlttsC5PtWXR7rTJbXAmaY_p2c8CpfsKXb2k_pcdt0fUeqkp0Tqq0ctCO82gJTdiaZVPO8f0x5JCqiM9NSU1K64ezZ1tMU9mrZNhwAyIsnrag8sQ4q_McKJHbc57NwmazxOy24SQ4VHc5EjzGYJmkdwP07maI1fMtuog_si6U5V-BYiJne8sShoQSvms_9RnjjyA3hJUfYvq7blWbvqguNIlAbDGDAOKjDFjQIQwAIARenF3Inz3I_xGZLuDoMEcXbGnu7YDuE31yhdjo7hwwwmJjFibPqZG5GVbp_BMEX5i1FuSCu2ebk952oRaYQytG6Lmj5DEAUj56ybT6NM2eov9C3aig54Cq96i4cRjkELo5BzVssmsUELIVu3VN29jjaaqPb2-yxv4P6MgjzhIBJB7JjjVLJmjloRt9BO7mGO2oWiap3B3skkTxf-p4K3D1x1mn9gzWucEGf1VhgjOdIK_YUrwbUB4FK5e3h450SgMzNyw-YYXUCoxnBWO6M6nsflmJC1lRcGoxrCPA9MjtBr7t9mq9WyDW-u0byIr7xLoDbe6YRTrldB78qpf0o8TM9-C6FdhiKEwEEViVC3nTNNDXPKp9LF76QggqNQP4uzz6M4AXBLWRsP4YfWyyTTjJfmWRyjCbl8YuhkWLZh-DPS9x78wUjZfLyFZuxm2ciOjO-eirKmJSJx7-Mx0w8h9DXl0kbuL0WcX1cbcgJF7i_Z2iGdOPV1y63nIOthHiIvrkKDkW210U5Nu8heBSowZN8qa3qh6l6nXQnYhUpi1hm3pCMDVI6q_zc1OtMhP8wlSdQ-3Hreb6neW9fpqq2lmGJjEvWQDyIYNz3rU2c13WgbwIw7Uq5UT523CEviZwzlZHIAqOD5s3H3jjEwkmKN-e_B3UvbDVcMJRxTNSKWgtuoT5vjPx7ggbxcZHHcTekjb4X6iApfD4YFMa3kE_VShDWieRicNlgqlsLvFTp60hj0Ax75_UTOKGpkuRGlo69AtFnJky4FHBvf7G3521wdNzgvwHTq_UjK_Vbf1Hz_sgecptpxIMP9MjYwVOSSw_Ez1ILNtWv0u8SIU-7R1ifj8138xCF0_dKHNYTGLpTfg8E7Bv8c02XdVBJRayC3D1l-XLZ6KZ9fN03fIDgEM8XwVzO-T-dZkaQqh57Y8bVTVycWUbtprYrI1K-lmsh_K8XAQ6fQ2UqV2xoDTc9ky9wly6TNMrPIFzRZ5YY8n_JpvCZ5ZuKumy1FDAK03NTHAh5eDhohNWX0P6O0jYTZ-NZsNuB8gaRd29wmQWNGDto2-gLLgh2NqEZZHfflAUXrM5wDwwYh2wQwCqxAPLjl2P5nKg7_A-0hNHt_J_JhJwJ9MmZCrq_v1uTfrpyXcGG2PL7s7QzVgQP3VOJSoXmuz_uFqVI-IqtJDKS2h04sUCxHQwCgp-ns-Is-s6dcrKuUERBWICkJZLY_84aZ0DXtjxMGdC_7N-H8lB8jyGl8x3TyOvQ5EgXKVD1N7CpUcToTuqDfZAjP0W2Xi0rlochI_JFlMzOJVQVyoKeiIp5zEuIFMedmjibitwiX0VjD6DEcKi1EyMLPzehF4v8XcpLztj4bqzM16YFpZbIi2edUo7ASD401fsmetjmO9SeXtU59O1Fdq964skA5qzgdzv9SNGo1Brc5sdefC18RmwAFgTMyOCc6BITcLy6i5-SFNgaesXAggl4yxa2uPHZEIUEecOC27sHMDdREkC2ebwOLRckh55CVIqPa3HKJcaIfnNP_icP9EAB_N01GTPxfamsDE9beKcM4j2q1Vs47ZEkr2Ega1uuc1_cN-J0ni9n5r0TatlWAXCHG-s3GlLHzUDbueElZdbst148KbeaHpwwcpOEM5QwC84lHa91HniLh2DeqiEQRVZJBYZb-svHL7C-Fi03bSsmTyw8D9uzi-okBcvKfVAUq1_DI9iRVENpCxQdP2jg1EShjMvQuirTY8IWLvYm0oP4VdpOmzv",
  "id": "rs_01c5462672836ebc016ab42c7ddc7c87d0a47224674667181e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.004},\"note\":\"The right fingers now overlap the pen’s middle in the overhead image, although the low wrist view is occluded. I’ll make one more close at this backed-off position and check the settled jaw gap.\"}",
  "call_id": "call_1xRmGPB4UDNR8jHVPBU0tSFo",
  "id": "fc_01c5462672836ebc016ab42c7f78bc87d0a0a58ccc13566799",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1xRmGPB4UDNR8jHVPBU0tSFo",
  "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]: [-0.0204, 0.8135, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.4782, 1.8256, 0.8654, 0.0273, 0.1982, -0.0406, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1739 left_yaw=-0.0002 left_pitch=-0.0206 left_roll=0.0007 left_gripper=0.9998 right_x=0.3882 right_y=0.1661 right_z=0.0059 right_yaw=0.3099 right_pitch=-0.3587 right_roll=-0.2009 right_gripper=0.0118\nstate[joint_eff]: [-0.2256, -1.3333, 7.0359, 1.7216, -0.0464, -0.0415, -0.0171, -0.6222, -7.4051, 5.3812, 1.5214, 0.0562, -0.0269, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86987c1cfb601e9e3dc0254f5b87e67ef1e60003b30016248e4773bd94d84569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ccd0f6b3bae31669ee94b57d7babb8e231beba3ba74ba003925783636a95e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bc4732b4d4526ff07bafb64e8364b8a9b1d7aaf9120de487262bad46317c83",
      "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 · 4.066 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "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, 0.8089, 0.6029, -0.3805, -0.0196, -0.0113, 0.9998, 0.4358, 1.6966, 1.1107, -0.2821, 0.197, -0.0586, 0.9949]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1753 left_yaw=0.0 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9998 right_x=0.419 right_y=0.1609 right_z=0.1029 right_yaw=0.282 right_pitch=-0.2966 right_roll=-0.2009 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.3744, 7.0632, 1.7411, -0.0611, -0.0269, -0.0171, -1.347, -7.4462, 9.4427, 1.7021, 0.0366, 0.1197, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.4744, 1.8069, 0.8787, 0.0025, 0.1982, -0.0402, 0.9959]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1739 left_yaw=0.0003 left_pitch=-0.0206 left_roll=0.0006 left_gripper=0.9998 right_x=0.3905 right_y=0.1654 right_z=0.0143 right_yaw=0.3063 right_pitch=-0.3515 right_roll=-0.1993 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.1692, 7.0496, 1.7851, -0.0708, -0.0659, -0.0073, 0.6906, -9.9624, 6.3248, 1.3748, 0.1343, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "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, 0.8135, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.4782, 1.8256, 0.8654, 0.0273, 0.1982, -0.0406, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1739 left_yaw=-0.0002 left_pitch=-0.0206 left_roll=0.0007 left_gripper=0.9998 right_x=0.3882 right_y=0.1661 right_z=0.0059 right_yaw=0.3099 right_pitch=-0.3587 right_roll=-0.2009 right_gripper=0.0118\nstate[joint_eff]: [-0.2256, -1.3333, 7.0359, 1.7216, -0.0464, -0.0415, -0.0171, -0.6222, -7.4051, 5.3812, 1.5214, 0.0562, -0.0269, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86987c1cfb601e9e3dc0254f5b87e67ef1e60003b30016248e4773bd94d84569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ccd0f6b3bae31669ee94b57d7babb8e231beba3ba74ba003925783636a95e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bc4732b4d4526ff07bafb64e8364b8a9b1d7aaf9120de487262bad46317c83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42c8251d087d0a291f56f01d29254",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_y\":0.19,\"right_z\":0.07},\"note\":\"The settled gap is essentially empty, and the overhead image places the pen slightly left and closer to the base than the right jaw center. I’ll reopen, raise clear, and move toward that measured shaft position rather than repeat the same grasp.\"}",
  "call_id": "call_d1zAudIBJnChSb7npDR5Ov90",
  "id": "fc_01c5462672836ebc016ab42c84ae8487d0b3677d25826a0a42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d1zAudIBJnChSb7npDR5Ov90",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.5804, 1.673, 0.9211, -0.2344, 0.2413, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3558 right_y=0.1871 right_z=0.0497 right_yaw=0.3277 right_pitch=-0.3965 right_roll=-0.203 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3744, 7.0085, 1.7265, -0.0513, -0.0708, -0.0171, 0.5265, -9.5795, 8.6496, 1.199, 0.2808, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9c3129ed59159b891cf3a16407f716d14683dfe5755d56b1a9f578b84d71ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9686265a0e6aafbe7ce68bcf5235b5ed7681fd024c9cef490ca594990c0e36f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3766b9895b5320edac7c22bbea131b7d1526526c7a22061aa4dbf35ddf9dd89",
      "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 · 4.877 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "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, 0.8108, 0.6029, -0.3813, -0.0196, -0.0113, 0.9997, 0.4477, 1.8809, 0.9535, 0.0109, 0.1898, -0.0547, 0.9959]\nstate[eef_state]: left_x=0.2956 left_y=0.001 left_z=0.1746 left_yaw=0.0 left_pitch=-0.0183 left_roll=0.0004 left_gripper=0.9997 right_x=0.4129 right_y=0.1653 right_z=0.0103 right_yaw=0.2957 right_pitch=-0.3449 right_roll=-0.2003 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.4427, 7.4188, 1.6923, -0.0366, -0.0464, -0.0122, 0.6632, -8.1983, 5.094, 1.4286, 0.3346, 0.0952, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "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, 0.8135, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.4782, 1.8256, 0.8654, 0.0273, 0.1982, -0.0406, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1739 left_yaw=-0.0002 left_pitch=-0.0206 left_roll=0.0007 left_gripper=0.9998 right_x=0.3882 right_y=0.1661 right_z=0.0059 right_yaw=0.3099 right_pitch=-0.3587 right_roll=-0.2009 right_gripper=0.0118\nstate[joint_eff]: [-0.2256, -1.3333, 7.0359, 1.7216, -0.0464, -0.0415, -0.0171, -0.6222, -7.4051, 5.3812, 1.5214, 0.0562, -0.0269, 0.9548]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.5804, 1.673, 0.9211, -0.2344, 0.2413, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3558 right_y=0.1871 right_z=0.0497 right_yaw=0.3277 right_pitch=-0.3965 right_roll=-0.203 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3744, 7.0085, 1.7265, -0.0513, -0.0708, -0.0171, 0.5265, -9.5795, 8.6496, 1.199, 0.2808, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9c3129ed59159b891cf3a16407f716d14683dfe5755d56b1a9f578b84d71ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9686265a0e6aafbe7ce68bcf5235b5ed7681fd024c9cef490ca594990c0e36f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3766b9895b5320edac7c22bbea131b7d1526526c7a22061aa4dbf35ddf9dd89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyKLUpjKF9U5cAcOnVtFpOY-DqxfSXTKogpSpiMIoIMJzMX3th5aZ_CPbXs1pe_xhq9c3EIcN1EAKZEK9J_i7ZrpmW0yadiuM0o5AmVo42sWQJI8aARovSQUhxKNR_twywCuMfze4cWeYs8V8A7KIApt-vB44_jBF6n0k1cK-_qS3BX25KuNBB0VlpFxNdFuVpijdXaRLl5QWyr1IuSW-DLx5Bf1y2nPDf_khaBBgnnUvnBScY7od_QuEKRO4ItL3AzlRlwtQHoWX_Xj0quNPuAuEW1nY0-JQR2z7-xURqMAzBlIAoHyk_UM9GPBEiUeceA_vAG5TcTNm5mCu6RAp2rzOCP0VgKdMFV5O8Pp9sBza6oVCn056H0Qdl3D7lXq4kzhBNUiazMRYBt8fmqxQBFpsXC4DNo_GpCZrnUwxX2KgFm8wbJLJ18AaiCNQblBZEmvWKvyZpDF0f9LKbKSLnT5N50mNKgS5nD3CloayacvlR4pQF2OTLiIBkkYJUGP0GCvfJgjwlIWAdWbrzD6kjF3kxOf1lPimCq1Zt_o4zK-ZNSqglYfROEvf8RdyiTYty3FOWEiB6LTs9yooECHMu6ztlJDj7X70R0a6pjikuJIudHj2GlopyM7gr4_7yKQvJNslV6b4n4_Z5pbn0-08smadgSW5YZT3dxHuuMGTd4NCpPpD9Zdi9ovGZ1pLy16vVQEN5TnScJbwlWIVRr2V3oq1celueYuRWf9yvbJyYWL13Yem-kr2gNiHLb_JlCf0E71SYvqtElXo5WrpktXjQvCl4pIJdLqosS_s7kPT7ue1ENAODN3lr-XjV1xzrQ5mkJHO1Z3OVQ73BEHEt_HdTTxbnidzkrrVutLNc3h_oOZBqQuIxChWDO0mEe7WKtV52lrhfzOHhhJXieyvrYrPJgSupZqYeDmyx_tOu1NJg69IFje4X-hORkdoKODr3fMsRc-vxQXNPYFoUkNYutpMGs42bCn68BIimP_V9i1Y1N9tTQahQIsRNcVQPClbo7E8vdCgLgpyaLhHjKAMmNc7IZh7uOOTxHf1De0aiZTBJRUqk4FZS6B0qnUKwuwHJwAb_vab90ob674429FNVywNddCy_lYBwtuUNe7eeBWRx60aFCcMPpDFplVHXm94JzGqCeeasSoDwdzhoSV7zQAx2nxKVBjtLg5UDX-9QsiGZqM3elOraKmGIONzrnUpa7qx8n8OebGe933zOAkB8ugaVXbSJIV-DAbbvvdxlsIFAo1ZPDhshhvC3QXErk4VCndn_apk1KptG8_Q6HPp4L2P-jEtOS3ZCsWYam7y42_YiPcTFNdIjl9t4v4abdYKIbt6IVCsDataT1z-Zyhg5e76FXcGECtMeFqgse0PlMXF5z9RhbiYVnncvcouglldx8rewE7pUJQH175Y9m9bcH40VFKbqERX8DnvYs70z8ay3_gYxsbG_Q9w9O7OR1rcLLBZUyyjnD5pl4G0f9qoCtaNVY3udo6BBSX64Ee0WeTPvi8a8JUHtCJoLSoK_BvHn8Q4i4yTVXL9IqwwJhadWU92JYCSyk-7MzlXGJxiSemlhRaRwbQsm9d3DYDmVEs9-6ka1CjkpXalt-9_GYDo7PPPyENx0crgwasvpFbVoCy49NoVN0Kl6M7NB9ghzFNVcImJxUToymKip0fcRi82zP7NvKgLvrHiKul5Mk15bBhbqFp-gSIIHUGPEIWIlTKZIt9w1g3PXdGVbFpSUR3uDf2pXrwVQARDL2x8TrYTkLPMsZEwz-hv6J10HaUvrpvVxmZ4j2dQjOhTPyyTi8UroDuUXVTR5e5Q5d1wXk_v7QaKNRZf-R5Yy7DTns_JRaSNvgteTIo11L9bfG3_F4D5oIqvZXrlqRThGJ6U8IUA-kWgyAzKg0Sa_0pu9Es-TzappI1jDjqpS8OVP-ip9CrUYd8kJX-cg1RpiZLpPCjUqXbPgw1CsZua3M_7izHr-mac6NQu70qm3lshVcnDdepdBvYFaLQLBRqjN4vOfH7zG0X1xQAXEJ6kGQ5PzuaRgJ-uvNZt2SpHxNbJChANHa-qqXWzeOuyAkpVjcnTcH59RuoFIJH3UipgtFMwFAjdJqOlIyRi_GvHxEG3HnMeRVhJEtgdjcMxIWbSDKeCwaGxTeUQQb908buYAbg4SMyCZLU-1rX2LkusFJUlchNGrGEoxadPMbmeYxfodQrWI5Cbqyj1MFRDX2Drr4PGXBTIOwZEM_gFnh9fbqRfwervGpUFG07fSb36dNZmZfQnypS9j_PiIImQ0lVSPWooTHqxX7zGZ-5loqagi0OpsVZ45vsEgYYf6CQuaXF3yJPejirfeZQOdB5U3rHoghsuLzc_bei3s8SRGq",
  "id": "rs_01c5462672836ebc016ab42c87dd3087d090da4be98b45971d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.23,\"right_z\":0.07},\"note\":\"The pen has reappeared low and to the left in the right wrist view, showing the jaws are still to its right and slightly too far forward. I’ll move leftward and back a little to center the shaft before descending.\"}",
  "call_id": "call_94L9GlrL2IhAi7jLDAyeUow4",
  "id": "fc_01c5462672836ebc016ab42c89aaf487d086daac92ad1ef6fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_94L9GlrL2IhAi7jLDAyeUow4",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.7177, 1.673, 0.9913, -0.3321, 0.289, 0.1188, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3332 right_y=0.2289 right_z=0.0638 right_yaw=0.3709 right_pitch=-0.4026 right_roll=-0.1998 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.347, 7.241, 1.6923, -0.0269, -0.0415, -0.0171, -0.0205, -6.8855, 8.1846, 1.0769, 0.4078, 0.0855, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ba75428875478b29b64732baa6cdece3775a05145b7a10d66460acbb8c0f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240e3520779446d578e3d5d820069a0cab1be737771698b09eef9704867ee199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e128a374493e2e75628ef49c5b8bb069907f839a6c6ef000fdadbef8755b8f8b",
      "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 · 4.542 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.4744, 1.8069, 0.8787, 0.0025, 0.1982, -0.0402, 0.9959]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1739 left_yaw=0.0003 left_pitch=-0.0206 left_roll=0.0006 left_gripper=0.9998 right_x=0.3905 right_y=0.1654 right_z=0.0143 right_yaw=0.3063 right_pitch=-0.3515 right_roll=-0.1993 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.1692, 7.0496, 1.7851, -0.0708, -0.0659, -0.0073, 0.6906, -9.9624, 6.3248, 1.3748, 0.1343, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.5804, 1.673, 0.9211, -0.2344, 0.2413, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3558 right_y=0.1871 right_z=0.0497 right_yaw=0.3277 right_pitch=-0.3965 right_roll=-0.203 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3744, 7.0085, 1.7265, -0.0513, -0.0708, -0.0171, 0.5265, -9.5795, 8.6496, 1.199, 0.2808, 0.0611, -0.1734]\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 51 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.7177, 1.673, 0.9913, -0.3321, 0.289, 0.1188, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3332 right_y=0.2289 right_z=0.0638 right_yaw=0.3709 right_pitch=-0.4026 right_roll=-0.1998 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.347, 7.241, 1.6923, -0.0269, -0.0415, -0.0171, -0.0205, -6.8855, 8.1846, 1.0769, 0.4078, 0.0855, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ba75428875478b29b64732baa6cdece3775a05145b7a10d66460acbb8c0f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240e3520779446d578e3d5d820069a0cab1be737771698b09eef9704867ee199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e128a374493e2e75628ef49c5b8bb069907f839a6c6ef000fdadbef8755b8f8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyPHzfvnh6TTO5YWoqDOChPRTKFOt0mybVeAOxnV1tdli7MkgkkTdPtjZ-iY0cAkA_FMk2PEQCnm72y6FsS_2Xh-TBkrzmqxoX9Axj1diQ-XcUWCSIzDa7qC9xNLHu90JEvdgm9NUEBsLF30dhWjQdbVvoS7kI1f3TW_PJXBkxUC4v7tFE7D5Ka0Jda-AzKm-cuRq6bV4zJjss7J7E4G1qP0-yR8ZuF6CoKUxWvWeDp_tyW9kT_sHtPLY0frXY4q6H649bANbyVh6RZvcXAv6JJAHkm-aDyJa-EjjMx9KacsHsjf-fzLBO2fakcJ6-xr7zNWqETYWSx7eOJPLJiywVCddGoUpu0FXV7n0JSdy5WnW4izm2lk9ZUfJKt7f90i-9SrVaD4K0trfTFkct0hqYLqCKLAJDp6XYH8B-7gm-WvPj4ePx3GIEuI0kN1xNmsIOkF3hWPKnFp56ejcwHEjdOFtyXstAQx8rJivmN2Ut-XwX_dnj_YMQ877LFwp8GlixJDIE2ZRZOP0JNSPuiM4GoXKzKGO5B-4MFDXKxpSfGPLZ59fnCmaFwzNojXHayNavUs5yIuGkN4a8SDO6TIU0EjNzZo3c-lFf9btbDokLJdHtQkFO4Hnv_SmkWYEjK1nGwHtXURExLrC_UdAq9Svo4P15UwXJ843bRSKrodVlGJIitckW9q1E_bmJZN6oC1q6VbbquTeLq3nqhC39HA4KRWtXSpv1BmYzq0_RI6hEeLI0yKS3vOyAB-E81GxjoGDWqFmDzTIUochC495CK0lTsIjX4vZNqRltT7tYewyEYxxhqnJrgJ0bu07OkBM73lSzekA3D-KAXmuMOe34Jbi6fq3MSCJNqL0vwXG8NtAMx1A-Iif8SxMQgESgq4MG47zSduqaGtkq9J_H_3hcjtShMbGjh7eoXd_soDfgnFXIcR_zTQ58FavGSIe3a_NMJyTGM3DQoxeY1AOkp1CdgxhyZPT9kVZ-A-I1Y1WfrfRFa2ExGkKy8TUhCpLOblnw9hYMIH4KbqWpUwSKhopYHl1_lZqJT0GBA61Jh9RFk61ji8Y1iQcNZD-CBW3aPJzqd-A9qk9sGP1bUmQIff2yVvKfP4jel5rrH7IHq7Xq3KKgjSJroEFafooy-0MGdJEWHp7UPdXid0TNXiTxrIsxk1Wp_rRaJT52DXJJdY3ge93uENMUWsgFjrkSqygqC3sWcXsRdyEeKKHNnk9vFlyJ6U56xfl9q-1zfmAGXJXDoMvtD3dVu0gzxDmqyYWe4fTtvUj--QvOnI7FlFSW2O6xZn8vsG_iLMIuQvcD5u-Opf6MvS2SePexDK_5lveHzxSLelpK0qQzYD0yZRTKuBE7lPq7Bzuoo5HBZz7F9PDKAwgjBl78jOPjB0DL5cQg5vEpZ2rEDLYuR2LbepVUxxrxfc1-B717RUXDZFr69n1sqK17k1iuPMUPS4yN3vixNPBqWGCE8M50kAqVyyF2da6nd9GwsXiuOQHZlqHF0MzRiKtByX_d_sE355DtfB3zRApDdLMQaLHw-kPHdrv96lXDZsf9ZHMZ_qxE9rW_VKcU5jQH-27geEbLOz0IqOzErU8vNzEXj-YLQRPSNZPnWHnV3bocGBFCjCgPkoavKoQ0obdx-frn8ueBOtBuD_JO2-Grqr-jtq2zx0zoU6hjYGRRItRI4goVrbFmJsKN4aQpnzw8I0jWAG_qnYVjzdRip0mEVPnSh_znx7jaoAAGFwe1XE9HfKHaj3EDdKwMNusrIbAuw9VUkIajxdH-65PjRgfJZfTRYtPLjYPc4uwcGRqWmKngnQCz2tLiKawhfR0Hmc4V-U7MsjMW4M-rIf6ey6dXR4qhfq4Qjhs7VJ4EI4Tib7hMnOHUxUTWyEYKXQHllNZ8uufIsZS3JwgIhGjqcHNRyUcGg6r673AjGotsSgwX6aOz5FF6m77nfbsI3xS_7J_hWNVSOaU_wb8TxSZeSzM9tpBaUWTVZcf2IO6reEHRCv8KaNS4mkGhNA2eUfj2afodZtUAEXc7ScqrJJnG9LxW75OHC6hpAHuGsNE4snq2OzbuJDHyMZrPJzL5iXAIdJXlmQR9Sh0Gz1DMgZJzrYTbiZ3tmBdZ0Q59zYHqfu08567Md7Ghv72fWIeGLgJEE4eTgFW1k4Oc5fMiCloEBAu1qpl3E4rYO8cGIWCTJrZmOexlH9Ku4LI-UnMBmCupO2z9hXWdlc_L44R_WlMSOxX9uhTtSrdzZGuHBUzyLAjhw3ZXA87Dnlth20IRGkG2I2SM1GiZ8Yp7z_ABXy3cJS9rSgF-OPqSidLPCJjir-XkTsExGhXQQqkeXxrfnBYX3sXxNdUSp5PpBrJjDjI2pq-hrjy-FBfAlk1tbugEbBN2G4fRPYjbSmgoWP1Ceas_Af8bR11BqJz6grGMsJJ5riKJAKR6Oi-kZ5FomqNS6FB0pUPRlYIU-sTOOtlhD2y2pFYUT4JayZRCW4gREzXn7awSzdyzKan1w9hMAe8wiqU94tDs2NfVp_mIFN6EX1YYIFFig6IwkwH899MhWnveemqvD_oI_HnYtwiKpt1FLx0cfaCFlern-Fe8ETQwVNd9V8Niot502j83vnPaHf9vudGWsyVCvXN2DDa7mDKqktQ718rWhFvLigImuC7VOhfMvvo1DrvlGW0inujZ-JQZseSbljRjEgATNxZwGJwQqrwbDvIBtaHpQSZfDpj_s5lgvp86vKFAlBG2K-snl7OfsSf4laBKpMt0t679yN30Hdm_pln5MZp94WrefxnFJ7J60mBzspfatjr4csEXJr7ATqa8w2ZXu92OE5rUmKZlz-EW50GmqIVIUy0pm1ma14PkFzJB0-Gw=",
  "id": "rs_01c5462672836ebc016ab42c8be11c87d0b8d695da0ac8363b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.243,\"right_z\":0.007},\"note\":\"The pen’s silver tip and shaft are now nearly on the right jaw column in the wrist view. I’ll lower while moving slightly toward the shaft, aiming to catch the portion between the jaws rather than push it along the table.\"}",
  "call_id": "call_1ni9AaFIfjQjV5R5fyrjSScP",
  "id": "fc_01c5462672836ebc016ab42c8ed2c887d0ad156f4a056534cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1ni9AaFIfjQjV5R5fyrjSScP",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3069, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3501 right_pitch=-0.4105 right_roll=-0.2027 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -1.3607, 7.0359, 1.746, -0.0659, -0.0317, -0.0171, -0.335, -7.4188, 7.8017, 1.1209, 0.2418, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15072d19eb968a0659fcfa1db1d2cd4b140aff211626c3e9b5f0930a32954f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5110ee59e9024728fc4e0f0d29dcd505d6beefe402135d3ab4ea272da6e088",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eee82f4cec2da145e98361767aa90650f934982f790ef37358f713c8dd9b1c7",
      "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 · 2.15 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "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, 0.8135, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.4782, 1.8256, 0.8654, 0.0273, 0.1982, -0.0406, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1739 left_yaw=-0.0002 left_pitch=-0.0206 left_roll=0.0007 left_gripper=0.9998 right_x=0.3882 right_y=0.1661 right_z=0.0059 right_yaw=0.3099 right_pitch=-0.3587 right_roll=-0.2009 right_gripper=0.0118\nstate[joint_eff]: [-0.2256, -1.3333, 7.0359, 1.7216, -0.0464, -0.0415, -0.0171, -0.6222, -7.4051, 5.3812, 1.5214, 0.0562, -0.0269, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.7177, 1.673, 0.9913, -0.3321, 0.289, 0.1188, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3332 right_y=0.2289 right_z=0.0638 right_yaw=0.3709 right_pitch=-0.4026 right_roll=-0.1998 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.347, 7.241, 1.6923, -0.0269, -0.0415, -0.0171, -0.0205, -6.8855, 8.1846, 1.0769, 0.4078, 0.0855, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3069, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3501 right_pitch=-0.4105 right_roll=-0.2027 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -1.3607, 7.0359, 1.746, -0.0659, -0.0317, -0.0171, -0.335, -7.4188, 7.8017, 1.1209, 0.2418, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15072d19eb968a0659fcfa1db1d2cd4b140aff211626c3e9b5f0930a32954f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5110ee59e9024728fc4e0f0d29dcd505d6beefe402135d3ab4ea272da6e088",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eee82f4cec2da145e98361767aa90650f934982f790ef37358f713c8dd9b1c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyUXpNkqdnI4G973Sd4lcdPDLU5Lq0JIHApuZHgxRTMTahvzoANA7LiKbd3XfXBrPhyHd_ZvGGXJoKquiNYRdcl4pRZLKkwf6_fsDjCxFWLo1JN2vdfSVBBWsBpePLvQn2IDg6ojYkoDsGINAiM68QEJU52TGnHVwy_-v6Zda1qSFamNs0nbmRVKoo-95QgRW12-TAcQoBLgSogsIwFXuwgE32_cxT59Biis9odutigOJKxTfyEMyH7ReRHcLHDUaVBzaHD1xr6QTr-55Suod13Y4F_FArSxoKRXSKa3hJzg5lzxpfOfYB84uKUIeysh5hnPoAQT2xwQKOtWG4hk-JyEXthG8EfuBs1Gh0MZlO4vDWmwz9zJgpq0muBO6gTjUcjRuQuOWExH_sXM1dYF-cLOwvMPaHIgCtInbxtUUuZoFPK8jWTyFNovtpdCeMsVsYJJ-oIgPmLiys1Pl47o21zkFXHB41G68gFZvP8_fZQJPbSVtN6BM8sN2nnYp0NiW0TJU0mZ-gd_9kj3OoV1tmduW3wv62pndF9W3jr0OFSbH7Tf1RMZlVEuFa_M60M6vDlnYTCndoPtBAJdX8Yr5bQxzwyC82bSRrLh1s6EQ5_sfvlh74JJAnG5LAB4eFJCsPWULROrbChgz64nPLFzK8cZ0MuBBeUnnwFPyY9nHaTyqkKVJFBwsTatq6N-dagZ9XCw538PFM0-nIxu3NWoQMJ5VoOPDXdc5N-scUjaAljBti8nPhhHunQhbXh2eGyZPcyXS2SCqs1PgAtT8QMIkoViomApVB20JaCyliH45twj1UyNKSAGKb3BWCxvgWn9wCSLzg4Rs3umdjMGd9Q1K5Wmvx2rqzKIcK_oOHFG41Muw6jwUREwGhVp8yKKA15u1DlgcgmNnG2wEi1QuyjSKPgFwjy0PDFkpfMV7DDTroxqXqGS0lTy4DnJTvMVyALPBrXgw991cBigw78O9IKqXWj1StunVYc7vhHEhJRFjk8FqnjXNaYPM0MEaCcovu_c39NGvce83NCdd6m1BYDoAGZ58lnEG4iiLNCKxGo4NSRyk-Zaar7Xhjz_2K3Mhb6TqgnMP94ZLRSUji_PBbam4TuESmpz05OFromP9W4J6WDBJTSmtAMb3YTm3MXmx-7D64N_wpqgDZcI0ycOVUlNbxpOY8CxRXHYcvdG3GlgkFqHHRfc-EROC449kRUvJdBQ6CseKl3Z0S5P9f5kWsRDsdvYX_o3_fJJkJV1WBd0uvb5ffqdtkMhRIZPSzzJS02N4uFPqmpYJUdFRaL4wwur8CZCnP7Pwf_ph5mJULMGthyLNQcXlvrWqKXavWUhH0N5bjACyiBhaqHdfgEQ-rjjfCysNFjjdb0G4RPEpC9sy3DoMsnyo-3FHtAGqXeGuFp5Z0Hrah8I_nbmWB2fZMs-e38rb_8es3PyL1dxIpSQtA4vUqJaDK7_MoSsWaNzBgEpTjaLtFY-d_GP1gzfgeaek9V48VlKAe8Oq7g9Q_WtKfZVffqrQu_eK3V13KDBu4zGRXjRrgyb8hQRfq7ZBWlNeCDW7oiCI_aX3p2grTv5ykuuSAPkik8Cv8VDOCenal2EL-XS4Vj2z5mTohORd9YCU8fsAmoVois5hgZOGRYC8PruoFA3oM5pgX5G84V7tLIp_Whh1bxajrGqAP88WAXoLcqAB2qzCU6xdP_F-1PTyYHMxuITtu7uY462RxaGen3wi8U-26UAqGuVW6iC5-rK6ZODCi9TybAsNQOZ8enyyi-_OxW3FSvfrkyByNUlfcrCpj9rZUC-KIEV25rOu1fO6i4UAMcmGk6VCijPI-iSsFUz7VVwZa8U4X8pf-uHrVDDnwCB4rhXyORC_QIDBP34RVQK-iDie9rmZOs76kwKUiCUjt2ORLADlHp6FUoXub-9uGFgrdd4Vi5T5EyS0Zq5SwS2v6H1q7VZ4ssWOOj3Eas_ebWeJx7VYXqOjOgUwcVyTE4JlOkqRgugrVRwLE1yMOIkPTjCwAYlhntXfJKS-0mwgASsVcc95HJvTnWFjBPFj6NJwZxYGMg9OiYm9l1zM-P1hr4FNZSE0h7KDOBz-zBaZkdLB5eBlGjpMt0qb-g2gMAZnTPW-ZGqwlKSj6YESQFpA==",
  "id": "rs_01c5462672836ebc016ab42c91d6d087d0b7389a5241826ee7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.23,\"right_z\":0.015,\"right_yaw\":0},\"note\":\"The last descent stalled around 6 cm above the table, so the current sideways, rotated pose is not tracking the low target. I’ll straighten the wrist and extend the arm slightly to make a table-level approach reachable.\"}",
  "call_id": "call_Lw9ti4vpEQ0N1zrZ40A1WxsI",
  "id": "fc_01c5462672836ebc016ab42c93af9487d096ce33ecd09e1d27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lw9ti4vpEQ0N1zrZ40A1WxsI",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3073, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3498 right_pitch=-0.4103 right_roll=-0.203 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.2513, 7.0496, 1.7314, -0.0562, -0.0611, -0.0171, -0.2393, -7.4188, 7.788, 1.1453, 0.2466, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08d50395ca66c739253096d714683d366f9fff9dac508714570a5a84283942f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935f528cc4e4473ae063fdb80ec5b26f35b6d46512c4a9e8b5f7632644dd43f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0c282f3c9c4074c8fcad521ba6a0a82f65c8d130197bed5ea9a72b3f5e92c6",
      "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 · 7.456 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.5804, 1.673, 0.9211, -0.2344, 0.2413, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3558 right_y=0.1871 right_z=0.0497 right_yaw=0.3277 right_pitch=-0.3965 right_roll=-0.203 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3744, 7.0085, 1.7265, -0.0513, -0.0708, -0.0171, 0.5265, -9.5795, 8.6496, 1.199, 0.2808, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3069, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3501 right_pitch=-0.4105 right_roll=-0.2027 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -1.3607, 7.0359, 1.746, -0.0659, -0.0317, -0.0171, -0.335, -7.4188, 7.8017, 1.1209, 0.2418, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3073, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3498 right_pitch=-0.4103 right_roll=-0.203 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.2513, 7.0496, 1.7314, -0.0562, -0.0611, -0.0171, -0.2393, -7.4188, 7.788, 1.1453, 0.2466, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08d50395ca66c739253096d714683d366f9fff9dac508714570a5a84283942f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935f528cc4e4473ae063fdb80ec5b26f35b6d46512c4a9e8b5f7632644dd43f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0c282f3c9c4074c8fcad521ba6a0a82f65c8d130197bed5ea9a72b3f5e92c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyXrmkgjwPy49lYEmoiaXy0ujYpvfgR_biXKY_pLu5mEcHLhwY9ZNi6aTbF6HOQE5lz-x9_MDNGJ5dcNYvM2E32gLVLXB4W-NfSX_wWYNZO2AphEG2iRWdAt9YmRsnePobR590oSqXfZnRKylFRsk0HQtxSLfhZYfr7mOH6TtaKLK3wkbCyTupPZFNrEKfNUGt_urIVzB7OPP4bjjkPh6e0yWdp0W_8lYiZrbwiQtwNSHE2-jW7vRkbHRtySp41dHThmLbTGYG-OCxwARkvC1YWEkvZGJjCe0NbaKn_z-iCcQSZaPwFe6rpBFN_6y49Zqwd0WCAYovRAUOJzInlvW67BQW3nMbnz951GbYybxi1OsF8uKIbcOcr_tuOXOf-LhAYTl4LmZcu0mmQmuBVfVPk8g1E0swKgL0ju0dzjELzQKCgRXVkPquTQhSLAKrp6CeuLWEs77wsVPtMF4NAZbvhTCKNzDIj0xox8Lh4XTQo82K22oJWs4XIBJBrl5jJHWdXwCWy307LI6F-soA0Z-KC1U9rxYYOfVnKoHsp8KBnyA2ZOk4_u8a0rcYJwStOXcbJGHPxuZZENdXvFmZF9g3eJamH_S8Qwk75j9KupZ84xzVK5lq5EyXwAEVJ1TnjUFgaK44RLVgeLfYwN2S0ZmeKBdZOufzGmmA5tnFd0RFYegpVWFake_deh2kC1s6uy-cDhKGwsS0sunhDevrKy9viy919b5_eKdT4qbyFyak8gy1WhHMeHokmosLYilaPF6XdgIIhRBq3R1OKuaGeLPUZ8DUalhAmMLoeRfX9zqIynAYstef5FAxRLUrtMW5af0z8jC-d_vfFfrtcKjmFGc9ZTHVKyomb88_QU5welfwGuGmuGeQZNl1XqLYTtp_V57T7tbsciZA1TttpNdZI3CRrKJSuv7SErDpKDESox3eY7RkDDo6rk6gTc8Gx0sZpVgghNX6hCItrNr2uPxZ-FcQ-p4V9FR_p0FgFsnpatsJsLarxwClPKhJY65FYuiKNanRNZQeiZAnok0bLHlVqeS6lMuExXcSOgmM5R71CA1sfIntdMZb44bHdjTWYk0uxUkQMnuNGwZg2hqdfSCEEMp48LNzgB6YOTUoQLmqNTtadMrkjE96RQ_BYLTO26meGcXfKkOkjbx7r-Fvh0EknRbeOYMNYR2aHi9DQuoNkxS6a4jIP3M8OyI4kXZfDJlpKw0rFsdIDbRxafaJsNf8qabRSrHlI2HrIk_HfacmSwipVaeeQt-BzekkxXtUuZ1HtUcJjRuQHUQtzuxrBzHx-040x7Lx-1BqgM72Ibd8K9FDoOiJvS_hWwO3fFrHdDJB3-KpaP5hwGtl625WTfuvY5PUzKSH6INRqQprSsFGHazPNcUFeAO1oBtJ7dOKQyGNjAkQBoS-Dew2qota1ROVnov_D4NhvxCJb8LrwQBIpU7WZb_EYtBT8SDYL6qGDa3TGk8n7TNZLOixariByMA47RcA1ADFRJuNWKwYEf0blaJSg5smbCzgBmYHnaBTb7dVKiKexLVgHyaQAzRpL-wf2cLoSjcvAwj9_EGQzZTx0kNbSu5g=",
  "id": "rs_01c5462672836ebc016ab42c95e17487d08f6856ca345993e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The arm held the previous low pose rather than extending or turning, so I won’t keep resending the blocked target. I’ll raise it clear of the table first, then approach from a reachable angle.\"}",
  "call_id": "call_t4lBEJ0S7sxwfY8bCiEEjKPw",
  "id": "fc_01c5462672836ebc016ab42c966d7087d0a9d6bb1c276f9593",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t4lBEJ0S7sxwfY8bCiEEjKPw",
  "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]: [-0.0204, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6054, 1.2701, -0.6678, 0.3027, 0.1459, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3365 right_y=0.2369 right_z=0.1508 right_yaw=0.3605 right_pitch=-0.3859 right_roll=-0.1904 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.3744, 7.2137, 1.6923, -0.0708, -0.0611, -0.0171, -0.3077, -9.0325, 8.0615, 1.1355, 0.1294, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13e35ba341447966381ab83ddc87162b3db65388e3751fdd7e1463cf72ac614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1737dd18f0fb6ab29754e8c1aaaa41e1c860bae18b876a2845e7725247b650b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9266a9ac9e39d6ee5325b61d83135334a37d04924ba32ec3734c049db2b3bde3",
      "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 · 2.983 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.7177, 1.673, 0.9913, -0.3321, 0.289, 0.1188, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3332 right_y=0.2289 right_z=0.0638 right_yaw=0.3709 right_pitch=-0.4026 right_roll=-0.1998 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -1.347, 7.241, 1.6923, -0.0269, -0.0415, -0.0171, -0.0205, -6.8855, 8.1846, 1.0769, 0.4078, 0.0855, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3073, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3498 right_pitch=-0.4103 right_roll=-0.203 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.2513, 7.0496, 1.7314, -0.0562, -0.0611, -0.0171, -0.2393, -7.4188, 7.788, 1.1453, 0.2466, 0.105, -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 63 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6054, 1.2701, -0.6678, 0.3027, 0.1459, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3365 right_y=0.2369 right_z=0.1508 right_yaw=0.3605 right_pitch=-0.3859 right_roll=-0.1904 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.3744, 7.2137, 1.6923, -0.0708, -0.0611, -0.0171, -0.3077, -9.0325, 8.0615, 1.1355, 0.1294, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13e35ba341447966381ab83ddc87162b3db65388e3751fdd7e1463cf72ac614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1737dd18f0fb6ab29754e8c1aaaa41e1c860bae18b876a2845e7725247b650b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9266a9ac9e39d6ee5325b61d83135334a37d04924ba32ec3734c049db2b3bde3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyf9tuJCORmCVhjWtyO4bsLhquM88oIIKp-MHDBGtaKbxMsUAC6I7_4ChEwoWivcNXeNbehxglNTR45IMJvLp3bK87GNwDZg72zWl6MjIJfhTAYYUb8Wl_xOmQmuZA_ofWxHOL-H8OKdeOj0rgHuZdnZ4GTp4jLxBydkr9Y9t_kXnEjS9od-Yz1nOT_Oa9LB0I4__3MYt4YUsA32gH-EOArr5kS0zO_gZTLIByVJ6TFwJ11eQK53D8HTLlqm6XcoDK4eK4Y1rbBuBeZo9O8LMBMrTJFzeiqZ8BsivRd6Ec9OBU58Y4NLq8SjCiWmBYwEC99XvQEI82OMyk0SUIC063MN4IJ3-knbdyPI7sYMGTH45KuTGGQQCFo3KE7mHy8eNrQbzHniiPxSw4F216ntca9-4SdN2AjLrg835M-w_iat6FCyNU7Z42TFKbCTYr8WXGc4Rh_l-1xZKsEb0niuQsxcP9EMDDlIYxctWsvO5_6whVYkmH6-ZzYKt-e1AnGNvdqOyRWEvt7erCPasiFytfLpsyGoTe7nL8L_jGbU55A5iQcvPXLqBsIF4aZhb5LvNS_v4PYiy87WZ7l8jX_UPT0ksl7VWRj4orBSf6Kyw1GH6QieGexrl1ppNud4n-BO-z3w2-JzmaDMZe_jzQxqQLBVDCO7AdNBJ8icj9hKuJ4eB44T9SGwteEXyyk9zedcH2O1m1qViny01XvHCo-LZVE6qh47MlUxmRVoYD5g-2VkZ22nS8CeM-6ginYvBdqcTgfaUuOpQG1pzsuWbxF0s0_oMAyyNNQCCe3dbl50J8lLxU19inLWHmzDLkfzGN8-n91UiMDU6eSUjO3mNRtGK7r92Lnj7jl7ojf9nGpBLADM_djJzJPhBSAZN-l3wDqBNojZlLigShgdtn--vgy2YxWlf146PbQQvRN15o_K1jPXGG-JA_ueOr_Q2QDPEalUk6FoX8QYbKQwjza1HPHnxjZzOxKBx49sSsKP_AszknRGIpYFXuxVh5RND_rBRncqw2q_ClMxbSRkl372cFMUopJLdqUHjRCHzoNzyzf2Xo9id9nMyk2BqsZfHstJc5WyH5YAXst9uqO6XuoxOFnE9iZYna_FSGt7p9i0eo39-mQoVmJu15xdc3ou1Ntm2xUiF2MQaNoTR2FQy2keZTGNrEP3NzPy4TSzuhLNgXBYnFAlh47hI8-bExEc_yFR8AKKdNiNYPaZ_o9_esWZ4tCYJmfdysruuUXRiGkOrvn5BCpkdJZCWlRUlVSFtYW7gGUa8iUU1Lvp1Ps8uMNMjTsgP-w1znllqxBiGQMX-9HdqtWPHRrKeS7RFs40WwdHUtDLmVLlmKBnrCnz-r1ILbwBDrnPN3g5Gaz6mJC1Vbghjgt9gw9nZ428dfU1bmwKB2HJ9ga6FVIrlz7g33fa91X84TO-QiBAJbfnIxHJ8vgkHHgixpWV3ijaHHKYRMZa5O6liU_uI5Q3CrkuU0p8vz2_NaHjXOquZtL0dazp7NenG6lFlJpa3L0GitBddlaKS2bNMaoZa5SusLkxfSsUrDhTAJofgBRZv1H2-8Va7Htzdcat2I56Wj_hjV5lvXtJ0K1MBdc869-BUt_jog60useI8qcuh-QjuRWLaLIDsJEwKaW7X21wnbBuhUkytp-sdfR8d7FuK-k94dkGnxh2YR3NaRNsVcJDdNQ1BvKjgSUdKqqy8boi4FcrxjCvIa_tiUvlQU77ry3c7VQfmo4wvJU0wDJc4pV07Ut5oDlKtpz6GR7nEbCoOXYf_GsF0WH1o3tsAKuaFbA7uknOyMaiPNg3ukcDrJqo5ivw3d9vPXM1dVUESXgItla1MXeOUYL_ViuWzQTW9KjOP3WOZSkPyFVciKw2W1U9_Uvwya8Gg_lUuWpX7IGhxhLgznAx_1Ibi2OwclXDnxwd2R3xH6Y_pK83cJJQgyT3KZpsRG5WDDfcYvwJqGJRiIKqdxQC5asErJCkgR1F-4HaSGQTlFz0vLXOeQ1cQ0supXgkIwcK9wBTM8BwPqieDwooSbm2NLoFxsJpZJnu-gRPYPPqGEnGQSmT29tElr06JxYFoeTCZMR4YAWEnd9VfXq1Z3ls13kFP576Ey2yRRp2trUV7bndoBJqnpJjpQglk0qXUJWK3NJyqriQJFjrypjnoZD3O58o-KYx7liSXPTNPZXiwP134Ykv_v-T0BWsvyzskH8iMCCmSojdl_z4-uGDeVFQSSRlOgl_SJQEL0P5msoDK1fs6cHa3KAI8dPhlBuNJAuZuEeB1QlFhI7X3Bfsdu9qmr99TamqXIsgNd-WdSlG5eFZiL-GG0h_PISK37R0cDw6bqDRjUpznXdcgfuoh24EelaR3Jt1A20WUUBHjmxEyS734FUEibk27iabohtDyDwnFtC1tgDd2k05Pt3wKsgd9w0pZF3y0yEAV8FjXA8mX1vElt5QhkVIX23tMya4pY-a2JgQ3ISnF9cV5Mu5MrIoCayg542FlQLZcxYsfda5j4E9f3GbAQWk-ORh-ioLekWopWqeycDKLPZQ5Cz4M_dB_rFb-8-S9nMaVKvJKFXQWAiNdfeM23kwOzUdhCM3XFnDpwna35t7SCRpdSlpUmC6VXp60WseQ7X8coy4Js2EEdBAiqBhZcpq60Yn17Hm_j9adggB4HhGzcfLO4i3isvMP0u5XkcGl2gWb0fiHa8SuTynaDnEiC38fRZIiuTctdL7wE_8KnhmR_poNnO7l6tOqnNv4WmjW_jUg0RHkbCrVNHbehfm7t-Pg-EoFAZVhmpMWvNFwi8RdyiMuALPDDF0vV0hk2uscx1vmz9rksuUSmzeGrCVlaEQe4Ky0nBPoArtQEsPBAq7TsJ78wgt9_pZ_-4dY6P4hT1c0HX_BlkEMrLDR68nqETWQlD-naeuj0nQAwWUkqmmjoRE6_-ovApmywv2GYQpsCrj0f1tZHTtZPJPVyttTOjnPFTDtuw9b3C3OfnR5Nx70ZwgVXOQoi_9i-ssPJnLG7it-EDbBu9mBKFjJQlf1rwFfHMOmRlJ49uNWZ7dexvkyXhwHl6Fkg4tdfAWq18U_rVO4AbKRmm01tslvyv-0kAbxjEDJrE2_GJ3iyAw6XDCFHCLF2gLz93bxdk8YBXJzrZBAzVCUckyaO6O3KzpVVwSjFwiQ_QN0DCD5zLcZ1JdPdqmWo7FumgBBz7VhMYSrs_5ZkeGcrpa1vh93lj6gm6DgVpgHxWwIhHuHoRjfeFCNV6hUFuquMuNJr3-rhcfqLyxxYIvO4rNgoynfxH5qO2oXJCQ2jCd8uy5nP-2yl-tMU1Uj9rl1tNmuryW2M2ZYdXymWNoYyYDbM7a1uP0jxG4MDcWhyDVYnQNJUzmetjwBDi3S0aFX7vPn1Tzpq_6KQ7Pw9nlOLzsPWSHKVVSoXLp3W_w5AN7M_yQG-pLfwV3mAHnwhjs9LK0uhwW4Q2HKCx7v3lBN4ToIM5H7bPdm2Xnfm29sfJDigl83MG2wSzUokG79Ia2TqxWrezPzKwf2Q260yQNGjJVs8_r8VxEOV3ieZl3IuL6rmpN1_ypwc196LKYscT_XLLk8QAe1hVJm8dG-dC-6ch3TyYeX8OClXcxg==",
  "id": "rs_01c5462672836ebc016ab42c98c8ec87d0b361ff4fc9ba37c5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyfvVzQyvQquPwpri329Jn7Bcg6qDin-di8lwYlqZYwp5yLXTM1JY6cEgxMKWvNnolPqNrqiL1Ke8kaYcKaIFbUByyWkk4h4voOzPTdNyvhYpgJlA3CFsunzBgQFX-_DfzuWcAiq5YX8F4lWqSbI9cO7YnhmD9PwAJeENTg939yQm6U02G0O9N0D5AqbKTnQa832WSo1KQEZJYAJrn3-VwgjFI8gT9OvDCIBvJ63te5zixBPoPJuY-Gb9jD5DAdds5_G_RZOiEr8gMO98LfnZjWpXsWtXBo-BjARGUGWDV1IDaBXY7h8ke3Kk-7jXsV9wwFErH7uwXeUrBqP1hFw4Zk8tXqLLK9YOJKYFhhYZoL9tuHeSoiz0lzDIj1aLqSK0ptgsqtXm5K4L1A9KDVYRqcVm90a1KUM9nu5Nk78uUXrBzEEWNmhjD1gw37-uPCDW8e49vYS1ZN_4cFfWQv7C2QEwp_wWv5xTwT83MAeLlvfXA0YjeWIL--QU2XyM1uXUTAM5dlpVXBL4HQrPpAgv4wz9NoJMKaI5BF2kgBuWOSvEzxAgOOa6j55MAA03zYywD_-VU67LnMULpuWVZiEhbixbmHyD79tZB4eSt_JhWNzDCveTkpQ6OeEe5FcTV85L5HKCrPY2iGKn-F0YG3a_eAAEIuEGxlzzW8mAQ5dpMRRhNJdGjni7GFLJ-ptz7MvFjgVnYgyxrtMTdbZa8JmbqGzc0XPRPOhTF5mPp3Gw1ZIUHbvIeSYt7JnBMd0Bur_p_KYJYzYANUgAsnJxlB5oE2mBm-IfZ2BnhOryiCJ0jCGXV_SatB1-KbsK8eM5-kwuq5lYjNSQhRx66va_jPn1kJNs1Pu77IQZezzzbLD4K93TPL-DLAF_fMB_m0xKbOgHXfpzqUbhpgZXuu43hnkFSbbA8wfr8z_P_GJ1N2DbKn6rnlAeA5GkadEEceIP-DYzH8aP91J8a0xzi9F6yUBiLbPZj6MsdZZZ9Nscqnz-M2URxtn6spBxknmb011b7nhMgo-vOzU0gN-5DEpdaqVTKkKj22cJgrc9qFP0iKhO7FS1sNaLemvazFWeRyYhHwXu2giSVu1m1eDF5ke4_i-qOY6UTulyFHkxGUlPyjtgBzOnGPbdIrHIv6PhDckxs2daApzpKUN11aHnQX4lO7tOpIExZZWFqpF-2U9CmOjReU82rdnTc44MrpFBoeMTsZz_Tx-0SQZYbUritDWNCFPoXxBKISop677DMTfkQqKFC3wvV3gJCKAoRWnPQ2wEIgl-v2Hjbm2LiGefi6EogkaKKEj7lyRoTog6Okw8k-Bm8J0HN600yKetUKcLOche7S6u9OL-7L21epRH3D83q3vY1M02DfuzW0EROG3yQEgpQYN8WEL4yrLe5-3Tn0dCgJhiENgDq1iH-aZjjO6gJ7YYivNj86tBMDAGMKmMNHxfsveLeRnNk5MJTAwIH_BtUJS_98I6ur-l47BZwkKeXJ6mWNnkRxvRIo-_nGiv4AX3rVg_cZvmVpGCQeO4-0tqxBArR6K92jYiuMyxf_4kStPrFYHjRIZMq28LbhtYlXa33RMyOJK1W-0FiD1bD9-a1rhTAaRUU3By5OLAOR_qN8zTtYa4QEFr8GPT6zdwRNL_W3oozZpLhDL2X7Jz05NiN4lyTuFwGrcdZQuY_MHatCRNa1zEDtGFeAgA7qH1ymKzQNAYpNvWFzyxo-1nj5RzCuUYzDbN7icFK4_7o-qBgYcx0NlsrEnzp3l-fsxBawxXytB28PvvB-ASDmvhunCEPEYytnwxbmVLkVvaWl_otP4hsgToigM1cua_Rv_d-YK6jKQ-4RPbf5Uos_egP7UI6c9-vpvXQJJHod4qBKDfA0myUeNo31JvoyK04F2FrDQIESN70XUcL8m4BKyy2CS8x3stSaRI0VeTpDyt5BiF9b7bRdVVCgRJPdl6V8ypO0B8ZDSBxvUQdH5exWIbjYgxS2E56gF08_1T_8ptvHGzTEJUKH2uDycToPowzwjDPa1UraY9duYaQ0U-ZaqrVCqqdrXZzPr_erPwhIgMh1kI_OZ1chHb_bkBvJ9ghKENNgFYZz0ei-Cv0PVe_xcEw_59--0huU8crk-LUazGOOXHKN-nx6bA==",
  "id": "rs_01c5462672836ebc016ab42c9c449887d0829bebbd715aaf73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.24,\"right_z\":0.1,\"right_yaw\":0},\"note\":\"The long dark line I followed is the table’s center seam, not the pen; the actual loose pieces are the short black item on the left and the small pale item ahead of the right arm. I’ll redirect the right gripper toward the pale piece now visible in its wrist camera.\"}",
  "call_id": "call_zUUYjvBMBkc7LMQ3dBLqVKhb",
  "id": "fc_01c5462672836ebc016ab42c9e48c087d0bc05a7654b84ced1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zUUYjvBMBkc7LMQ3dBLqVKhb",
  "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]: [-0.0204, 0.8173, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.7231, 1.9034, 1.409, -0.6991, 0.4084, 0.3637, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0005 left_gripper=0.9998 right_x=0.3708 right_y=0.2385 right_z=0.0824 right_yaw=0.0948 right_pitch=-0.4851 right_roll=-0.2512 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0415, -0.0171, -1.1692, -10.4684, 8.9231, 1.2186, 0.4957, 0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5077535b3230e940be7cd55cbc0cbee10eaf5d40411a02e85539f9ef86e490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd3031054f8b9426ed88e52fd566d7758a4413b319a038a0c1131b81bf9a7019",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4324a35e0c2139d28d8b84bc45915ccd6adc19921f96dceee958ab30f165c109",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.835 s

