adhoc - adhoc_c79441a6.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: 224.8 s
total steps: 381

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 on the right half of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen first so I can align its jaws before grasping.

move_to

right_x0.4100right_y0.2000right_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, 0.7925, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0158, 0.791, 0.6083, -0.3786, -0.0212, -0.0227, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0027 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5402, -1.4564, 10.5778, 1.7753, -0.0366, 0.1197, -0.0366, -0.9094, -1.1556, 9.894, 1.8486, -0.0757, 0.0659, -0.0904] 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":0.41,"right_y":0.2,"right_z":0.14},"note":"The pen lies diagonally on the right half of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen first so I can align its jaws before grasping."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe pen is now close in the right wrist camera, but its shaft sits to the camera’s right of the jaw centre. I’ll shift the right gripper a few centimetres sideways and slightly forward, then check the alignment before descending.

move_to

right_x0.4250right_y0.1600right_z0.0750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.6346, 1.6291, 0.9592, -0.0666, 0.4801, 0.326, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3948 right_y=0.1938 right_z=0.1183 right_yaw=0.0454 right_pitch=-0.0773 right_roll=-0.05 right_gripper=0.9992 state[joint_eff]: [-0.2256, -1.5658, 6.9538, 1.7167, -0.0171, -0.0513, -0.0171, 0.0615, -7.7333, 8.9778, 1.9609, 0.5934, 0.2613, -0.022] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.16,"right_z":0.075},"note":"The pen is now close in the right wrist camera, but its shaft sits to the camera’s right of the jaw centre. I’ll shift the right gripper a few centimetres sideways and slightly forward, then check the alignment before descending."})

tool

executing move_to over 3 steps (0.3s)

step 20

assistant

agent noteThe pen’s pale tip and dark shaft are visible near the right jaws; the shaft is still slightly right of centre. I’ll move onto a section of the shaft away from its tip and lower the open jaws toward table height.

move_to

right_x0.4450right_y0.1250right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.5217, 1.7187, 0.8913, 0.0692, 0.4107, 0.2604, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4126 right_y=0.16 right_z=0.074 right_yaw=0.0214 right_pitch=-0.122 right_roll=-0.0728 right_gripper=0.9992 state[joint_eff]: [-0.1026, -1.4427, 7.1863, 1.7265, -0.0611, -0.0708, -0.0171, -0.0479, -8.4718, 6.4205, 2.0928, 0.0562, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.125,"right_z":0.012},"note":"The pen’s pale tip and dark shaft are visible near the right jaws; the shaft is still slightly right of centre. I’ll move onto a section of the shaft away from its tip and lower the open jaws toward table height."})

tool

executing move_to over 4 steps (0.4s)

step 24

assistant

agent noteThe right arm stopped well above and short of the low target, so I won’t repeat that descent. I’ll raise it, shift sideways over the shaft, and pitch the tool forward to give the arm a better approach angle.

move_to

right_x0.4350right_y0.1200right_z0.1100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4904, 1.7557, 0.8642, 0.1387, 0.3649, 0.2272, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4168 right_y=0.1552 right_z=0.058 right_yaw=0.0451 right_pitch=-0.1325 right_roll=-0.068 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.1692, 7.0769, 1.7509, -0.0659, -0.0708, -0.0171, -0.4171, -7.4462, 6.3111, 1.6777, 0.2662, 0.0317, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.12,"right_z":0.11,"right_pitch":0.25},"note":"The right arm stopped well above and short of the low target, so I won’t repeat that descent. I’ll raise it, shift sideways over the shaft, and pitch the tool forward to give the arm a better approach angle."})

tool

executing move_to over 13 steps (1.3s)

step 37

assistant

agent noteThe higher, pitched approach moved the gripper sideways; the pen now appears just left of the jaw column in the wrist view. I’ll correct by about two centimetres and lower toward the pen’s barrel.

move_to

right_x0.4300right_y0.1430right_z0.0180right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.4118, 1.718, 0.6376, 0.6315, 0.3607, 0.0601, 0.9992] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4261 right_y=0.122 right_z=0.0834 right_yaw=0.0592 right_pitch=0.1416 right_roll=-0.0899 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.4017, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171, -1.0051, -8.3487, 5.5726, 2.1221, 0.1245, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.143,"right_z":0.018,"right_pitch":0.25},"note":"The higher, pitched approach moved the gripper sideways; the pen now appears just left of the jaw column in the wrist view. I’ll correct by about two centimetres and lower toward the pen’s barrel."})

tool

executing move_to over 5 steps (0.5s)

step 42

assistant

agent noteThe right fingertips are at table height, with the pen’s barrel running into the jaw centre in the wrist view. I’ll close the right gripper and use its settled opening and a short lift to check the grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8085, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.474, 2.08, 0.5961, 1.047, 0.4118, 0.049, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4222 right_y=0.1411 right_z=0.0057 right_yaw=0.0836 right_pitch=0.16 right_roll=-0.1165 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7265, -0.0464, -0.0269, -0.0122, 0.4991, -7.8291, 4.2735, 1.746, 0.2027, -0.1441, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at table height, with the pen’s barrel running into the jaw centre in the wrist view. I’ll close the right gripper and use its settled opening and a short lift to check the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteThe right gripper closed almost completely, so it missed the pen; the wrist view shows the pen just ahead of the closed jaws. I’ll reopen and advance about three centimetres before trying again.

move_to

right_gripper1.0000right_x0.4550right_y0.1450right_z0.0150right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4774, 2.0872, 0.6003, 1.0863, 0.4114, 0.0441, 0.0115] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4256 right_y=0.1447 right_z=0.0122 right_yaw=0.0875 right_pitch=0.1932 right_roll=-0.107 right_gripper=0.0115 state[joint_eff]: [-0.3487, -0.9641, 7.1453, 1.7021, -0.0806, -0.0611, -0.0122, -0.4855, -8.6359, 3.2889, 1.4139, 0.2125, 0.0171, 0.3394] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.455,"right_y":0.145,"right_z":0.015,"right_pitch":0.25},"note":"The right gripper closed almost completely, so it missed the pen; the wrist view shows the pen just ahead of the closed jaws. I’ll reopen and advance about three centimetres before trying again."})

tool

executing move_to over 10 steps (1.0s)

step 62

assistant

agent noteAfter advancing, the pen is beside the right jaw rather than between the jaws. I’ll shift the open gripper sideways toward the visible shaft before closing again.

move_to

right_x0.4500right_y0.1120right_z0.0120right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4492, 2.1544, 0.6762, 1.1042, 0.3805, 0.0059, 0.995] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4467 right_y=0.1465 right_z=0.0086 right_yaw=0.1043 right_pitch=0.2119 right_roll=-0.1226 right_gripper=0.995 state[joint_eff]: [-0.253, -1.3197, 7.1179, 1.6874, -0.0806, -0.0611, -0.0073, -1.0735, -7.8154, 5.1761, 2.2149, 0.1148, 0.1392, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.112,"right_z":0.012,"right_pitch":0.25},"note":"After advancing, the pen is beside the right jaw rather than between the jaws. I’ll shift the open gripper sideways toward the visible shaft before closing again."})

tool

executing move_to over 3 steps (0.3s)

step 65

assistant

agent noteThe pen’s shaft now runs close to the centre between the right jaws, and the fingertips are at tabletop height. I’ll close on this alignment and check whether the gripper retains a nonzero opening.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3687, 2.162, 0.6308, 1.1824, 0.3111, -0.0193, 0.9961] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4481 right_y=0.119 right_z=0.0075 right_yaw=0.0955 right_pitch=0.227 right_roll=-0.1151 right_gripper=0.9961 state[joint_eff]: [-0.1026, -1.1692, 7.0632, 1.6874, -0.0757, -0.0464, -0.0073, -0.335, -8.9231, 3.1932, 1.8242, 0.0952, -0.149, 0.1001] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen’s shaft now runs close to the centre between the right jaws, and the fingertips are at tabletop height. I’ll close on this alignment and check whether the gripper retains a nonzero opening."})

tool

executing move_to over 10 steps (1.0s)

step 75

assistant

agent noteThe second close is also empty, and the overhead view shows the pen has shifted and rotated under the right arm. Rather than repeat the same grasp, I’ll approach the pen’s newly visible shaft farther forward with the jaws open and lightly at table level.

move_to

right_gripper1.0000right_x0.4770right_y0.1320right_z-0.0120right_pitch0.2700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.3672, 2.162, 0.6254, 1.2007, 0.3054, -0.0311, 0.0093] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.448 right_y=0.1192 right_z=0.01 right_yaw=0.1046 right_pitch=0.2384 right_roll=-0.1211 right_gripper=0.0093 state[joint_eff]: [-0.3624, -1.2513, 7.0632, 1.7363, -0.0855, -0.0366, -0.0171, -0.0068, -9.0325, 4.0, 1.6386, 0.1294, 0.1343, 0.7009] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.477,"right_y":0.132,"right_z":-0.012,"right_pitch":0.27},"note":"The second close is also empty, and the overhead view shows the pen has shifted and rotated under the right arm. Rather than repeat the same grasp, I’ll approach the pen’s newly visible shaft farther forward with the jaws open and lightly at table level."})

tool

executing move_to over 10 steps (1.0s)

step 85

assistant

agent noteThe forward move brought the pen back into the right wrist view, but its near shaft lies to the right of the jaw centre. I’ll slide the open gripper sideways and slightly lower to put that shaft between the fingertips.

move_to

right_x0.4800right_y0.1050right_z-0.0100right_pitch0.2700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.3691, 2.2913, 0.7601, 1.3006, 0.3008, -0.0341, 0.9944] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.175 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4807 right_y=0.1337 right_z=0.0136 right_yaw=0.104 right_pitch=0.3396 right_roll=-0.0943 right_gripper=0.9944 state[joint_eff]: [-0.212, -1.2923, 7.0496, 1.7167, -0.0611, -0.0806, -0.0122, -0.0342, -6.7897, 4.1641, 1.2332, 0.1148, -0.0757, 0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.105,"right_z":-0.01,"right_pitch":0.27},"note":"The forward move brought the pen back into the right wrist view, but its near shaft lies to the right of the jaw centre. I’ll slide the open gripper sideways and slightly lower to put that shaft between the fingertips."})

tool

executing move_to over 3 steps (0.3s)

step 88

assistant

agent noteThe pen’s narrow upper section is now nearly centred between the right jaw tips at the lowest height the arm has reached. I’ll try closing here, then lift only if the gripper reading suggests it caught the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.3115, 2.2959, 0.7513, 1.3239, 0.2344, -0.0456, 0.9947] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0006 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9997 right_x=0.4853 right_y=0.1169 right_z=0.0135 right_yaw=0.1116 right_pitch=0.3453 right_roll=-0.0883 right_gripper=0.9947 state[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7265, -0.0269, 0.022, -0.0122, -0.9915, -8.1983, 2.4821, 1.37, 0.1636, 0.105, 0.022] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen’s narrow upper section is now nearly centred between the right jaw tips at the lowest height the arm has reached. I’ll try closing here, then lift only if the gripper reading suggests it caught the pen."})

tool

executing move_to over 10 steps (1.0s)

step 98

assistant

agent noteThe pen is still not retained—the right gripper closed almost fully again—so I’ll clear that arm from the workspace and turn to the separate cap. I’ll bring the left gripper above the cap while parking the right arm, which will also reveal the pen’s position from overhead.

move_to

right_gripper1.0000right_x0.2950right_y0.0050right_z0.1800right_pitch0.0000left_x0.4080left_y-0.2000left_z0.1050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.2893, 2.2959, 0.7475, 1.346, 0.2073, -0.0574, 0.0093] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4874 right_y=0.1109 right_z=0.0174 right_yaw=0.1193 right_pitch=0.3618 right_roll=-0.0911 right_gripper=0.0093 state[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7118, -0.0855, -0.0513, -0.0122, -0.4718, -8.3487, 2.5641, 1.2625, 0.1587, 0.1392, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.295,"right_y":0.005,"right_z":0.18,"right_pitch":0,"left_x":0.408,"left_y":-0.2,"left_z":0.105},"note":"The pen is still not retained—the right gripper closed almost fully again—so I’ll clear that arm from the workspace and turn to the separate cap. I’ll bring the left gripper above the cap while parking the right arm, which will also reveal the pen’s position from overhead."})

tool

executing move_to over 18 steps (1.8s)

step 116

assistant

agent noteWith the right arm parked, the pen is visible farther forward near the centre-right, while the cap remains on the left. In the left wrist view the cap sits well left of the jaw centre, so I’ll shift the left gripper toward it and lower cautiously.

move_to

left_x0.4050left_y-0.1300left_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.659, 1.6989, 0.9047, 0.0196, -0.5255, -0.4217, 0.9997, -0.0471, 0.8143, 0.5537, -0.2443, -0.075, -0.1673, 0.9968] state[eef_state]: left_x=0.3945 left_y=-0.1889 left_z=0.0854 left_yaw=-0.0075 left_pitch=-0.0805 left_roll=0.0356 left_gripper=0.9997 right_x=0.3071 right_y=0.0024 right_z=0.1799 right_yaw=0.0913 right_pitch=0.0556 right_roll=-0.1017 right_gripper=0.9968 state[joint_eff]: [-0.4718, -8.5265, 8.7179, 1.6777, -0.4274, 0.022, -0.0073, -0.3897, -1.5248, 9.6479, 1.6972, -0.2271, 0.0024, -0.1587] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.13,"left_z":0.04},"note":"With the right arm parked, the pen is visible farther forward near the centre-right, while the cap remains on the left. In the left wrist view the cap sits well left of the jaw centre, so I’ll shift the left gripper toward it and lower cautiously."})

tool

executing move_to over 6 steps (0.6s)

step 122

assistant

agent noteThe cap’s wider dark body is now visible just left of the left jaw column; its thin projection is farther forward. I’ll centre the wider body and bring the jaws down to table level so they can grip the cap without pinching only its tip.

move_to

left_x0.4200left_y-0.1080left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4919, 1.7313, 0.7261, 0.2382, -0.4263, -0.3229, 0.9997, -0.0517, 0.82, 0.5518, -0.2768, -0.083, -0.1841, 0.9977] state[eef_state]: left_x=0.398 left_y=-0.1263 left_z=0.0378 left_yaw=0.0288 left_pitch=-0.1152 left_roll=0.0515 left_gripper=0.9997 right_x=0.3032 right_y=0.0026 right_z=0.1705 right_yaw=0.1023 right_pitch=0.0158 right_roll=-0.1064 right_gripper=0.9977 state[joint_eff]: [0.3624, -6.5299, 5.2308, 1.7851, 0.0366, 0.105, -0.0122, 0.3077, -1.9077, 7.5419, 2.0684, 0.0122, 0.0952, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.108,"left_z":0.002},"note":"The cap’s wider dark body is now visible just left of the left jaw column; its thin projection is farther forward. I’ll centre the wider body and bring the jaws down to table level so they can grip the cap without pinching only its tip."})

tool

executing move_to over 3 steps (0.3s)

step 125

assistant

agent noteThe cap’s thicker section appears between the open left jaws at table level. I’ll close on that section and check whether the jaws remain separated by the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4221, 1.8668, 0.7124, 0.382, -0.3859, -0.2985, 0.9993, -0.0521, 0.823, 0.5514, -0.2821, -0.0834, -0.1848, 0.9977] state[eef_state]: left_x=0.4105 left_y=-0.1075 left_z=0.0018 left_yaw=0.0536 left_pitch=-0.1341 left_roll=0.0481 left_gripper=0.9993 right_x=0.3026 right_y=0.0025 right_z=0.1684 right_yaw=0.1026 right_pitch=0.0071 right_roll=-0.1055 right_gripper=0.9977 state[joint_eff]: [0.335, -7.5966, 5.8188, 0.4029, -0.1099, 0.359, -0.0513, 0.0068, -1.6205, 7.0906, 1.7753, -0.0708, -0.0122, -0.0024] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s thicker section appears between the open left jaws at table level. I’ll close on that section and check whether the jaws remain separated by the cap."})

tool

executing move_to over 10 steps (1.0s)

step 135

assistant

agent noteThe left gripper closed nearly fully, which may mean it missed this very narrow cap, but the cap is now hidden under the gripper. I’ll lift a few centimetres to check in the overhead view whether it actually comes along.

move_to

left_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4042, 1.8824, 0.7189, 0.4152, -0.379, -0.268, 0.0089, -0.0521, 0.823, 0.5514, -0.2817, -0.0834, -0.1883, 0.9978] state[eef_state]: left_x=0.4177 left_y=-0.1037 left_z=0.0029 left_yaw=0.0481 left_pitch=-0.1157 left_roll=0.0566 left_gripper=0.0089 right_x=0.3027 right_y=0.0025 right_z=0.1685 right_yaw=0.1044 right_pitch=0.0073 right_roll=-0.1085 right_gripper=0.9978 state[joint_eff]: [-0.1299, -7.4872, 5.4085, 1.6093, 0.0366, 0.0659, 0.6032, -0.0889, -1.3197, 7.1043, 1.7656, -0.0513, -0.0464, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.09},"note":"The left gripper closed nearly fully, which may mean it missed this very narrow cap, but the cap is now hidden under the gripper. I’ll lift a few centimetres to check in the overhead view whether it actually comes along."})

tool

executing move_to over 6 steps (0.6s)

step 141

assistant

agent noteThe lifted left gripper still hides the cap’s original location in the overhead camera. I’ll move it aside while keeping it closed; that will show whether the cap stayed on the table or travelled with the gripper.

move_to

left_x0.3300left_y-0.1700left_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]: [-0.4042, 1.6627, 0.8185, 0.0849, -0.3851, -0.271, 0.0109, -0.0521, 0.8242, 0.5514, -0.2821, -0.0837, -0.189, 0.9978] state[eef_state]: left_x=0.415 left_y=-0.1014 left_z=0.0708 left_yaw=0.0552 left_pitch=-0.1237 left_roll=0.0629 left_gripper=0.0109 right_x=0.3027 right_y=0.0026 right_z=0.1681 right_yaw=0.1051 right_pitch=0.0058 right_roll=-0.1087 right_gripper=0.9978 state[joint_eff]: [-0.2803, -9.0872, 8.9915, 1.536, -0.1392, 0.0317, 0.2027, -0.0342, -1.5111, 7.2821, 1.7998, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.17,"left_z":0.16},"note":"The lifted left gripper still hides the cap’s original location in the overhead camera. I’ll move it aside while keeping it closed; that will show whether the cap stayed on the table or travelled with the gripper."})

tool

executing move_to over 7 steps (0.7s)

step 148

assistant

agent noteThe left gripper’s opening remains consistent with an empty grasp, so the cap is not yet securely held. I’ll leave that arm clear and re-approach the pen from above with the right arm, using its current visible position rather than the earlier displaced position.

move_to

right_x0.4150right_y0.1700right_z0.1150right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4361, 0.9424, -0.3912, -0.5789, -0.522, 0.0124, -0.0517, 0.8288, 0.5499, -0.2844, -0.0837, -0.1917, 0.9978] state[eef_state]: left_x=0.337 left_y=-0.1762 left_z=0.1418 left_yaw=0.0045 left_pitch=-0.1362 left_roll=0.0589 left_gripper=0.0124 right_x=0.3024 right_y=0.0027 right_z=0.1656 right_yaw=0.1069 right_pitch=-0.0026 right_roll=-0.1096 right_gripper=0.9978 state[joint_eff]: [-0.1299, -7.8017, 9.3607, 1.2576, -0.4713, -0.0269, 0.1343, -0.0752, -1.8803, 7.2, 1.8144, -0.0904, -0.0513, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.17,"right_z":0.115,"right_pitch":0.2},"note":"The left gripper’s opening remains consistent with an empty grasp, so the cap is not yet securely held. I’ll leave that arm clear and re-approach the pen from above with the right arm, using its current visible position rather than the earlier displaced position."})

tool

executing move_to over 14 steps (1.4s)

step 162

assistant

agent noteThe pen is fully visible in the right wrist view, slanting down to the right of the jaw column. I’ll move forward and slightly to the right of the table to line up with its middle before the final descent.

move_to

right_x0.4450right_y0.1250right_z0.0750right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4399, 0.9356, -0.408, -0.5701, -0.5407, 0.0125, 0.5491, 1.647, 0.6563, 0.49, 0.4252, 0.0456, 0.9978] state[eef_state]: left_x=0.3332 left_y=-0.1746 left_z=0.135 left_yaw=0.0112 left_pitch=-0.1602 left_roll=0.0587 left_gripper=0.0125 right_x=0.4007 right_y=0.164 right_z=0.0925 right_yaw=0.1526 right_pitch=0.1033 right_roll=-0.1499 right_gripper=0.9978 state[joint_eff]: [-0.0479, -6.2564, 7.241, 1.4628, -0.398, 0.1685, 0.0073, 0.4444, -7.2684, 7.3641, 2.0342, 0.442, 0.1734, -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":0.445,"right_y":0.125,"right_z":0.075,"right_pitch":0.2},"note":"The pen is fully visible in the right wrist view, slanting down to the right of the jaw column. I’ll move forward and slightly to the right of the table to line up with its middle before the final descent."})

tool

executing move_to over 4 steps (0.4s)

step 166

assistant

agent noteThe pen now runs almost straight through the right jaw column. I’ll descend without changing its lateral alignment, using the small permitted table press to get the fingertips around the thin barrel.

move_to

right_x0.4340right_y0.1200right_z-0.0150right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4418, 0.9348, -0.4084, -0.569, -0.5415, 0.0129, 0.3855, 1.8172, 0.643, 0.6987, 0.3187, -0.0387, 0.9978] state[eef_state]: left_x=0.333 left_y=-0.1746 left_z=0.1339 left_yaw=0.0112 left_pitch=-0.163 left_roll=0.0596 left_gripper=0.0129 right_x=0.4327 right_y=0.1197 right_z=0.0565 right_yaw=0.1218 right_pitch=0.1044 right_roll=-0.1703 right_gripper=0.9978 state[joint_eff]: [-0.0479, -6.1333, 6.5983, 1.2869, -0.3346, -0.0073, 0.0366, -0.1846, -8.1162, 5.2855, 2.42, 0.1392, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.434,"right_y":0.12,"right_z":-0.015,"right_pitch":0.2},"note":"The pen now runs almost straight through the right jaw column. I’ll descend without changing its lateral alignment, using the small permitted table press to get the fingertips around the thin barrel."})

tool

executing move_to over 5 steps (0.5s)

step 171

assistant

agent noteLowering revealed that the pen’s near barrel is still to the right of the actual fingertip meeting point, despite looking centred higher in the wrist view. I’ll slide the open jaws about three centimetres toward the barrel before closing.

move_to

right_x0.4430right_y0.0950right_z-0.0120right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4088, -0.5686, -0.5415, 0.014, 0.3866, 2.1685, 0.606, 1.2228, 0.3119, -0.0349, 0.9978] state[eef_state]: left_x=0.3328 left_y=-0.1745 left_z=0.1323 left_yaw=0.0115 left_pitch=-0.1666 left_roll=0.0626 left_gripper=0.014 right_x=0.4409 right_y=0.1248 right_z=0.0066 right_yaw=0.1207 right_pitch=0.2351 right_roll=-0.128 right_gripper=0.9978 state[joint_eff]: [-0.3214, -6.2564, 6.6256, 1.2479, -0.232, -0.0366, 0.1001, 0.1162, -5.9282, 2.5778, 0.4469, 0.2125, -0.4957, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x":0.443,"right_y":0.095,"right_z":-0.012,"right_pitch":0.2},"note":"Lowering revealed that the pen’s near barrel is still to the right of the actual fingertip meeting point, despite looking centred higher in the wrist view. I’ll slide the open jaws about three centimetres toward the barrel before closing."})

tool

executing move_to over 3 steps (0.3s)

step 174

assistant

agent noteAt table height, the pen’s barrel now runs into the space between the right fingertips rather than beside it. I’ll close and check the jaw opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0154, 0.3107, 2.2013, 0.6018, 1.2991, 0.2371, -0.0376, 0.9978] state[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0154 right_x=0.4493 right_y=0.1045 right_z=0.0073 right_yaw=0.109 right_pitch=0.2677 right_roll=-0.0976 right_gripper=0.9978 state[joint_eff]: [-0.2667, -6.0103, 6.7077, 1.37, -0.3199, -0.0513, 0.1343, -0.4991, -7.6786, 2.0855, 1.5214, 0.0952, -0.2613, -0.0122] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At table height, the pen’s barrel now runs into the space between the right fingertips rather than beside it. I’ll close and check the jaw opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 184

assistant

agent noteThe right jaws settled at about a five-millimetre gap, consistent with holding the pen rather than closing empty. I’ll lift it about ten centimetres and confirm that it moves with the gripper.

move_to

right_z0.1050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5419, 0.016, 0.2897, 2.2013, 0.5987, 1.2938, 0.2008, -0.0586, 0.0512] state[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0119 left_pitch=-0.1661 left_roll=0.0622 left_gripper=0.016 right_x=0.4496 right_y=0.101 right_z=0.0048 right_yaw=0.1317 right_pitch=0.2565 right_roll=-0.1088 right_gripper=0.0512 state[joint_eff]: [-0.1983, -6.0376, 6.5846, 1.326, -0.3004, -0.0757, 0.0464, -0.5128, -7.7333, 2.0991, 1.4921, 0.1343, -0.0122, 1.2723] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105},"note":"The right jaws settled at about a five-millimetre gap, consistent with holding the pen rather than closing empty. I’ll lift it about ten centimetres and confirm that it moves with the gripper."})

tool

executing move_to over 7 steps (0.7s)

step 191

assistant

agent noteThe right gripper continues to hold a pen-sized gap after lifting, so I’ll keep the pen raised and move it back from the work area. I’ll reopen the left gripper and return above the cap for a more forward grasp than the earlier empty one.

move_to

right_x0.3450right_y0.0150right_z0.1700left_gripper1.0000left_x0.4140left_y-0.1200left_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]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0161, 0.2901, 1.7927, 0.5964, 0.8738, 0.189, -0.0643, 0.0567] state[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0161 right_x=0.4443 right_y=0.1017 right_z=0.0865 right_yaw=0.146 right_pitch=0.2421 right_roll=-0.1128 right_gripper=0.0567 state[joint_eff]: [-0.1026, -5.9009, 6.5026, 1.3016, -0.2955, -0.0464, -0.0024, -0.1709, -9.388, 7.706, 2.0098, 0.105, -0.0171, 1.033] 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_x":0.345,"right_y":0.015,"right_z":0.17,"left_gripper":1,"left_x":0.414,"left_y":-0.12,"left_z":0.12},"note":"The right gripper continues to hold a pen-sized gap after lifting, so I’ll keep the pen raised and move it back from the work area. I’ll reopen the left gripper and return above the cap for a more forward grasp than the earlier empty one."})

tool

executing move_to over 10 steps (1.0s)

step 201

assistant

agent noteThe right wrist camera shows the pen extending ahead of the raised right gripper, confirming it travelled with that arm. The cap lies crosswise near the bottom of the left wrist view; I’ll approach a little farther forward and sideways so its body reaches the left fingertips.

move_to

left_x0.4260left_y-0.1360left_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]: [-0.4484, 1.5818, 0.9558, -0.2554, -0.3893, -0.3244, 0.9951, -0.0036, 1.0187, 0.3962, 0.3489, -0.0563, -0.1474, 0.0626] state[eef_state]: left_x=0.3957 left_y=-0.112 left_z=0.101 left_yaw=0.0536 left_pitch=-0.2282 left_roll=0.0831 left_gripper=0.9951 right_x=0.3531 right_y=0.0122 right_z=0.1763 right_yaw=0.113 right_pitch=0.2851 right_roll=-0.12 right_gripper=0.0626 state[joint_eff]: [0.294, -6.653, 9.4974, 1.619, -0.1685, 0.1978, -0.1197, -0.4308, -2.0718, 7.1453, 2.0293, -0.1636, -0.0464, 1.0281] 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":{"left_x":0.426,"left_y":-0.136,"left_z":0.035},"note":"The right wrist camera shows the pen extending ahead of the raised right gripper, confirming it travelled with that arm. The cap lies crosswise near the bottom of the left wrist view; I’ll approach a little farther forward and sideways so its body reaches the left fingertips."})

tool

executing move_to over 5 steps (0.5s)

step 206

assistant

agent noteThe cap has disappeared below the left wrist camera after the forward descent, which puts it near or under the fingertips. I’ll finish lowering with a more forward tool pitch before testing a grasp.

move_to

left_x0.4320left_y-0.1300left_z-0.0120left_pitch0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4721, 1.8343, 0.9554, -0.0803, -0.392, -0.3393, 0.9963, -0.0059, 1.0203, 0.395, 0.3141, -0.0746, -0.1619, 0.0626] state[eef_state]: left_x=0.4111 left_y=-0.1301 left_z=0.0256 left_yaw=0.0505 left_pitch=-0.2942 left_roll=0.1141 left_gripper=0.9963 right_x=0.3504 right_y=0.0147 right_z=0.1671 right_yaw=0.1335 right_pitch=0.2478 right_roll=-0.124 right_gripper=0.0626 state[joint_eff]: [-0.1709, -9.0462, 6.8718, 1.5751, -0.315, -0.1294, 0.1197, 0.0342, -2.7966, 6.9675, 2.2149, 0.1685, 0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.432,"left_y":-0.13,"left_z":-0.012,"left_pitch":0.12},"note":"The cap has disappeared below the left wrist camera after the forward descent, which puts it near or under the fingertips. I’ll finish lowering with a more forward tool pitch before testing a grasp."})

tool

executing move_to over 14 steps (1.4s)

step 220

assistant

agent noteThe left fingertips have reached tabletop height over the cap’s last observed position. I’ll close now, then use the jaw gap and a lift to tell whether this more forward approach caught it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5076, 2.0949, 0.7097, 0.8722, -0.5541, -0.2356, 0.9965, -0.0059, 1.0203, 0.3943, 0.2989, -0.0727, -0.1623, 0.0626] state[eef_state]: left_x=0.4388 left_y=-0.1336 left_z=0.0029 left_yaw=0.0699 left_pitch=0.1382 left_roll=0.0586 left_gripper=0.9965 right_x=0.3491 right_y=0.0143 right_z=0.1632 right_yaw=0.1315 right_pitch=0.2319 right_roll=-0.1227 right_gripper=0.0626 state[joint_eff]: [-0.6906, -6.8991, 2.7419, 0.989, -0.2564, 0.3004, -0.0024, -0.0479, -2.7009, 7.0769, 2.044, -0.0464, -0.0611, 1.0281] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips have reached tabletop height over the cap’s last observed position. I’ll close now, then use the jaw gap and a lift to tell whether this more forward approach caught it."})

tool

executing move_to over 10 steps (1.0s)

step 230

assistant

agent noteThe left jaws closed empty again, so the cap is not at the point I targeted. I’ll move the open left gripper clear of the left tabletop to expose the cap in the overhead view and re-localize it rather than repeat that grasp.

move_to

left_gripper1.0000left_x0.3000left_y-0.0100left_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]: [-0.5072, 2.1094, 0.7021, 0.9092, -0.5541, -0.2417, 0.0073, -0.0063, 1.0206, 0.3943, 0.2947, -0.0727, -0.1623, 0.0626] state[eef_state]: left_x=0.4387 left_y=-0.1333 left_z=0.0016 left_yaw=0.0748 left_pitch=0.1508 left_roll=0.0448 left_gripper=0.0073 right_x=0.3488 right_y=0.0142 right_z=0.162 right_yaw=0.1309 right_pitch=0.2273 right_roll=-0.122 right_gripper=0.0626 state[joint_eff]: [-0.0205, -10.2906, 4.3145, 1.3358, -0.149, 0.0562, 0.5446, -0.1436, -2.7009, 6.8308, 1.9365, -0.0415, -0.0366, 1.033] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.3,"left_y":-0.01,"left_z":0.17},"note":"The left jaws closed empty again, so the cap is not at the point I targeted. I’ll move the open left gripper clear of the left tabletop to expose the cap in the overhead view and re-localize it rather than repeat that grasp."})

tool

executing move_to over 11 steps (1.1s)

step 241

assistant

agent noteWith the left arm clear, the overhead view shows the cap has been pushed back toward the left base, around image position (57, 126); that explains the empty grasps at its old position. I’ll approach this new location from above with the jaws open.