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

message 55 changed as sent

message 63 changed as sent

message 68 changed as sent

message 55 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0109, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3069, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0007 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3501 right_pitch=-0.4105 right_roll=-0.2027 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -1.3607, 7.0359, 1.746, -0.0659, -0.0317, -0.0171, -0.335, -7.4188, 7.8017, 1.1209, 0.2418, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6054, 1.2701, -0.6678, 0.3027, 0.1459, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3365 right_y=0.2369 right_z=0.1508 right_yaw=0.3605 right_pitch=-0.3859 right_roll=-0.1904 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.3744, 7.2137, 1.6923, -0.0708, -0.0611, -0.0171, -0.3077, -9.0325, 8.0615, 1.1355, 0.1294, -0.022, -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 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]: [-0.0204, 0.8173, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.7231, 1.9034, 1.409, -0.6991, 0.4084, 0.3637, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0005 left_gripper=0.9998 right_x=0.3708 right_y=0.2385 right_z=0.0824 right_yaw=0.0948 right_pitch=-0.4851 right_roll=-0.2512 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0415, -0.0171, -1.1692, -10.4684, 8.9231, 1.2186, 0.4957, 0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5077535b3230e940be7cd55cbc0cbee10eaf5d40411a02e85539f9ef86e490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd3031054f8b9426ed88e52fd566d7758a4413b319a038a0c1131b81bf9a7019",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4324a35e0c2139d28d8b84bc45915ccd6adc19921f96dceee958ab30f165c109",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyihzW7MNsVw7Dn5CsMSmY65xS6pdenJJt6f3VHTwSKt_2sDk5DI3elcuz9LasYsmu2YKomDc2JYaslzu5-qVcT_hj5fi9TsfwBA5JB3ELTqYlXTh6FCYgKpMHZ8S99wZ7Y0xCZfQl9vdjeehlcRXkOdmGtxfE-eI7EGyDtkMkqpl0-R4-j61NKGHlzyYrGmxajGBoId_vMreaq6q29-SBMAAiUnmQJCHxMA5FmtCDCSQeuSK7yV9W2vNdjduZYQY3PF5rqLaWxZtA87-c5aFLp8qwu9dcmiZVlkmZNWZbV7zrnxQ2OGi5zeO9n1otwQB3vhKO1Rk0GRRNWvN_I_aCA41gookTnlBrFG1TY5j0qlUor_Q3ljur1T6zrWHEKqDobhcYuiZMV0PO2htiJleEw9Xo1V6hIHOoJZSEDoxopeosV5epFMrT9TE7o36orn4mqe-Sh61pjBAe1I8v1SkN_Qfk6u_AkXRqdZyUhr37payirpLCC2q0XhS9OFiBn1Ij5WSSEnKXQfbL-LEZwlCO846Wz341UPVTI4N2dhjAFiGcbWROHOVtQHgUAOme4eQlxUNqbqtzPcb5V-ihpQEVPh9q31JbKxHB8scxiB6dCOCKA_L-xi-NFEDDbI7a20iA7N52MeRqPGWscT479CBndCmfqPTlZOPrzmn9Gi-1G7TrMdml4tE_5BaDV4wi4FYRodnB7E9r7H56E85f1qJJH0VoHRkpbl6x2MV3AKjfXP6wxCRPHyixIU2I8HLg4aSyNcpz0YAXgMdOPLQc5IOcBQOaEo4vU8JgRcFuX4BXtczyDfgaxKCPd53C0ntpDnS9KR_JpxRLCXrv6FUwKn4fGLWIjbd_ZRvQ8Bb8S6jIwQAZEcUjPF1eQZeyQLvVWnnMOEjQxv5daBSKdW3aqAhHiZyh7wJj3528X8yCsTAoCvJgks-PJr2DdQweHQA5hrMTSolcg0aigAIUqM0X8UYtmuFGDa_6eUgYO6CIsdaRjedX0J03jSG7qmc13LR_BApwMheRNYojgE6MacfhD_k68k53zDQBYSac_8dHzruvaTxrJDZPZwlHb0aKp24Hdi7NEtUVd5mf4nbizaMeS7LsG6DkIXYhxc4zgDh2o35c2Cm1d2tfAXKSeMuayErln3Dp_hY_Yc22O5XLNruifN-djmlBs6NUragF64jHaigSMwbAgmjeaxoaZNy0-OiUDtEaFOmqPArvCUk5ML1eDraVoA0FKDOyRA8lzLk7muhXzr8f5S3Sj_2xYyII-KK7yjSkL6l3q55aMXhuLhAxG1NzQRl-AjwOuuc8Ta12oJzf3WG4QLJAZhXIWBEB3zVLKSAKf6U0r4fvfKUjbVVxg-F3ePekfd9yMM3aF76OA2yYZc-XYQ7OGJFnCAA6xCDwOsgaU3Ngy2tLXYE20yCnpJyhNi4g590WxvJSZV0_cTMxmL_tyyuTTHvC8ipsOqMTTyNvRpgbJo0ox23608GdXtgILyQXOLBdt-s93EgA06_6o-G7k4t39dG1eSCKbnAi-TDvi1yTDnBzZO2rWzVt2QMamCxfjU-_WpBJkN5nJ0OMrkyJt1Xi0pEbl_zMHH-eFzQ8nr43kr1yxUsQM6GKroAy0V25_tBU-wRYaFTouyQeHjhiYyHlK_Y7urnm9tUl21HK_toM2EXLBBBq32LxRut5tCajZb38JonjlWBjuLay1dPQupMdQVkf_VZX_BMvHRump",
  "id": "rs_01c5462672836ebc016ab42ca0a78c87d0898350677b1575f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.255,\"right_z\":0.035,\"right_yaw\":0.1},\"note\":\"The pale piece is still ahead and slightly left of the right jaws in the wrist view. I’ll advance and lower over it, keeping the jaws open until its position is clearer.\"}",
  "call_id": "call_zVsxkoLRNxAdQBbfbuRcoifE",
  "id": "fc_01c5462672836ebc016ab42ca1c47887d097be9512d3cfc730",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVsxkoLRNxAdQBbfbuRcoifE",
  "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]: [-0.0204, 0.8185, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.7197, 1.9316, 1.4322, -0.6998, 0.4381, 0.4385, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1726 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9998 right_x=0.3783 right_y=0.2367 right_z=0.0802 right_yaw=0.0238 right_pitch=-0.4637 right_roll=-0.2363 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.4564, 7.0632, 1.7314, -0.0464, -0.0855, -0.0171, -0.9778, -10.7556, 8.8957, 1.2527, 0.486, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4319514dd04db65dacd039e57c31f8a080540de00f09c62e375c2e45c8fe6faf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51bd547dbd8f6381e16e825cf0e57bce86d3119ff427feb81fb86429163cdcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288ab4ebe76984d57580b7954afc9b2091024894bca913151a2e6db4a487c1a1",
      "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 · 5.658 s

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

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6737, 1.0027, -0.3603, 0.3073, 0.1501, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3297 right_y=0.2298 right_z=0.0648 right_yaw=0.3498 right_pitch=-0.4103 right_roll=-0.203 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.2513, 7.0496, 1.7314, -0.0562, -0.0611, -0.0171, -0.2393, -7.4188, 7.788, 1.1453, 0.2466, 0.105, -0.0122]\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]: [-0.0204, 0.8173, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.7231, 1.9034, 1.409, -0.6991, 0.4084, 0.3637, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0005 left_gripper=0.9998 right_x=0.3708 right_y=0.2385 right_z=0.0824 right_yaw=0.0948 right_pitch=-0.4851 right_roll=-0.2512 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0415, -0.0171, -1.1692, -10.4684, 8.9231, 1.2186, 0.4957, 0.3199, -0.0122]",
      "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]: [-0.0204, 0.8185, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.7197, 1.9316, 1.4322, -0.6998, 0.4381, 0.4385, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1726 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9998 right_x=0.3783 right_y=0.2367 right_z=0.0802 right_yaw=0.0238 right_pitch=-0.4637 right_roll=-0.2363 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.4564, 7.0632, 1.7314, -0.0464, -0.0855, -0.0171, -0.9778, -10.7556, 8.8957, 1.2527, 0.486, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4319514dd04db65dacd039e57c31f8a080540de00f09c62e375c2e45c8fe6faf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51bd547dbd8f6381e16e825cf0e57bce86d3119ff427feb81fb86429163cdcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288ab4ebe76984d57580b7954afc9b2091024894bca913151a2e6db4a487c1a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCymzlMYnzKixkXmzXBxMNIPk1Nn_-EN_s44_pEQzlEtqS9dsb8eS9VxpFRkEifXE7Xk9bLmqDkQzupF_-uMQJmIVDe0LUkdhp3WqYcWJxrE1z4_C83Z8wNPK6acQceG_8BQ3ZVchQ05z_mtnu7_M3EOkixiskydsd-w9LWhMC3Ql4RAYRaNarHucltNvuShXygN8GLj0aNrYmaTy8Sf58tWGz6rp3nUPvSs7brN6UfEZKCwrI2jV3B8N6QtBpK158QqlR0eFAq5AhaqdO7EuVLi4d4tamsBgRT_GI8-qeop9HKEMfRzc7BVqghsykkA1Ke96TMWDnEW0neJAAbezjBWf4nG6IobHEA9xsAMRTpm7yCLxtnHYZgon4tqtGRrEo-CPu0fpH6qAY7umbAWxBDO6p2_7CjDVsLR_XK7AOD_htfs-Qjzg13PhTCq6gJHfLm-9EfxgzC3QsAc6AAz412PgHxDH04FUS1XKs36zjUlObcHUHobSDwoiG11ahHCx7hPVgYhc2LEwzSc2WGZyuO3MZ7sjq2OO9SBkR3eELyeCLAGze8-P3o2ATltR0Mqy0O9BKjP7Ck076jr0HA3ngPpGcc0KW35-W4mmnBEYsjixh5-yRrr8knfonOX-uojAiHzS3cxBOioD58ihvNMB9zcrlzPyU0LlJ6DssNI2SV6gNSbx2kWv1zBn6xGo9G3betaCDX7xsb6v8lINiU9meTOWDtIq888rTbJTLPY6KWYJV7pktMNnzWXhRvqJuKY2DUt8swatAK6Jn5a_r3qjS86Sotf-DU-X02e9Dp5u4JnCMzyDoxoQ_1utDDJe1mEg27j27FZAlPn9UENqkYGhmuMjtivNY-Eg1nrock91nYzMa5MB1b0GNol7FhI_Lt2Q5ocIza71z9yFPy2EMchAMCzz4buoIwNl7RmJLqbhE7Q3sy_v3jE8lDx7RDgB1JP6YwFbT3eGd2zzhiUgeNn1OMZ0Bzvfp0MO95J5vPcEcaZPSm1fWjYbppiGg8s6m5axrzMQTgqoYC_kTdIJ-kJUVLx86xd39n7x-SuCZcv_6ql-vMCc4iCZ9MspFEvoSric6xCjDiJ__b13K5fS_quYAcH-yoRjD-93d-pDiB5Pcd2MF8WKKeURCL_xFmfzhMccP20GuEth9-ePVvbqARfAN2ynhBlqp26LWCuIeynv785VdcK1dKwu6L4KJCA7p8COXPHD9ZA5F6b0qW0lyag7k9_eAd7LjnZw2sf5G0jup0ZxHoYCIBFcRmPUVmvMMUzmQzxGzCzx_Bx6Wmjm1FU6X0c5MOldIH3q3R8OwIwoqe2Bqrvx4f-DV8iRKOOgughKrfh6Bh1T3P57rXiTLc1TAQRQP5TGs2bUjlHGisWQPr2hhQ95JYmruVKGa2rjSrGD1giTBRqirpRuZL4ZJ1o4dnbH4E2xuHwMbzHoZCjwtDst-tn21Rr3ZPjXXTDx0bJ4-cOnS8FmIJsr0I9tZVATViVU_jrYwWxowZpT3StT1CgkRwMOy2wMF7ZOuMfw2iZEeg9hlO4aHbXgI9Q44Uh4hLRodm9-NGTf6Srp2ipFGorxdkEtGHAYtPQA7c7MFVqcV3YD_SPSaOdAtda1g8N0mqQHvXEZI6PRu25CGUeZnVZVHwyS-u2MocqI6zbMrfGZRvb5fPCyotJBPYQuW5iaZGGIJHjZgnK97r3ewbqN-WXyXnMRq_HKLQUJvzxmJpYoB0xVFFSgQ0zDoX-cvNCIlojkxrPuCNeRqFqiTIpTrvidoMEhf-kcrdJmIjimlP4n2AiFleqnYcvcIrDZbGRdR6WkU_RnQVBFvjVxZWbF7hwud4PIXzJMX7zHIrkMe9I3KbxEr3zEX2Bkx7tUWyTYtK9e8KgxQ2vRwoNPXH-yw2nxfh-luVF8Wr5s3KS1iHhdk66nAyPdSB9Gp9tn_MNDM7zFA_nDI-6xWtfdNNeGSaAhqyuH6S1ToH02Pf6VGkGE80cYel1XPWcBYFeJI32ESOB5HWasXgodg_wxp2rOCXHHOU5z94asCbm4Vl4Q1MAdDjFnlM_z8KZOzDZOrbvnRP5sm_GlZLpxLzJnJITilHfoDOzW9yiewV6zGQXkBQOykHC0fq8ZOvenqjS74seaTGqaFePiDYA-KlHOmG1uH0BfbSTAqHK08ZSTm0CzjKBUtZPkE6GtDwAVO-UL0967OxX-Fifgut3fy5c-M8eoynR0vadcNb7n83JlFX2ZW-c9Oq5",
  "id": "rs_01c5462672836ebc016ab42ca3ef7487d0964aed4c818d47aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.16,\"left_z\":0.14,\"right_z\":0.17},\"note\":\"The right arm is again falling well short of the low target, so I’ll leave that piece alone for now and raise it clear. The black pen-shaped piece on the left is unobstructed; I’ll bring the left gripper above it.\"}",
  "call_id": "call_13t9xhC18mcOeqMPe21BIfAh",
  "id": "fc_01c5462672836ebc016ab42ca5e95487d081302c7d75d66369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_13t9xhC18mcOeqMPe21BIfAh",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5858, 1.4937, 0.8452, -0.1131, -0.4587, -0.3546, 0.9997, 0.7223, 1.9297, 1.7027, -1.0718, 0.416, 0.4126, 0.996]\nstate[eef_state]: left_x=0.3757 left_y=-0.1511 left_z=0.1175 left_yaw=-0.0135 left_pitch=-0.0969 left_roll=0.0341 left_gripper=0.9997 right_x=0.3653 right_y=0.2315 right_z=0.1395 right_yaw=0.022 right_pitch=-0.557 right_roll=-0.3057 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.0085, 9.3333, 1.8339, -0.359, 0.0317, -0.0171, -0.5675, -12.3829, 9.4974, 1.3944, 0.3932, 0.2271, -0.0073]\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,$blob:237d58633f384786fd2861f508072b75fcfb59258752010e71c874b6891dac31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c30d974cd4518f4faad15c85a37a71c59e8e458b78fe36f6d568e5a93a0f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3613efd63139df098e0c746d1c853aa2677390f9771594133495c24eb671e364",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 3.033 s