move_to

left_x0.3450left_y-0.1100left_z0.1100left_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2386, 0.7929, 0.3851, 0.0456, -0.3496, -0.1349, 0.9952, -0.0063, 1.0245, 0.3885, 0.2848, -0.0723, -0.1627, 0.0626] state[eef_state]: left_x=0.3109 left_y=-0.0097 left_z=0.1746 left_yaw=0.1247 left_pitch=0.2305 left_roll=0.0059 left_gripper=0.9952 right_x=0.3471 right_y=0.0142 right_z=0.1558 right_yaw=0.1302 right_pitch=0.208 right_roll=-0.1198 right_gripper=0.0626 state[joint_eff]: [0.2256, -0.4444, 10.6188, 1.7949, 0.0806, 0.2515, -0.0952, -0.2393, -2.5231, 7.2547, 2.0195, -0.0562, -0.0562, 1.0379] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.11,"left_z":0.11,"left_pitch":0.05},"note":"With the left arm clear, the overhead view shows the cap has been pushed back toward the left base, around image position (57, 126); that explains the empty grasps at its old position. I’ll approach this new location from above with the jaws open."})

tool

executing move_to over 9 steps (0.9s)

step 250

assistant

agent noteThe cap is now visible near the bottom of the left wrist view, just left of the jaw centre. I’ll advance a little and shift left to bring its thicker section between the fingertips at table height.

move_to

left_x0.3620left_y-0.0830left_z0.0180left_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5987, 1.3258, 0.5274, 0.0971, -0.5976, -0.3962, 0.9963, -0.0063, 1.0271, 0.3874, 0.2684, -0.0723, -0.1627, 0.0626] state[eef_state]: left_x=0.3349 left_y=-0.1038 left_z=0.0952 left_yaw=0.0921 left_pitch=0.0063 left_roll=0.0491 left_gripper=0.9963 right_x=0.3456 right_y=0.0142 right_z=0.1506 right_yaw=0.1297 right_pitch=0.188 right_roll=-0.117 right_gripper=0.0626 state[joint_eff]: [-0.3214, -5.3402, 8.5402, 1.6679, -0.4176, -0.0513, 0.105, -0.1983, -2.8103, 6.8991, 2.0195, -0.0464, -0.0366, 1.0379] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.362,"left_y":-0.083,"left_z":0.018,"left_pitch":0.05},"note":"The cap is now visible near the bottom of the left wrist view, just left of the jaw centre. I’ll advance a little and shift left to bring its thicker section between the fingertips at table height."})

tool

executing move_to over 5 steps (0.5s)

step 255

assistant

agent noteThe cap’s near, thicker end now runs into the left jaw centre at tabletop height. I’ll close on it and check whether the jaws stop around the cap rather than fully closing.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4816, 1.7123, 0.3912, 0.5907, -0.5396, -0.3252, 0.9965, -0.0063, 1.0306, 0.3862, 0.2604, -0.0727, -0.1627, 0.0626] state[eef_state]: left_x=0.346 left_y=-0.0744 left_z=0.0031 left_yaw=0.127 left_pitch=-0.0429 left_roll=0.0954 left_gripper=0.9965 right_x=0.3448 right_y=0.0142 right_z=0.1472 right_yaw=0.1297 right_pitch=0.1755 right_roll=-0.1151 right_gripper=0.0626 state[joint_eff]: [0.5675, -6.065, 3.6855, 1.116, 0.0366, 0.3297, -0.0024, -0.1709, -2.8786, 6.8855, 1.9219, -0.0611, -0.0611, 1.033] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s near, thicker end now runs into the left jaw centre at tabletop height. I’ll close on it and check whether the jaws stop around the cap rather than fully closing."})

tool

executing move_to over 10 steps (1.0s)

step 265

assistant

agent noteThe left jaws stopped at roughly a 4.5-millimetre opening, consistent with gripping the cap. I’ll lift it clear and check that the opening persists before bringing it toward the pen.

move_to

left_z0.1350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4801, 1.7264, 0.387, 0.6163, -0.5434, -0.3309, 0.0471, -0.0063, 1.0317, 0.3847, 0.26, -0.0727, -0.1627, 0.0626] state[eef_state]: left_x=0.3467 left_y=-0.0735 left_z=0.0018 left_yaw=0.1344 left_pitch=-0.0352 left_roll=0.0886 left_gripper=0.0471 right_x=0.3445 right_y=0.0142 right_z=0.146 right_yaw=0.1296 right_pitch=0.1725 right_roll=-0.1147 right_gripper=0.0626 state[joint_eff]: [-0.2667, -7.1726, 4.2462, 1.3114, -0.105, 0.0269, 1.1062, -0.0205, -2.7829, 6.8991, 1.8779, -0.0904, -0.0317, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.135},"note":"The left jaws stopped at roughly a 4.5-millimetre opening, consistent with gripping the cap. I’ll lift it clear and check that the opening persists before bringing it toward the pen."})

tool

executing move_to over 9 steps (0.9s)

step 274

assistant

agent noteBoth jaws retained a cap- or pen-sized opening after lifting. I’ll raise both objects and rotate their forward-pointing axes toward the table centre, so the pen’s free end can approach the cap’s opening from the side.

move_to

left_yaw1.5700right_yaw1.5700left_z0.1900right_z0.1900left_pitch0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4801, 1.2766, 0.6323, -0.0719, -0.5434, -0.3389, 0.0513, -0.0063, 1.0336, 0.3843, 0.2447, -0.0727, -0.1627, 0.0626] state[eef_state]: left_x=0.3475 left_y=-0.0739 left_z=0.1203 left_yaw=0.1386 left_pitch=-0.0292 left_roll=0.078 left_gripper=0.0513 right_x=0.343 right_y=0.0143 right_z=0.1417 right_yaw=0.1292 right_pitch=0.1551 right_roll=-0.1123 right_gripper=0.0626 state[joint_eff]: [-0.0752, -5.4496, 9.0188, 1.5849, -0.2906, 0.0757, 1.0281, -0.0615, -2.6872, 6.8855, 2.0342, -0.0659, -0.0562, 1.0379] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":1.57,"right_yaw":1.57,"left_z":0.19,"right_z":0.19,"left_pitch":0,"right_pitch":0},"note":"Both jaws retained a cap- or pen-sized opening after lifting. I’ll raise both objects and rotate their forward-pointing axes toward the table centre, so the pen’s free end can approach the cap’s opening from the side."})

tool

executing move_to over 10 steps (1.0s)

step 284

assistant

agent noteRotating the wrists changed the actual grasp-point positions and heights substantially, although both objects remain clamped. I’ll explicitly reposition both arms toward the centre at a safe separation and recheck their measured poses before attempting to join the parts.

move_to

left_x0.3800left_y-0.1900left_z0.2000left_yaw1.5700right_x0.3800right_y0.1800right_z0.2000right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4007, 2.0907, 1.6058, -1.4807, -0.897, -1.9629, 0.0556, -0.3557, 1.9511, 1.6093, -1.1553, -0.9642, -1.7386, 0.0664] state[eef_state]: left_x=0.3556 left_y=0.0031 left_z=0.1139 left_yaw=1.4039 left_pitch=-0.0469 left_roll=0.0883 left_gripper=0.0556 right_x=0.4092 right_y=0.0066 right_z=0.1614 right_yaw=1.2863 right_pitch=-0.0551 right_roll=-0.2042 right_gripper=0.0664 state[joint_eff]: [0.0889, -10.3453, 5.4085, -0.7546, -0.3932, -0.0659, 1.033, 2.0308, -10.7282, 7.1863, -0.2418, -0.6129, -0.0904, 1.033] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.19,"left_z":0.2,"left_yaw":1.57,"right_x":0.38,"right_y":0.18,"right_z":0.2,"right_yaw":1.57},"note":"Rotating the wrists changed the actual grasp-point positions and heights substantially, although both objects remain clamped. I’ll explicitly reposition both arms toward the centre at a safe separation and recheck their measured poses before attempting to join the parts."})

tool

executing move_to over 18 steps (1.8s)

step 302

assistant

agent noteThe right arm reached its inward target, but the left arm did not: it stayed far from the centre and much lower than commanded at the sideways wrist angle. I’ll straighten only the left wrist and move the cap inward first, then reorient it from a reachable pose.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4156, 2.2272, 1.7439, -1.5578, -0.8207, -2.0869, 0.0556, 0.0662, 1.845, 1.5772, -1.0523, -0.9226, -1.5028, 0.0664] state[eef_state]: left_x=0.364 left_y=-0.0155 left_z=0.0909 left_yaw=1.494 left_pitch=-0.0858 left_roll=0.0805 left_gripper=0.0556 right_x=0.377 right_y=0.1697 right_z=0.1881 right_yaw=1.566 right_pitch=-0.0735 right_roll=-0.19 right_gripper=0.0664 state[joint_eff]: [0.4718, -10.988, 7.2137, -0.696, -0.3834, -0.1343, 1.0281, 0.9094, -9.1692, 9.0188, 0.7888, -0.5739, 0.1392, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.19,"left_yaw":0,"left_pitch":0},"note":"The right arm reached its inward target, but the left arm did not: it stayed far from the centre and much lower than commanded at the sideways wrist angle. I’ll straighten only the left wrist and move the cap inward first, then reorient it from a reachable pose."})

tool

executing move_to over 20 steps (2.0s)

step 322

assistant

agent noteStraightening let the left arm bring the cap inward to its requested area. I’ll now rotate the cap toward the pen while holding its current grasp point and height explicitly, checking whether this pose remains reachable.

move_to

left_x0.3400left_y-0.2300left_z0.2000left_yaw1.5700left_pitch0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9009, 1.5661, 1.1412, -0.5323, -0.8001, -0.6979, 0.0556, 0.0658, 1.845, 1.578, -1.0397, -0.9165, -1.5002, 0.0664] state[eef_state]: left_x=0.3368 left_y=-0.2153 left_z=0.1719 left_yaw=0.0967 left_pitch=-0.0391 left_roll=0.0881 left_gripper=0.0556 right_x=0.3796 right_y=0.1691 right_z=0.1881 right_yaw=1.5616 right_pitch=-0.0782 right_roll=-0.2016 right_gripper=0.0664 state[joint_eff]: [-0.7316, -9.2923, 6.5709, 1.5116, -0.3541, 0.2564, 1.033, -0.1709, -9.265, 6.0239, 0.5348, -0.5739, -0.0855, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.2,"left_yaw":1.57,"left_pitch":0.22},"note":"Straightening let the left arm bring the cap inward to its requested area. I’ll now rotate the cap toward the pen while holding its current grasp point and height explicitly, checking whether this pose remains reachable."})

tool

executing move_to over 10 steps (1.0s)

step 332

assistant

agent noteAt a sideways yaw the left arm again swung away from the centre and dropped, so that orientation is not usable for joining the parts. I’ll instead align both along the forward axis, where the left arm can reach inward, keeping the grippers separated while placing the pen’s free end behind the cap.

move_to

left_x0.3750left_y-0.2500left_z0.1900left_yaw0.0000left_pitch0.0000right_x0.2900right_y0.2600right_z0.1900right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3702, 2.2337, 1.676, -1.5322, -1.0447, -2.035, 0.057, 0.0666, 1.845, 1.5761, -1.0386, -0.9092, -1.5036, 0.0664] state[eef_state]: left_x=0.3763 left_y=0.0216 left_z=0.1038 left_yaw=1.4048 left_pitch=0.114 left_roll=0.1186 left_gripper=0.057 right_x=0.3796 right_y=0.1686 right_z=0.1866 right_yaw=1.5623 right_pitch=-0.0856 right_roll=-0.2041 right_gripper=0.0664 state[joint_eff]: [-0.4991, -13.9829, 4.3829, -0.8181, -0.7253, -0.0855, 1.033, -0.4171, -9.306, 6.4479, 0.735, -0.5543, 0.0024, 1.033] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.25,"left_z":0.19,"left_yaw":0,"left_pitch":0,"right_x":0.29,"right_y":0.26,"right_z":0.19,"right_yaw":0,"right_pitch":0},"note":"At a sideways yaw the left arm again swung away from the centre and dropped, so that orientation is not usable for joining the parts. I’ll instead align both along the forward axis, where the left arm can reach inward, keeping the grippers separated while placing the pen’s free end behind the cap."})

tool

executing move_to over 25 steps (2.5s)

step 357

assistant

agent noteWith both tools pointing forward, the pen is held behind the cap, but the measured grasp points are still laterally far apart and the cap is lower. I’ll move the cap farther toward the centre and lift it slightly before bringing the pen across.

move_to

left_x0.3500left_y-0.3000left_z0.1800left_yaw0.0000left_pitch0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7719, 1.7397, 1.2457, -0.5438, -0.7918, -0.6106, 0.0571, 1.0622, 1.4994, 1.1809, -0.6102, 0.9443, 0.6369, 0.0672] state[eef_state]: left_x=0.382 left_y=-0.1914 left_z=0.1418 left_yaw=0.1787 left_pitch=-0.0979 left_roll=0.2212 left_gripper=0.0571 right_x=0.2955 right_y=0.2436 right_z=0.2167 right_yaw=-0.0135 right_pitch=0.0664 right_roll=-0.1577 right_gripper=0.0672 state[joint_eff]: [-7.665, -13.0393, 10.0718, 1.8877, -0.2076, 0.2271, 1.033, 1.6205, 0.1983, 8.2803, 1.7021, -0.8425, -1.0085, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.3,"left_z":0.18,"left_yaw":0,"left_pitch":0.22},"note":"With both tools pointing forward, the pen is held behind the cap, but the measured grasp points are still laterally far apart and the cap is lower. I’ll move the cap farther toward the centre and lift it slightly before bringing the pen across."})

tool

executing move_to over 11 steps (1.1s)

step 368

assistant

agent noteThe left arm did not move inward; the two arm bodies are close enough that forcing it would be unsafe. I’ll instead bring the pen inward from the right while angling its free end toward the cap, keeping the grasp points separated.

move_to

right_x0.2900right_y0.3700right_z0.1400right_yaw0.7500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7795, 1.75, 1.2366, -0.5301, -0.8307, -0.6048, 0.0571, 1.0664, 1.4929, 1.1793, -0.6697, 0.9833, 0.6834, 0.0672] state[eef_state]: left_x=0.3823 left_y=-0.1895 left_z=0.1403 left_yaw=0.1898 left_pitch=-0.0744 left_roll=0.2498 left_gripper=0.0571 right_x=0.2919 right_y=0.232 right_z=0.217 right_yaw=-0.0519 right_pitch=0.0736 right_roll=-0.1798 right_gripper=0.0672 state[joint_eff]: [-4.547, -9.1829, 6.5162, 1.3846, -0.5934, -0.1001, 1.033, -0.4991, -5.9419, 6.9128, 1.7118, -0.0366, -0.4908, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.37,"right_z":0.14,"right_yaw":0.75,"right_pitch":0},"note":"The left arm did not move inward; the two arm bodies are close enough that forcing it would be unsafe. I’ll instead bring the pen inward from the right while angling its free end toward the cap, keeping the grasp points separated."})

tool

executing move_to over 12 steps (1.2s)

step 380

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6788, 1.7771, 1.2064, -0.5892, -0.8299, -0.6201, 0.0571, 0.9405, 1.5505, 0.973, 0.0742, 0.6117, 0.2253, 0.0672] state[eef_state]: left_x=0.3862 left_y=-0.1395 left_z=0.1151 left_yaw=0.3083 left_pitch=-0.1375 left_roll=0.3345 left_gripper=0.0571 right_x=0.3389 right_y=0.2985 right_z=0.1891 right_yaw=0.2946 right_pitch=0.1546 right_roll=-0.0652 right_gripper=0.0672 state[joint_eff]: [-8.4718, -10.8103, 8.7179, 1.5214, -0.4225, 0.0708, 1.0281, 5.9966, -0.1709, 7.1179, 1.1013, -2.2589, -2.2344, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 6.116 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0158, 0.791, 0.6083, -0.3786, -0.0212, -0.0227, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0027 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.4564, 10.5778, 1.7753, -0.0366, 0.1197, -0.0366, -0.9094, -1.1556, 9.894, 1.8486, -0.0757, 0.0659, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e947da00b1f53c93fa2661d6d2f1b1358657812615792818466d969138dceaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59410bc7333c3d2fefb7e45f31072f73c33c1a00399294da35faedfd0252d0a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c32c26e2a7b35683568b3c2c0242337030b38712fd0a50070d13bec84bf56b",
      "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 · 7.76 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj8-Ovw4kelyhNcR6bN-6Iv2AS4jv7jeRWN5N3SScdb-5XG5DiK-hRaZk6Nqg1AhHpL0Bq00xjg_2P-VmO7dypEzg1H85teyckQtBZRoULRKIUZtzEyKgmywc7HjePrLbbWq8R3ndHheBN-tszttngmYrwLtN2fk8qYUNHbohLw4hd3HR62MCo9OW3KwPY-349lMB_Wl0EhrAe_6FPF-iloPCEb_xfAMnKcyOelszV8kw94A4ASkBvX1L85GWDB3zGXPZgtKByXcAg-2aqkt67JFsT4NBQTEKQUcOjEBq55gjPBmDHLutqyV316FQXuKEMnJtOCrnNoLeVzC00LJ3G6NHnijCdn9e8hUvylau22OcVvtqkT3wETk2_JbWTIa39hU8v18bi0fk6w-hKDG3OKObDQYunRpFGVQdHdg5dD4rpW-6wKvYyXkyFJkpPYq6af7lT2_S6WTktW1LYhWL2tZ0bzfRCfoWwPqChKnJAjlTRnzqGDEWGTJCytSJwr6Q3O6LDm7df3ccpYRt4rXXD3VkZ75y1xi25g25DFO73aAFcry4mBaIErB65BV6NKHmwn-HCftXcYJ8Xq8bj7QMDAf8i4w58T5XIU00himQS6RAA0ylfg_CFHg-cOTvi94biq6F12AZzjHJZi5BTLDSQ6A3EgZ5x178h6lfvS9tpVH7ks704VAFqWjalBHxN0NT9GroCSY3I2foPRqFwFRtlBNhUaDhzAijhuzyZGUptYeWWaLVUAGBwKr9S08Gi2RrjjK1k2WhD-aO53fLuU9k_rMIbqR5OVh5Seo95-2DSLJOAtd_3Ba0-ebOhx8diHOAi_uvuIWml7aKJql12dC-RJZHDLMZVLH2B_lNxRVqafeg_LpF1tMh_-LyiOCKpUcLNAul-M9QelVbkls-sEAsXFFH9XhXxOmK6FCVhV0ReR7FpCbS4tVwl2cp6YRCFCfMbBk8qsunhy3XQ_dMfcrbkVsRIX6EUDrGIQoewHH8N56Bz_GegqXSqH3HcVsirQyku_Oqxc_hLlh42z-20Du3vfQbVRtokUZArkXJiqlFAdfRl3GEWfiVtYdR9vrmIq3RiSuXyw2ImKOmMEs-YyaKLaAMxO8iIwgRbnLg7jZDA2U9ZEeWA5vLmK0aUOEk_4ejZnnw3RrYxfXKSH_pSjE0iqqyJkufWPfh1MIGE5yOK2LK0aZtGhqIHZLk6TaCDlws19qF8O5BDhHottDedzByf41ujWmpT7l5fqnl_jwJ3jFDplOlkvBbTfM5USWE1xOeEEwjD35xu_IHY5yYFKYSz7LDoCDI6OKVT_g16dOvCbCa-llepay8EknlpjgFWcEQF19U9inrnRKx5noyVIudOLhRay8vyCsiwvOXORwcf7WjY3OvHcRMbqMwCfzKMHz-Ps4d2VqQKYv3IixzIxTnaoLywH8I9Fh4EAwgrk3vxxbU_QjzYHGY60VUx_lx7VgTwHrLoOHPVqMJ4OuA-fh-35LvAGn9WMg2sUdHbqXuKl42OzAgzOmUPEGJ975Yiahf0TUbz82_pQ0mIxzCkzaVBhWelS2VLl59-P5Vzt6Jcbbtf5xuQMO0pam3DKxBWW9wtD3nQIsmX9OyQcsVrQqNMaNzTPgQNRzVMUEQ6yFvvY7j4NN0x7s36NhUIQeZDcrtNoQkpOa3fVIdI_uJV9pbqhbgO0I55dFBjer-FdKpgDsZRJbQPucI6qdI5yqV8E0xL5asp9vpoNbDL7dgu0haZYVPEac1Fm4foAzZAs2_4OuaM1TPsx0Zmi24OinzaHiKR3lWiplHwJWjxDjRIhmb8mgG7fwdZS9OEIIn5HQG9ARwOomWRleya_nrzoCxM0kQBgEkqula4VNDzTcifwzykOsEfEiSaYkId21vb6All1NJoTMi8ZSxtCecYDgX490IXi77hXsBFw8rD7-P-R7esvMnmXU0K4BeHPgRJVZeQe5RBnPQ1kT4CnXf_OUO0atEogCJgEAYe1S0D-DUftWn6W5juokhpFy0inqQnplPPMy_nMN5tbngOcRK80pIdiVpPScleJHKGpUgLMPlNYDzEktSzi9_ry-mWjdAeBuAFlRCpQ6RV3suii13f2AOyMiCsBZOrOJvkJMmjDFM_8Qra2Ejoi6T_qys5hwIb6cGT9TpkUmA8EGl9uNxK4maLDt-JPrfVWstD_UQHQakJzjZvvMjrz_Z1y2RYHDVNxXZxbabbyWsXrS22Fm-Nd8_OK6lNk_moGPQFmUDP38y2fm6-dW8_SMdrq6qbFPxSmSAwvDso0YgoDySZTSvQ5TYGE94LeXRGOuZKs3d8Be1QmRYVYT6A7g6eKEI51i38QbydZ1lFdS8LcDxZEBc_jrUCCIUrGCaO_Tho3-GBg5AwaPJ9-e_zszZduulM2KfDgASK9rtgv4frOW_ojU3IOu-2j5UawWD_F7XC3jjjexaSrAPCmhjm8awwuqeRhM-pS17NXXhGbDnIZtiTHDMoT4bMlh1nN2MnXeoujOqxPdO5HKcsAw4SkinNPqhLy1hz2zHhSdD8pmS4SdPjvv_-WXa8L7ajHoNh5LPj3UEEOgFSDN5jpWoLcRSuEI_4UPaot3u7ASe2AbIYNr4ghvE3kPcuauYdhPz9DRsr1YvI9_bk97pEH9TQlxwXe2u9uQU-BWiK5b8QJCbfyP3QdJuFvLP3mSWG7JtsdddfcBxFoERVNbpbUERghDwqWVsuJsA4pwisBF52d4BVsmtWqFNOhDkJ_WaGgFkAPYPVc8BYGdeMne05tEIVgjFTCamysp8X6RJW0sbvtY6nL1AE5w2TOgFZSoPTjS-sBtVNlAc1Rr0_lqCuN0IPi6Kj5-cUM1hamBx0c7PxiVbaBz7-tsrctnOlEtyhC92kLU7XrB-M0hdOb4pyLL26ASLJIWKeLcu1C5HjUakflriZC3Wd3XWHHuVzFnDRSAn9uI6-_-1cxaTJcQLoGqqLwllJDeJivAWUGQ0BRq86GjoxocmBjeUE5EoXlLRrrPQp36aMkvPy7RfmLg6205TsIuTBPGruqmODpdOCgWx0eNs0Veak_ySPWqhd4jyGNL_XJc5iP8Toy2sLuwK2dRxtg0u57oFGvlpalaP0gr2FufpQzT5l_ocyfNYn7QdMJGNbFymXw8Gj3195HwJtVrIjvgPGOZ2EH8rTEJL9j2_oFEAHg_Lqp8_cfqLLuRS80rNQuTDlpQrgnk_lH61wbn52ZA4kXs0_YfuCOVqwCupT5xDbGqhvXAdnkUjxynezE0tZQcFRHLQbPyWahP-pmHlQGp2h0oojD-Bjy4yADwe8X58DQLBKIMF0FCKF10MzAh_P1c_thmkkE2_0_PZKRmWVdaHFLmCI1RuIScFCx70ozuax3TtyD_Kx6r9aJG7MQCVpsmyKe7EPLdWB7R0OQw1WtwRMyaaWecc_prp_FOxsqfuklAQZrwkVwVyyvKdHFaRm91O0kDBg_dLkiXMCxda0zIELF93sv3_eJnBh7KQJAMeZhlYYAB2tae93CODFk5r3ikyt-ekMoJaVeWenS_Cva0usr20RIvx6yhby1xcM=",
  "id": "rs_03b5ddfae23779b0016ab438f742a087d099d763bbab7d9455",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.2,\"right_z\":0.14},\"note\":\"The pen lies diagonally on the right half of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen first so I can align its jaws before grasping.\"}",
  "call_id": "call_K2ElY1iQ22RHVSV3F0QdXHr4",
  "id": "fc_03b5ddfae23779b0016ab438fbd26887d08fd30b8b0eb2d000",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K2ElY1iQ22RHVSV3F0QdXHr4",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.6346, 1.6291, 0.9592, -0.0666, 0.4801, 0.326, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3948 right_y=0.1938 right_z=0.1183 right_yaw=0.0454 right_pitch=-0.0773 right_roll=-0.05 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.5658, 6.9538, 1.7167, -0.0171, -0.0513, -0.0171, 0.0615, -7.7333, 8.9778, 1.9609, 0.5934, 0.2613, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4f3bd790ee744dd85167154a7cb124bd0c989b06a991ff147b8b104f9c6ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f987c9bbdb65190f95e4b4469ab838a59a1ff1c038cbb3d0c1e9910b448fc4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763d8f13c18b2185aee83fbd9adfbf92597793a0efebc510048a982b5cd0d00b",
      "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 · 4.618 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0158, 0.791, 0.6083, -0.3786, -0.0212, -0.0227, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0027 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.4564, 10.5778, 1.7753, -0.0366, 0.1197, -0.0366, -0.9094, -1.1556, 9.894, 1.8486, -0.0757, 0.0659, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.6346, 1.6291, 0.9592, -0.0666, 0.4801, 0.326, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3948 right_y=0.1938 right_z=0.1183 right_yaw=0.0454 right_pitch=-0.0773 right_roll=-0.05 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.5658, 6.9538, 1.7167, -0.0171, -0.0513, -0.0171, 0.0615, -7.7333, 8.9778, 1.9609, 0.5934, 0.2613, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4f3bd790ee744dd85167154a7cb124bd0c989b06a991ff147b8b104f9c6ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f987c9bbdb65190f95e4b4469ab838a59a1ff1c038cbb3d0c1e9910b448fc4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763d8f13c18b2185aee83fbd9adfbf92597793a0efebc510048a982b5cd0d00b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03b5ddfae23779b0016ab438ff476087d0aa69b973abe866f3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkF97B_P_i4zrTCtjoS0KUeX35T7wqo8AuS6qMoKKDcDNWQznbwOGmwKLbNls0ofz4_yL0YU8fNxQDYV0mVeCTsd-Qj1sZ2gSchsi-sax55iLTGOEtfttF0hxijKS9cMOzOZSHxoHhdbOC7eWzwV02bjCX5H9ZB0g3tlj9w1dx-HLesyhVotWNKazS7_iraD39GhOuneGeJosxu_GHqUo8u7G5omdufBj7HdE98qiUne8pNaMyzqh8-lN5GJ9AldiBiOVgi2t0l2xha9M9tz7hf2FEbk4f6a9zLoJi1pKWDK2aRxbonr66E8kBb3AMeOcXseQFQsSV6c_b2xzu0V3IKmqkNBXihQxqjRLQEEDXAiahCnwVcDBPBCxX9bPLhyLDkOckMHK6xyTEpEcQShrqM8O3c5_OqAH6xTgbL7GbBKiff8iaRzOuI-r0UPikpQaMXD-1cbN-w5djSM5wrjpO8bZt3zDHInMYqUuHOANoyfx3KIFd1rqbFPvd9j3NgBNpmkJnAZ6-YyJzfRFWtkdJDdIZ7uNVCYEF3kfzm_37ExbBJ-q74ZJNvrUSpNh6Azcu9rzBzCUcVYByrpDV6dekJWKlXloOLEJfA5cO83Zu4yircj5f37af8WkI3a58mSG9F5XSSwyaifYHtxmREZOHN74NHejox3-iQc60rPgm1jwoKv_JlNoL_COTXeGhj0uc1XfoRlG5mHUWtVQcjCi_9vI612UnQdOcg89kQWtYWeowDHpEczh4ZrcM5j2Jhwflrfta5sQN3SZOaazvNG2PjUuNpdoN8gsPjTW5rDsSSSAPnpCWOAVyObFypjkIHUOLLxTo6PgdhZMzshXYNTcfnVcSx-vQH-9nsb9Nz9W6J6wlAd9jfkusdOvlbm0LD_bykH4_WkTXJQQtvbJ4OA81edMVb4YpRCoI8bGRL9mHv-u88-h6368-bLTRR5XI9QZ9PmCxRjmdfDeyYUzseDCBqHVnQTAGE2qk8S0SFEKU2AAV_g2F-PZwmgLYIx2UPUHTXfg5LmqyGJ893CSdWnxBc0Hc3ZTWgFdM31Mk_6_lUhkJMbJhiOefrEEMeJ3af_E9yjFMtEWqzF_2AZSb6xzhv3fCvQXjT8dK_nBIGN1Ao7hvS5jOVzLxpEUVhATIYD_3qzdLib5B-OS3iNXY0roTC4H3zKhdwFaCgYgYEi-QHOA92Bxw55V1v1tzuIl-B626WSb0dtQU_8nrrVBT8MeaStzSzH6AD9FvgRkfNi0RxL25HEs7aIGGUTZsjzsIovQLUTekvk4wGChPsk7nkH0VGdkhfzFkqlcku89vk2xPvdFRroo-mIHEtZqr4n9YT4-KaNCKgtZFs6Zz6yroAyKCBNuYTGSGy9AWsKxWBqYeIYG3m-yNsbRSZ6RQ7UdbU3VOFB-ioOdGFPFlQrwmEZu6LZoMkSRhTcfIT9uw8X7beNdBEnM4e8Ustg2UPtVXkPCjSPQ2m4NWdywkxfUt38popHRuOa_ZCTbCflKITaFNDWXHG53L6_vQ_bktTIJ8tTV7WN6m-li9sZ4lPbCxbS_GDo16_piEG7yGfn9uhvHEUdRs41Kwkmjb0nLhNwDuxqyF8",
  "id": "rs_03b5ddfae23779b0016ab43903bf6487d095a17daeda076b9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.16,\"right_z\":0.075},\"note\":\"The pen is now close in the right wrist camera, but its shaft sits to the camera’s right of the jaw centre. I’ll shift the right gripper a few centimetres sideways and slightly forward, then check the alignment before descending.\"}",
  "call_id": "call_Zcx4k97m3WflMjZEq7EFEOqF",
  "id": "fc_03b5ddfae23779b0016ab43904a7f887d0a151e2dab7188790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zcx4k97m3WflMjZEq7EFEOqF",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.5217, 1.7187, 0.8913, 0.0692, 0.4107, 0.2604, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4126 right_y=0.16 right_z=0.074 right_yaw=0.0214 right_pitch=-0.122 right_roll=-0.0728 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.4427, 7.1863, 1.7265, -0.0611, -0.0708, -0.0171, -0.0479, -8.4718, 6.4205, 2.0928, 0.0562, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa7441b806fbe34efe868c5bd65be84be515f065bfd9307df03fc77f1e088a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd7b04c106f844a8ec111e57e6d469d50a286fb2bc4f86f6d9a6392db5c9cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81508b7c54a8024b4c68dc9c736cbdbfc119b450b5d9209a44052caba80cb0ce",
      "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 · 4.271 s