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

message 63 changed as sent

message 72 changed as sent

message 76 changed as sent

message 63 current as-sent form

{
  "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, 0.8139, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.733, 1.6054, 1.2701, -0.6678, 0.3027, 0.1459, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1738 left_yaw=0.0 left_pitch=-0.021 left_roll=0.0004 left_gripper=0.9998 right_x=0.3365 right_y=0.2369 right_z=0.1508 right_yaw=0.3605 right_pitch=-0.3859 right_roll=-0.1904 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.3744, 7.2137, 1.6923, -0.0708, -0.0611, -0.0171, -0.3077, -9.0325, 8.0615, 1.1355, 0.1294, -0.022, -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 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]: [-0.0204, 0.8185, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.7197, 1.9316, 1.4322, -0.6998, 0.4381, 0.4385, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1726 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9998 right_x=0.3783 right_y=0.2367 right_z=0.0802 right_yaw=0.0238 right_pitch=-0.4637 right_roll=-0.2363 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.4564, 7.0632, 1.7314, -0.0464, -0.0855, -0.0171, -0.9778, -10.7556, 8.8957, 1.2527, 0.486, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5858, 1.4937, 0.8452, -0.1131, -0.4587, -0.3546, 0.9997, 0.7223, 1.9297, 1.7027, -1.0718, 0.416, 0.4126, 0.996]\nstate[eef_state]: left_x=0.3757 left_y=-0.1511 left_z=0.1175 left_yaw=-0.0135 left_pitch=-0.0969 left_roll=0.0341 left_gripper=0.9997 right_x=0.3653 right_y=0.2315 right_z=0.1395 right_yaw=0.022 right_pitch=-0.557 right_roll=-0.3057 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.0085, 9.3333, 1.8339, -0.359, 0.0317, -0.0171, -0.5675, -12.3829, 9.4974, 1.3944, 0.3932, 0.2271, -0.0073]\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,$blob:237d58633f384786fd2861f508072b75fcfb59258752010e71c874b6891dac31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c30d974cd4518f4faad15c85a37a71c59e8e458b78fe36f6d568e5a93a0f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3613efd63139df098e0c746d1c853aa2677390f9771594133495c24eb671e364",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42ca9c1fc87d0a06783fa7b2f9100",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.016},\"note\":\"The black pen is clearly visible in the left wrist camera, just left of the jaw column, with its thicker end nearer the fingertips. I’ll shift left slightly and lower the open jaws across its narrow shaft.\"}",
  "call_id": "call_UtHqYzrUaF6GHupXRC2DMQD7",
  "id": "fc_01c5462672836ebc016ab42cad223087d0bb32306e40919e75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UtHqYzrUaF6GHupXRC2DMQD7",
  "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]: [-0.4877, 1.7866, 0.6846, 0.2951, -0.3996, -0.3012, 0.9997, 0.7216, 1.9316, 1.6997, -1.0893, 0.4103, 0.411, 0.996]\nstate[eef_state]: left_x=0.3889 left_y=-0.1244 left_z=0.0104 left_yaw=0.0119 left_pitch=-0.1588 left_roll=0.0625 left_gripper=0.9997 right_x=0.3615 right_y=0.229 right_z=0.1364 right_yaw=0.017 right_pitch=-0.578 right_roll=-0.3187 right_gripper=0.996\nstate[joint_eff]: [0.335, -7.5966, 4.5744, 1.7949, -0.0562, 0.2076, -0.0073, -0.1162, -10.2632, 6.3385, 0.8376, 0.2613, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21c6d2cee43b1a12ef887881fe19ad3efbd8aa9fb45cf98c031f6a3fcd2742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3feb2d9cb6479fb23f24e67841c03013f0e8c6642358f85b4e7b953c1690a45c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f515f9b581f87fd2869cd209924316428b90def0f4d3894b50ce3cf87c2c82",
      "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 · 3.899 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]: [-0.0204, 0.8173, 0.6029, -0.3817, -0.0196, -0.0113, 0.9998, 0.7231, 1.9034, 1.409, -0.6991, 0.4084, 0.3637, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0005 left_gripper=0.9998 right_x=0.3708 right_y=0.2385 right_z=0.0824 right_yaw=0.0948 right_pitch=-0.4851 right_roll=-0.2512 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0415, -0.0171, -1.1692, -10.4684, 8.9231, 1.2186, 0.4957, 0.3199, -0.0122]",
      "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]: [-0.5858, 1.4937, 0.8452, -0.1131, -0.4587, -0.3546, 0.9997, 0.7223, 1.9297, 1.7027, -1.0718, 0.416, 0.4126, 0.996]\nstate[eef_state]: left_x=0.3757 left_y=-0.1511 left_z=0.1175 left_yaw=-0.0135 left_pitch=-0.0969 left_roll=0.0341 left_gripper=0.9997 right_x=0.3653 right_y=0.2315 right_z=0.1395 right_yaw=0.022 right_pitch=-0.557 right_roll=-0.3057 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.0085, 9.3333, 1.8339, -0.359, 0.0317, -0.0171, -0.5675, -12.3829, 9.4974, 1.3944, 0.3932, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4877, 1.7866, 0.6846, 0.2951, -0.3996, -0.3012, 0.9997, 0.7216, 1.9316, 1.6997, -1.0893, 0.4103, 0.411, 0.996]\nstate[eef_state]: left_x=0.3889 left_y=-0.1244 left_z=0.0104 left_yaw=0.0119 left_pitch=-0.1588 left_roll=0.0625 left_gripper=0.9997 right_x=0.3615 right_y=0.229 right_z=0.1364 right_yaw=0.017 right_pitch=-0.578 right_roll=-0.3187 right_gripper=0.996\nstate[joint_eff]: [0.335, -7.5966, 4.5744, 1.7949, -0.0562, 0.2076, -0.0073, -0.1162, -10.2632, 6.3385, 0.8376, 0.2613, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21c6d2cee43b1a12ef887881fe19ad3efbd8aa9fb45cf98c031f6a3fcd2742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3feb2d9cb6479fb23f24e67841c03013f0e8c6642358f85b4e7b953c1690a45c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f515f9b581f87fd2869cd209924316428b90def0f4d3894b50ce3cf87c2c82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyxxb9Gt3NtLuDbA2vaioRPnRihDC5yy23HSllbCeY8Ufi7x-KhaGXjweo_a_PeKaIk-qpazIYfVw3Rq0F3t9FWDe-0aIUXK-9fuvH92iPONqhQqJgtq1x3S-20wJ8Bbv9ZjrY9OA_OPrsLG4PYp4gsJZjgd1iAJOKExhVVCTfkqqYJK5wFLMm3y0lX5hDBSkgLOPI9yYDLjxjMsqUSzROFiDdWwLz7eNIpL8xgc_xxinJ2QoUi0LnDmXL1plRNIUkhyLQTXXWEecztQoIMFC-f05P4zhf_x9Gx10Ost1eZxtD7F-GoZQNLq7aieGB5DfZlX4ws34VE3yhUV1uoMbKTpEjEjoaKc6fUKJFYJP4OazeiwFokPkIn24rprkQ7PuAkuNgQULBGFfcp0KcHbmyWLE6lC0KTOhJZDi6vKcWYgSzte6LuPEuIkg8WNVCYHr7bzNpBHwAzDfClCHXf1r2Id7C2p-WbYjj41QPdF85GNMXCcHJuib90mkvKpRVoKlLUGQNQnBxjln88Gz4q49KmTd3b3hr0rx1OpQDZwT9aEejULoaKnj7glulGFF504N_5GwDXKIuBOhuFDkl2gi4WkDK2jXOC_YDHJNsrtFsPUC5ggwjWkFOXEvpy137pYoucZW9SW76I4k0imoZ6uMyf77oC4dabdFDxpu6624HbdDQGGasuxijP8nPKsN3T7HNARmRPtOYZVmWb2tq--ZxChuO8j6O780tmMTNHV6y8-eEUs8zn0Zj6kgOupwoppcLGhBBBWxmZmdk0hDHXcNznjGtUfVIAndcvT-IYjk7_Q0mpG7lfGY2ptFh7Vn8P3SueiFxw4mPFw1fzDdIPCPTUZhlOwLsRAsCg3R-qbRiMk40L_2lFxVRZA4-hq19jL4kDhgR261rB69MfiF-0LLKNV4E-KTqBaIdb71SNk8254sPJZPW8jE9VGnjQRtuJKaNf1PMcFW6EspUfZcZfRmyUtu4wLdQaIlbOvMriDg5Ox6aTWkJT8aEzhqyAVTCRImyePpYygYc4mGCdVIT05zOrL3usnhC9CvtZriCgg9OR0SB-IJSM3Vs0vxce1siENM-VL0vDAS8OIziSXbpdbY57ZGT4DNr9Y7LgsBP3zKOHT0UdPzjdtPXQkNzQdzS12xOyoivqQXPpcD506Snqgu5ssL259PQFBEoCK4OflolkrHSObUohmiFx3O-wFrZ_aRQrNn40JceSsKtIvFohe4ikxcdFE38hllph20DMLCKtz0MDO0WN_4Fk7YlxSWv9p703hP1TDLMcdwx1ww4DzNz_OCFtmodP_9GFn96YSD_6zgMgqtso_t1SrcJcYApE7iMJVA2-C2nw5fjqrQkygCaA87jT2rhmQTvmuPEDCxBfP0K8lW7IlC2c1s3hcoRWGSZlttEmIbtzVrXCgcXcW10tLXdttOiHqltKfq5Gkl2OZGVblcfWyqacBTG29b5LMBqeQ2t0W1Pb9yiRZAVOaj2Cv6Iwbk9XeZ8BZjhQ2Dg_2qrO5jeWaVx73l_D5QqnLcTKzzdmbhHoDPzlcjBph9wQu63Y1U-dcX141aeUQCEnHTk=",
  "id": "rs_01c5462672836ebc016ab42cafba5487d0b3591b0d8ede0b78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.003},\"note\":\"The pen’s thicker end now crosses the left jaw column near the fingertips at table height. I’ll close the left gripper and inspect the settled gap before lifting.\"}",
  "call_id": "call_FlKGCuiQJj6x5enKNWtDDETf",
  "id": "fc_01c5462672836ebc016ab42cb0866c87d0a002de42aab84f75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FlKGCuiQJj6x5enKNWtDDETf",
  "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]: [-0.4847, 1.813, 0.6739, 0.334, -0.3962, -0.308, 0.0478, 0.7216, 1.9316, 1.6997, -1.092, 0.4072, 0.4107, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.1238 left_z=0.003 left_yaw=0.0158 left_pitch=-0.1581 left_roll=0.0542 left_gripper=0.0478 right_x=0.3607 right_y=0.229 right_z=0.136 right_yaw=0.0184 right_pitch=-0.582 right_roll=-0.3183 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.4872, 5.2718, 1.4481, -0.149, 0.1343, 1.2186, -0.1983, -10.1128, 6.1333, 0.7546, 0.2076, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7a2ee09f79338c900a006f32a7a84ceb334a6cbc0a6aa5cc052a97c51b7a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4dc75f4f15af4566588f78e1101690f67e9e7aa346a6ce2560f651d5f59d4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3c37929d1aaeb30cc0c186bf118adedc71eea0c2690a8d3227fda22de98ec4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 7.98 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]: [-0.0204, 0.8185, 0.6029, -0.3809, -0.0196, -0.0113, 0.9998, 0.7197, 1.9316, 1.4322, -0.6998, 0.4381, 0.4385, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1726 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9998 right_x=0.3783 right_y=0.2367 right_z=0.0802 right_yaw=0.0238 right_pitch=-0.4637 right_roll=-0.2363 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.4564, 7.0632, 1.7314, -0.0464, -0.0855, -0.0171, -0.9778, -10.7556, 8.8957, 1.2527, 0.486, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4877, 1.7866, 0.6846, 0.2951, -0.3996, -0.3012, 0.9997, 0.7216, 1.9316, 1.6997, -1.0893, 0.4103, 0.411, 0.996]\nstate[eef_state]: left_x=0.3889 left_y=-0.1244 left_z=0.0104 left_yaw=0.0119 left_pitch=-0.1588 left_roll=0.0625 left_gripper=0.9997 right_x=0.3615 right_y=0.229 right_z=0.1364 right_yaw=0.017 right_pitch=-0.578 right_roll=-0.3187 right_gripper=0.996\nstate[joint_eff]: [0.335, -7.5966, 4.5744, 1.7949, -0.0562, 0.2076, -0.0073, -0.1162, -10.2632, 6.3385, 0.8376, 0.2613, -0.0415, -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 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]: [-0.4847, 1.813, 0.6739, 0.334, -0.3962, -0.308, 0.0478, 0.7216, 1.9316, 1.6997, -1.092, 0.4072, 0.4107, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.1238 left_z=0.003 left_yaw=0.0158 left_pitch=-0.1581 left_roll=0.0542 left_gripper=0.0478 right_x=0.3607 right_y=0.229 right_z=0.136 right_yaw=0.0184 right_pitch=-0.582 right_roll=-0.3183 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.4872, 5.2718, 1.4481, -0.149, 0.1343, 1.2186, -0.1983, -10.1128, 6.1333, 0.7546, 0.2076, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7a2ee09f79338c900a006f32a7a84ceb334a6cbc0a6aa5cc052a97c51b7a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4dc75f4f15af4566588f78e1101690f67e9e7aa346a6ce2560f651d5f59d4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3c37929d1aaeb30cc0c186bf118adedc71eea0c2690a8d3227fda22de98ec4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy23HQBOjJJvSM7cQYRERpwD6_aBv3MQfjem1-rKFfleXiMYsO-hXRAnBIEdG40FYJOWMO7JwD5ABDFV5pWznlnCZomzyR6EhPLc_xTfpEWyh6XMbHjgPEf6JSLs2CHUk0--WBbnafJ-AuoB1U2gn08xBTQa4MTLOCMlMEidigDTbBhrcIX3fB6ACs6HHkytHcuhvaUXzCNk_dwR_N7qHP0SdXM7H9uKnrSLoLOqc-j1V1lIrv7g5FBAuSUW2jc0SSXOfu-b5B-21Zi-PMFGcRaLNf-vvK-LYoX8smwxlYggqBcaX55hbvJNfp-ueKurEqRQpyxcLk-ipoopXCVxImyR-YE4ahvRKQeluAWn4y7wvuUiaCP-p6m5qpyChBFL8e5_fB-lDocJwF8J362gZw6GMAYCnceS06mUe6VUU4R_BWglwGREBfogFVK-tJnZO7IMy8K9wndOKCYQ1opR4Bt_MbTGEJmzMd1-C6IFIMStGeMwTwtL22wNeXlSfcaRInprUtIQlGduwHaaLX-OriCCL_vkHwHDfxQjYAgR3j29yNHPSpwm1FlTF5esFdDAuhJwxBWPUlu-n_bFO1FgZEQgq5baBreDHNLVoBLzYlrx_WYMqlQSTPTcgenVMBVPy458I13wNsmnn5K9T6APJi6CADDPa1bfjvj2QNC5BB_xnuCzGvIW0pAffuk1WM_RXHbmdKPCWXifTUL5eWe4zjwUoWxQPhMjbkbrF7pq1jqQTzXvi0wqlsARy_-dm_Dq6OdBZiyfzHZR5rQBXTKOVgfkHxKe2Rguq4Dt3q04NAfWs9mV2saxgR5O1EO5zQXSqlvgP02zlRWFbYmd1aBY5p8r_LogOpjRA-sRQcYSIH3hoA61PBXhtcXLZ5JNBRkNrmtcF-EncUqNKVCT4sGIywAa3Dnbc0QiJB5emrMXKFEfNJj8gXEvthiwjZU3oZJMmDwOiMiUgLxZkSvaNbzr7xhuoPtkcSRLUQBhUaIY5fsth0XpzFTKmmkucVCfw7rErkgtnKmFHN-3A3pEc0dlyVNdReEhpFCIqeCJQxzzU22zHIbHb-7o0cNHkXMRrK61g_xlFz5eJeE7pvxWUZ58_RQtcuvcoC_U6OSlRStuOI4o0MAJ1S4v1mun6xVakEmPcBBltfIWgDHqisx3F9I-U-YqgMcYcJAMFjR50rD1MVE50VaNdhFkoNli4lGxEJCdlsT2FOaQcpwuh4qfBKVTXbKIiEjoK0RIgzx619nUcRhdYqKptE2_shj_LFvF4LPrr6br7TFVMLfV__QNLxMqY5u58hRuozBG8Z2RN0vKM8MDcQBcUCGNTKUTjvnytM_g9JaQNPpcICtvorLpqu9g6u_8GlBQuCRf2VnWVK_v2uKcmfLDKYfdbNUJASOnOJff5VgaD9YLDN5HgMd5scJC2pPRAADU4QFYaqPP-WLw2Dkt27NgIoLR5EmiqnWJzcKZmKAUoCv-5r4ItZbLsmc7Msn-X_Cip6a2swvdAEI0BMS7RIeMWlPWK3ZxaSZBNNV7PZ9pfVSqBoGXvxHJMHsdixctBdSfzYyMXE9sWsrRWxB3AKhAjOumqDZ1hgqzObauQUw0Nk_6mH01XfuEom4XvDhSx2aELrvVxoc8Bsz-qxZkS3QGw5Ofzjl2oRe9WFcJ7Fu7asIsJKvdPor3H2_1K9MckRBDO0BNzijEzyjK20kRRM6xdZ8vuQiUlcTlBvpJoTpNsLOZp-8kh8QfO4Y2A4R3m18xGTAKZbom_81-9xTuEmpjhzGIWm12yPONYXngWmW95N8c6uaLVAfZ_I54MTlkA5X5UsnxQbYCcwIR6eNGr49-UZIt7ZsGxpgGUvF0_bw",
  "id": "rs_01c5462672836ebc016ab42cb46b9087d09316a2c4b30b6dbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left jaw gap settles around 4.8 mm, which could indicate the pen, but the wrist image still shows its tip. I’ll lift to confirm in the overhead camera whether the pen actually follows.\"}",
  "call_id": "call_NuvN2kCnd3AuzdZtVc64K7Gn",
  "id": "fc_01c5462672836ebc016ab42cb5b14887d0998ad6fc6a50f1bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NuvN2kCnd3AuzdZtVc64K7Gn",
  "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]: [-0.4847, 1.5833, 0.8013, -0.0277, -0.3927, -0.3134, 0.0535, 0.7216, 1.9316, 1.6997, -1.0924, 0.4068, 0.4076, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.1235 left_z=0.0771 left_yaw=0.0164 left_pitch=-0.1631 left_roll=0.0502 left_gripper=0.0535 right_x=0.3606 right_y=0.229 right_z=0.1359 right_yaw=0.0203 right_pitch=-0.583 right_roll=-0.3198 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -8.2393, 8.9231, 1.5263, -0.2613, 0.0366, 1.0281, -0.3077, -10.1128, 6.2974, 0.7497, 0.1636, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35fd247104c04e5e48f0dbdedfac066f7a27bd67fdce0132cfce88429374789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5dda570691edc4f6e8b1b548773b796eb91d71fecaf93bb47c019901d4ef71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8356997cf4dc51a9d38e1333f40cc6b0a8ccf4017e412e8b350c4a065d02fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.138 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]: [-0.5858, 1.4937, 0.8452, -0.1131, -0.4587, -0.3546, 0.9997, 0.7223, 1.9297, 1.7027, -1.0718, 0.416, 0.4126, 0.996]\nstate[eef_state]: left_x=0.3757 left_y=-0.1511 left_z=0.1175 left_yaw=-0.0135 left_pitch=-0.0969 left_roll=0.0341 left_gripper=0.9997 right_x=0.3653 right_y=0.2315 right_z=0.1395 right_yaw=0.022 right_pitch=-0.557 right_roll=-0.3057 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.0085, 9.3333, 1.8339, -0.359, 0.0317, -0.0171, -0.5675, -12.3829, 9.4974, 1.3944, 0.3932, 0.2271, -0.0073]\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]: [-0.4847, 1.813, 0.6739, 0.334, -0.3962, -0.308, 0.0478, 0.7216, 1.9316, 1.6997, -1.092, 0.4072, 0.4107, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.1238 left_z=0.003 left_yaw=0.0158 left_pitch=-0.1581 left_roll=0.0542 left_gripper=0.0478 right_x=0.3607 right_y=0.229 right_z=0.136 right_yaw=0.0184 right_pitch=-0.582 right_roll=-0.3183 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.4872, 5.2718, 1.4481, -0.149, 0.1343, 1.2186, -0.1983, -10.1128, 6.1333, 0.7546, 0.2076, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4847, 1.5833, 0.8013, -0.0277, -0.3927, -0.3134, 0.0535, 0.7216, 1.9316, 1.6997, -1.0924, 0.4068, 0.4076, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.1235 left_z=0.0771 left_yaw=0.0164 left_pitch=-0.1631 left_roll=0.0502 left_gripper=0.0535 right_x=0.3606 right_y=0.229 right_z=0.1359 right_yaw=0.0203 right_pitch=-0.583 right_roll=-0.3198 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -8.2393, 8.9231, 1.5263, -0.2613, 0.0366, 1.0281, -0.3077, -10.1128, 6.2974, 0.7497, 0.1636, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35fd247104c04e5e48f0dbdedfac066f7a27bd67fdce0132cfce88429374789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5dda570691edc4f6e8b1b548773b796eb91d71fecaf93bb47c019901d4ef71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8356997cf4dc51a9d38e1333f40cc6b0a8ccf4017e412e8b350c4a065d02fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42cb7e76087d08f5239c9c47469e3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy-WiokzCqRfXmqKU5a40D_muGaLdytzckLyFSWiwoJWjE0rE9J_SwyzfU1yk_2agWSZoYWFspflv1zXpyhhAssFUJj0NjHzua1V22QyRD_LnSXkI-5C5ypC_zlDqTBKtue3a1dolC4b45g2ncjwS8JuBL8JQHJ2MhQBslATBY_r0UaYbhiAzcOd4fgEBpw__fiYj8HvM5i1mGacrItxNAZFM2P0oa6IxKiBZH_FTL7yr0eGSMeGGjo3ZXO9Z56MQcrPzMyQPt1wmSRB1wm7kC3TVpr6zyEIw-i4ZNJIXskktC4i33z3vopD7koChAfwW-Rq_2nvk14P0YDKAE0XXqAshH8Hpd-GqPqX83gWmfETFhoVseyQNHjn2ZqbBAWKr9Jr16gJAt1fjJZYVIXevFAEGBxcWuh2edCPI5YG5k0y8YLSqlHhy9wza_OL1vWw2M6tUAgcn3noqeEOSXJkb5K-3ysVjUkAOOwi8a921jeGhhjkbzP1v9zDa9L0F_JplhDuQ_1KYrWjYoiItxrGhFWZt3YoxP24rm5fw0gZ761C0jB00VBVab5QtGBjdte9FURfZPvJMuKZ54QwWjx6szLW3cbg77Nx-dnrZLUXNsJhSpEfvPSNftbiLoXSvvYqMOOPZ8l_4VhWvTU9ZyHmkb_UO8gfEhUchMknJLPpMidEHZnAjRzDvOpV6_r0yOY1Mam2sPcZyZd9DzHyPPw9RXrWEKoj0qmtTRSU7rOMQ3VvZo4bDOa1BOjHD-1g_PgCZDrL95U9RrLl3DMj0YeVwwS4BPvaoZXjQhZNy4WZ3_A_ZI_6DqnZkv17Kz2SKKgbfpdKRIb-ORKBsINBXGmiWeAt8chunuFXEv-SYdyEWwkgMtYCU-YKwK8Ug2wjnKb1oPhy5Ve12IlH8bK8CCf0k7DwDlJj01gXP6K7Ye-PaygDJd7z6_26TIrHtZPm94OMlniLdV8XDRB-il12nEw20Q2J2XPHV7en8RTuDzxpjbRMmcA6TUSOHvMbSW6pH8vYj-D1drm6t01LHD3WG20hazhU8h5RL7hqIG1nJ382AG-8xPtgO7HVTpQ0xCfiEu4IiUz89tLx7ojy73stM32Oc8uKt4TBJMBijps0SL8NqlTFfciPJ2Cf1lT3Nt4jw1-vL2La3se3coXd8J-Oif1YYLN9cfm-n4YABCl0WwME4j0e6E82p06KpQPgca-4UX-hKrPQ9VWi4L8-5ejXVNzi-p4yyFEJJm06qBfR-Z17Oh8IomKhbC-6K8Z1Nut2T1B2b-vFKRaNDLUKVPr1e1cxXhwoFSstfKRp_lBM3rl4PhgDdtARw0m0qmhWbObgL6DTeWjwO4Ufb7Z8xnWr9peBnbkI10PrliC7egbWtKp0ce6vO2ZyZW9zyJf010K0eJdDauGfji_vRhlAhQ25jEBYMj5FH3jkempwbyR6bxvq2qKZ6IU4918Qlh63_jS_8nlEA9jo9bEEUiiHxlPRH6pcwjxrXKsyu6jMbPmoI35RcbHjpSR9HmXUw2IZ4BlXF_Ux956SuzfSTZlLDyAMgLgJLotmg==",
  "id": "rs_01c5462672836ebc016ab42cbc406087d08b7ae8c85f3a7724",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.23,\"right_z\":0.005},\"note\":\"The left grip kept its roughly 5 mm gap after lifting and its wrist view cleared, consistent with holding the cap. The longer pen lies across the right wrist view; I’ll lower the already-aligned right jaws onto its shaft.\"}",
  "call_id": "call_gYJrvOggXAhNXNQ33o9ngpv1",
  "id": "fc_01c5462672836ebc016ab42cbd077c87d08323971a4f0b1f79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gYJrvOggXAhNXNQ33o9ngpv1",
  "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]: [-0.4847, 1.5795, 0.8009, -0.0563, -0.3923, -0.3134, 0.0585, 0.7128, 2.0541, 1.38, -0.6781, 0.4004, 0.4061, 0.9958]\nstate[eef_state]: left_x=0.3831 left_y=-0.1213 left_z=0.0739 left_yaw=0.0182 left_pitch=-0.1853 left_roll=0.0622 left_gripper=0.0585 right_x=0.3619 right_y=0.2265 right_z=0.0127 right_yaw=0.005 right_pitch=-0.6085 right_roll=-0.3365 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.5573, 6.106, 1.6874, -0.2076, -0.0708, 1.033, -0.7726, -9.1556, 5.2991, 0.823, 0.1197, -0.3639, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3619f46d7178b54a7988ccaecec67f3b56727b8078b63afd3cf76033c99d0506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a68ab615cb86c9f1519cfb9366076a82deb5fd0703bc6df0195d29f8aa4c93a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d6cd910ac4c8bf69af6e802d6301b6aaae5b1d32d4c8de19ffb84ae2fd8a3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.353 s

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

message 80 changed as sent

message 88 changed as sent

message 93 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]: [-0.4877, 1.7866, 0.6846, 0.2951, -0.3996, -0.3012, 0.9997, 0.7216, 1.9316, 1.6997, -1.0893, 0.4103, 0.411, 0.996]\nstate[eef_state]: left_x=0.3889 left_y=-0.1244 left_z=0.0104 left_yaw=0.0119 left_pitch=-0.1588 left_roll=0.0625 left_gripper=0.9997 right_x=0.3615 right_y=0.229 right_z=0.1364 right_yaw=0.017 right_pitch=-0.578 right_roll=-0.3187 right_gripper=0.996\nstate[joint_eff]: [0.335, -7.5966, 4.5744, 1.7949, -0.0562, 0.2076, -0.0073, -0.1162, -10.2632, 6.3385, 0.8376, 0.2613, -0.0415, -0.0122]\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]: [-0.4847, 1.5833, 0.8013, -0.0277, -0.3927, -0.3134, 0.0535, 0.7216, 1.9316, 1.6997, -1.0924, 0.4068, 0.4076, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.1235 left_z=0.0771 left_yaw=0.0164 left_pitch=-0.1631 left_roll=0.0502 left_gripper=0.0535 right_x=0.3606 right_y=0.229 right_z=0.1359 right_yaw=0.0203 right_pitch=-0.583 right_roll=-0.3198 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -8.2393, 8.9231, 1.5263, -0.2613, 0.0366, 1.0281, -0.3077, -10.1128, 6.2974, 0.7497, 0.1636, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8009, -0.0563, -0.3923, -0.3134, 0.0585, 0.7128, 2.0541, 1.38, -0.6781, 0.4004, 0.4061, 0.9958]\nstate[eef_state]: left_x=0.3831 left_y=-0.1213 left_z=0.0739 left_yaw=0.0182 left_pitch=-0.1853 left_roll=0.0622 left_gripper=0.0585 right_x=0.3619 right_y=0.2265 right_z=0.0127 right_yaw=0.005 right_pitch=-0.6085 right_roll=-0.3365 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.5573, 6.106, 1.6874, -0.2076, -0.0708, 1.033, -0.7726, -9.1556, 5.2991, 0.823, 0.1197, -0.3639, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3619f46d7178b54a7988ccaecec67f3b56727b8078b63afd3cf76033c99d0506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a68ab615cb86c9f1519cfb9366076a82deb5fd0703bc6df0195d29f8aa4c93a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d6cd910ac4c8bf69af6e802d6301b6aaae5b1d32d4c8de19ffb84ae2fd8a3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzCB8QSZ5xnVK35Kp1PyXnT4lvOA_tre7WJZxFWgCn4On15k7_32y9OT7KHnfzg9oGlkKiu13xhMU3isCLMdGBV1A9IoyKje9gPYY312f5iI35fpbb4oGBCycRv-2tLe_b4zwjZlQcyC7jq2aqE5pDz6n-N_l8skJcgycodzEnQlbm9WdGX5EtDJpTAvd-7clTRpvfn4VK2VmlGTNeB3a27p4j2Ed4m2MIUhN9CzX2f7g-hDE9IHT2C6gTiWfSVTBWV02RYFHxDiw_6q-_aqfJKlKMwQDDz7AagCRnO8OgxpVV5hEZUg0TolUV2ovcqDV2wY89iUhM4hcN2i6ZLN4d88KoX7jollJ0Je0l_IIJT6ERpAsCGSlldgdf-Yg_cL3nSJc_jiW5_MQyPA1OhChHbHLU98Z0TWMpTMk1Jd6bVaeKKIA22UIm1WOI6Q_ulDNjXj_iQBCETn4mbOgf_sJ7FkFfXFEZj_WWt_Xquo2pdp03_mOAV7eBT24vsCNgjbhEbWg0zWiGxqNfVLcW1xEiKG5GY65YO2pdkoTc4PV0sp0wYDQGl6MMVtQa_KyKts9DNCxj6YzGM6yyMNF1HH0QBR35eotRYqxWFFEgQT2QDMKuhmUfgBIXkD6S8N03QyQ0U65l73UMk3LYhalBvNPXvGc8FXE4kNOVPaKxgMCYnfg5l5KfvRWPQIIu-kLBwDF4N1r8ywjtGoe4YMC_Ji5H1oYf1y6aqIs7Nj0Fmmi9c6zjuCnV5z7fyxXxMHVoFbsY_-0z8k8anBtHtBpl9m4-9XjJiNqF6MFhQloyQz-5ku4YzlwO0gbfe913M15EyjUe1-L4QD56afIXQm2hxeNI5vQBlGhTmVE-LpX5iH8ZVgsUBl5-uKrLOJ_Qz_lrg7aNEpVnMgQjKAr58DlfytD3okCN2Ly5tY1G1gAKKCyDLSoP0_TxLwyypHu1-TdpJv7zAbL9GfXBj2lf1Z0_y5EMBk1BA_SJzkDcs3RYmrAQyxXpluIDrninKg-FRqsB2-2iasEa_EEyF5EHH5NDDSEPLzKoPw08yN5QQCqad9WLaXdmWm7m_8bYvux9vJCDFlD8cISKYe32_YPWGcuuJS4IUTltmkiEqD0R5-NhI14CVsY41BO2JV37tvBqdMdZfQfVAHSbCGw-kNjzykvhsjkHr1PFFWAcnPNHlhYXF7WcxFAYqEHxoJxSl0mofnmt7lElBOiC_YjzSS-s4IP3b06SKd4E_wCgJjCPTrsqtJAqiK7o5ouQdQ9itqOTU1wO5kndw_aOmX5m-3LZa8daNRso3UlJwPHUAKi2TppdGNdDocwL4BgVTrG7gXFnKFWUuWW57orjyofAi_thQNw49IHZAlr4pQ0Ruy3goEgJnn2KKyNSjr98bopwDn-gAIv3cFPq-AvdCLmAgQNznT0kXKg9Ns724nwV1eU8ECO0lFr7oumrGxVSnzpxpcfVvu8GWNo0O5_DGOEo6mOJqFgm5v7n-UyCuPfIszly23SbpESMPZ7FP5mvaziuADh-Hu8PBjD9F8zzaS8-HVpO10pSwfMQxEo7OO0czt5cbzD6LJqGEzLjM0IQ9CTpZ6Cwgqkp1XTglzYckZ_ntYE37Vx1Ua0gT93BezsFc39X6xRLKdG_PevnRLVm2WFjF882mWWHUrmX4M4A4mjTR2NnLC_iQywnWrb2_rghv3oVNYxqUS21W9bX_pTbDV2tz31Ll_vkwN0EKYnw7FBDLnVNd1CkpgL5A5A==",
  "id": "rs_01c5462672836ebc016ab42cc095d887d088e1c30643ea8a88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.002,\"right_gripper\":0},\"note\":\"The right gripper reached table height, and the pen shaft passes just left of its jaw center. I’ll nudge left about a centimeter and close across the shaft, then check the gap.\"}",
  "call_id": "call_yX01PeQxsvAQEp8UIemiEAoB",
  "id": "fc_01c5462672836ebc016ab42cc1bf0c87d0b5a728becde5519a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yX01PeQxsvAQEp8UIemiEAoB",
  "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]: [-0.4847, 1.5795, 0.8001, -0.0654, -0.392, -0.3134, 0.0585, 0.7341, 2.0731, 1.3972, -0.6624, 0.4103, 0.4194, 0.0118]\nstate[eef_state]: left_x=0.3815 left_y=-0.1206 left_z=0.0721 left_yaw=0.0188 left_pitch=-0.1941 left_roll=0.0669 left_gripper=0.0585 right_x=0.3634 right_y=0.2378 right_z=0.0112 right_yaw=0.0171 right_pitch=-0.5896 right_roll=-0.3278 right_gripper=0.0118\nstate[joint_eff]: [0.0068, -6.8308, 6.188, 1.5849, -0.2369, -0.0415, 1.0281, 0.4308, -8.6222, 5.7094, 0.4908, 0.4518, 0.105, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ba087c1ed3c82d34cccee8742727d3aeb946dc66ce972d4340105f01087a51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563c19b554743158c468e4849f3d2f325bd16a7a50da38fc4cca5ff169fd3363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280aa09258128014e247cc099546b3790b65c9818bb5047eb3de09b8dc63c00b",
      "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 · 3.58 s