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

message 6 changed as sent

message 11 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.6346, 1.6291, 0.9592, -0.0666, 0.4801, 0.326, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3948 right_y=0.1938 right_z=0.1183 right_yaw=0.0454 right_pitch=-0.0773 right_roll=-0.05 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.5658, 6.9538, 1.7167, -0.0171, -0.0513, -0.0171, 0.0615, -7.7333, 8.9778, 1.9609, 0.5934, 0.2613, -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]: [-0.02, 0.8001, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.5217, 1.7187, 0.8913, 0.0692, 0.4107, 0.2604, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4126 right_y=0.16 right_z=0.074 right_yaw=0.0214 right_pitch=-0.122 right_roll=-0.0728 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.4427, 7.1863, 1.7265, -0.0611, -0.0708, -0.0171, -0.0479, -8.4718, 6.4205, 2.0928, 0.0562, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa7441b806fbe34efe868c5bd65be84be515f065bfd9307df03fc77f1e088a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd7b04c106f844a8ec111e57e6d469d50a286fb2bc4f86f6d9a6392db5c9cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81508b7c54a8024b4c68dc9c736cbdbfc119b450b5d9209a44052caba80cb0ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkKHCr8LURyimlEkT4NgTYUA4SzewyvlkWiznwTyJt4uzj7WyxA3FiGuBuRq0kP0M_NIjJTmMFgowDIMKRefgXqah8NtfRG3xsYITxBbhPmtvvWJZOBLrIihegJTsSvFtXQ__dc5aDLrYqjgV2ZJesCwilDe3h5Xbl3QZo-yFakoBcXoguuOKDfggrauQ2c5VErXyZsTEEvVJbbZfRnJtBW61gB6awa5ZEvnBsTE02Xarut6TgNXAaprB3CCVA22h-8CfG0iYR4p_FXhbUpFSz4fcgy8Gcb6lEz2mrxYXEeQdGqxCUfjXh9rEvUuNXnyqnSzl6TsOxGc973R8lAEvghqVCOURZ5K8m_yqB8HZSO0WGw2QHUDQDYoCtDIf7QyNwi0PtQhjm6UpVhMVAaIvU2Q8CnClfCvW-W-8-FM2b3gP0pz84IvJc7-RjnNfVMpOkUC0c4UYPU2JwY0xY0ItOFcSF4V_DY0wojDNrdGau4VEGjaFhwiQMeXdc0DA2SCRHWMyNDkEwMOZUOjGNR-VlihIvSlkzCplzsuygLiCdBvYGq-rpEHmKBsJStj__4dc4kPL7ambp-lr5HRkX4Fv00udgWP1QXlm6a6NfEGaLt_dzF5U4toJbDUzcWH14ArfOoC-16GS9Wtsda-s2xdFd-_X15CpNReKotcWQIoe_pZHhJOram4gy_vezcTg-IT579FkB7J2nQia7zM7893y5FX05ESJdwXrF_Gkn-NvpYwscvDFY9MHPf7tWj1ncfWE_D9qK2pw_quqRwzuZV4TbK5CAbPC5SwFRjTgcDgEFrPzcjsFhulwN-h7s50oXdK1q9v4ryb7jXJ0Tf3_WtcFOPwTurWngo4fQXIsNc1OtK-BbTn4RoFCiHcCkIQ6BBWH5doCSaDpn3ZzMJtfoOfAvz6n8flDiYVgjOiVXEYBXPW_pQ9f6iYb4xXmw-tdTJNZp2sWNgd3NUxUnsfzGd1uJJboJw-XTyt7NrfoV-5UBiTdqsx-L8Krqa3O1y_9TKpi2pwQjA0X7aTavxmn9NzvnMxOtFarZpHeRCh4Anap_dxC3VhdR2cXwPeUN4R7LXfJM9fszWuy5GzwnHtHzrbm2I6Yv_Dld_5m1oopXhlks_99YEL0hWz3TKbK7TkW_-p2iQoNhp_kyWYjH50XOy78LX_jE3_yiKmhgdvWbDpKo7ps--5OkXsNZtnJDJ8UEk-AB1eQwus0K4pLTVJC_1Pb6-8w890XD-pT1IVus_ZYRQ7KMWsQnBeiqsgOcX2c4zjFxhQvyU3Bgut1Kfi11rVkBJuzvuANVNVpgqMNN9BLBN4mDGbr55YQM7KFJev3hk3AwMC_2LAGR23EiULh27G43BeQJsDGLvpc4UAYNrOZDTFE3HCA7dIn5fVLs0zkUS_yrE_LPoz3aejmbwiKCBMvOBfWV1Rs8IOBEk0tyOdHZXuCd5KNuxL07p6AnxzW3RmE2bn8owg_qIrgBOY2IuV2fH4NJ9y-Vk1MnUwIM9c0CkGalA2uT-vWcJqsWCorjyYZQ5Q46kL5UpTLvitpvakZvu3yK1WAoQ9wAS2L2LknWWCc3KumFmyeSET7qy8HgLXO1BtpYmDyAP4FmvApig-qyhzVdz5o8-Y-x827gY1JnCo6NN5x5KMGlmGwgAFEV_07lT7l1xeia__aucXQLMcLvjCDTwb8DSVcA9O72wV83we9-r-g6_W994iX_VwA_Jhm6C6x5RR6Md1zjL2LKmfamP8jd5hfr0cZaLdX5MC3otAniTwB8UU9UTnJ8kwDUhOVSSAferhzBu645CAakFIoS7JUbJWGCWieH3eO1jSI6qK6BDFpsPgV_978iODelauVDv-voSSK5h95t7HsYapcpuuOpfcF6mZJM0qOHYrpP0SVfALX53eJuof4qnJPPuR__GDuT2RxvVBmwfiiemCMZ6t-rebXTTjJsXYNrps4sJZtpO6XzlOm7YTjwzMXm8ASQXc9YzfMuMWvjeoxDS73ld2pmXKsiM8B_3510SQSVtg0b8mLRX5CXZ6LF2cedyl9m6QMmoki6VDIfN7lcoDFNoyEeLk0WTLno3GjJ4hlYsyqNbe4mMbIQywyp2xgR3oeIImnOEyJVaF2ov3mBTgCgpyWl7QhWTpTfMnCf9ZgYHe7ShJFMlWoCwHpCz1sdI2AZbCfdE7ly8M-gG4hAOeTyi_tz-E_ZUhHeXPqc0r-wNV6zA6dgTAO7MQa-K9EtarlESVUKUeI3zTHN00Dbc3G9vdCKdf7MRpgBFYFoG6dgfwERsuaq_BXS019fBQLffi0OjHQL7mqOLZkuCYnl-VMONYqrNHo9CM1hKlt41AFp-JRPClP1lt4pCUPzDpvwOQ37W",
  "id": "rs_03b5ddfae23779b0016ab43907304087d0b63cf480044c2d79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.125,\"right_z\":0.012},\"note\":\"The pen’s pale tip and dark shaft are visible near the right jaws; the shaft is still slightly right of centre. I’ll move onto a section of the shaft away from its tip and lower the open jaws toward table height.\"}",
  "call_id": "call_ajX0Lg2ydSZn4OgYOBO113mO",
  "id": "fc_03b5ddfae23779b0016ab4390975cc87d08f0ebf32b0a67477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ajX0Lg2ydSZn4OgYOBO113mO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4904, 1.7557, 0.8642, 0.1387, 0.3649, 0.2272, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4168 right_y=0.1552 right_z=0.058 right_yaw=0.0451 right_pitch=-0.1325 right_roll=-0.068 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1692, 7.0769, 1.7509, -0.0659, -0.0708, -0.0171, -0.4171, -7.4462, 6.3111, 1.6777, 0.2662, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab718898b27205718ea1d25b325a5cf2219c7e3e8e60175b8074e3e4eb591158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885926e2828f963a968bcb7cfcebb03fe943d89988a429312f80fdeaaaccfce5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59389e4d85a449fee95567c699574a2a4e41430cbb93e7cee5a27153ce1d5e05",
      "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 · 3.955 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3794, -0.0219, -0.0246, 0.9998, -0.0158, 0.791, 0.6083, -0.3786, -0.0212, -0.0227, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0027 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.4564, 10.5778, 1.7753, -0.0366, 0.1197, -0.0366, -0.9094, -1.1556, 9.894, 1.8486, -0.0757, 0.0659, -0.0904]",
      "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]: [-0.02, 0.8001, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.5217, 1.7187, 0.8913, 0.0692, 0.4107, 0.2604, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4126 right_y=0.16 right_z=0.074 right_yaw=0.0214 right_pitch=-0.122 right_roll=-0.0728 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.4427, 7.1863, 1.7265, -0.0611, -0.0708, -0.0171, -0.0479, -8.4718, 6.4205, 2.0928, 0.0562, 0.0171, -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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4904, 1.7557, 0.8642, 0.1387, 0.3649, 0.2272, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4168 right_y=0.1552 right_z=0.058 right_yaw=0.0451 right_pitch=-0.1325 right_roll=-0.068 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1692, 7.0769, 1.7509, -0.0659, -0.0708, -0.0171, -0.4171, -7.4462, 6.3111, 1.6777, 0.2662, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab718898b27205718ea1d25b325a5cf2219c7e3e8e60175b8074e3e4eb591158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885926e2828f963a968bcb7cfcebb03fe943d89988a429312f80fdeaaaccfce5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59389e4d85a449fee95567c699574a2a4e41430cbb93e7cee5a27153ce1d5e05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkPKkFlArt0wOzJhKwtQkmofdQoH2nzITJFxV1bAgOdM1eK0nD-6HdG6r26tRw9ZiMgUoiyOW7MgTBuoO5RL-duAnwx-jJOIl1KPceH2Qu_i38IVigjHpWpT5bwuLF_nyacmtYv4Ocaq3TtKOZz_UJoz_m2CRr24Ce28fLPlu2-txfshS3deZyyljuUrJK3Fijv1s5yPrtVEdv-IP7yof-CEJpGHK12PWAcpcsxECUFVcA_d4-JKqdxqvMgN0ybhvbWDGN1EDaBq9z5a1qaiqmOANcGb-7_bG7Xphjek2AJnolMqrSOE4XdQmGyHh0PIoEoHQtvuUnSnnFWryolptdR1STO8WgnVhCKlp-8Qxyo1SrUPqJL-_swAGgaEDQdOpn37Gfj6e8HOysQMWIB23wQ9cjxcF_6feo0DCGDJoC2Wbwy3zplm_mJZzldQ4D-zOucfc2tBE7shPxk56mbKJfXkz2w7wEDIDtTloKjpHe-RPp993-7rbUwcPQ_8P6mumDe5CkHhuq5SIHXBf9rap3pfidNEWRd6b1fOOnrc3J88SCAPGHoVrARzaiuYbZouTJ1FK_NqSY4glCddXR-i7_2d3L18BTMaSRi9o7s5qtX_63l6fnBQ32fW2r1KqDxn1sCsDXd5ajjNP35SIKcsNjixID5Tt0LUN5DtG0fSvK3GbUoP7O_Yw1rbBCkUHEiU1QRFjyrEaJai4wuvVdYc3IJ5hudhVvkZCZZ1Tt-udqsXtY-SZmHJsm5NYmW1sdmW_glNPbfjCkR_JKuavvSvByLpYHvvsQK2eH7ys87y3yNDZ2d8CPUfFvQq5UrNv1pJGVa-_k_pGX78CmAgPiMryzjJ1bL74_OBtM57sMHPQDG34DRsMu_D_rJS5SN6VWdtBzqjthKvw2EB2DtUvuFdzz082VBYZL3-H5tM0AVl_OeG6sBBOmpHbLln-eltChGvIh7Tgn6W0YDYcv-aeeVgjKwrj98WrjRCS15dRv5thqfdCNTu_EgNDugXa-apOhf9pP-6GR2BiX4KdpQo1GANoEsPj6GsqBl9OtbPGAET6DLeVeMlJdpNQVMV04GoqkWiktIOQaJeB9O-iMEjZxT0Gdz2KxMrzvwidLe_kSbmAzujvtRzPonXcX9XQF50nUSxRsP7wNid79gjtW67DewqkMlHff6iVm02xkXqs8Hj8bpiKBDH7XxvlqWxTMkjz85NuwIEJaJAb1lCO1iwN5K25zkjX5IKI3MRS61Eu6_6x0nU0FEMPZ9B70zIUTd6spmmM68PwrieH-Rxe0h1yYWikEYnHtVs6FDzn1mbU2lMS_AIWSEfAlKt-FtnO1x0EOi9t_gyziy5R8LICUvHazO4xAAbrTpjbGptvZcjae8g9ugU5c90s-Ac7L2keUWICZsk0Irx1K6j9Pqn1_YCkG_9z9x8FZUDWri6uMG4xGFH9thj8KUgcJFPhgEB8UzYgyf95RFLUBIin9hKZ1SVngAtqkG0MSzxgSHJw8AGc5qrH-AeZTsaiwzH2zBoiTRCT77j2OmLYrODYPMCzOXwguYMz1YGIKFw-rYJY7PEOu_2y85TL8ke3jrCVisdt3b397Ndhnvum6HRZ71fil7BKPk_CNxKlJstV5dW1fSSgiKNwprEU7NeED1TNnEebVDYDonDpQnZG9qdZmD_zo54KaEm6fmL4WWnQSzKaQM3TcUEnGImrv0rb3rL2cR1H3i0ANf_SkoOYpTqfA2LmIZDm3jKnPDkEX8v58RfHZ5s1uHs9AjUvnrLJGfZUuxbsBqcFrRc00rl8i5dei7C-9k1HsGST0R9Qla5o2oV1t6vUv4ZfK5vR99XX-HY0qsB-02kgozoO1nHcUrlW7BRYpXrMt0guYcQwEL1tGjLdbCRvt9tLD635nWy4R9qKY5CkwCKaOE5fo2nN2rdXnqPPcheI6j3t3gU8lm6fWd9TqLObm9mNfio_5Uoxbutnqn70rNtKjFKSAUh7pmyijPVhL7W1kYZFGW_G9tj3Pc8N95pHmWpYy_Q8px42aZDIStGLOQ8FyFrz4DXIJoqaBn2zsTtn1ZbFxCeCmh9bTSyLRN5zRgj4oQCHITNL4LBN6xOY0cscfdfuy9cGpdjWtdk8ZB3NcJU-3r1jwxquXpi5hAtoXnxcFozG6Dq8_LNqH6ySmyQKNUA_tCgLtmJk92uAM10vS5Y9Lsg7lP-1CQ8puenIcKsViUJAZwOQNxznS8BRUJqR8L3sfmbKZzi-nROwx0-RaUYu_rJQ==",
  "id": "rs_03b5ddfae23779b0016ab4390c176487d0bb5213edc845ea79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.12,\"right_z\":0.11,\"right_pitch\":0.25},\"note\":\"The right arm stopped well above and short of the low target, so I won’t repeat that descent. I’ll raise it, shift sideways over the shaft, and pitch the tool forward to give the arm a better approach angle.\"}",
  "call_id": "call_4dkEu8RtApV75pncMxt4b0WT",
  "id": "fc_03b5ddfae23779b0016ab4390deff887d089c0694b85532caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4dkEu8RtApV75pncMxt4b0WT",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.4118, 1.718, 0.6376, 0.6315, 0.3607, 0.0601, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4261 right_y=0.122 right_z=0.0834 right_yaw=0.0592 right_pitch=0.1416 right_roll=-0.0899 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171, -1.0051, -8.3487, 5.5726, 2.1221, 0.1245, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678d5fd4c67e21d611af8ef4e22d37546e60d71a4c0ece60ab9b34259921e1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67319e79cfcfcade68d0718e590c00bde46e23a5360887b9bd42768b34d783bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2406dc585bbeed078e6ccb6d38d6ec8e515f85e6f7a2f4e8cef2f8510f154559",
      "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 · 2.887 s