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

message 84 changed as sent

message 93 changed as sent

message 97 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]: [-0.4847, 1.813, 0.6739, 0.334, -0.3962, -0.308, 0.0478, 0.7216, 1.9316, 1.6997, -1.092, 0.4072, 0.4107, 0.996]\nstate[eef_state]: left_x=0.389 left_y=-0.1238 left_z=0.003 left_yaw=0.0158 left_pitch=-0.1581 left_roll=0.0542 left_gripper=0.0478 right_x=0.3607 right_y=0.229 right_z=0.136 right_yaw=0.0184 right_pitch=-0.582 right_roll=-0.3183 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -7.4872, 5.2718, 1.4481, -0.149, 0.1343, 1.2186, -0.1983, -10.1128, 6.1333, 0.7546, 0.2076, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8009, -0.0563, -0.3923, -0.3134, 0.0585, 0.7128, 2.0541, 1.38, -0.6781, 0.4004, 0.4061, 0.9958]\nstate[eef_state]: left_x=0.3831 left_y=-0.1213 left_z=0.0739 left_yaw=0.0182 left_pitch=-0.1853 left_roll=0.0622 left_gripper=0.0585 right_x=0.3619 right_y=0.2265 right_z=0.0127 right_yaw=0.005 right_pitch=-0.6085 right_roll=-0.3365 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.5573, 6.106, 1.6874, -0.2076, -0.0708, 1.033, -0.7726, -9.1556, 5.2991, 0.823, 0.1197, -0.3639, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0654, -0.392, -0.3134, 0.0585, 0.7341, 2.0731, 1.3972, -0.6624, 0.4103, 0.4194, 0.0118]\nstate[eef_state]: left_x=0.3815 left_y=-0.1206 left_z=0.0721 left_yaw=0.0188 left_pitch=-0.1941 left_roll=0.0669 left_gripper=0.0585 right_x=0.3634 right_y=0.2378 right_z=0.0112 right_yaw=0.0171 right_pitch=-0.5896 right_roll=-0.3278 right_gripper=0.0118\nstate[joint_eff]: [0.0068, -6.8308, 6.188, 1.5849, -0.2369, -0.0415, 1.0281, 0.4308, -8.6222, 5.7094, 0.4908, 0.4518, 0.105, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ba087c1ed3c82d34cccee8742727d3aeb946dc66ce972d4340105f01087a51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563c19b554743158c468e4849f3d2f325bd16a7a50da38fc4cca5ff169fd3363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280aa09258128014e247cc099546b3790b65c9818bb5047eb3de09b8dc63c00b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzHuQ3AZtErtZyhVpBbiuGQNWfWfN19C9kfW9dLPtS0FNMKCWv9ROKO088EP0hGXQ-mJACNNeOCcvgdzJsPjlU5bu8MIHPdYLNmPOATD0lMzR0hPG1u058eOjZTf53B68H2Z2GqV3AuLVjnNJTupm2cG_KcSOs-WeQ-H-b1lT2pzvN01Curh-GZJCpgcuVLRuh24nzNuS9EyCZ8dOlWwlAjOcsZqjUcbpDUJ7N6S9ErUT9P9gy_b27skXTerCd8FZ8Z0e_gyR0J4xpprsSH7xgobQ4XgGj33pqpl-Ik1cT13P3grSX2Hz-Oe0qzukH2ezlFmgSJIU2TeIxRP7dDlooTQesw5UDX15cDUGR5R-j54uFcyqyr6eT0xvxDm2AFt_slO18v-Lbebpkbe_Lmrz_FHJdgND-hZvelQAYaip746ASWRcPxg_wmrpXD8AVUctuCschYQAlcGbs7Q1dSctdXs4nf6SsuMkB6flV3rYysfDHxDzuRpxDvIMQTXlMDPu2iFGoQZ5Q7KU7Yt3MgJSYqE_xCcScgZCUxEfNDuoCHqCiqc68O9I272b7_85GLuwrIR6nHaHqXXoae_eV5NI3qP3AMwhg-uwVHWmpE0dvmi-1ZIY8kC5PbRYaafLMVz00c0ZF2dybk2z40rhyNmqUMmMWW83UEuu5zxtnsy_jryJLaIsYQMRryHnUPFxx3vTTzukCXEKeePfK3_XV6OUP-wUqfKysk3j7-i6pWwpos7P6E5Th_zy4Qqt2xm8nEWlbJHw-ismDkV4dLeWvagFWv4iSJ5rEVZBsT6IzOi27r4LsdnhyC7uTCsrFOmUy9RWrksgD9Nu_kCTd48_qp3kgKa4hz001LZ322y-e48yV9Qo6LF_msDZB9N1Xeymh4Ga9fENa16MvMrDIrz8POoQWUn8N-Uw4oiQ65LufK21og06SkYnE7ICpCkgegO4dumNQB_Bf0Fu-EP9lFLONZeO9pbrL2mfHQ56PsCJWbU6I_hsNZl9k_myujYR75ZhP8pjrV5PPbUeKqOrVvgFZNETHZrCoQAJdI3ub-Lp8r6JfM4oM-bnvSU1H_lzqXdhqKKrh8LLioDeN48y7kiFWH_fxid-cfLyOaNySEHXIAqcc7FVFvmOGA8tcClLa00DAZOcnWmiC-1m7HmlZ-wPCo9yjp6KAYqpwAgk3yb7tfz0jlcWQRmrTREwBMTCKtPHqjalGwF6pgToPyRiNU1CB59URtR-fkQwRLqEiEgXcQM17bwTGcY-UnRMszFZOlMfBfNGEnJ_Rg-G8Ljvsftnv_CbZSRfXlsLdRB0GGFKGz446_uMOpa3D3TItHc6hQVA8Mk4DSq0qXjy9Lye6ear5njll3VL-x2vaRb-EoVwVdpY-a7w1-YB9gAM47gYPQPvxQcBiQdSmxOz2DbpTTafQk409dT6UyGnLjwKo6Ekhx9dkvfhyjJ1QyW4Q1d_QaQgq8BxQei1YQ9xd-aI0DNUR162NJ2Mvw-cBra0U1IIVAJBxPzp7IHVw-GeDFrVzgKSqOUuMU6tsji26V6E3mzN-4ax7jNhZwk_pExJyd6roqeTShFBAFY_tdWnzCmRTF5bX9CuQ7zvxD_jQYrg1J8BUsHQGbJxuxYH641hNAwa6RcbbzySSg7ywWsQS9HG8BG_5j1ncheJ-yindCZdDwQ9CT8MbN4LG0brIKl_-qgvmMyaAsEjx4pz8292yI5L-5e2hr5cR04b-gWXq_6Qyn96-oyOBeXZWgy6V3b1RFaPIcJyEkXdbG_cmM0hnzihsikOyd02uy3XJFT0fQKN8HT2FReGWmsUfatkUNAoREz2rcB3Tziiapkx4W-OaeCFW47PwghPP_oOxkqwM92brQUr5kKFpNTuIWKGtcroG6jancBkk2o08G0IBVka8id9h957bkzdSgw4Y2UJAUb3AgGlcB3bRmuBomC6x-y9j6DkR3qlt8N3M=",
  "id": "rs_01c5462672836ebc016ab42cc4e3bc87d0885a05a9374edf70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_z\":0.035},\"note\":\"The right close was empty; the pen is now almost exactly on the jaw column but sits ahead of the actual grasp point. I’ll reopen, advance about 2 cm, and try to catch the exposed shaft rather than close on empty space.\"}",
  "call_id": "call_DgwnL3wwmwumae3GcLKI6Ewf",
  "id": "fc_01c5462672836ebc016ab42cc6312c87d0ae91d03b8fd728ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DgwnL3wwmwumae3GcLKI6Ewf",
  "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]: [-0.4847, 1.5795, 0.8001, -0.0681, -0.392, -0.3134, 0.0585, 0.7013, 2.0941, 1.5166, -0.7616, 0.3882, 0.3664, 0.9954]\nstate[eef_state]: left_x=0.3811 left_y=-0.1203 left_z=0.0717 left_yaw=0.0191 left_pitch=-0.1965 left_roll=0.0682 left_gripper=0.0585 right_x=0.3796 right_y=0.2378 right_z=0.03 right_yaw=0.033 right_pitch=-0.6126 right_roll=-0.3348 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -6.7624, 6.0786, 1.453, -0.2173, -0.0562, 1.033, -1.0872, -9.894, 8.4991, 0.7741, 0.3004, 0.0611, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580b268561a52c023fa036ae409cb958e434bb7a665142101282f42bf81590a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1e0759330b587549ffd63fc6f49369572efdcedc1dbde7fe24ae9553066847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f3f2d2180e1dd24aa3a48255dbd64574d4324e352aeec5572de54b6636d70b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 5.836 s

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

message 88 changed as sent

message 97 changed as sent

message 101 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]: [-0.4847, 1.5833, 0.8013, -0.0277, -0.3927, -0.3134, 0.0535, 0.7216, 1.9316, 1.6997, -1.0924, 0.4068, 0.4076, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.1235 left_z=0.0771 left_yaw=0.0164 left_pitch=-0.1631 left_roll=0.0502 left_gripper=0.0535 right_x=0.3606 right_y=0.229 right_z=0.1359 right_yaw=0.0203 right_pitch=-0.583 right_roll=-0.3198 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -8.2393, 8.9231, 1.5263, -0.2613, 0.0366, 1.0281, -0.3077, -10.1128, 6.2974, 0.7497, 0.1636, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0654, -0.392, -0.3134, 0.0585, 0.7341, 2.0731, 1.3972, -0.6624, 0.4103, 0.4194, 0.0118]\nstate[eef_state]: left_x=0.3815 left_y=-0.1206 left_z=0.0721 left_yaw=0.0188 left_pitch=-0.1941 left_roll=0.0669 left_gripper=0.0585 right_x=0.3634 right_y=0.2378 right_z=0.0112 right_yaw=0.0171 right_pitch=-0.5896 right_roll=-0.3278 right_gripper=0.0118\nstate[joint_eff]: [0.0068, -6.8308, 6.188, 1.5849, -0.2369, -0.0415, 1.0281, 0.4308, -8.6222, 5.7094, 0.4908, 0.4518, 0.105, 0.4469]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0681, -0.392, -0.3134, 0.0585, 0.7013, 2.0941, 1.5166, -0.7616, 0.3882, 0.3664, 0.9954]\nstate[eef_state]: left_x=0.3811 left_y=-0.1203 left_z=0.0717 left_yaw=0.0191 left_pitch=-0.1965 left_roll=0.0682 left_gripper=0.0585 right_x=0.3796 right_y=0.2378 right_z=0.03 right_yaw=0.033 right_pitch=-0.6126 right_roll=-0.3348 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -6.7624, 6.0786, 1.453, -0.2173, -0.0562, 1.033, -1.0872, -9.894, 8.4991, 0.7741, 0.3004, 0.0611, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580b268561a52c023fa036ae409cb958e434bb7a665142101282f42bf81590a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1e0759330b587549ffd63fc6f49369572efdcedc1dbde7fe24ae9553066847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f3f2d2180e1dd24aa3a48255dbd64574d4324e352aeec5572de54b6636d70b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzLsgZqXg1jxAwIpkxJQ2vqCHfHQMtPhPPCCG0W51k2wQkzgJ6C4E9oEbQgJivaGN4akdHgzA9syLLJI89kXyLSCNvJwA_lEYZJOYtL8m1tzUkLbJlDkHiwWradWXQa5Pm12iywwwbE83SN-spIkmn0oeKu5hrgalaGSsOiFwlWtnoz0fhrLtO6ycjTIu6pvPCpXQwtps6qiKhSRKVTWe3EHhka9jMHcL3DukeI-irMT3EaPy0-JNaXsSVh7QUnw0ddsB8dgBh40Fln0ZHbplHvV9i_CUmTMyO6ZJFxSw6WyV_qi5BjaNtRr2Cx3rxE5_tfX45fGCylasxc90RrbCXTpFbtm8fUaeBCVGn4C65PgmnnYU81iXJ50OUt7DjguwoorNALff11otWJMBnJDYoZ6ttXtu6bY_4h7y8r59j0AQwkAB8j23jTMUbsDzeNGVBMl5GKmr1KDg-APhHcCGfKJLwxsLUaKrSyAa_h1-o7YEx4hVGkr7Xg3z1id46vPoLElYzgtdYZNzpf-hX7vD2zWrQ1Js81N3vo6fT8M0YNE1PMTEtiZK5NE-2c31oqmnMD1JrM-4GSvffIEB1EufFz1_s55vopH80IURTngvb-z2eNYsz-GxpkPOgBPqhWZkZkeWHOILOhZkloNWfPcn4eKALgSLPlxHzr5wnTEBgB2ChjETPCoY90x2NRErTgQXacAYK5r_zIrRqp7vYdd06UqLNeA-dwXPwl0uQqfwhpO31mrMbNBWy_4RpS4yTjzGnx9NDOAjxxKlGJFd6pSfHxvS2M_R-gFcKec2bvrpbxnJC87Xpy7HnCH482gqrs_hzmluCvjIEi2p2-TM5k1nRjhHqCDEpBmHhX9y6VKDQAVMnBAL0ZEUuBKX_bc1iGH-f6tD99djhGrfoXgdrq6mhYioqTaDlZmKo0lZMoWkPs5VE9rAC3iKP0oIThNSC1XKD_FqLlG4zavxScqgB-MxdE5b9vh0DiOFCS4-GuBLeSpExCTo0k8_bwvXr-hQevSWRl-5r4LKnGndG4MD0EquRZHAl3ey1p7ncYnEEfGKhtlBRbSxRkB93xpVJdwRjd6tXWxUGdaqrJ64rnN5WZdk4nVEVPz3qfERxe-ixfqs429XlqXzOayCRsXVG3hy4qAV0axYb64dTCAwZdX5NoIYTLYzzq--3rs9trmGJJq2-OThjO36wM05JTG-OWptme5h2QPF-jpZs3evU41Zbk9dbXUco6p_7ATQ6t_1e77Bbyu7OS6fgVJ1LlL1vspOlVQiJyOIXPPYQmd4rZpGmMkx2MePtFVrhusvNJHrrrjeMdMo6JLdNk7N8waDDWRuwkY5OAfNE0n2mzJGnEai-CjZA1ztSw6pBUtcYi44YExmGUrGBLHvqbQsIyBaaGjbut7FcrkvSj2ioCcc9iA_V57kxDugVl59NDXkMY6-svBQHPHciSEtd9E-wkS1XOp0uzHkN-ZTwRLxweBOjQuVHDgrSXN08EXvF611g2hHvsLuPQm6uxtaSjqvIYVTaUJhgH5dyKs4ilD9HhL1S2o5ueq1N9cKtpZvDMIyfa4SM13xwTOEvhjU29MoX8SsuaL3ZlIV6JNXNEneejkYX5QLWAgTcuFEut7SxKW1uGJwEHjPZn6WO5bKKmYWO_Z7cWwsmI7D5HqHKfiiScPIx_fUh3QPAyRYff_jDlu9zWyUhK91d2rBaNjLScUHt7E6H8Ywpa8w0lfeAs2v1SujcivytkSwQfcHl6q2r2ZPBn7VUgQLI6QEm4sUFqCiWbsAvbIdiEbfZayWfUKQcznAYOrpR_dbRkuA==",
  "id": "rs_01c5462672836ebc016ab42cc9822487d0b8baaeadea5e74a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.002,\"right_y\":0.228,\"right_gripper\":0},\"note\":\"After advancing, the pen’s shaft crosses the right fingertips with only a slight lateral offset. I’ll lower the gripper, correct that offset by under a centimeter, and close again.\"}",
  "call_id": "call_C3crm8pwQ1qSLVV6F9xDuy5o",
  "id": "fc_01c5462672836ebc016ab42ccaa89c87d09b52e2026abb972c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C3crm8pwQ1qSLVV6F9xDuy5o",
  "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]: [-0.4847, 1.5795, 0.8001, -0.0719, -0.392, -0.3134, 0.0585, 0.6926, 2.1002, 1.4158, -0.651, 0.3874, 0.347, 0.0113]\nstate[eef_state]: left_x=0.3805 left_y=-0.12 left_z=0.0711 left_yaw=0.0195 left_pitch=-0.1998 left_roll=0.07 left_gripper=0.0585 right_x=0.3755 right_y=0.2295 right_z=0.0044 right_yaw=0.0385 right_pitch=-0.6133 right_roll=-0.3407 right_gripper=0.0113\nstate[joint_eff]: [-0.0068, -6.8034, 6.2564, 1.4676, -0.2222, -0.0366, 1.033, -0.8137, -10.4684, 5.3812, 0.8864, 0.2906, -0.0024, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b96239f7341f8eff118388ace9fed2d0a1139daafdb304d7a96de7a11749c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d779095a030f94af3dc351144fa2f2347bb95ac830301d7e884eb3f93579e60c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46968a9934502f6e5e552b9b5f9dd4227023e5d2980e523aa08c1bfe33bfedbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 6.147 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8009, -0.0563, -0.3923, -0.3134, 0.0585, 0.7128, 2.0541, 1.38, -0.6781, 0.4004, 0.4061, 0.9958]\nstate[eef_state]: left_x=0.3831 left_y=-0.1213 left_z=0.0739 left_yaw=0.0182 left_pitch=-0.1853 left_roll=0.0622 left_gripper=0.0585 right_x=0.3619 right_y=0.2265 right_z=0.0127 right_yaw=0.005 right_pitch=-0.6085 right_roll=-0.3365 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.5573, 6.106, 1.6874, -0.2076, -0.0708, 1.033, -0.7726, -9.1556, 5.2991, 0.823, 0.1197, -0.3639, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0681, -0.392, -0.3134, 0.0585, 0.7013, 2.0941, 1.5166, -0.7616, 0.3882, 0.3664, 0.9954]\nstate[eef_state]: left_x=0.3811 left_y=-0.1203 left_z=0.0717 left_yaw=0.0191 left_pitch=-0.1965 left_roll=0.0682 left_gripper=0.0585 right_x=0.3796 right_y=0.2378 right_z=0.03 right_yaw=0.033 right_pitch=-0.6126 right_roll=-0.3348 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -6.7624, 6.0786, 1.453, -0.2173, -0.0562, 1.033, -1.0872, -9.894, 8.4991, 0.7741, 0.3004, 0.0611, -0.1929]\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 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0719, -0.392, -0.3134, 0.0585, 0.6926, 2.1002, 1.4158, -0.651, 0.3874, 0.347, 0.0113]\nstate[eef_state]: left_x=0.3805 left_y=-0.12 left_z=0.0711 left_yaw=0.0195 left_pitch=-0.1998 left_roll=0.07 left_gripper=0.0585 right_x=0.3755 right_y=0.2295 right_z=0.0044 right_yaw=0.0385 right_pitch=-0.6133 right_roll=-0.3407 right_gripper=0.0113\nstate[joint_eff]: [-0.0068, -6.8034, 6.2564, 1.4676, -0.2222, -0.0366, 1.033, -0.8137, -10.4684, 5.3812, 0.8864, 0.2906, -0.0024, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b96239f7341f8eff118388ace9fed2d0a1139daafdb304d7a96de7a11749c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d779095a030f94af3dc351144fa2f2347bb95ac830301d7e884eb3f93579e60c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46968a9934502f6e5e552b9b5f9dd4227023e5d2980e523aa08c1bfe33bfedbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzSX9DZIo8bybsnBSxDrafumOdjN-Rd-j_hDBtYRD_o2zUCYSgya8lKLycAQkHldNNu9c106ZMElMzIr8hLpTal1YB8bN7_PBTtXFXIcfAdbjcGsIxRugFMAPAT-n2fLLTbPvAWEAZYdy4zAEsye_5K8G-yYw-Oy2DBU0Bg8Ey_ru_nmKHT7aRsnmf9fs35PndRB01u33gRrMR0PdU_D71ei6g4f66o_Wt-7_nGBpoBdFqxyp4zeWL0A_U3XbhOtBSpgTxsiqGj_aqcNYGwXCbagKkUq88Jku2wve8rCpR7Lw6yPFA5Mh1trpU93wuGBFq_E_Vlf3fbCC8xg6rPgp3SYz4SdcBY4FD1-4hYzNRwQ_DVtyrenXcd5xPCp8obaUursByAHtcI0RzH2HTIk9ddJwvbgMYpt4liBLgNSWtFUU1h1LD8I_BTo9fZRy1zCGIbDBVBbt5BQ9VACcZ-tJHOJzBm-iYCO8u5oNQj_1FJ_LgNGVYYymfS05GHcnbxe5smayapQPgWbGR65ulSvPIvpV3RA6EWnJ1E0-3i6XBmnSqVr3q1n3XwpXgAM3UQylu_wAL0ZWwCsHLGmZtgMW8SLvHQcGHj1GdhtmKg1oz_ucCSHYa5z6N7Q9tJlPF8l-OtU3iOKnOMq4WGEiBOiTCT9nh_mf4NSd1-1cXnmKrmYDDTPVc-2kyoLmug9mVML5kdi509aMaa9_KupMDERSvsJ3DWccXsFBiG1vhXGgGMlSDfBV3VGIXrfvpqrRkV8z-xtD8u-CfrX6w4aWKCHuNVNqzXBR4_GzqSnKRj2fzRtTsMsLNlcKd3uGgLmC0f_i4Dl_xPC0V3I2giwSAK97f5H9U3VhRUkVnXGy2jCsKOhhdNeg7KIAbl4zaTaRwDlTUvMnZVEvCHvDJ2TmFFW3yua45FdvLjyVZdphGwI3c_or2JKy8LPC7lUTri6lLcyOkNSS-S_cKBbredZ1zIFWNWhimVCvxsZ2qV1uy1UkSyqGaifXMnwL1bVHDQV4mx5PVkUzWZ6LaryEUrhNUmJH7B93gClmTdInodTvIUPJZtw6Oo8Vz-SJr3uBXqsWSnha_EaKjHXG7KPoU3YuA7f_IUWFQF4xYE0W2twzE2k1_LhHF-kUm6Le1DzDerE7eVlKQP1Y1CGVb3LZK88oqt6l-BNrwE5tiDQHO1TwebA2xU90G1L2eqd-LAL38ux4e4X_BETQEpxZKDMc8V1Q5x5aeF0gzVC_5VGjJkmpzwDCmSNr1LlvgBTxDQGSKMDZqIaKkGEvwLX2J35RgRmlh6JwBNOuPX7XJGTOjrrl7w0uG3Vwz7X6hQ5Md4BMig2gaSUO-cspAIXT-nZfSm5kb4H0uRW6IUK8V2DuhuculrNH87nHokvKTGb55jlNtTTIUHw8lzsKs77bdVtqDnZvQCtH4hiZME9tRz0SjCBGlxNF12EnVRsYfuyABWtpCq9C6TMGuVAFp3mraS1WQDmurgDHfUIKH_vK-8-phOut1pjFGRhtgxWs9laJkA8csBpl2EnSqPqshCkJZItewhh2q8H6M5DzMCuVB0OMCMU7j6UBD-eeZWycEIA4y74BN6JcRgPKZJtroq7DzSzrEuaV2xszlRD3tXU59uLxWUoZwvlyf_2tGrIWeCGypBtYVgscrxjLFEgjYq3H6TsIXXKJI9LNg_U2990FWjIC6HP_8xKzceXoA8oGH_mj5fVH2XyAlDZXW5bdGp8fefC5cw3Fj1svUM4WSWHdY-ujeemCXmk4od0FIst7uMKXWSWDslLZtyF8tz87bd5ePpn_qJIA8qO7u4U6T-rNLQC1uafgfAbb67Cl8caNHXPwGZEs4PUkoiQzYEZTfMyY9a-DoIohxd7WTu-kH2kR9VMFgFRPpFYGbuBtkaJfd66_gBa0h2IqDg1sAV9P37AKsAK0PD3hj0QES7dE6sfh4FUBz46xUiWe-oCfZEhGdjYYPzVgfIp0QEWXDggOfupex7eIlwGeKuN9Qt3nw-PJziz0H4iKRNty_lub0r5BIrQSMNyUJgDtrTQNqtwUf5tmhinkjrj_xILVyvG3lYo3RUf0UhIBPOfWDAkcT_pX5GciCifBDtlsoZZBZ8z1VDAcGY_LvZvsKitN6IQofTqsUv-v98OOmTMsjWAsFNrfdJWDboYytVycQBBRMmiO5vmDkWX61wm5z28ukjvexYDW8nV2FTdF2vtnCA3CzLIjP20ZkR94ZScI7GAHO4jXN-YtIjqJBuhzT8M4IdWk4AlFyMsNBZNWNDWCo6p4ssnayXc1FPuvJqVDwfQ6LZwd4VEsmBO2uSrwsMEgl8JtFTkvMwTp3na3TIWCJfzeEHQh7okyihWuWcRhz6gKCaua0xMtcmLu5OC12EeGbs_oRnuXwV6MUfdO4Y3njz83opM19OHVofQ76rbMqXCZOeaCniPqF-N3A78_6z-WMjmPhj6lKUl2VX7XXWNd21lSf2QbMw0fDfo1JBnCV7hIWLepegvRHiDUqTsPdiMmvyWQSjlRqWAYiK5xRW1Ij1lNZX7x74yNgrQ2747ByPZhynGsRrvgHE5LofTC9XUNDXihkMU4fwGUlUObq5tYQEpcKIFTBldYxqKX0vfOZEvQvvRp35XQFffCwxC6P_XSNPwDz2iubA7A05hY9xdegO8TiNTbSeCW4_0d5X2XwBL9X8QMcRnMVSgpyeuu4GhP7RqOXH0w1kRWi_UmJj0lTxHqlz3uFEV6tIeoARrSL8y5FDqyW0dRhzb_vu01LgA__QzLo73RQd65a4ydpoLvYIqeOz1UwckCmvzxa1WqDw_h-g139uULTMpOXvS-mexKTnXtotAlBV3zZN1h7sn6OpDXawc0RWdi8ucvEJHrtiyWeQNGxlOunGZOmVP4t1UW9ECobtUnI9KcqGEkHBXq_HB5JXYdRc3jFhOahJVOi37h-toleim0JSrH8ScLKTYjlompeoIxIKuFf1B4xgk-OmfheVhXYB7hwmC4FsGtiqJKBE0K1PWzGNhT0xZB6fYHEu9y44qY6gdmtlZqRRKNyPukQsq-wrMLLJDJHnYTdiB5jieJCBX9oVNJ5G2sGYiSo7m7lR7uH_gPmN49d3LPdC-1brp703soYmHGVdr42Lxwc7Z153lG9yrIYDRHrgNiBG-dgHSB9CZBTlF2xI4iFEt5EWbgQ1jKLhNNpQpubTYzTV6GcvqcEov2Bcy4mslCZXOlX6nrWFEQ7akJ0_ymEKy5YQOWfxBCTbiRYolWQTh2aHNqZcfapizTldVgLm0McE-M20aK9yeAC_dUO7xDrjzgq7aPzfH_DHB9vGe9Htnec5bu0yucc1SBMi6JxwSkPWKtFMC3CxBmplZhBo5LIL0eYB5lTxHFmx-7Vo6xj6DLSo",
  "id": "rs_01c5462672836ebc016ab42ccdd65c87d08903967ac0dd4893",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.2,\"right_x\":0.385,\"right_z\":0.035},\"note\":\"The second right close is also empty; the pen is visibly to the right of the closed jaw tips. I’ll reopen and shift the gripper toward the shaft using that wrist-camera offset, then make a fresh approach.\"}",
  "call_id": "call_HA95r3EyvPFzUvO92P8kjkHe",
  "id": "fc_01c5462672836ebc016ab42cd156e887d09f8c3047caea1682",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HA95r3EyvPFzUvO92P8kjkHe",
  "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]: [-0.4847, 1.5795, 0.8001, -0.0723, -0.3916, -0.3134, 0.0585, 0.6312, 2.0449, 1.3975, -0.6868, 0.3714, 0.2718, 0.9951]\nstate[eef_state]: left_x=0.3804 left_y=-0.1201 left_z=0.0711 left_yaw=0.0192 left_pitch=-0.2003 left_roll=0.07 left_gripper=0.0585 right_x=0.3805 right_y=0.2031 right_z=0.019 right_yaw=0.037 right_pitch=-0.6345 right_roll=-0.3607 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -6.8855, 6.3385, 1.4725, -0.1685, -0.0464, 1.033, -0.8547, -13.5043, 5.4085, 0.8132, 0.232, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137a2332da310a68e3b709ad2f210c803fef3b798e99b7b27829e3f89b13b591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46472db84d575c91c9eea4a20227effb95581b425206f296446447c0fbb8127d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114f0470a1a19574129b8f1aa267be0828a9ddb78e972e29ac6cdf0add3f07fe",
      "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 · 5.186 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0654, -0.392, -0.3134, 0.0585, 0.7341, 2.0731, 1.3972, -0.6624, 0.4103, 0.4194, 0.0118]\nstate[eef_state]: left_x=0.3815 left_y=-0.1206 left_z=0.0721 left_yaw=0.0188 left_pitch=-0.1941 left_roll=0.0669 left_gripper=0.0585 right_x=0.3634 right_y=0.2378 right_z=0.0112 right_yaw=0.0171 right_pitch=-0.5896 right_roll=-0.3278 right_gripper=0.0118\nstate[joint_eff]: [0.0068, -6.8308, 6.188, 1.5849, -0.2369, -0.0415, 1.0281, 0.4308, -8.6222, 5.7094, 0.4908, 0.4518, 0.105, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0719, -0.392, -0.3134, 0.0585, 0.6926, 2.1002, 1.4158, -0.651, 0.3874, 0.347, 0.0113]\nstate[eef_state]: left_x=0.3805 left_y=-0.12 left_z=0.0711 left_yaw=0.0195 left_pitch=-0.1998 left_roll=0.07 left_gripper=0.0585 right_x=0.3755 right_y=0.2295 right_z=0.0044 right_yaw=0.0385 right_pitch=-0.6133 right_roll=-0.3407 right_gripper=0.0113\nstate[joint_eff]: [-0.0068, -6.8034, 6.2564, 1.4676, -0.2222, -0.0366, 1.033, -0.8137, -10.4684, 5.3812, 0.8864, 0.2906, -0.0024, 0.9695]\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 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]: [-0.4847, 1.5795, 0.8001, -0.0723, -0.3916, -0.3134, 0.0585, 0.6312, 2.0449, 1.3975, -0.6868, 0.3714, 0.2718, 0.9951]\nstate[eef_state]: left_x=0.3804 left_y=-0.1201 left_z=0.0711 left_yaw=0.0192 left_pitch=-0.2003 left_roll=0.07 left_gripper=0.0585 right_x=0.3805 right_y=0.2031 right_z=0.019 right_yaw=0.037 right_pitch=-0.6345 right_roll=-0.3607 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -6.8855, 6.3385, 1.4725, -0.1685, -0.0464, 1.033, -0.8547, -13.5043, 5.4085, 0.8132, 0.232, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137a2332da310a68e3b709ad2f210c803fef3b798e99b7b27829e3f89b13b591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46472db84d575c91c9eea4a20227effb95581b425206f296446447c0fbb8127d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114f0470a1a19574129b8f1aa267be0828a9ddb78e972e29ac6cdf0add3f07fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42cd4e84887d0ab6887582ec371a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.183,\"right_z\":-0.01,\"right_gripper\":0},\"note\":\"The pen now lies between the open right fingers, angled across the bottom of the wrist view. I’ll move a little farther toward its centerline, press the fingertips to table level, and close.\"}",
  "call_id": "call_UQyl6QjUzUtJQTwqYn7KJnkC",
  "id": "fc_01c5462672836ebc016ab42cd84fc087d08a094926dfc510e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UQyl6QjUzUtJQTwqYn7KJnkC",
  "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]: [-0.4847, 1.5795, 0.8001, -0.0727, -0.3916, -0.3134, 0.0585, 0.6144, 2.0308, 1.2678, -0.4885, 0.3855, 0.2295, 0.0112]\nstate[eef_state]: left_x=0.3803 left_y=-0.12 left_z=0.071 left_yaw=0.0192 left_pitch=-0.2006 left_roll=0.0702 left_gripper=0.0585 right_x=0.3868 right_y=0.196 right_z=0.0008 right_yaw=0.0651 right_pitch=-0.5649 right_roll=-0.3415 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -6.6803, 6.065, 1.4628, -0.188, -0.0708, 1.033, -1.6479, -9.7983, 3.6991, 0.7204, 0.0806, 0.0073, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4920566a0eca51f76fa035bd2274f6f4944af9f7cba9c17ec883acacf0af801a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833749117be20eb6dae5f3b0eb0ec87aeb7c0c62690c50c6ef06b4d34383f954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d974b6925f488e9e10aa8a142cf699991f6086377650fe63bdc276d1adc1f8dd",
      "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 · 3.778 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0681, -0.392, -0.3134, 0.0585, 0.7013, 2.0941, 1.5166, -0.7616, 0.3882, 0.3664, 0.9954]\nstate[eef_state]: left_x=0.3811 left_y=-0.1203 left_z=0.0717 left_yaw=0.0191 left_pitch=-0.1965 left_roll=0.0682 left_gripper=0.0585 right_x=0.3796 right_y=0.2378 right_z=0.03 right_yaw=0.033 right_pitch=-0.6126 right_roll=-0.3348 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -6.7624, 6.0786, 1.453, -0.2173, -0.0562, 1.033, -1.0872, -9.894, 8.4991, 0.7741, 0.3004, 0.0611, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4847, 1.5795, 0.8001, -0.0723, -0.3916, -0.3134, 0.0585, 0.6312, 2.0449, 1.3975, -0.6868, 0.3714, 0.2718, 0.9951]\nstate[eef_state]: left_x=0.3804 left_y=-0.1201 left_z=0.0711 left_yaw=0.0192 left_pitch=-0.2003 left_roll=0.07 left_gripper=0.0585 right_x=0.3805 right_y=0.2031 right_z=0.019 right_yaw=0.037 right_pitch=-0.6345 right_roll=-0.3607 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -6.8855, 6.3385, 1.4725, -0.1685, -0.0464, 1.033, -0.8547, -13.5043, 5.4085, 0.8132, 0.232, -0.022, -0.2222]\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 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]: [-0.4847, 1.5795, 0.8001, -0.0727, -0.3916, -0.3134, 0.0585, 0.6144, 2.0308, 1.2678, -0.4885, 0.3855, 0.2295, 0.0112]\nstate[eef_state]: left_x=0.3803 left_y=-0.12 left_z=0.071 left_yaw=0.0192 left_pitch=-0.2006 left_roll=0.0702 left_gripper=0.0585 right_x=0.3868 right_y=0.196 right_z=0.0008 right_yaw=0.0651 right_pitch=-0.5649 right_roll=-0.3415 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -6.6803, 6.065, 1.4628, -0.188, -0.0708, 1.033, -1.6479, -9.7983, 3.6991, 0.7204, 0.0806, 0.0073, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4920566a0eca51f76fa035bd2274f6f4944af9f7cba9c17ec883acacf0af801a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833749117be20eb6dae5f3b0eb0ec87aeb7c0c62690c50c6ef06b4d34383f954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d974b6925f488e9e10aa8a142cf699991f6086377650fe63bdc276d1adc1f8dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzfkVd7i7bPaj9HiZf7atF_u-bmoLRNgvBIPkiTx-D53D5b5ia7YkokskPV4jJTnJgx_CDoqT0cOV-WbaZirYXaECG9CCCYTF_VJZyRLJfahiCkNK01PSj9nFv9ffvhBkvIhmq_TQpCDMSrUxnAkvVP0wQcBq7V7C_3qoOOunZjHoNcnei8cp5qOh00fd419fmxxZNjn9moqn4x-vozFAREt4hManq3Q8HPcWNZgw2-6QyGCTYDJR5Ztt7BXvX5xvteZJkiNvw5H5CjQ1wNxg-B7sCVvt0wzCZunsNg2rbaaZWqbImX0ezIgCfLP3oqD0Qhe3KYLqrm34C_tNhC6zLiX9PRLJsLuS2pH2uA8Iz_tJgNm5Q698mvij4GgBZiQU3QdA3Nw5B3mMrLNH4OaBs9dX7Xk9hk7DjTxNxsn8Xi7QotCFYD9aN6Jda1zRfWpN5bbHYUMm4XhN-qlfbqJZpGAIabgKJcu8_jy6X9rJCadf8Fos0YEM6ey6mZvGQc-rlxAMMNdApSs5TgvYzSWwnmUQIoNBtRnDMIoh_5_zJyjpiDZpdqmIEBgewm3ZIqFKT2E6iJxS3GhLHIn_vJcqs7vAg2VAUbjC4QAuLtjKCQfDGtxhIDYpn0b5lXiRNrIjvmt_6wEJF0r3-K81MFzDJyPhdoHbHYuKmfTnXNHuCRlQo22cm_Fgk2Iyu1QgbNUjOTCXeVHL_-q6_N2QZSi5Ha1CBUV0EmM05upVZ-WxNgLboY5aw4MW_lfzgIzHS28PAfH2dwjU2i_vsu_Z81UbqRqYuyjXql38WVYgrhLnR8mSVO4f9JG06SFTdQBSvJTUjcT_iBEy_eIY_ItOD9oHkMjIKxGKeroIP6p0CZqYojWvAjbd6QrOM6gEBx8fM7dls25ot4cF62BsELbVbG0RzSya_uvJGD80ADHeKyAEX-xmQscYB6HBflHBhgAEHE31dGGoUa8RxZ7mUxRApi5ixMNjWarFqmEoFGL45qNAMBnpDVPLoZGmU69jI24PpcF9hDQXbxrCrMOKdL01IjsaoAsSSORTr8xIi9Vl_dlfztD2_w9chfoDm0LiNKeUwoTz1tOZ0Sm4hsOdaRCxpDTu2fZ7CgIl_IZSfS790g9_h0tejokHZ6saxXPvuHRMhbeAhTJdfdleuy2Xgz1W7Kr9o3473RFN85XMNukguNSbeLJjWzGMe_oOzzS82prSzB5Ho_IvsmUkSbmo4BtdB6cHcZ395ccbhh4ZNlGmmSBmpeUrjEOFyK4mXB0B9ROfOOx7rLccqpQK7M9sVmkqm66dI61tDVEiGRGioFnfL2l1zKsE3VEXM7RyYIzaw7D3x6MUAYlxv_W1nf2VDPF1n-SXc1NSLPG13iLQ9sT-6TPGNOqDRRT2A_i1XylpcFBQNkuV1WbNym3kW2NQ96LXjTWd5BmOCJpzXpWbKBjxl_L2woyQeOBFdoZVmhC_pQGx7pYRfdSZsJpkui9hBKc_Js2oJO0Ci3_7UkxZHOSU31nNF3AULY7tuRk5EGSKk7NLwpcnD8kOZ3vEVmtSFmOfmDoP-7jp9sVb8K2AgTR2UvDacbiHu0NNvIRxXFOrHC8Egg5cHFEfAcl6cH8C9WJ4eXxGFzzcYvpIj5oDAQbAKzxDEBOMIaonogjWAZcn8zO7YcIRoPu1LaES5ob73FnENbs7omPWKiVjs37mhKGu29fKCdZ-dzfzyECXkQ8rLUKZODRU0Kmh5-XVqGKKJN9XWxq3CjPFSlPWdqy9pW26HIhWEAKjV3un3TvX8gcZR-oRbHhqGZYGDXKYBrUNHEKPSfYA6jCeM-bEg4vtKVtlOqyZAL60_DvO3G3MgVLQ2S-jvOmUta_S3Pg5nC0T25joI3rYvAgJiDiR8uIv9CkwLDop1e1RyyZ7IfObFcVS1dJz2Cw_WGrqCkdQtlgdyHYpW1MGFxSihjvvpQWTj22LmiflrASSW7GuQNxL-qHrb2XYlrH1z-zYeqGf_FDriOB0_rrQiup9XQh7PTHBRWri3T3Z1cb4u2Dzrm0ubnUShMii05wIX9hTQVRjSw8RsA0HgNyimhlyePat5eZABl02jzMkmeb3MJhy-gdprFs-F1U6VqKE781-xWurchtttlt6S03ZD6A9E1hrSGBtIMXEkTXfT7WsNoXSKsDKqNic1Ov15ZptHGddbWAvoxww0-dquZ2UiUDTzxth0z0Gbu6n8ZTM_N1KevagSfjE5erAk2q_ThLvnq6VsYCVFEXS-CiFw1uEIdvuEKYSarm-mWQ2id67kqgZJ55UFiSnrhE8LlP_iwmlZ6xh95ly9KyndwGqSNl1D0o6seZDQeXlf0biRXl1x6kJrI2uqV3rFEIZETxoVW_9ra23PxqdSotooi0hF2IG-iX4e8CYkbbVI1k9dOjgM-pjmfYeJWgF6xpQZ-VItINqzJ0W2JNYQejr_350h9_ndQmtVLSQkhA2gEba8fDixE4_r503EMIQP7xookOtzM7h5Dfx5Nm5C9Q47LJRz5oPdgzYJu9vB3w7D8XyWWYPn5VXdisHkrSnpdj6cGG3QaQHDy4awuO83c_Y_bDmoG4RBjMGalb-4kSOYOonpWWgURlVYBZgioILlt0as9AQcr_64y",