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

message 6 changed as sent

message 15 changed as sent

message 19 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7982, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.6346, 1.6291, 0.9592, -0.0666, 0.4801, 0.326, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3948 right_y=0.1938 right_z=0.1183 right_yaw=0.0454 right_pitch=-0.0773 right_roll=-0.05 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.5658, 6.9538, 1.7167, -0.0171, -0.0513, -0.0171, 0.0615, -7.7333, 8.9778, 1.9609, 0.5934, 0.2613, -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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4904, 1.7557, 0.8642, 0.1387, 0.3649, 0.2272, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4168 right_y=0.1552 right_z=0.058 right_yaw=0.0451 right_pitch=-0.1325 right_roll=-0.068 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1692, 7.0769, 1.7509, -0.0659, -0.0708, -0.0171, -0.4171, -7.4462, 6.3111, 1.6777, 0.2662, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.4118, 1.718, 0.6376, 0.6315, 0.3607, 0.0601, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4261 right_y=0.122 right_z=0.0834 right_yaw=0.0592 right_pitch=0.1416 right_roll=-0.0899 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171, -1.0051, -8.3487, 5.5726, 2.1221, 0.1245, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678d5fd4c67e21d611af8ef4e22d37546e60d71a4c0ece60ab9b34259921e1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67319e79cfcfcade68d0718e590c00bde46e23a5360887b9bd42768b34d783bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2406dc585bbeed078e6ccb6d38d6ec8e515f85e6f7a2f4e8cef2f8510f154559",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkUX_mRppqI0EamA_5aHw2BFyCTjOaHie_hWoXlPt4lRSCSFnE6uG8CTsNdiC_w87o7mYjrc89yfnP5xEDnAW64t_s249ilppGzVoVTnUbgoHuSfQabLLpmO4OW2osuEHa8f4o0Ehtq8v1dHvhCofIOj1A8oBIhr0GqBoUzOiBcNLLju_a0S0B7og3Fh-xyq-8mtNg-gc3fITKo_Np3BagoX5YzuC8y-0OaL1UEteSE-1v0DpSaVvP7H_TaOcSZKO_y98PwUcVd-9og8Lcn_AndC3R1FRuy9Dp6hFcIwfsZERKT0mkgH1_ltOeGQrHFP8pkguIdAnjg5dQa76FHyb-4gjL-0uj0urPrIMZDfh-mIe0g4X_iSFN2swaQRMTbp2XHV_NvRRPHkbQN2QpaRokic9FKOGoM2dn1r7-E-iC65SjyNfcXAbQcWpgT06FUX95yIYAnMYg3ZfUV301lG7oRs3Sb-vGziWcXqeBJ_2H9yGPL4gElaMwu3DRpIcdsg4OqTg1XleTX2vh_R7Oga5p5UU9sjQYvAip6aPp2Kbed3oNrxs8ja0wdXsGfxtO-QZhKbDgPmc9GQM7BBLSKZm6a90BBqiz6mzqvG6uiETxXK7pNp7m4x9vS9O2D3iTQTr0xJdRE79vquL5mDsxHc3ilNRnDdPqIJA2tqmKbfP6D3mYZznayxvs9S1xzhXiUD8pR3S9r4Qx9tveEXzubg44zHUrkEhweTpjfDszhkexNmTgCUy1P11RmnpVI9v3Za5ciHUqSQaYmkGccBRAFEe0RGge6Xry4t3G9-SpGHg-sm1NbtWRKZWMWnPR6lGP1j4Pq7HnkUgKP_1CJWJUa1fXoBFyxeWEawJjFMekJJEZUEqvnyIoH6-a5VeiqyBXYqLoYei7uEmcmmJ0bZXBgZI3qAeXfxCjQzSQVberjfgwAdjhMP7yrjnoBZPziU9XjwfL2mqNydn8tqlI-mKhbfAu8CwyZrvWWCJcmpQMkhRRELxoGja6o33ERp1v-9yF0ICf6PPziHUBy1hW8Qrq8e607DZwkyPPkaciKl6R8wdGLrzhR_Vz0xVu4aXWUpX1KKVW3BfLtH1G5cxZ7S1BOmUnjBM-YD90uiCfvbYHrtEK0cx5LPZ1iR6MZScCx7RsfuUmbESCrKRKkkZ6vipEaQKDy5VeglYcj77TYjKpZvutO4et6ANtxJRPgwpdngM7RGM0OvEgsBuw1-tMp4RMbdAQsuDXHsOouLucqnkBTvc1z1jzSI74FhYKGHDjvTEqQ8Gv3kWlMJixI8k58kvagBCylwbQa47k-N0jN6j_kw8okwUMF2T6tREF_9mAgCk31k6J8zHJ6mLcL2oGjajaflwDnXCPl3bLrZna0bpc-aW7fN3R_vbMskwuKl4tB29FRQ5Osw_JG7oalg8OXY2oRyPordnSSK6_alclp2PQJFjOqzODnoc_ADPKnwMyDncdb2UOnw0odexDEuaVzR5i7pdb2khFnpAy7uminMcg_bYR_AFDKC8mM60Pq89Keuh0N_FK-o1i990BG3JXa9c8dKMW4WR_FwTL4r24CpYnCJdfYU1QFaZpUKoMW4W8cmM6pVg_qGuvlltRvxpLRMNctUOxdpjOz1Cpdelf51aO_---3Jfdr_i7PsM0WNBd-3hX5E2QYZcVpkpS6_yqw6wkTC8KZZL-2xHirQBc6BPD7t86RasGAx8uLJFIC_jRnT7Jvy4gNi-fofVljXYObsVmdmFR9LtQkbZIh5DSMbLXqsgKlCFGwIBNnquFsl3JczBJ2uFwrnCjUOhHhZL7e8ZuR-dzPpauYYc1W2OVLac65-AwA-yZsPdijDlmWgOm8puzh5RmmfozVyFO0fYTQXTJBv-XVXtYy7DH6yrnIbKd1z1Zbw4ygGnHazTIa4nMgVS5-fahcnW7CZZ4EJyx1SKMEEB16-yn4avAvIrXNP0lFmPcRDv0WRBeVOULAZAa6VIMvFyhNVIb8cypLUgHrGW93yy1pDg==",
  "id": "rs_03b5ddfae23779b0016ab43911cd8c87d08618edd596d42fbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.143,\"right_z\":0.018,\"right_pitch\":0.25},\"note\":\"The higher, pitched approach moved the gripper sideways; the pen now appears just left of the jaw column in the wrist view. I’ll correct by about two centimetres and lower toward the pen’s barrel.\"}",
  "call_id": "call_mFvh8eFHO20GmioSCBj9ScJP",
  "id": "fc_03b5ddfae23779b0016ab439138a4887d08711e4e7f2b422ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mFvh8eFHO20GmioSCBj9ScJP",
  "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]: [-0.02, 0.8085, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.474, 2.08, 0.5961, 1.047, 0.4118, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4222 right_y=0.1411 right_z=0.0057 right_yaw=0.0836 right_pitch=0.16 right_roll=-0.1165 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7265, -0.0464, -0.0269, -0.0122, 0.4991, -7.8291, 4.2735, 1.746, 0.2027, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931d9559745a4914044d75804eee9e2bf5f376cdd33dca0674cae42becb3dfe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7a225df91298d7e4ff6cabd8a32f6cea11f4962971fa997b1849551421069c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7836c23b7eb0f0598eca477087a2afc6a20af084a353899a5be59df94544d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.833 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]: [-0.02, 0.8001, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.5217, 1.7187, 0.8913, 0.0692, 0.4107, 0.2604, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4126 right_y=0.16 right_z=0.074 right_yaw=0.0214 right_pitch=-0.122 right_roll=-0.0728 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.4427, 7.1863, 1.7265, -0.0611, -0.0708, -0.0171, -0.0479, -8.4718, 6.4205, 2.0928, 0.0562, 0.0171, -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]: [-0.02, 0.8051, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.4118, 1.718, 0.6376, 0.6315, 0.3607, 0.0601, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4261 right_y=0.122 right_z=0.0834 right_yaw=0.0592 right_pitch=0.1416 right_roll=-0.0899 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171, -1.0051, -8.3487, 5.5726, 2.1221, 0.1245, -0.0708, -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]: [-0.02, 0.8085, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.474, 2.08, 0.5961, 1.047, 0.4118, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4222 right_y=0.1411 right_z=0.0057 right_yaw=0.0836 right_pitch=0.16 right_roll=-0.1165 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7265, -0.0464, -0.0269, -0.0122, 0.4991, -7.8291, 4.2735, 1.746, 0.2027, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931d9559745a4914044d75804eee9e2bf5f376cdd33dca0674cae42becb3dfe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7a225df91298d7e4ff6cabd8a32f6cea11f4962971fa997b1849551421069c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7836c23b7eb0f0598eca477087a2afc6a20af084a353899a5be59df94544d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkXO0y_ANN_OtmK2f7x8eJGuGyra1MgiFW2lbsffsj_RArsE8Xdam14ENnBHcEQ43GpvyboBUvT7UbIgg13GYdapgUtbxCm9uLsCKTkxCCi2PBl3S0hT9nMwNwVX72XFccfzJ9Kb9tjO_MEwGnLkTt3JKDwrmXHu9EkxOOh9Kt3xE-Y1TlEiK-v-Ex_mW0_H5XmsXl0e1ZOK51NsPGpcQGw-CL9CSNViOpoxDztAUWBODR9_sT9VDkd1tZTM1yijc0m9u5R2G1tLj4GD54Y9WGHEg6F0GOAQxRSkA8jToi3cGjrYVY3raT8K-tLBcwMGAcsnTFJDt_H21C86GaN1HZOHU67nPztIoj_s3xBD7mFqMPXtJi8koAO8YDM_aOOp1asYug5OFNqvX0RZfWGRwHuLiTfjjssNFUgiF_pcc93ADLmBLCwbAB0H3Zve2SkXaeF4QklvvarRc-CEssmYEFTpcM_X_5_IZXj0Dpwv1sbm6R-6hpEyMBhuYap-E4RmAIw3XiiTFkYolJeMTw9YvXBKQX5jfPRvZfd0TyGtV2oa_-5esl2sIuQzhCrinRe84y4Ay_yF_Vh9maa7ItGIIr30HJEuD7eOQJ3IYgJpET6yxN4IinP7jz4i2LsCTcMTAqHG-jeasYBNISP8NPP1j_dbiuqgIRnnxqjLLKetOr6hd-7Gz3krFiDmBFWtSQCtXEC5cJijS-ghwtuQVlmoV9nXrdhccZpIKrri8NL-X1UB5gMI1Lawd0sgOjsQGs25m0QLG7t_6SA7SaLStuDODgNhtvf4FypB3gzsH1V-w9PIHRWC9x3n5VWCCwFGQDpg-HGP-dQe7Ra4sdFSKyQFv6Eqgkd_2Jg0bOoDDI37Do5YBhk7EJlC4tOr95Ph9PjnphSTkbrBaTdmRt0vLsWARvyoPkICc8Zl-vbkb6BOAT6EPrUEWMiLgbGvTU4w4zpSMWLh0MFEAbSuxOopcVELHpHy7orLDJNgHjnIgTqCR6SqtNfYec-Ud2dGDcFr_5euMQV57jLOp6K75Z7jOxCDAvetDAF0h0nRp43J7jv3NfIefg1iYdTMeGbuzQc9hKyAeQ_ho3rdLUlZVmkVhALqDieSm_UrOPbXTznXmnVYYWls2LkOeUcfuNOJKLbcntd8vFoQR3b3f0fMzKPRzIWt1tvRJsFkuqDlfRiIbfz7d1_GcAaiWrCOcx3MXOj9vXzalFGUOFKGfqlfQWwI0xdiYYpT_tsIEhRVfz1eshyJh2S6cBBLmQJQwQKJmLOsMd5qYgP4H-K3hUInIfBCrIWDs1YT59yLCtpbEl3wiUNkZ-DXtYLHGR0IRl5z3eZEGsV-gDKGEQE4SFEXrms4UIGXV-9fA==",
  "id": "rs_03b5ddfae23779b0016ab4391620f087d0ab9954e55c339b63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table height, with the pen’s barrel running into the jaw centre in the wrist view. I’ll close the right gripper and use its settled opening and a short lift to check the grasp.\"}",
  "call_id": "call_PAeHLrl82IG0Ep0TPGO9XRtk",
  "id": "fc_03b5ddfae23779b0016ab43916aa4887d0812c922b7d1bb817",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PAeHLrl82IG0Ep0TPGO9XRtk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4774, 2.0872, 0.6003, 1.0863, 0.4114, 0.0441, 0.0115]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4256 right_y=0.1447 right_z=0.0122 right_yaw=0.0875 right_pitch=0.1932 right_roll=-0.107 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -0.9641, 7.1453, 1.7021, -0.0806, -0.0611, -0.0122, -0.4855, -8.6359, 3.2889, 1.4139, 0.2125, 0.0171, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216c360353c0e637a8ca8928144a3aacf07588864775aaa37f317c662ffb7e95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c103ddef05ec698f35ece421bd076aaf775b6ed7133b999ebec676a2bd86fa81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8de7030cb620fe72f8eda7a994c79f249e0f44a57b8c073b4af2fd2a33c438",
      "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 · 3.569 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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4904, 1.7557, 0.8642, 0.1387, 0.3649, 0.2272, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4168 right_y=0.1552 right_z=0.058 right_yaw=0.0451 right_pitch=-0.1325 right_roll=-0.068 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1692, 7.0769, 1.7509, -0.0659, -0.0708, -0.0171, -0.4171, -7.4462, 6.3111, 1.6777, 0.2662, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8085, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.474, 2.08, 0.5961, 1.047, 0.4118, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4222 right_y=0.1411 right_z=0.0057 right_yaw=0.0836 right_pitch=0.16 right_roll=-0.1165 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7265, -0.0464, -0.0269, -0.0122, 0.4991, -7.8291, 4.2735, 1.746, 0.2027, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4774, 2.0872, 0.6003, 1.0863, 0.4114, 0.0441, 0.0115]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4256 right_y=0.1447 right_z=0.0122 right_yaw=0.0875 right_pitch=0.1932 right_roll=-0.107 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -0.9641, 7.1453, 1.7021, -0.0806, -0.0611, -0.0122, -0.4855, -8.6359, 3.2889, 1.4139, 0.2125, 0.0171, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216c360353c0e637a8ca8928144a3aacf07588864775aaa37f317c662ffb7e95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c103ddef05ec698f35ece421bd076aaf775b6ed7133b999ebec676a2bd86fa81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8de7030cb620fe72f8eda7a994c79f249e0f44a57b8c073b4af2fd2a33c438",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkb4jHT-tQgtqLnoof7e39HBLI-BUfkntvIhRfro0Yb45_5qLTKRdFgxsASW4ELSvOj0-5o9Ut5JKORi-n0LiK5RdAuow1Fy8QuLRVzAMDym9-rVN1yLySo--4Nxf4F5RbrovSPffEMWRFLlyLcenu2NmUK2cTd4M0UqbTR-qaPd5l5WIcJL_MErFHKN2rJMqqFKqLHdD4uh4pJUt100HVtF7TRFZC5t6M6m_93r1Rc4EHixe59-lcabh_4B1-bXFYQtyldsh52_7rZ4a45bnk6kxTx6uw0ttjLuC0FActWpcPcWKBpdUmpQloKjYKxvCkRhLdQc3G_hmMjMmg7qyhLl4tXwZ3dLx3i01cwgynKPrEaB-xwX042qvLjee4pYmR21_JDwcTfkWTPD1sAtM_Mzf1meNI9FThE502z80aLFRaQASiEYDUC2BRH6eSJJvWsinvGeVAjfWzX275m4dBDHQIrDQQFO7jY-Eeh0JKcOMdNWtsTjlpi4IwehsfLsAzjnIAqze0YH5ZwCYqYMSDvzqZY8Wi5yEARscwiDpJVX55Pl-Vk3MiKJh2kEKKGvnt399PNuZBKV_b0RVaeuLR1j__YP6UmBLi5sPwqpPRaabEMimR_zIiE8DusrLYIFrS6-6kmHRdzC4RKQpHcLs4AoBA74lFEzCbuac6OOZt8NfkBfNnTv_HMQxpWeTWLIr8tLkCOdQZAxpzkMVJwHp99GzWuJhaSQ403wHN6cdicjXGEU7yTIeIu0sghVkU7oltsIzz1Li8it4R3RjWC1zBG7wBY8BQ3PmYMN2n-MgB3h1opPl5yd0zOOamZ9wLWLwVJIaLgG5B7sAOLQDfP2KE_3oUwT8GBR7XWu9ozUf_EPnmyPge59GKTr5vXtnnHI0xHSVUkA03X90wi2jk9Qdwt_C8sj0PFVBlTs-70TUHeKk2LxGqK323-GIgXjgpG0a0Oxp4uFfx6nBIGBrCcK2GaqgMRjGe2FlvwBSIRvH6MI5s106V473rFakOwWj4A4gdS26nMFKVN-OwrWA3ThQwdPBb7QDgATUFH7DLJiXiGlIuxAnPqYMSQJAbVL40N2x7ud0PcmzcYehT62xZ6wxsOEeAP0JYuzMmyG53_ZWgzsLvjbp_uOmRPG7EzVsYPZ_C1ujkGfLEMUbPIemwOTpkBaLgzePK-8fR8QsF2QaZxrXNIoteo1wrkzECC1DNfqrLfIml4gMepJv-z1W0bGoKIqkLT0Fpdw_0CoTNnImFJawviW5SgJFgN18Oucs765o3Sex6nChvCD3oX5X1PlQIxJqrfDa6XyvlMGSuB0WccmWFcusJFefQ5cGP98ul1xiG2y25OM7KVI7AmUsfwMQINteR-Qp0nn3JG692Im7Q8V8hSZdurrc2i3uFgq2yMWMVXJzx1bcgvV0xo7_ZGZ3npzbEBeiwLMf_2-FB7lMvyP2DIByp5N0fWzgU0u6EAJJEahBiPDMOACWwI0hZv1pQXg3EqHyINvG-iXitxXbbCDyP5abrhONEsc4ItCpq5uSqSm3V9EKCbFohIRU6iFf76iaROHLIugT6t-YSCRyEoOIQhQlcsusEC6zoE9GY4xj7Wb9jC_FDjEmmsw_JKdS6LG_UDowqIKUIJ7hgysE1ampuhobCobowDaMTeWR1M0JjJRpWPyWF037E74VeL209o5dOtnJcgMcP9vlg-x586aa6QC7dIUQC_NpLdEBKkl2P6HRVwf4J6gaVc4meYqHuqp1rZ2h6iw7B-51tY4EBK0cY=",
  "id": "rs_03b5ddfae23779b0016ab43919ace087d086fc823499ad5405",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.455,\"right_y\":0.145,\"right_z\":0.015,\"right_pitch\":0.25},\"note\":\"The right gripper closed almost completely, so it missed the pen; the wrist view shows the pen just ahead of the closed jaws. I’ll reopen and advance about three centimetres before trying again.\"}",
  "call_id": "call_46XL1DPxp81nFxhiUqg5UuB0",
  "id": "fc_03b5ddfae23779b0016ab4391ae3c487d0a15740df8829c97c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_46XL1DPxp81nFxhiUqg5UuB0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4492, 2.1544, 0.6762, 1.1042, 0.3805, 0.0059, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4467 right_y=0.1465 right_z=0.0086 right_yaw=0.1043 right_pitch=0.2119 right_roll=-0.1226 right_gripper=0.995\nstate[joint_eff]: [-0.253, -1.3197, 7.1179, 1.6874, -0.0806, -0.0611, -0.0073, -1.0735, -7.8154, 5.1761, 2.2149, 0.1148, 0.1392, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0591a0faa5d3c44f8faca7c0991a6383f28896ad9b6fa05bd262e75b96d890",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5286fc19e0a3845cb2ec952ed91809fb05d594e46032e8fd2587852911d1d738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246f6b5b8844741b4dd25e7b933aefef690bfd2477bfd54e614730066f09156f",