  "id": "rs_01c5462672836ebc016ab42cdbb35087d0afa4b2459e727573",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.29,\"right_z\":0.085},\"note\":\"The last close was empty and knocked the small pale piece left of the right jaws; it is now plainly visible at the left edge of the wrist image. I’ll reopen, raise clear, and move toward that piece instead of squeezing at the same spot.\"}",
  "call_id": "call_1joZnEt7j2awW6rzrvubJDAJ",
  "id": "fc_01c5462672836ebc016ab42cdec2f087d0a3d2f16f0dd23b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1joZnEt7j2awW6rzrvubJDAJ",
  "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]: [-0.4847, 1.5795, 0.7998, -0.0795, -0.392, -0.3134, 0.0585, 0.7887, 2.1651, 1.8015, -0.984, 0.4046, 0.3634, 0.9948]\nstate[eef_state]: left_x=0.3792 left_y=-0.1193 left_z=0.0698 left_yaw=0.0203 left_pitch=-0.2068 left_roll=0.074 left_gripper=0.0585 right_x=0.3777 right_y=0.2866 right_z=0.0732 right_yaw=0.1061 right_pitch=-0.6097 right_roll=-0.3579 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -6.8581, 6.0513, 1.4481, -0.188, -0.0464, 1.033, -0.4034, -11.1111, 8.4308, 1.0232, 0.5055, 0.4957, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe6c092025e13b351b61000d4bdca8dd585aa987c463712dde86574c3a07949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89962c6e8163d0b5a646494e81dc56b31390de488e2782979dddaa2be74fbcb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3617c348fc35711d36645a7ab704b3ab8ec60b08b665850f0633a66bfc20f9",
      "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 · 3.912 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0719, -0.392, -0.3134, 0.0585, 0.6926, 2.1002, 1.4158, -0.651, 0.3874, 0.347, 0.0113]\nstate[eef_state]: left_x=0.3805 left_y=-0.12 left_z=0.0711 left_yaw=0.0195 left_pitch=-0.1998 left_roll=0.07 left_gripper=0.0585 right_x=0.3755 right_y=0.2295 right_z=0.0044 right_yaw=0.0385 right_pitch=-0.6133 right_roll=-0.3407 right_gripper=0.0113\nstate[joint_eff]: [-0.0068, -6.8034, 6.2564, 1.4676, -0.2222, -0.0366, 1.033, -0.8137, -10.4684, 5.3812, 0.8864, 0.2906, -0.0024, 0.9695]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4847, 1.5795, 0.8001, -0.0727, -0.3916, -0.3134, 0.0585, 0.6144, 2.0308, 1.2678, -0.4885, 0.3855, 0.2295, 0.0112]\nstate[eef_state]: left_x=0.3803 left_y=-0.12 left_z=0.071 left_yaw=0.0192 left_pitch=-0.2006 left_roll=0.0702 left_gripper=0.0585 right_x=0.3868 right_y=0.196 right_z=0.0008 right_yaw=0.0651 right_pitch=-0.5649 right_roll=-0.3415 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -6.6803, 6.065, 1.4628, -0.188, -0.0708, 1.033, -1.6479, -9.7983, 3.6991, 0.7204, 0.0806, 0.0073, 0.9646]\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 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0795, -0.392, -0.3134, 0.0585, 0.7887, 2.1651, 1.8015, -0.984, 0.4046, 0.3634, 0.9948]\nstate[eef_state]: left_x=0.3792 left_y=-0.1193 left_z=0.0698 left_yaw=0.0203 left_pitch=-0.2068 left_roll=0.074 left_gripper=0.0585 right_x=0.3777 right_y=0.2866 right_z=0.0732 right_yaw=0.1061 right_pitch=-0.6097 right_roll=-0.3579 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -6.8581, 6.0513, 1.4481, -0.188, -0.0464, 1.033, -0.4034, -11.1111, 8.4308, 1.0232, 0.5055, 0.4957, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe6c092025e13b351b61000d4bdca8dd585aa987c463712dde86574c3a07949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89962c6e8163d0b5a646494e81dc56b31390de488e2782979dddaa2be74fbcb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3617c348fc35711d36645a7ab704b3ab8ec60b08b665850f0633a66bfc20f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzkLpZpPc7joB2n8vv9nHuu5OuQqEQU_bG3IxXfO2xxC_GlOxmeDTOTY0T8pU-ViKK0ZCBICiGm9Fz2-dBzj1hAQ6icvV61AzNuMHVNxzPOsy8DLYjTuerZOxy2d_d3fNB1O_Im9cyd8h_nxkT7iIW3U7OXlacEyup1cQ-aqANEjYyXpOtVMwRt0c8iEi-zkRbeFdn956iiu9m0JnoaLSw4ph64KVIG8DjHNt9-ML57px0H6HHAk-ng8wxUEOFtrE9QnioKZqgvaUNn6Nz7yDVMfrp_L1lko5w9dlWUNw7V-PrVb3C0KoXs8c0QzkPttKdJsMcNowL0VvDSdJQJ42jAG3cf2sBOAO39WSIqQ5ZG55pyhRQnr7TIy-g8CtxTnsXW8Z8e4-DXsiww0QbfscJ9lxrZFT7L_MTcbt0niFSYajiRPFPFZAsQdW2PxLy2dUP9wUpZtyEeuw39fqUQpBTN47wKTmFaPEnqrdZPOG-UzEOtBq-yw7yHVp5uIDBPOxoPKgxn4HllD6M6Ko6OMhUmR4z5GeSUckFpAKeZSEKJu5XTq1dqdZhvT3Xy1NPESOHyAx120YewnRooZfcSELdVJytxHeCWRTr51qDssjT1VPAzK1BeuobHkJV7HjhEi7O4OzbSPnx5EJLsygNzX6vkfuWnVU8_y7WlOTgHk8Igj0I0-FECSCWlP9TRke_wn7Mu1hwg9voTzlhRDoapb8FrXIwZmA5uQmypVC2JNQXRbF48DGs1ooSADEGcEXASSfTIpJMJkGTHhokK6kk67IJGfFj1FpjbvcJ9x6PKnJG1vgohR4Lv07sUbnjmy_BkYRnBqTbqc8AcNYJ22cBIhTrp7AqOlJwRhpj7Kk7cEHmuSJWjFR6tJ2ourM8G8QnNfdfFvILMGHKBgg7Pk9rv_OWZ4Hb3txAgssWKb9LcgrQq82K-SFwAhtTGNiSPQZWmgA2F0qBXA-0DlsotTO5ANxRKc9Es4z-4VCRi-DAORQmEFVIX-nL0kVNzBx8hz8WyDHtGCu4BMy34xrbp8CYE8AA8TkvFumuAgiLntyecYsi5m-ljou0nKdohEXbz2x-MQi74IRqPxxeIAkCAlz4U3csRFRn6Ug1LVjUeDJ10XR2OIDpqgUBD9FWtuWayeJSgT4ySek6KN0nSLY-2BdbXPPWzaoDN7LYBiYWgqIErtfDSNlCuboFKNMOf1xIPnlBS1lepc1szXEB9gHUd9cA23i13woeaB23yA76bzwrGNa2b9-G5hB7t_9Cj1jtHzReXKEeYYcI9rQijXYmTYkZctRazon622uf-dZeZOOcqiJWSHrq5R5WWLQuG_iXyggBuSpkzT9wSvB1AoY2n2iS2tyytFzqxKVu_7SEXrw-QkjrQFWAFdpnBjVI9Yr73E2mZxqdNKOiRwJUPU7wY4iPOEx41SJ8w_n6ZSC7sntjWc_pAWNnnaro9_PAYLyfR2hS5cvaXIz7cvoGwj30g2J0ZS_y92hed7QHOg_9Aw0Kse1RLsSLTYBIc51MF4DDiRqO9ASx-m2rwp1Z2ievMx4uTc-lN4il0Y78Q51Ks0HKonnGWU4F1_2cj3k2_4fOQKQ4SSHSclVhFAptugDgbhnopP4qp0fFsuw8C1h_fXajWnyh8qr4aamzTOv81vj_s3z-kV3SyIM3PBYPhe_Vkb69yGwMNIPxh4bMCEuMpdrJnflsQLIR0RD7gndii7NkzMTL-XTwaBzNxwT_k8kTBngJ7b4ATKCWbrhj1a5U05988l4UMywL-YaVl-PUxsROLsSy6pjVRtoR9eLDRBVQBGCiPX1ljG1hlgdoik616ONWp5Z40NBjTsodXPxvKcb5J-0-9h02x2zLQyQlNvua6xgj_KZKqJhNCpJEOEBdLAXetwXFUmeLKodDJnQctE3wtUDTNr9hBnHyX6hhfJBuNfv4kk8jhYZu5GkHwllO_sMItH9324zVlWvbjAWBTRtXdFhuqewN1yUucrNIFjA_lNoTrpp0P_XDArULywxcIToaSvVAlsnzKCRna9lT1pMiTLB_ZDnDlx0FrGxBtAhcIp2n6-R-5_BUT99LQtUg6w_FAqCH4xgHnEacBTSFewztrMsmvmR1HrNQ2TSPz_jwJJsno3OV2v4QVMg2s9ODBoTecz6ciS9Xt_THJuqQJ24BzoMwVIScm35Sauacitv78ofVy8uRVJW5w0V6kqMmw0E-q2BHXH_6HZQ217Drgdm4EwBIEttFF1qylZN7h2Btv-9XgkdbMDV3RJ9wEqYYI8P24zSR8Mc4=",
  "id": "rs_01c5462672836ebc016ab42ce1907887d09897983ed93eb3ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.08},\"note\":\"The right wrist now shows the full pen: a dark shaft running to a silver tip, diagonally below and right of the jaws. I’ll reposition over the shaft’s middle before making another low approach.\"}",
  "call_id": "call_f127lq9tnix5h2cQFP0LFVx4",
  "id": "fc_01c5462672836ebc016ab42ce35de087d0b405187ab1b25d1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f127lq9tnix5h2cQFP0LFVx4",
  "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]: [-0.4847, 1.5795, 0.7998, -0.0834, -0.3901, -0.313, 0.0628, 0.7815, 2.043, 1.5475, -0.9333, 0.4046, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.3785 left_y=-0.1193 left_z=0.0691 left_yaw=0.0189 left_pitch=-0.2109 left_roll=0.0749 left_gripper=0.0628 right_x=0.3424 right_y=0.2468 right_z=0.0534 right_yaw=0.0638 right_pitch=-0.6731 right_roll=-0.4263 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -6.8034, 6.0376, 1.4969, -0.188, -0.0317, 1.033, -0.4718, -14.7487, 7.2, 0.9011, 0.2369, -0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e4a983a1a900ec27f752a78e1d5eb80526a8ce75f8428167cf93e94d545418",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f096946aac394c682e448b4b353f17b67d42c1c4f081037b9b5258d6183ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfd4d31c3ebd3b51b0cfc9aab28b2fd66f27ee2853a63920320a0294d40a99e",
      "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 · 3.157 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0723, -0.3916, -0.3134, 0.0585, 0.6312, 2.0449, 1.3975, -0.6868, 0.3714, 0.2718, 0.9951]\nstate[eef_state]: left_x=0.3804 left_y=-0.1201 left_z=0.0711 left_yaw=0.0192 left_pitch=-0.2003 left_roll=0.07 left_gripper=0.0585 right_x=0.3805 right_y=0.2031 right_z=0.019 right_yaw=0.037 right_pitch=-0.6345 right_roll=-0.3607 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -6.8855, 6.3385, 1.4725, -0.1685, -0.0464, 1.033, -0.8547, -13.5043, 5.4085, 0.8132, 0.232, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0795, -0.392, -0.3134, 0.0585, 0.7887, 2.1651, 1.8015, -0.984, 0.4046, 0.3634, 0.9948]\nstate[eef_state]: left_x=0.3792 left_y=-0.1193 left_z=0.0698 left_yaw=0.0203 left_pitch=-0.2068 left_roll=0.074 left_gripper=0.0585 right_x=0.3777 right_y=0.2866 right_z=0.0732 right_yaw=0.1061 right_pitch=-0.6097 right_roll=-0.3579 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -6.8581, 6.0513, 1.4481, -0.188, -0.0464, 1.033, -0.4034, -11.1111, 8.4308, 1.0232, 0.5055, 0.4957, -0.1245]\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 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0834, -0.3901, -0.313, 0.0628, 0.7815, 2.043, 1.5475, -0.9333, 0.4046, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.3785 left_y=-0.1193 left_z=0.0691 left_yaw=0.0189 left_pitch=-0.2109 left_roll=0.0749 left_gripper=0.0628 right_x=0.3424 right_y=0.2468 right_z=0.0534 right_yaw=0.0638 right_pitch=-0.6731 right_roll=-0.4263 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -6.8034, 6.0376, 1.4969, -0.188, -0.0317, 1.033, -0.4718, -14.7487, 7.2, 0.9011, 0.2369, -0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e4a983a1a900ec27f752a78e1d5eb80526a8ce75f8428167cf93e94d545418",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f096946aac394c682e448b4b353f17b67d42c1c4f081037b9b5258d6183ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfd4d31c3ebd3b51b0cfc9aab28b2fd66f27ee2853a63920320a0294d40a99e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01c5462672836ebc016ab42ce5f27c87d0aaec03a9fa445941",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_x\":0.345,\"right_y\":0.25},\"note\":\"The pen’s middle now crosses the right jaw column in the wrist view, with the silver writing tip pointing up-right. I’ll lower straight down at this lateral alignment and inspect where the shaft lies before closing.\"}",
  "call_id": "call_07AEn22uYcnirtGFC88cYNSH",
  "id": "fc_01c5462672836ebc016ab42ce7b56487d0934d0ce617d88e69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_07AEn22uYcnirtGFC88cYNSH",
  "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]: [-0.4847, 1.5799, 0.7998, -0.0895, -0.3885, -0.313, 0.0641, 0.7956, 2.0583, 1.4025, -0.7467, 0.4374, 0.3588, 0.9959]\nstate[eef_state]: left_x=0.3775 left_y=-0.1191 left_z=0.068 left_yaw=0.0184 left_pitch=-0.2171 left_roll=0.077 left_gripper=0.0641 right_x=0.3398 right_y=0.245 right_z=0.0167 right_yaw=0.0664 right_pitch=-0.6316 right_roll=-0.4341 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -6.3111, 6.065, 1.4432, -0.2125, -0.0269, 1.0281, 0.4308, -8.294, 4.3419, 0.4957, 0.4762, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2028c0b3e2e0e374d658bdef2311aab14a06f28f3957d8c48d2ed20ecaa1ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bfb8191b3dcacb0a6406ff1964cb73412f12eaceecfd7c23feef114f760716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7f7f5b29de1cabcca3bcdc39701b070e043b3341b8149a7f66523e9bc43ade",
      "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 · 2.784 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.8001, -0.0727, -0.3916, -0.3134, 0.0585, 0.6144, 2.0308, 1.2678, -0.4885, 0.3855, 0.2295, 0.0112]\nstate[eef_state]: left_x=0.3803 left_y=-0.12 left_z=0.071 left_yaw=0.0192 left_pitch=-0.2006 left_roll=0.0702 left_gripper=0.0585 right_x=0.3868 right_y=0.196 right_z=0.0008 right_yaw=0.0651 right_pitch=-0.5649 right_roll=-0.3415 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -6.6803, 6.065, 1.4628, -0.188, -0.0708, 1.033, -1.6479, -9.7983, 3.6991, 0.7204, 0.0806, 0.0073, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0834, -0.3901, -0.313, 0.0628, 0.7815, 2.043, 1.5475, -0.9333, 0.4046, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.3785 left_y=-0.1193 left_z=0.0691 left_yaw=0.0189 left_pitch=-0.2109 left_roll=0.0749 left_gripper=0.0628 right_x=0.3424 right_y=0.2468 right_z=0.0534 right_yaw=0.0638 right_pitch=-0.6731 right_roll=-0.4263 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -6.8034, 6.0376, 1.4969, -0.188, -0.0317, 1.033, -0.4718, -14.7487, 7.2, 0.9011, 0.2369, -0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5799, 0.7998, -0.0895, -0.3885, -0.313, 0.0641, 0.7956, 2.0583, 1.4025, -0.7467, 0.4374, 0.3588, 0.9959]\nstate[eef_state]: left_x=0.3775 left_y=-0.1191 left_z=0.068 left_yaw=0.0184 left_pitch=-0.2171 left_roll=0.077 left_gripper=0.0641 right_x=0.3398 right_y=0.245 right_z=0.0167 right_yaw=0.0664 right_pitch=-0.6316 right_roll=-0.4341 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -6.3111, 6.065, 1.4432, -0.2125, -0.0269, 1.0281, 0.4308, -8.294, 4.3419, 0.4957, 0.4762, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2028c0b3e2e0e374d658bdef2311aab14a06f28f3957d8c48d2ed20ecaa1ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bfb8191b3dcacb0a6406ff1964cb73412f12eaceecfd7c23feef114f760716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7f7f5b29de1cabcca3bcdc39701b070e043b3341b8149a7f66523e9bc43ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzs1Ea3u1Ffjyl1hsj4WO14jJ7DctEmBiz-S_pYYDLqgkMUikV5JJOlFfCbxsFU5S-BF9fWgRzjd1U0BrkM8SKt92kkhoy0_YXlRWqWlu1_yB2sn45tBWFtVEGn64kFbyLLZ7JAT7Ar7IDNYYgcLkZ0g0lqPbNxMKqa3ix6qNgK3TzFa2p_axlNZ7QINqp3Lw9uJ9pvegJA2gL8BaydMa_BwwLZiAlKR7VCGGX542rs09G-1-s_Oq_rpCmAS0P6Ypufbp2c8wKzcVnuS9Auu3SmTIweWnOGJcnWx25o_F8CsY9EpRHAGKaAkqLkpeoghsI-AH1_9wA2QNx703DctPlkzLmE_eprr49H8133nijwWYA3LH8v-rnJvYnxTO6Qi2VXGlQ8bXWAbRPC5acfkU4DtBd6Q2WaUm_QIIrXODJ13dBWl3MfB6Sbw_4ppNC7DmVNhChjRmf9XHuVQdDESSbzhvp0VrUa77BUBhdVe7I-7hpBE_5vAV-57Ykiox0Q8mc8PtO8C7e8zvvLVkBAx0FapqteEa-81nv5gM1yixH2pJDsEdhehLt4MhIruamuAjUYUHdtbZ8FkKP96r9qMdlxfiBC1E1lMy8AuWAhCeugDP0VppBRvCzdBXZWCHaGWOr19GN7-PbYnoLJNKUrzy8VQ2GiSl44qEQMsnLQe1vgHqkZzk0AhnmzLnhqrR8VJUNHoYoDQPJROy_wA-COKSiiFMpDNIB94QpFVf0SN_zQf3LAOcFEEN1c-6-x8LZRe8pKVSyPdWPyEgp0QaQpQIJ9QTyqIFrVzheh5UxYQVWKSc6zv0Lb6p6g0oN-EzYpEb2k4i7yqFKtpN6eI8jqc7c5Qbi8LDCBzmz0nJSw2_7nyoBaKgLLMWLE2RRF3jT-v4O_R6Lobt8VIgR8lhy5VRwvgsgzgFL2yG-x0F3Th6kmDr_z6tRFXK5bgtFkzMueO9L2UBxywALfHKkJnDrAhI4jD7lokMDtKYH3F__mjaa4L2cCsyFqDmcp56hNMXbM9abDFsEH86gJkRzhzPMKNMMk9aicJ6uenCYezAF1DbTkwHMyOme4m_U9R4VFNspW6yb881Pdgf59PYSeYEjdmyRaAi_1AaWJu7sRinnr9YMHDp99R26agVgK5gRetPNY5VdTedQ1_o03QSZ48_-dbYZmSK-yBhW1JdArXXai6J2etC7HfEsgzPMngnZSWaJlJJJyqRuP75m8r9DCjWEF5w6jk4RatXim1QMyAyh2MSSEXdwPEHqUroEtfI5li_5eJY4PkIwUWhqTHH3IQSotD_2lbtpaHlJufycWpLeyTe1zbd4-TGyLZ_1QPFPO7uiNzAEZPev9H2Pn53ji066cinzKsbVJ-Mzu37sC89MKN545L0JDYcr0YI5b1A9BLr5wJB-sM-7aeK0dXb3Iu30WQ9cmojycq_m5-mfdVrw7eE7eur5iDBg9WTd6X7rQeSazbKBZshm9isUnYMCBUQEMhb_CA0m70VxXIu2N4pEWNh23sjXeJQ9yStBZV1oqSeCXUyrzyoI_gv96vcJn8ZU6XF7wpxUzsnf_yKRlV4xZc7-4F-iPf1La-lq4w8rInUBm6iA_XFWQk7iD7qgc67eZYjSMNVZwUCqzbogOpi9EwYhwyXJZ5mtIUm1udTnF_NVxGB8bt9PKhHnxjAn3IZf1_UpsL7UKkoU5IBdVZIn2iooxQZhCv0wfLhbIu4kKTwMQiFM5VMKytdjJGaI4gVBgXZuC5uMyMBD-kaNpw0MLMw13SuoH9VhwVhkj4HGSkzkkErMhkOf5SvNrGLH_BBLjUhbjWP1uwdmdT6Gdpuv2-ClVClRJzbRgiD8EZTuT_SACRqw1nRyUiWtjE_cleVk-zBWNjmZRjZuH7hgRJA4586OkhAlVARvjwI8WeFU1NSAOeSM2Rw40vfeFW5LO6S7XkrswTmLkQP7fISKdI58tVZM83nfD7Yauq2xEmhXlFMpyHCac",
  "id": "rs_01c5462672836ebc016ab42ce9fc8087d0aa0afcd05ba30a18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.21,\"right_z\":0.035},\"note\":\"At table height the pen shaft runs about 2 cm to the right of the right jaw center. I’ll lift slightly and shift right toward the shaft to avoid sweeping it sideways with the fingertips.\"}",
  "call_id": "call_8mTrRS1nFcpd8vDWx2wuSF0D",
  "id": "fc_01c5462672836ebc016ab42ceb58d087d0bbf45e7c80867ea7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8mTrRS1nFcpd8vDWx2wuSF0D",
  "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]: [-0.4847, 1.581, 0.7998, -0.0902, -0.3882, -0.313, 0.0646, 0.7544, 1.9728, 1.2789, -0.6991, 0.4377, 0.3183, 0.9959]\nstate[eef_state]: left_x=0.3773 left_y=-0.1191 left_z=0.0674 left_yaw=0.0183 left_pitch=-0.2189 left_roll=0.0777 left_gripper=0.0646 right_x=0.3334 right_y=0.2155 right_z=0.0181 right_yaw=0.0539 right_pitch=-0.6329 right_roll=-0.4465 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -6.9265, 6.2427, 1.4139, -0.2173, -0.0366, 0.9011, -0.3897, -12.1778, 6.2564, 0.9255, 0.3004, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c066bb1061feba4cba0292155be4ce5d08f8f482a06bbfb584929107ae24874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb546d5a20f9f4cf646dad1d2705768356d589151386c9c85a4489fbef03309c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c110c4b959d0e97fdd0f837119d27e54b01654fdb2eba587aef8e303726be928",
      "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 · 3.431 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0795, -0.392, -0.3134, 0.0585, 0.7887, 2.1651, 1.8015, -0.984, 0.4046, 0.3634, 0.9948]\nstate[eef_state]: left_x=0.3792 left_y=-0.1193 left_z=0.0698 left_yaw=0.0203 left_pitch=-0.2068 left_roll=0.074 left_gripper=0.0585 right_x=0.3777 right_y=0.2866 right_z=0.0732 right_yaw=0.1061 right_pitch=-0.6097 right_roll=-0.3579 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -6.8581, 6.0513, 1.4481, -0.188, -0.0464, 1.033, -0.4034, -11.1111, 8.4308, 1.0232, 0.5055, 0.4957, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5799, 0.7998, -0.0895, -0.3885, -0.313, 0.0641, 0.7956, 2.0583, 1.4025, -0.7467, 0.4374, 0.3588, 0.9959]\nstate[eef_state]: left_x=0.3775 left_y=-0.1191 left_z=0.068 left_yaw=0.0184 left_pitch=-0.2171 left_roll=0.077 left_gripper=0.0641 right_x=0.3398 right_y=0.245 right_z=0.0167 right_yaw=0.0664 right_pitch=-0.6316 right_roll=-0.4341 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -6.3111, 6.065, 1.4432, -0.2125, -0.0269, 1.0281, 0.4308, -8.294, 4.3419, 0.4957, 0.4762, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.7998, -0.0902, -0.3882, -0.313, 0.0646, 0.7544, 1.9728, 1.2789, -0.6991, 0.4377, 0.3183, 0.9959]\nstate[eef_state]: left_x=0.3773 left_y=-0.1191 left_z=0.0674 left_yaw=0.0183 left_pitch=-0.2189 left_roll=0.0777 left_gripper=0.0646 right_x=0.3334 right_y=0.2155 right_z=0.0181 right_yaw=0.0539 right_pitch=-0.6329 right_roll=-0.4465 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -6.9265, 6.2427, 1.4139, -0.2173, -0.0366, 0.9011, -0.3897, -12.1778, 6.2564, 0.9255, 0.3004, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c066bb1061feba4cba0292155be4ce5d08f8f482a06bbfb584929107ae24874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb546d5a20f9f4cf646dad1d2705768356d589151386c9c85a4489fbef03309c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c110c4b959d0e97fdd0f837119d27e54b01654fdb2eba587aef8e303726be928",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzukslVg4Jz8BmtXoRGkDzejTVnnpSwNee0RTExnv6CpP5J8xKwO3_Zl0rqvvz5mnw_tOeh4MVD88XWQ8H2k2H78x0Qkb-PcO_apMDkpo0tyIIPSxDg7xCWR4Tr9NsrmVcDOQdMbYiky0Szktjmvt7E4NjzaHstXyOt2gskqeeNsf5KTv6-cG2UGo-8bpNC3scZeyHMaIO3z3YGwZaJyP3G0rIoUkJQWOgKj6no91IUFRUSVgiZHo-4nKtgUPTU_wkcw3HR98pSmZn5N-d16m9ijWgzYPrhlYXoErJq9qLiIxz6RXzozmAGaMSFgeUu1Ud7e2UFoWG9TIZmBlNTaWp_mbG4b4p_NTswERSRtGloqvGTP1oOEdEa2LPnNEcM0f5vru8h8MBJiXquVN-tbkdr0bKK4LUcH8oPC-WqwGXL-5LsyOt_S_a1q18Glah1LqGmDOsDYh9hzldDUhUjEwtrkvFg4UgxjM1IhQ-biz1Pshhl1-9_otzPWP7IeV5c37EfWPPQscHu2PMVk8HxCfjwnzDm__vYp0XW5QFRGZeLI_neUJr9Uz66ztIOWZfdiqlkYAW9-JuLc9lMYq2_NOhEHHgLZka7gB8xFbWUH1HRBogCk9zr_d1oXLEtDHwJ5aVvMwKYPwt6pTwlWQUWDhZsscSNnxne2hMZoaCbgnyHbJyhSzzFQ-dWdE5l1uSV2jUTo6qqUzDALdUX0njTsvJek7vhMwojB2r0jjfhj7G4A-51Kz6lwhCTQR51UjZzFvKtqP9BblEd4-II6j3VxhIGtm6lQS2FkdE53BhJBIlNx6nkOGCDAHdQ6bYhAb1W3qIw-wps6QOUURLdRyESvx_xHvyXrJDvdmcQSOuG8mKBbY_FUwklTG4OBwwqKqjbDbZvDVYj2huk7LPkcav8ef4zu51nmBJDuFTdUhQ9m0rhbxcGuv3KG9XtZ1WU8M0qnIRayDNVV7g5AkpvXuXBVDP7NitzsOv_Qf_AQySrwqYv0d9LC_5KQAA5YeixnXE5zFI7MBGuVPJlI-1cAuPR2z-sr-mAgQezVn85NBv7_80c17_o5eOYrlz3Kg43CaQz0H1sPFe24eTrsgPL8YZboVm5KdJvBdTIIVbYsSAybV-gAYhtS1j4F17uya7zM17RbdsYWKB6EAvyh8x5EPHlf4wkouTOWUMT3lZr4IRDxnq5TJS0Tl0psuX4vwqeqf7qbUByCcqMt_gQEbkScfEwedSlk5zrFeSyrWW1Ltp4SD7-kT8vv2aKmE4_TnO1mhZgJZxdoy4MBfk0SAQLstdZqbrdGqFwIzsXiaoUBqhZiSrrPfNgyScB9JJh8VBBtLlzW5fSee_96xpP3Ao0BgmGueXdhEGvFi9E73A6g54E5K05FfkYharfdmvAdJRAfwjXrPjEyq9ldqojDwVY2JEJw8L9rsX73qXN-yGgNxLnX1wb4psFeP_8fkAtb0uxyz3D2VkiyKNCkMaL7dcRBPa9WetFNFQkqDyohrXTY7AGFpWlVDRmB7bvARQcRNeNvXCOIbEy_iooiPH09qOwGRRERjzS_bqfX7EwuGbKIowH-DwUkLVHpQzKoZV0Hl9sd7T-EzkNWzVVwm76wFnJKMPrO-V2VDA_uSpEdoA9hTeJFiCnU30=",
  "id": "rs_01c5462672836ebc016ab42ced487c87d0a71c095b8609dea5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.012,\"right_gripper\":0},\"note\":\"The shaft now crosses the open right jaws near their center, and the gripper is only about 2 cm above the tabletop. I’ll lower into contact and close across the pen, then check whether it is retained.\"}",
  "call_id": "call_QnprJLcxXlZEX7wTn4BZI6VX",
  "id": "fc_01c5462672836ebc016ab42cee1dc487d0a94e11314d4c8bb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QnprJLcxXlZEX7wTn4BZI6VX",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.313, 0.0663, 0.7616, 1.982, 1.2121, -0.5541, 0.4721, 0.3176, 0.0132]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0184 left_pitch=-0.2196 left_roll=0.0781 left_gripper=0.0663 right_x=0.3415 right_y=0.2196 right_z=0.0062 right_yaw=0.067 right_pitch=-0.5586 right_roll=-0.4244 right_gripper=0.0132\nstate[joint_eff]: [-0.1299, -6.8171, 6.0786, 1.37, -0.2027, -0.0464, 0.8962, 0.1299, -6.8444, 4.5607, 0.486, 0.486, 0.0952, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e8687bd091edc71970c039d589c6bda0ddb9ce2ad0ab9f4358899045f532e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b2a6ba673ca8cd2aa6b1ff5e48fa3fc6545a9cd68638384dadb018debc3d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13a6d88bf7250304a17d7b879df8cb7834e1e6ce1bd1c9ce6b451ab718ba62",
      "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 · 2.213 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5795, 0.7998, -0.0834, -0.3901, -0.313, 0.0628, 0.7815, 2.043, 1.5475, -0.9333, 0.4046, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.3785 left_y=-0.1193 left_z=0.0691 left_yaw=0.0189 left_pitch=-0.2109 left_roll=0.0749 left_gripper=0.0628 right_x=0.3424 right_y=0.2468 right_z=0.0534 right_yaw=0.0638 right_pitch=-0.6731 right_roll=-0.4263 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -6.8034, 6.0376, 1.4969, -0.188, -0.0317, 1.033, -0.4718, -14.7487, 7.2, 0.9011, 0.2369, -0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.7998, -0.0902, -0.3882, -0.313, 0.0646, 0.7544, 1.9728, 1.2789, -0.6991, 0.4377, 0.3183, 0.9959]\nstate[eef_state]: left_x=0.3773 left_y=-0.1191 left_z=0.0674 left_yaw=0.0183 left_pitch=-0.2189 left_roll=0.0777 left_gripper=0.0646 right_x=0.3334 right_y=0.2155 right_z=0.0181 right_yaw=0.0539 right_pitch=-0.6329 right_roll=-0.4465 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -6.9265, 6.2427, 1.4139, -0.2173, -0.0366, 0.9011, -0.3897, -12.1778, 6.2564, 0.9255, 0.3004, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.313, 0.0663, 0.7616, 1.982, 1.2121, -0.5541, 0.4721, 0.3176, 0.0132]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0184 left_pitch=-0.2196 left_roll=0.0781 left_gripper=0.0663 right_x=0.3415 right_y=0.2196 right_z=0.0062 right_yaw=0.067 right_pitch=-0.5586 right_roll=-0.4244 right_gripper=0.0132\nstate[joint_eff]: [-0.1299, -6.8171, 6.0786, 1.37, -0.2027, -0.0464, 0.8962, 0.1299, -6.8444, 4.5607, 0.486, 0.486, 0.0952, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e8687bd091edc71970c039d589c6bda0ddb9ce2ad0ab9f4358899045f532e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b2a6ba673ca8cd2aa6b1ff5e48fa3fc6545a9cd68638384dadb018debc3d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13a6d88bf7250304a17d7b879df8cb7834e1e6ce1bd1c9ce6b451ab718ba62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzzNsyyUKxmJUEcpB2qVede-RgrvfYzAfggveA1yzMEvpBt-oC_-CpshRMwR9Mu3YjeWK9PeV4DBAvsPM9zOecFzPj-etFRRheeCwyygRSPnxpIqblNaXXv8wLrN7wJddl0uff4RIxRG4IRNUppkNUpUknO2zFpisKYcQH6Ju3PB3VBRExSE7J_wx9Hm7b79G9q67g1GHd7Mb-w0h2y3u3Vsonrbr97CPGNMJlIf2BRaCff1FnFY9PARWQpyL384MKFIlMxYMBhcTzqOB-3gXb5FWbTeDi0IhjR-DCkfKtqOUNwtxsXNPBwn6J8rJTYN1JHzeikbmAum3QPfAnDNLxVsJcIiu_nwra9Cg5C-Q78GF3RsST_Lh64Cw9Jl2WgyWjMQY1gLrHHXRsgZMjIbqRf0Shy1PWRxqawfI6QLoQlbLA20mYohFlQTG_jni2NJxQ1vfwJ4YAvLBBr9wvo6zN6O9HfdDJ8vj-FKY6vu8DgkKGscZ5hyJ1Rj31Kn5Rl52tBzo3dqRfYmgXcv4Cw11ixOHJDtg6GtUqSujPUdzFUyoYO_43ppw4erhQcIJZ1A4ugVb1nT3T9MUKruQ2s81M5fWnsGVbtkVhOwyc8QJyzE827S8CS91yzgpezdwE3UOZtTcS_-B8O8n5M3fCCYWFlAkamkfKVw0WPPIunAXc3qPCcn25ipX2hn0nkEdgh2Dpj911SKc5W8k_yO1cTqP9HWdHkCF_vhRsOjA9Ei_vKtRfwigo-8Wi6ufBU-af2UKu82Ycm5gIqhZOTz3UTUnE7i6idQiLLfvHPU-hmDROJjIDMcJXc9emEgqyOeUP1qnggqVH_irTEwUuP9LS6TqkDDS88ACbkYIqo0CWRtTiEsXug7la2npWEJYKElJ6c8xagpwqppuhMFfLXXKpzhh9fpBIjBYsUU-mpRGlkT6yRxQ0VgQLoCLNoGEoQLgq2O-GK4KsSkUKjgZI_BiMJZP40LWGE35qjnzdpres9Yo_CjjAKZKfGa0TPowv5-zDYX7p1kseFcjuOfvRcOBS09AxPz5I-_y0PIk3YOi8xSobcwat7fbaHIOTR3FEhF0VPU6B2kQFpIfhotOGFSGaze3szOSMpuJFr0yVC8OIR5jO-yOkR433W3Plqlmy0M4MSTqSkpr5aa8qDw7iuY2DaZHdhLgYFjrsGFp9-ya2_ngg7o8626Fol138egTGjH8Kw4cXRnDfyDeOjnT0cdUx_tBecWYkIijubm5lxxdWsxITHtA7C1ug74Gg_11DWM1wlxLLpO9bhtj0_LMKmFOpardDgsa_b2IR9vBupcbxSHnd4-Yhr2BNb99s3vCLeSdMgtGBi6WtQUc2NGmqkCeBkj1H3iIsESPOFgX3H_Cb5cHD4vuhNsy-YLWdu5PvwbghduR3Q1vXkuu1jZrU3CCX1j8FbTYdaEVROt07j4w_qHdmyosE39dUECx2itaXRXOWn1fMCzH8ovHgKLGEr-QqrtqmmlnI7lcKC-PtZyKVZgp0kttxHtPOHkK7aiMQhcFx-07OK8-Pr3A9fzrVffw8FdFEwVf66B0kCps_z24iEwDMBg3aNBJ39JAD45ljQSdDo-fc7iYeNmDyP8GGXP3LyiENqR0iD_UpPYx04VSYR_Qa_qBAlQX03IUkiWQpO0UiAwQdVPUi0rE27tCkjcufGibZE4LKt0bGoEzm7rzlf6hdKMyMkb2sttl_i9pRaF68gKOOvnKBrnfMC1dIkB6usGw0sCgndyQhcZyUaMOAz7Todis_NPClUqjaRlXOylmMUk_0o-TEN2R7Sr4Us1ZJyU8uxShgFtIyyC_vyvRo8XUHGuTUdpNVaNuCwX48IfnYMi_qx",
  "id": "rs_01c5462672836ebc016ab42cf103c487d0a81402610f74f7c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.395,\"right_z\":0.065},\"note\":\"The right gripper closed empty; its wrist view shows the pen ending just ahead of the fingertips. I’ll reopen and advance farther along the pen so its shaft, rather than empty tabletop, reaches the grasp point.\"}",
  "call_id": "call_2SKYhrPn4WOVTCGnvyI1eH3F",
  "id": "fc_01c5462672836ebc016ab42cf261c487d08610a71b38001f63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2SKYhrPn4WOVTCGnvyI1eH3F",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6804, 2.0117, 1.491, -0.7712, 0.44, 0.218, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3857 right_y=0.22 right_z=0.06 right_yaw=0.0797 right_pitch=-0.5727 right_roll=-0.4256 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -6.8308, 6.0376, 1.3651, -0.2222, -0.0659, 0.906, -0.9368, -9.4017, 8.1846, 0.8864, 0.2564, 0.0562, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8358b71be1f8424413ca3f1a92961af330449e87bfea49d8724721ccc3f76074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7190f0e862fce4c94d140b6809df6da9458a69d8585f87f8e022e18946fdcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9abf102effc82a91d29ac83aabcc69071b4ab345215dbbd483e4266ec6b7657",
      "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 · 4.192 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.5799, 0.7998, -0.0895, -0.3885, -0.313, 0.0641, 0.7956, 2.0583, 1.4025, -0.7467, 0.4374, 0.3588, 0.9959]\nstate[eef_state]: left_x=0.3775 left_y=-0.1191 left_z=0.068 left_yaw=0.0184 left_pitch=-0.2171 left_roll=0.077 left_gripper=0.0641 right_x=0.3398 right_y=0.245 right_z=0.0167 right_yaw=0.0664 right_pitch=-0.6316 right_roll=-0.4341 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -6.3111, 6.065, 1.4432, -0.2125, -0.0269, 1.0281, 0.4308, -8.294, 4.3419, 0.4957, 0.4762, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.313, 0.0663, 0.7616, 1.982, 1.2121, -0.5541, 0.4721, 0.3176, 0.0132]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0184 left_pitch=-0.2196 left_roll=0.0781 left_gripper=0.0663 right_x=0.3415 right_y=0.2196 right_z=0.0062 right_yaw=0.067 right_pitch=-0.5586 right_roll=-0.4244 right_gripper=0.0132\nstate[joint_eff]: [-0.1299, -6.8171, 6.0786, 1.37, -0.2027, -0.0464, 0.8962, 0.1299, -6.8444, 4.5607, 0.486, 0.486, 0.0952, 0.486]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6804, 2.0117, 1.491, -0.7712, 0.44, 0.218, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3857 right_y=0.22 right_z=0.06 right_yaw=0.0797 right_pitch=-0.5727 right_roll=-0.4256 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -6.8308, 6.0376, 1.3651, -0.2222, -0.0659, 0.906, -0.9368, -9.4017, 8.1846, 0.8864, 0.2564, 0.0562, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8358b71be1f8424413ca3f1a92961af330449e87bfea49d8724721ccc3f76074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7190f0e862fce4c94d140b6809df6da9458a69d8585f87f8e022e18946fdcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9abf102effc82a91d29ac83aabcc69071b4ab345215dbbd483e4266ec6b7657",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz2gWOl_bca_sRLPA6lJ2BER20tzvgMTYjv9lgC148__fA_Kphd2ykyKttJoAKq9AiW8eyCLTZYsBZLOGH01fE0ivaTwubxs_sEwKD3saOUY00so-r7NdcONz4K91tTx1XcvTCuVo4jcfDLkdEWZttKs_2wpsNC9W0dqV7r9kcGIit2Ka4F2ZtqR3sHN36eziJ9kJGBhwG4n10rcgtcZarO9e6kx6PrUnHnkZ1YDX8vzTsVRjyNnDrlHcU6Vx3mVH08CcBpX9AOJN58D0-2D8aqbw7v-qZB1h5pueDY6cToHY2-blDfUT6KijbG6xxgS28hitxF-zXTc-qMkLqVQQqFLW2B16SV8Ptf3wDEdjI9_H8BdbhppZuaMhq7lqTxWb2Wu2k3sdt6QoIRCntlD8k8gg-iZvcAawwQ5VtJboBDRqfHfBHmI4MdcK8TNzwjGKKSUSC_7PpaO_siAJXnH8oNCVgitrGA3SWgW4pCvP3aWdP3wNVDbsY6XEyrSEjMZGafiadYaKHNnBgR7DUB5qqFoAkYGu_38IRQ66mcpohwuKOj5Ca6V8JzKpsZ-_S5MW0--04GTQbts18pVxeEv7uG28nQldW6gTPDFBV2qbZBMcO027AwAmfe5o6JZVI88t8EdAkQA83TmX64i2oS1jmsWPap0taVU4dvLYSeWDaNTNZrE7f9IEHjRmEXtsNr5wNdquT37a9ympcAU-4ecwlNa7nAFfqIZpJTxdC4T86bId-qFHtno4Kg69MfXFCgUKmnbOFuAZQmbx5Gx3X19fMt94tFBXMgFTVhkGcEptvUgX6jp4N4vbkJ-UvWdBfvpWVyGU6ONbaptJytPvZYvDVjW5tO8agcSkWEi2A5rUI-2_eIOxnSJdVktxNhOn9-ppbXA-XsgtM0ql9dxZ4-sKsvd8dWLDV5wJ4xgiFn2jpTWfRj1wVxgnW5obugJnUpP4pyBJs7LawbTbteWy4qX6W75ofSYyDsNKYTmba0DSN-_XP4SkqIWEcWBf9cwOWBdD4xDzkPwKFSa1oRpBehIX8nGUlczMaBb3c2XgU--iW1CMl9TBRMC3moOP6YeuCw2srdIDL0qyIRNI683KE3rytSiNkzEbtGLPBC6R98-AHfP_CHn9kn_m1Z_9btINnUqv4_L0K4z3OtaKTeSoLKvq6NQofSs6DorM1Tt1oNT_DPzAduw0GsVxyf0SFUewI5vujiB8BgbNPlnrLBO-cWLtJlnyNwfoAsefQETh41-viII1EG43mn0J93MGXYU118OKn1slGIjm80KF_bHnaHazp_97054aWoA8IyklSVZrNnAas4F7bIXSfHi7c9lgiG_9XlagZ6R1ONCSB7KZ-cz_IZNoK4t0MH7lD71qcf6ax5_Ec=",
  "id": "rs_01c5462672836ebc016ab42cf55bd887d0a9a9bedea17cedf5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.012,\"right_gripper\":0},\"note\":\"The pen’s dark shaft is now centered on the right jaw column and extends to the fingertips, while its silver writing tip remains forward-left. I’ll lower and close at this new position.\"}",
  "call_id": "call_LHMOCXXgTnLZAaLsSSX4yOOt",
  "id": "fc_01c5462672836ebc016ab42cf5bdc887d09aae1eac78682b12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LHMOCXXgTnLZAaLsSSX4yOOt",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6788, 2.0907, 1.3605, -0.5598, 0.4419, 0.2111, 0.0112]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3855 right_y=0.2186 right_z=0.0018 right_yaw=0.0814 right_pitch=-0.5715 right_roll=-0.4298 right_gripper=0.0112\nstate[joint_eff]: [-0.3214, -6.7761, 6.1607, 1.3846, -0.2076, -0.0269, 0.9206, 0.1026, -8.0342, 4.7521, 0.9695, 0.022, 0.0562, 0.9353]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8758d5a05b1bebdc158e40a9a254393d48e994ef635722d3fcf11d64ed327f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d1a8d829d75a32080a6540e26be8e1161c816d54691488dc0e3ed1f601b14e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3324e9907bc654f938fc5d4bb12b90eb83c755e751e1df38bfea66b6fd4c12e6",
      "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 · 3.437 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.7998, -0.0902, -0.3882, -0.313, 0.0646, 0.7544, 1.9728, 1.2789, -0.6991, 0.4377, 0.3183, 0.9959]\nstate[eef_state]: left_x=0.3773 left_y=-0.1191 left_z=0.0674 left_yaw=0.0183 left_pitch=-0.2189 left_roll=0.0777 left_gripper=0.0646 right_x=0.3334 right_y=0.2155 right_z=0.0181 right_yaw=0.0539 right_pitch=-0.6329 right_roll=-0.4465 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -6.9265, 6.2427, 1.4139, -0.2173, -0.0366, 0.9011, -0.3897, -12.1778, 6.2564, 0.9255, 0.3004, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6804, 2.0117, 1.491, -0.7712, 0.44, 0.218, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3857 right_y=0.22 right_z=0.06 right_yaw=0.0797 right_pitch=-0.5727 right_roll=-0.4256 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -6.8308, 6.0376, 1.3651, -0.2222, -0.0659, 0.906, -0.9368, -9.4017, 8.1846, 0.8864, 0.2564, 0.0562, 0.0757]\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 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6788, 2.0907, 1.3605, -0.5598, 0.4419, 0.2111, 0.0112]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3855 right_y=0.2186 right_z=0.0018 right_yaw=0.0814 right_pitch=-0.5715 right_roll=-0.4298 right_gripper=0.0112\nstate[joint_eff]: [-0.3214, -6.7761, 6.1607, 1.3846, -0.2076, -0.0269, 0.9206, 0.1026, -8.0342, 4.7521, 0.9695, 0.022, 0.0562, 0.9353]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8758d5a05b1bebdc158e40a9a254393d48e994ef635722d3fcf11d64ed327f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d1a8d829d75a32080a6540e26be8e1161c816d54691488dc0e3ed1f601b14e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3324e9907bc654f938fc5d4bb12b90eb83c755e751e1df38bfea66b6fd4c12e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz7SGqtwn7DsOAd8KzzdMCSC23xvpAcdI-ScD-4CwT0KG6DnaxI4CeM6PS-WVAlHY01JqoBbGfEQK9-Gox-5dlBMHLjN_YMB2Bmacv-1s3lYMej6yLux74-2gZM2u5YClIETgsyVf6mcphGU5K7MviREpi1RnhQJfx3b-T9a2BSE2Mkeg5vUVy7Yx9LRbEEOo9bXmthGTqObfJQTXwNhhqzCS2zlpfAJ5xYWOP8h6-yBZby59l3-uJnWPEMjVBMqYAjqdRJDvLuBVPkuSH9Q0AnunGbnCiINlsKqKgQPMh2uJsEiBY3TZmLwkb25VZP3yvgd-M6Ub1Cp5YwCijH5KG8XxGHQ4sXIKmDBNGNjCVwITiDYUdFhB2Sr4Kz3oRtUd4HP_tG4boP6FfuOaKB1dVWC-77PoeNTwUV-iIAAAOJIti-TWXcXysZPMsDu98QHakM4bu2HFyLlD08iPxaq351eFfP-UeKOd-c_OlkBiTLweOqkwfwpcaCib6lNoEEigKeV62YgSxrYDlD7iSfh_sPzawQ48yMuGARHfULcae0CxLT0hVTeT0-cOffKelQjkT9rYju19CNWk58bZDvFEwtL6brXaTmbJPIu9UC3DzvqWzlWcgbhDpBpLc7ayLUHODYUjl0KlKwzDsnlGNNKXIM1KzIbjxjitfCgU7j__PNIPcVxWXImHqcXdmAzUoAwinm7Wbj28MjnZXHoh4AM3naobwvFG54el3bJkUf883OyGx4oEDO43DZnfJ7Y4PM1UUCxgy4DMjVL0Aa8dsT8MAbBf7IMfmW9x3L6uKAjnIBMPiYBvWAOgaSCrS9kzqkheUdTegLopuE29sjY05r22V7ci2zOAXRUAuHdLVd1gMUdVaWGJ9Bd89WVPa_ojbvWYEGMF55LJHGmQUUEmf5fmLho-qA_zaS8I9lPwWFET27hvUiw2Y4AkbUshY67zK0F4qEhjvVFdEnHa00MjAMj73sYNtgNVlrmXKUjhCENnKzfTmdVbjISkneS5ecx2HBLAqrYw_qKOdSNdYJ5VwdDAk2OF9CZMtMUTUw16TLRnAmjcVuwMKeNKT5zcAUjwSgU7L5RJfECvBVFc4xDpuIbL2EtPoeukn1jPEsQlC5jb5OhldzrfGMW5sTT-vrS5xAklD69lp8ctg5RA1EWzg0YuGfcPOhNtKq77SPI83xF0qgRxHQzawr9_Era4bElKRwOP-O_eQlyRP7aQdPaqA_VoSSg0atFfbHw0ei6yFIK4xRuUHC4CJlT48d2xGs6FWiGcq8CizkQIYRhDGFp4A94cHG5-n9wKTdlwenhqFbnfA2JbLYGgiYGp-m2LhxGiFPsks5wG61ocEoQ4Qj2W0PcHpexCgv7-Kr3WTdTZQLgnlI-hhVtkw808BS_TcjRccZjn4x3Q8BIXSpbxBD8DetnnkygJ5UvyVzK9QXIkLzedQdN4vCCXvwjm01IHsiJuSJL4-Klp9jesKDhdRBAHNNUGYQFwrVSYua0UsmpjhM2IhwGkeIiy4QbqztG4wPJDTrP3NPTDHR7ZKNxGjmDJpore0f0G_Y-EcoNjPXUIokLejEwT6Ib2wkDY8sOfhdtONiJr7qyHPc_I72GYQ6Li8ONo2yr7lAvIKJ_TzMRtFH8I1RxL2bFkZQe4d3sSgArXMSLfmeshVcLDRlZX3H8PBfJ8JezUMMOL4vJe1fczEPZzP0Too2whXwmk-9ojSt2zdy1IP_PCWfjfN3WnAOO5vQ_TuodyFYHIxLMSdoxHZG_9xXxBzvn2zAVeoUBTKgunzHyyCPZONMCWbEAxpK8TCrTj65G9YIweKvpFWsKpphMRtWHRkgdqQgSD2EDMwHQ_hK9qPStFRIOrpRUmHVzsE-OIhgm1ZePNuU1GaLAPYHOixuziHpm0Yho_vmnBg-SWlNpUNInG5ZGdiPGyvLELWKbiNaZDIPOP2t_4vBORZwM8oF8FOnJNdgLNBVSxA6snkjg-hMUAmmg076OEX02W_UkIIO3uOjXrLBlCdbHn4Do1pKSp-Yc0MBJYyEfEw01IGZV-G3f5Ocd-47Zpny7_BM6sbsoF_2rcMHvb-OyV-4EToi7D-tDPaU-O_o2QV5WulpETSNQ0nvQRIykr6MttoJjurcMLdz228RMXbGdBhjUMAf141UENiMofCor0Sr8Q7ePoGdDycRoIdmj_UVtVmwUdQY3S_KD2r686v9P3vwayFBprzH7oIbEmTKVmR15_uTlL2wh-zursMfnchTEp8YeeBT65MUvGul7Vm7LB8XTE2o7fwPaCIg7HT-5q6i1mygs5aQ56Kk7BZIM0u_yprbb8_xzSXM16ZkqapPfa69FhwyI4j2l8agkmzKchZlgQcxmgiki6rhVgrwpHqezxANWFKF4Vev2zgt00XM6ChwKttdNwImu-SkN1rzGti3wEF7be3x",
  "id": "rs_01c5462672836ebc016ab42cf8b1ac87d0a425f9af54316a37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.18,\"right_z\":0.03},\"note\":\"The close is still empty, and the pen is now visibly right of the closed jaws by a few centimeters. I’ll reopen and offset the gripper toward the shaft before one more grasp attempt.\"}",
  "call_id": "call_Am2NDdAnbUNyKSAndVV9FCtB",
  "id": "fc_01c5462672836ebc016ab42cfab6fc87d0b2139dd4177ac217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Am2NDdAnbUNyKSAndVV9FCtB",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.068, 0.6075, 1.9957, 1.2907, -0.5686, 0.4179, 0.1333, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.068 right_x=0.3854 right_y=0.185 right_z=0.0182 right_yaw=0.0807 right_pitch=-0.5866 right_roll=-0.4371 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -6.694, 5.9966, 1.37, -0.2027, -0.0366, 0.9255, -0.9641, -12.9846, 5.2718, 0.7937, 0.2418, -0.0024, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f149255dbc2d11f56bb447060c6d68ec4b44b6393dc708e1bbdd8a6a9c567bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1395747b8896ba2aba1c4370bb1c9b8df92a7498644d8fd9a3881481fa0cb86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d748e269d3a7dcbffec171136c0312647ae97442665edb45daacc9cf00a891",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.409 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.313, 0.0663, 0.7616, 1.982, 1.2121, -0.5541, 0.4721, 0.3176, 0.0132]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0184 left_pitch=-0.2196 left_roll=0.0781 left_gripper=0.0663 right_x=0.3415 right_y=0.2196 right_z=0.0062 right_yaw=0.067 right_pitch=-0.5586 right_roll=-0.4244 right_gripper=0.0132\nstate[joint_eff]: [-0.1299, -6.8171, 6.0786, 1.37, -0.2027, -0.0464, 0.8962, 0.1299, -6.8444, 4.5607, 0.486, 0.486, 0.0952, 0.486]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6788, 2.0907, 1.3605, -0.5598, 0.4419, 0.2111, 0.0112]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3855 right_y=0.2186 right_z=0.0018 right_yaw=0.0814 right_pitch=-0.5715 right_roll=-0.4298 right_gripper=0.0112\nstate[joint_eff]: [-0.3214, -6.7761, 6.1607, 1.3846, -0.2076, -0.0269, 0.9206, 0.1026, -8.0342, 4.7521, 0.9695, 0.022, 0.0562, 0.9353]\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 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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.068, 0.6075, 1.9957, 1.2907, -0.5686, 0.4179, 0.1333, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.068 right_x=0.3854 right_y=0.185 right_z=0.0182 right_yaw=0.0807 right_pitch=-0.5866 right_roll=-0.4371 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -6.694, 5.9966, 1.37, -0.2027, -0.0366, 0.9255, -0.9641, -12.9846, 5.2718, 0.7937, 0.2418, -0.0024, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f149255dbc2d11f56bb447060c6d68ec4b44b6393dc708e1bbdd8a6a9c567bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1395747b8896ba2aba1c4370bb1c9b8df92a7498644d8fd9a3881481fa0cb86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d748e269d3a7dcbffec171136c0312647ae97442665edb45daacc9cf00a891",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz_mTFH57J9pF2oAoxehmRaNZq9TAZw6rgj8Blp_eN912aVkGp41d4lruBgf_sbsg16RIQY-s5cRHpi61uYYdYAuJCYHahRda90vL0bFMBaGaa-TIq0VpQCHCBdE4ksAfdds2TvXQhCcAsmnGyxiP3pwdfbDVZvvGiNeHtl7wLBSwnO4otP0VcaaUqtmLVjTqZDwmFhWlpf9msvol4VrCAPuDEwiABtTBxjEjtbut8FM4Dp36XtjeeR3uyPYZeXuoUyCmn7109YG-SkPerpRLfu3JP632P60fZnhymobdTUXFLLVRVmk49OV43Cuxclk-yOOae-33dIodm67OgCGPqt3fohoQTrCGyHp5C0HH7T3kv2GgxQXHPEotwFk1RSHgh8k6nRqm-xVhfTdkQQpkvESXXRn2Zr46pLxQBs0SBxOGSq5m_iMFBP35AyWBbU4NGaQIOGR1Uc6HYsncTGUbXGjWDUsuKd0z8vI_A187gI3tX6wB5bIlA6oBlbcl_85a36BSca5iSAoHj3d0-kc9Fos5iCfC2Xmv-fkrsT5i-Cpt82PRVABYihgtAQkiToYO0hKKNbaJ1_158ox92q6bWfBVbXR9SEaiq-ZP4EbTckVv0woOOj6L41tMgI4WwCJ9LaabxiJ6J-Y6d2UK9sd8qNPTgiAvWKpd_9aNbslzdnXYyUm9JhBZ1W_Ve0_KxHghRAcJkezTQw4SJs8D0cj2I28p1A-8x7yfB-7g53jxP6tmjF40Wqh3NTqNY2pLvdLBbDUOzI2nLOCIOk-CMggLqrxftIGECqb26Pto81CpjO6ll26n7hPgMXG-6WLVbwX0erg3Hd7PCwq3PlMDBXksvcYeWV876EUUBvo28GlXg5oMLes2lUxeEP85sHfAzEedulA2CQQrE6jHe-HJZZX3w8CbOyfLf-qnaCAhKvkD7HkfGa7U9_srcVvshaPaIVEMzOtpq_iIRR4916_wMb6PWXOiH0HxEvYAdyE7X8r_ePHTCjagGLg2ZZU7PN5bmbga75OgRPOaZ3N6Z3wYA0MIdNw8WwOSOxx2aJfXZDW3RPcOD1_FVStfr7Y5jyvFu2h5cLwnnxzfL8oT9BETZ2yL2ANfQwnfZDh5Bka3fgoa4M50QGF8bKt-VDL1PKmPqtdo1tFABmpsH9Ya80dcdPDIkSOA8myZWopOpWenLATM-N9_2nznMpDu_hKUEm_s-i--e6UJH0F5Ik3KZTKgCGrCIpC-1p44OVnJbtZBYdeQfgVN8zAY7u2zMxxSwpi8xrhi8fxEU4oiXxgxAGnL7oKE4CMdYC7ZxP1xS90J8-iClZOHn8fpO3nuYPRwu_SHHZB7Yy_erdDfsHf7VGg4K7b6sGudvgAHwY5x0_gmAaiia6WnprOkwYWtm-BYX_xagSoyfR3bvKzdY-hHtcPkmJN7H44Ll0zqfETXV7ND3h4EKwWAG4AvCiAI3MtVRnS4z8_imN3xg-9nlQqMpis8h-JSbqQWFeN-GcX9kl_C9v9ZpN3vckYm_yg_rh-u0bm8d5BYYd",
  "id": "rs_01c5462672836ebc016ab42cfe4bd887d0827b6adc749c57e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.2,\"right_z\":-0.012,\"right_gripper\":0},\"note\":\"The last shift overshot: the pen now lies left of the right jaw center. I’ll correct halfway back, descend, and close across the visible shaft.\"}",
  "call_id": "call_wDIut3od2nE2xGeqkTSSJfjP",
  "id": "fc_01c5462672836ebc016ab42cff375887d0ab6c8bbccbb57ca8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wDIut3od2nE2xGeqkTSSJfjP",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0692, 0.6369, 2.0457, 1.2884, -0.5026, 0.4416, 0.1497, 0.0415]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0692 right_x=0.3886 right_y=0.198 right_z=0.0035 right_yaw=0.0855 right_pitch=-0.5597 right_roll=-0.443 right_gripper=0.0415\nstate[joint_eff]: [-0.2256, -6.735, 6.0239, 1.3944, -0.2027, -0.0269, 0.8816, 0.2393, -7.0085, 6.2017, 0.9011, 0.0464, 0.2564, 1.4872]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a7409e86052c6fbbf2fa77829abce4c2bfc92b12252c603c244f2199a3e3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d660e642cac63c75c7119f553b0575b7471ef3f40b762bb3c4c3e53a17b9d4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc66bc7c550915348f0a72f08b6cb17694e805c428fe57b737e11ad006982904",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 8.322 s