      "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 · 3.563 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]: [-0.02, 0.8051, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, 0.4118, 1.718, 0.6376, 0.6315, 0.3607, 0.0601, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4261 right_y=0.122 right_z=0.0834 right_yaw=0.0592 right_pitch=0.1416 right_roll=-0.0899 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171, -1.0051, -8.3487, 5.5726, 2.1221, 0.1245, -0.0708, -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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4774, 2.0872, 0.6003, 1.0863, 0.4114, 0.0441, 0.0115]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4256 right_y=0.1447 right_z=0.0122 right_yaw=0.0875 right_pitch=0.1932 right_roll=-0.107 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -0.9641, 7.1453, 1.7021, -0.0806, -0.0611, -0.0122, -0.4855, -8.6359, 3.2889, 1.4139, 0.2125, 0.0171, 0.3394]\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 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4492, 2.1544, 0.6762, 1.1042, 0.3805, 0.0059, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4467 right_y=0.1465 right_z=0.0086 right_yaw=0.1043 right_pitch=0.2119 right_roll=-0.1226 right_gripper=0.995\nstate[joint_eff]: [-0.253, -1.3197, 7.1179, 1.6874, -0.0806, -0.0611, -0.0073, -1.0735, -7.8154, 5.1761, 2.2149, 0.1148, 0.1392, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0591a0faa5d3c44f8faca7c0991a6383f28896ad9b6fa05bd262e75b96d890",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5286fc19e0a3845cb2ec952ed91809fb05d594e46032e8fd2587852911d1d738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246f6b5b8844741b4dd25e7b933aefef690bfd2477bfd54e614730066f09156f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkgbDD4il94iBkBbZmyFjCTwjxOAbPb_ZJFsEE48sfUXJ4PgJ8eELWuw9IUPozxkvg6w6DR-VrpX8KMm3gH3SsKThCc2uxr-pd5wak958544CtKWrrgv2vLgEuJF06e3x74GCPaYCIzdHul5Mtwer-vg8-zUniqA4iK1Pg_IFtiS0-u15zgoID7gCZAKhW3W3FX_-6Ui4ctlMiNNNN7KwMmsRlqKbQVdmSqdp-Q3Xws4ht_J2SIeNQh7QGq0yrmbXaojZ9k3CXd8_HnYI0GC1kH0NAthG628ajzLo64v7VGHstwVyvChe6C_Y7TdYgGK6KQ27g215yKBHmryrg5qD9m9agPuMwaLX1JigfHNg0Aymx6FwPWRg-A7jBi1d5fCuCj7_gRsLDuB03BHwEjytExGE9DGV8_Gja1WmrmmKaL95IG3OSzuWF5K18ufHFqQFaxWM4Bexa4utNLz6R88mC-h8n2yEUMxTjJ38RMk8sVACxwz3eBskcC7DtPAjdPx2rGABevnejtvT6UCWTrk7ACLs6fVPs-RQ3eQ61Q3HE6_9cBPFgat7M_JHcu6EFcunmFFwTPhQlxtzvh8BLtCfD9V9zzgSTs5izDokXMhbxfSOBR-sJFHMscNS6wEiL6F5CoNh4stoEgTD7IbOYw8s56bvcuPLueaPcIkf7cEvURbumyuR97FXmnLIeCyMZ6FVHuhdh04i7P2Bzkk9tsbGlT_zeaSGNBuEm5IgdVcibgnutPbbwDJJrvjZWZzWjn4zXzZgTf3APoPnl8Am5dyh80boyK-19wyFafwmgzvfg6WPAigiAJV68sCidxGHcrpbKaLfm3vX54wXWofC4VaC_H64xHM2ivVcmPQYbUvHJGRiQMFalTOPdue4YBz8o2FZD38ds_lFfhnjHn0U9i2KSVI4UM2d3Ra27RkbtdjwyucryHjIZZd05lgmH24zQUG0RyNk_wyNp_RdqTsNsaUhBeiPsLy6jydZtsSmKcT-TectP-Kc7Q_4TN-frxdLvuPmUMiLG02yM-FAsb99XeD-VJNsM5I__1h2nosrGSqgnPZUGWwTjKp-TYLSSVicZw8-UpKaEPtOeUl2raUVp48pptIiyABYiq2yqp7pBBwZCMDGbbPDjqAptTqOGIGgGMgP7511gR3XIUOs55oQyXhJSOf4ADmQOFRE4sAvxtfXxz6Oc5dmKdnjLHjapOMyw52xHsLPUa5-MnLslGZDe_c0qrBDyxYQZ6tXkUDX22Jh47TrJ6IGtCIwBcyof6lct5m4dyJHUogrpdv7LlLRoEqcGCv_zb1o8DWZwBLgoLiMv8B9jv8MPcvoSnS6RYTIMwOwSQvZQeeM981h0IF0oD8cUOicCpvTc2eDkrYzoYzo0nNedEO0LAwW2pg3TihWN2Lk2h9gSuRXPwXB69PHhoqrn9mygIBTx5TKfVGsh8zygUvMifCvNmxTKCvJoS6jY-EyxKo9UxZPUN_VskKKxtjIIm0bVy2Qs6KytUoIkcDX1bEqQfyUpG_tmbqRh2YGgyzxAOIKw8z_f3uhSgGXT4bm8t6BlaEYhHz3axUq_Q40yUEljelClEKjPaoqF8I3t87twcDPq6zQ4Xuaw-fxYX5OXRj_UBz9oXd0BEC1jlazwDfwdGdXYtMsp84yrXpikCTxgZIKgRW98sggfGYJ69CjYWqrhFNj0HNoBHVNAenf2vn5tmzf1dl_KNfLD7RdPDAW-MAjcKuwbdziWB5ud7jqnjEENhkiF30HQYXhLXe3SG1HMDfu2dx7euJtAtlVkrpnHW4y2bftuO_y2pZ7AqvvIzPCPY57O4M9qRBzEZOYXtlkzpLiBVwChUVOJd2tACelkZCcV8axIFJEA4bat9gw8aXmA29Mb2BQWYk9NSopPizPicuTgHRn7PKTun2l5wXVS93HAMppRT006iArKDrH4DCVl5xMag69m2ep9RCaVq7ptfhFeISQSW0xP8EIUoU72jPk6Kw6jgICY72FyoliVdej9YdRG87N4FVTVjz2Ha8vxuCPHtREB-QqAeZ0MkVPwsn06e7iKyghHrZBrSdDdwZA==",
  "id": "rs_03b5ddfae23779b0016ab4391d754887d08f96aa878bbb3f82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.112,\"right_z\":0.012,\"right_pitch\":0.25},\"note\":\"After advancing, the pen is beside the right jaw rather than between the jaws. I’ll shift the open gripper sideways toward the visible shaft before closing again.\"}",
  "call_id": "call_OpHD0ijVyIP4FDSMtrAm59WP",
  "id": "fc_03b5ddfae23779b0016ab4391f210087d0a9259684f92e6cde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OpHD0ijVyIP4FDSMtrAm59WP",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3687, 2.162, 0.6308, 1.1824, 0.3111, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4481 right_y=0.119 right_z=0.0075 right_yaw=0.0955 right_pitch=0.227 right_roll=-0.1151 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.0632, 1.6874, -0.0757, -0.0464, -0.0073, -0.335, -8.9231, 3.1932, 1.8242, 0.0952, -0.149, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168cf93827d614855d81d07221b96f85e92bff333c0a4b59ddfa8292e7b54c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd08ae3b2bc4513e22445e0f14125aa7a6583ce704a71ae08a3cd9fbb98797ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029043bc63f02f5583512f753336735184d1fe7cb48973d5328e6cc147f4c01b",
      "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 · 6.812 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]: [-0.02, 0.8085, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.474, 2.08, 0.5961, 1.047, 0.4118, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4222 right_y=0.1411 right_z=0.0057 right_yaw=0.0836 right_pitch=0.16 right_roll=-0.1165 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7265, -0.0464, -0.0269, -0.0122, 0.4991, -7.8291, 4.2735, 1.746, 0.2027, -0.1441, -0.0171]\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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4492, 2.1544, 0.6762, 1.1042, 0.3805, 0.0059, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4467 right_y=0.1465 right_z=0.0086 right_yaw=0.1043 right_pitch=0.2119 right_roll=-0.1226 right_gripper=0.995\nstate[joint_eff]: [-0.253, -1.3197, 7.1179, 1.6874, -0.0806, -0.0611, -0.0073, -1.0735, -7.8154, 5.1761, 2.2149, 0.1148, 0.1392, -0.0952]\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 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3687, 2.162, 0.6308, 1.1824, 0.3111, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4481 right_y=0.119 right_z=0.0075 right_yaw=0.0955 right_pitch=0.227 right_roll=-0.1151 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.0632, 1.6874, -0.0757, -0.0464, -0.0073, -0.335, -8.9231, 3.1932, 1.8242, 0.0952, -0.149, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168cf93827d614855d81d07221b96f85e92bff333c0a4b59ddfa8292e7b54c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd08ae3b2bc4513e22445e0f14125aa7a6583ce704a71ae08a3cd9fbb98797ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029043bc63f02f5583512f753336735184d1fe7cb48973d5328e6cc147f4c01b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkj2tjfVc5eVBVmOgh8ga1xJ8SXel3eGxMxAWrE5F5C79VDVXxUGSs4IStDBnL7KkPv2Ee6I1ONCJdBAJ_nODLjioPn-Y_JgCsSK8_dWU9k7Lkmi1Edomhw4R_lmaMoek8h2KzaYgdAKlft-gNGlZuGMtTEaYKYBeGnBQowketAA4bB-QKmJcew4LtthC4PHIoOmbze3ahqQ8YK-bUqyLioT3GoUikFSFHh5ji9v8dAjoqxJM3VFvoTW66GB0Ue1VjAAkmYVAadMlyybOFKvIyuR7YT2RRgl9gynkMHQJMj7nTS9N-mu8X_I390yLrHPL9NlPMqhlK02xpH6SkQLy9ult4afF9QW9WY-8nY7zh59qAHFEPKTnAG5c1AQarY1XN0-TlCtnla_m-563zgPtSUi2BPdYJgkk6TEFQ6CAFNyvdG6Sp3IXxxmc5UWFa6bKGdQailUPziNW-vPGWZ6jimL5Zo6aw5GIXOJfmSsZtAaS-t0qUaEXOPQVvQkWhlhvMTODxJlnFHHsfnjvtTXENy_WmBnrBVvGPRlg4rxGiOwuZWp30OpipuGOPIuI6BJVqNr4Wf9Fz1CqbmvBPy-ZTbBiTCPD6Ev1i6aWHNO3UUP5WjoM7Bo-5cB8uqhBq6PLEd83aTPBAr-Y_KbvlSsqZxGZ9Dj_qQjNI4GJyesSzqxZkxMCtwpLY5tiI_A6Hc04g4lvqxfZK1qmbVdSOV45SpDkEhjQELqTbCyOocUrTwHsgPh20jXRgENxeixTstMgQPDuIWG2X6bKI-Bw64NyaHlOHdct6ZGNllywkNAh6LSLVlq4Pm7qA9J7jmggUDucZRedxeyOW_7_pgpjncYeThMlEwvrDRur9LgQAUCgN9_GrYdx7sntChbMxVC7Zj_25f1XECFeIndWKWpzT35Pfr0pCutJHoM1vGjXlocZpJ76DPGOYFDz520Ox-zV8gVlsaPcHWHCZRgR7FqvWqjFcckjJYQCDaIjoP_SoCP_NRZd5PDcI51R6TrjBrHrUyTk-82u4ecMf6gii8YmWZQIMc4VEWpXiNcVu1-8QjhjpnK91oP-M3Q2fatzq3A4M7-L40DOaylBMqMjwRW2USKwTHAaPCmc-R3tt3gLD46fIdXCXyXv-hQQgs6_tG-c2mAE7e2AXrG5rkuYSJfWTDg-0jh1JzBgukf1nQTLUbtMk7HNM-3-wvQgKUrO0ZhoAO3EuMXuxqprngds3ix1p24pvjBcWT6k_6jFApXQsXnebyXzoHB4saF-p6U75tSeIWxI3O2QyolVJLJY7_WL-M3T70V0imge2lwoJo5VT9lLahjv8=",
  "id": "rs_03b5ddfae23779b0016ab43922eee087d09f98b4b8c386f0c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s shaft now runs close to the centre between the right jaws, and the fingertips are at tabletop height. I’ll close on this alignment and check whether the gripper retains a nonzero opening.\"}",
  "call_id": "call_HGc4GOdD2RlGUGaz8ayTymXo",
  "id": "fc_03b5ddfae23779b0016ab4392341ac87d08976ad42b5c2ee69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HGc4GOdD2RlGUGaz8ayTymXo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.3672, 2.162, 0.6254, 1.2007, 0.3054, -0.0311, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.448 right_y=0.1192 right_z=0.01 right_yaw=0.1046 right_pitch=0.2384 right_roll=-0.1211 right_gripper=0.0093\nstate[joint_eff]: [-0.3624, -1.2513, 7.0632, 1.7363, -0.0855, -0.0366, -0.0171, -0.0068, -9.0325, 4.0, 1.6386, 0.1294, 0.1343, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e30f748654b2dc8173069239fcd0abdf48aaf8a908f3bf49aa2245ad1ca1de60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256018ab0cdae99e892a13dc71cfbf4417b1b17a849fe6c7ce4d954ea1874e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206bc6d32272ee5f3054ce5e0c5eb0fffe509617ec8129aabdcb2c8a038c250",
      "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 · 3.048 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4774, 2.0872, 0.6003, 1.0863, 0.4114, 0.0441, 0.0115]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4256 right_y=0.1447 right_z=0.0122 right_yaw=0.0875 right_pitch=0.1932 right_roll=-0.107 right_gripper=0.0115\nstate[joint_eff]: [-0.3487, -0.9641, 7.1453, 1.7021, -0.0806, -0.0611, -0.0122, -0.4855, -8.6359, 3.2889, 1.4139, 0.2125, 0.0171, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3687, 2.162, 0.6308, 1.1824, 0.3111, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4481 right_y=0.119 right_z=0.0075 right_yaw=0.0955 right_pitch=0.227 right_roll=-0.1151 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.0632, 1.6874, -0.0757, -0.0464, -0.0073, -0.335, -8.9231, 3.1932, 1.8242, 0.0952, -0.149, 0.1001]",
      "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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.3672, 2.162, 0.6254, 1.2007, 0.3054, -0.0311, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.448 right_y=0.1192 right_z=0.01 right_yaw=0.1046 right_pitch=0.2384 right_roll=-0.1211 right_gripper=0.0093\nstate[joint_eff]: [-0.3624, -1.2513, 7.0632, 1.7363, -0.0855, -0.0366, -0.0171, -0.0068, -9.0325, 4.0, 1.6386, 0.1294, 0.1343, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e30f748654b2dc8173069239fcd0abdf48aaf8a908f3bf49aa2245ad1ca1de60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256018ab0cdae99e892a13dc71cfbf4417b1b17a849fe6c7ce4d954ea1874e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206bc6d32272ee5f3054ce5e0c5eb0fffe509617ec8129aabdcb2c8a038c250",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03b5ddfae23779b0016ab43925e2b087d082d41ef9c24b6912",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkrUQHMixkpN6ugqQnZo9DSeUyDjrBUsPbUwbF6L-aKWm03KyfqSHCJhqjbIYt1jxj7jvWBJ40Ioo3EP11U6wMUWVYb_9Rt-VEzcR4ac55m5SE0d8Rm-Qny3zMZ-wtBKe9EUYgShlA9VMhDxhVPo-O-677lr6Jwfpf1872C6czdz91CREX2KKtA-R0cU4TfstsjW_5Qz0_tcPjB5P-rWiTGe1R68KIR5ztExc5y7xzUbQkj0TAe4qh_Whygu6Unb12mcgVvXrkXwjYGis5eLBqKBv8G4DysltdI8GloypoTenkkpNmKwOZeC2ZPNs-Jnp2LCAS1xSk7rVVwE6u4-jbECQgIaDH11rLc2euMD2PqdPAqmilDcTEfxYdhnnPmvsyIsJMdToGstwyBTfjdt-PjPimRxWXy8YaQAHBLkjGzGU3aLP7L_SXfKbdiACwmc-eN1j59h8hPZMom1Ujd8riPkC2N4Fw-g5iyBrfaLdzFCSZlAwgr1VryEZf0gky1BKPDjG4ubgdJj2fANjBLAHB-KKgcrQMPOuP9jk7dhkmcutGNXkgVvLhAZtJT84k-0IWoUMhQZvvtmnl8jvLx1v_KakMBCkuqv12CfLWtpz6dFT0-900lOLUHBC0s2_W0dqDi5Bed2vJW0hNzPuKm4vRR2z4Unv9oZK4BfCoPVqxyEC9JyvH3jts5r3wtpJ10lLEB7qFvKgRRIPkc5FFvkmK1mcd3KIyfhCvRu4lzmQRQjQZjAZXpItm7H-yWbdlCliuVsRaKZp5EtkO9Y0Zqb3X97BDE2XR612aiS4A49IipGjWFrGP_sxZ3d0UDICYeADMluGLoHqj4hsiGgV-JiTFVvyn5YE_TbHFvDm3p0OKP8YzBc8Ts8cC-lOfxehqH0fW_Y53zi-D7JMJ1w3iKUGRQNQL-m8n0gfFY-fp11pMZXvLc949Ab9BRyLPK-fgSFKYW9Y7IxcnMqHekbPWz1V7rbgTZCCq-Oev5C0oqYj20BtkR5RrF-ZQ_wXjI42GDzqiUBzTOt49Myf_WRJaw3_zJWlx-jna3xTmnDxcP6sg21ZG7TEeKb21xbf2-t5sFQJuvHeXJyWBahxjZ18nn3hbLHdEPVC25dklM9nrBhEeDqcP4BMpEpq8iuKUGTNTcHfe00LSm5IgP8Xk8uhYqCuxcHwC89pNqEz_IZmMt2SDg_XA=",
  "id": "rs_03b5ddfae23779b0016ab4392a6bf487d09cc66f19de06d2f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.477,\"right_y\":0.132,\"right_z\":-0.012,\"right_pitch\":0.27},\"note\":\"The second close is also empty, and the overhead view shows the pen has shifted and rotated under the right arm. Rather than repeat the same grasp, I’ll approach the pen’s newly visible shaft farther forward with the jaws open and lightly at table level.\"}",
  "call_id": "call_vaCusakjnWj99yGGD01cmsgS",
  "id": "fc_03b5ddfae23779b0016ab4392a765c87d0a729ebbbdc80074e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vaCusakjnWj99yGGD01cmsgS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.3691, 2.2913, 0.7601, 1.3006, 0.3008, -0.0341, 0.9944]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.175 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4807 right_y=0.1337 right_z=0.0136 right_yaw=0.104 right_pitch=0.3396 right_roll=-0.0943 right_gripper=0.9944\nstate[joint_eff]: [-0.212, -1.2923, 7.0496, 1.7167, -0.0611, -0.0806, -0.0122, -0.0342, -6.7897, 4.1641, 1.2332, 0.1148, -0.0757, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a2023eabb02fc4b944b8467f1d31df2fb86344e6ac847e5a097dcf5317f0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24452e2aee0314be7582ef1b4dd5211a4025ccd07fd40bc38331288e5fb10919",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945a19a31a23ed2051044c7679485dfc02e1a80a38ab5a6931bab2f1dc44fab5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.557 s