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

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0679, 0.6804, 2.0117, 1.491, -0.7712, 0.44, 0.218, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0679 right_x=0.3857 right_y=0.22 right_z=0.06 right_yaw=0.0797 right_pitch=-0.5727 right_roll=-0.4256 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -6.8308, 6.0376, 1.3651, -0.2222, -0.0659, 0.906, -0.9368, -9.4017, 8.1846, 0.8864, 0.2564, 0.0562, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.068, 0.6075, 1.9957, 1.2907, -0.5686, 0.4179, 0.1333, 0.9946]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.068 right_x=0.3854 right_y=0.185 right_z=0.0182 right_yaw=0.0807 right_pitch=-0.5866 right_roll=-0.4371 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -6.694, 5.9966, 1.37, -0.2027, -0.0366, 0.9255, -0.9641, -12.9846, 5.2718, 0.7937, 0.2418, -0.0024, 0.0366]\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 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0692, 0.6369, 2.0457, 1.2884, -0.5026, 0.4416, 0.1497, 0.0415]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0692 right_x=0.3886 right_y=0.198 right_z=0.0035 right_yaw=0.0855 right_pitch=-0.5597 right_roll=-0.443 right_gripper=0.0415\nstate[joint_eff]: [-0.2256, -6.735, 6.0239, 1.3944, -0.2027, -0.0269, 0.8816, 0.2393, -7.0085, 6.2017, 0.9011, 0.0464, 0.2564, 1.4872]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a7409e86052c6fbbf2fa77829abce4c2bfc92b12252c603c244f2199a3e3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d660e642cac63c75c7119f553b0575b7471ef3f40b762bb3c4c3e53a17b9d4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc66bc7c550915348f0a72f08b6cb17694e805c428fe57b737e11ad006982904",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0Ey5agjvicOH4zCjGdn_bSNkJTAeRTY9B8rbOXi1aTMCP84Fw0ACA62de98GgBzF-RQDtIUuUfDUlFM_kg2gEQZc5qdFZ9hMbfDDsrRrWkKh06JNdFHNIbh-UIsJIkN0gWx7oeNo3XLRSXGa8AYhzZXgmgt-HaVW6SzLd2nBeRfgUaezINQIeP1Mb4BOpkP05_oBU-cTTlSBKD1PTn2cHjL7ZoJszIPdwvIO0seDo_ONFi2snrhRjI0vIjqdP-faIJVUIztsQM5DiHhv3JzOgDswGPJiiPzR_TZT7sURAFSMrjQrnCeFJBbW2zMEUYCX9Q3NCFVCwBAnO7-JVZ0GV3P3UQhRUpthxKGz_pMhQxLURLJy53sLX6MzK7o5YGk9GTcJZ6SLB7B9W9taBpeYNUvQ7JxE46HAaNy5NGDvW31NEoTlaEeWLcz26cMUAvL1Xv0pkuSM8onKx9IWKBhEPzlLIKKySO01JcHl98wUr8-UM3xv10MPYTxEaaPotv29kSbIFSrFsoLswDrTmfYaC5sR2B1JWXE5yV0_TGRnoT0dVQpr82rJ4AKslRvXvZjbnOd5gdaxsdnxC_4XO-I50QSDqH4zRIvIhXPaooSKVqr7vcOwJoNwwxOrghM1vD4cQxaajoN6FqwkBZm2ySnuYuHRB05MIt4B80SGKfhuS9ApUV-9N-4GmZGYlVhtGjvEhnt6rWg0AedHljGpiddZZAGh0sr-2EzQeNoSNQJoGIQQpkdGYs94nROVFCxznc9sXmPX_rPdMpMP5YsxTRjqvM551YrAMk_Xxztb6SG5DPlhVFNTCPmiAAUtT7ynPTJr4uIr7XxNoGBCj_HKmwkmDRO_RHaAUdA7iCMrCFr8GvhqalEppAJNTR_lymXV8xof8HpEjBtaUXwauESo8OeyH00xarwcUIM3UTSNdxPGImLY-GViQxH5w2hhXNdquL30EWVadETR33pnLlI4N5afVUS-RIQ5KV0a5fX2Rzx3uzjYG_XZkPq6n9PUe-SYEOVDSg4GcSiYAmAlx5WtvM11eeU1CmlUwRTNy94CBX9tiyjVeKod82hfZVhrXiiDfs4KTYPSV_j1dgAZPpUsydYvne2Ct5yei8B0VA5BRWS90Np6AvxDnzyYnwdDBsCN32ECpPuQkOyJvV1zOWBEep68oCLysyvzxUMoVBli4KETFixz79YjHD-avziwCTFRzT5VnEdvHcaJh2CpbQ_CL9j0ZGZxekCfL6bNLB619nukT8S5DJNlklhZIIclha4B9KaGhLdNMPePBhw9HIMEAYviqFjMKrLT1Pu5RnxyOOQkT0Zptg8aGz5RVV69dxvM1AWAoa89yJEZfNwzSqxjKmRdShA76-O08tPgcezTTeyqPholDl9GC0Azi_dqtPI_6V7KdYvvoRJ69DtKWqj5y-zTk1U8s4-lQve3-sEU3NNKIuu8VVvkFvOr9wH4NZevWspVOFslAFvu1z1xyx-_5vMHNDt7CzL3V40vIiytEuaanQgUmNA1_We_VtDs1cv_CKkgmczqTVM1FABSRB8ujciWGfM33fNNUVxZvfEkZgieQdcPc_jbVq3GMB9a9mGABD-LkjjGWSrMb8kGTAgTdeWG1lhu24ZINB3VBiu4EaYbsVA5E7188wCstC5SIRs7LDhQhXGLSuAGSpjB-DmjR_C_s6tIawUuAvC9Kym8FwECBPPEBuq_H6RubiP-4ea8U43FWzjNciKF2ziHzUV6F2h6J-MRRkRiHzOFi_QT5Iolo_4cw=",
  "id": "rs_01c5462672836ebc016ab42d02a7f487d0a23ba19b67dfc6f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The right jaw gap is just above the empty threshold, so the grasp is uncertain. I’ll lift and check whether the pen moves with the gripper before attempting to fit the cap.\"}",
  "call_id": "call_3azjnyG2E3TdhuaV00U9wusp",
  "id": "fc_01c5462672836ebc016ab42d0389d487d0b29dad8fa96310a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3azjnyG2E3TdhuaV00U9wusp",
  "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]: [-0.4847, 1.581, 0.799, -0.0902, -0.3882, -0.3134, 0.0726, 0.6365, 1.9663, 1.4761, -0.8082, 0.4328, 0.1436, 0.041]\nstate[eef_state]: left_x=0.3771 left_y=-0.1189 left_z=0.0672 left_yaw=0.0186 left_pitch=-0.2196 left_roll=0.0778 left_gripper=0.0726 right_x=0.3861 right_y=0.1977 right_z=0.0714 right_yaw=0.0826 right_pitch=-0.5982 right_roll=-0.4619 right_gripper=0.041\nstate[joint_eff]: [-0.1709, -6.8581, 6.1607, 1.3651, -0.2466, -0.0464, 0.696, -0.1709, -12.9573, 8.3624, 0.906, 0.2662, 0.0122, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707e97c9d489517118f46a1c2a7a0d6d8937d10829a355c66861a2e098a526cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564236356bbce92617b58e3ddf101aca2e3a5b0c21857559acca6021362c14c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e202ea3c6fd6e2cfd9fedf7fd774cbd7fae7d7f0a9c0084ef7343d962b41d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]