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

message 31 changed as sent

message 39 changed as sent

message 44 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4492, 2.1544, 0.6762, 1.1042, 0.3805, 0.0059, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4467 right_y=0.1465 right_z=0.0086 right_yaw=0.1043 right_pitch=0.2119 right_roll=-0.1226 right_gripper=0.995\nstate[joint_eff]: [-0.253, -1.3197, 7.1179, 1.6874, -0.0806, -0.0611, -0.0073, -1.0735, -7.8154, 5.1761, 2.2149, 0.1148, 0.1392, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.3672, 2.162, 0.6254, 1.2007, 0.3054, -0.0311, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.448 right_y=0.1192 right_z=0.01 right_yaw=0.1046 right_pitch=0.2384 right_roll=-0.1211 right_gripper=0.0093\nstate[joint_eff]: [-0.3624, -1.2513, 7.0632, 1.7363, -0.0855, -0.0366, -0.0171, -0.0068, -9.0325, 4.0, 1.6386, 0.1294, 0.1343, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.3691, 2.2913, 0.7601, 1.3006, 0.3008, -0.0341, 0.9944]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.175 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4807 right_y=0.1337 right_z=0.0136 right_yaw=0.104 right_pitch=0.3396 right_roll=-0.0943 right_gripper=0.9944\nstate[joint_eff]: [-0.212, -1.2923, 7.0496, 1.7167, -0.0611, -0.0806, -0.0122, -0.0342, -6.7897, 4.1641, 1.2332, 0.1148, -0.0757, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a2023eabb02fc4b944b8467f1d31df2fb86344e6ac847e5a097dcf5317f0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24452e2aee0314be7582ef1b4dd5211a4025ccd07fd40bc38331288e5fb10919",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945a19a31a23ed2051044c7679485dfc02e1a80a38ab5a6931bab2f1dc44fab5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkvCCg9vUXPR6jqmWg7Fi1wlBE3i0gYy-qK84hF8hzv52RKEUMyXXQQgbGsrp8P4eDuQTDf_S9GYkLE8Qoh9ThcMepEAZDrBvO3osD6QKfkXWn4qUwlyk3hsVWDWuRT0DltVHTuvGpykvdbf0kc-0-gvN2FVMIlWbWDlDLIfRPsaiXF5wP9escaWe8svGRxlKf8cWgBzYu0dJmrZOwu9FT4K-vAPeVkFGExRe2fI10pyJprv3iywASfYEItZjQ8FbDx2L_poFwjpXSZbrcH24iq7M2QA5TIrdI6gEfq9Zd42eT3wd9xHkLHwcyDre3cBspRoKJn8gBFwDFHSsKwny1RkJGo8Z2LJNRoZMnlL2ZA7If-oCezlgeFkDgDcbXM8EJAZ0J3zXi7lW8s9-G2NsHm6sIANrZhaUGKjBE6dQL7ZOiW0C33U4CEtNMfge7Y3WYDa72izQboZfRlK5rVu4uLQMwAwY8GHTumsViLnzzAe6bTt6NEoIsGvjiqK6nLOexwtIYr1WHyXD16nrAcy5FjrnuXIhMGFCMKKIHpduq0vYn0uFilg_xiVTDXtPe29DbRz9wqZjB4g_TwEWoibeRAjsG0wACy2p8IsWOr8UC7ldxY_4HMC__dTVR6alTelkc-dyLje1HMfItfHlHktYTsxcgUuvaC-OvkU18pVuG-2-E575ouULLXBd4owSNBM8gt9eogFacf8JvEAW2KgyABYPytp9lWPrvCv15PuYxvpL0o42GD11Q2XEuB7xKr_o9zkL3CdFviYdFi5Ovps3NQpWKeOyVIY8scwa4mOJcMapcoMp3Y2hNXj7HV8SvsvPeYqAOBF6NnIBzkEDoc2SoQH4OmLSUMjJt7zYU6OAy-SLTGP6xLfwnr-MSANOSo_SrlrKLVB4cmBDzIdlJ78kMoPH6L8ju6N-oO7mM8MmRBa5uK-sLV4RT4petHZT-3cz38_hTGVDfQ2MYGlH5w8Bs_SmF29uehAHasR1_F0Z8kfJV0zqor1gB-8B1Fn6__sthZgBdkp3QuKOYhdcqZPyb00RBBfgGLD3P_WPrHNgnrFSBKt40qdtlKpso3z4PtXxQy-afThx9lhR6FMDE1eLKGSZeByFjBKrZwaK-jpccCUPUmtLQv_CH3DoeUMtcKj1Ez_kuS7mwHrVYmDHapNjvSucENv16uzxTiWNSOvU2NXWLFSJYrPDB3UIqNnlS_mq5Na7xbot6uvVWvDkPRrYoCDtm1qjlzFUR2m-XMbhZ8oJP81R-SVaptCYxtaAncFgBpcD09NnDnZ-ywwIrZ0A1CWnfybpnkv02gp64cqUeC0gqXXkhGW7KQTzzjYyS87HL2a8nz6zynupdTMHfGMLNw7JI0HLZlyttxh_ftNedQbAkDv78Nl89aroxL3RlAJPu_Mq2e7WqLgvpzPMyNO6--kgLsZEQfh3C7CwWj5FLR88BnW5GqoFRqWopCy9EgFEgZQBFSoMXpHEyg9FtTp_-cCUFubmlOCVKFJrIACWMtyEU=",
  "id": "rs_03b5ddfae23779b0016ab4392dd86487d0a0069e991eb55567",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.105,\"right_z\":-0.01,\"right_pitch\":0.27},\"note\":\"The forward move brought the pen back into the right wrist view, but its near shaft lies to the right of the jaw centre. I’ll slide the open gripper sideways and slightly lower to put that shaft between the fingertips.\"}",
  "call_id": "call_SmcEp61LBWyVJ3KS4n6Rs8wc",
  "id": "fc_03b5ddfae23779b0016ab4392e9b4887d0a763b45f89442aa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SmcEp61LBWyVJ3KS4n6Rs8wc",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.3115, 2.2959, 0.7513, 1.3239, 0.2344, -0.0456, 0.9947]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0006 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9997 right_x=0.4853 right_y=0.1169 right_z=0.0135 right_yaw=0.1116 right_pitch=0.3453 right_roll=-0.0883 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7265, -0.0269, 0.022, -0.0122, -0.9915, -8.1983, 2.4821, 1.37, 0.1636, 0.105, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce7f652b15067c5c4cd90278cbd977a737e9764e8c08535f2725e0c11b08a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0946c3c169c9742d2e0429a2cf7a00c813dd22cb231fe84c72ff4f77fbce67c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26705892bfbf7f13f9d29aeae8ac7a8ac75a03b62f978e37a95679cb00a95c7e",
      "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 · 5.568 s

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

message 35 changed as sent

message 44 changed as sent

message 48 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3687, 2.162, 0.6308, 1.1824, 0.3111, -0.0193, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4481 right_y=0.119 right_z=0.0075 right_yaw=0.0955 right_pitch=0.227 right_roll=-0.1151 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.0632, 1.6874, -0.0757, -0.0464, -0.0073, -0.335, -8.9231, 3.1932, 1.8242, 0.0952, -0.149, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.3691, 2.2913, 0.7601, 1.3006, 0.3008, -0.0341, 0.9944]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.175 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4807 right_y=0.1337 right_z=0.0136 right_yaw=0.104 right_pitch=0.3396 right_roll=-0.0943 right_gripper=0.9944\nstate[joint_eff]: [-0.212, -1.2923, 7.0496, 1.7167, -0.0611, -0.0806, -0.0122, -0.0342, -6.7897, 4.1641, 1.2332, 0.1148, -0.0757, 0.0855]\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 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.3115, 2.2959, 0.7513, 1.3239, 0.2344, -0.0456, 0.9947]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0006 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9997 right_x=0.4853 right_y=0.1169 right_z=0.0135 right_yaw=0.1116 right_pitch=0.3453 right_roll=-0.0883 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7265, -0.0269, 0.022, -0.0122, -0.9915, -8.1983, 2.4821, 1.37, 0.1636, 0.105, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce7f652b15067c5c4cd90278cbd977a737e9764e8c08535f2725e0c11b08a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0946c3c169c9742d2e0429a2cf7a00c813dd22cb231fe84c72ff4f77fbce67c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26705892bfbf7f13f9d29aeae8ac7a8ac75a03b62f978e37a95679cb00a95c7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkzbLRT7FRRUh0N_CfBsq_YsoBUBPIugEHTvOWVGuOm32Q2i-U5npG9SRTfS3Qy_y-9yXDzDmOLQPt5vB4RyV7n6HoR5VbgOAAVKRjwZW444GzEeIE5KwFynPiINWD_oHZLS_9Em7UBwT3Vc1d3oGsvQa0-IzA3grMiI_kXt4IKrK993MyP88b78Nx9ZTwbIwPcme2UIMUusYwcuRKaLJzgEuPflUqoq1QkyXgFRjJFILmZLFDHQqh7zCBHZ48AXX4PWOJDd96Q74rQ3OnWnHVzuWUWXiGxgSLiRT7Md-MJdiJWqv-O4QWrtzkaBIDjHOEnlmCXxXIU3lPMCv9FuOAat23SsEcEFXsEI_UEnZwmPAOnYNlphv8GmY7kh5l9TLKGSyKMd8cU8rzzjDeKgOaNcuB2HUoagTgRc3zfAyTGUU6rDAD7OfQwlcIwujj00NoaRMiLfRWRR9gmJ2pU6_lPLlK9oBjNvvQswmuJ9aJPZjaBXlp1jOt65mflrIroH1j87iJpRPu_bg1rIQdEq1jD2VwEcyUdLb6bHq6QVfufrsITfvDQlHljGf4Fl6mWZoaUYLBQqIYjOstFWy0To756hLbKK9pQI9IRPLSDikwSIoFBGxTG4qV6X5RgC1IdM6xbq1_gNIlgyjZNMir8ro3A0JuVF0Qo7JIzz1rvXumEltx2dU_46CVbzj96f9zRkXivAohvWg8AFo4OTcYtF4ENDwq0BxcJxTA6PzmRdVqZFct5TaxLd6yCkjzgeW1pWybKzp32UuDvdf-m00bVWCvDJzlCNh3mgw7npYU7zJr3MSObgzAeTqv7ubI4hJLCA0gQWc7VhicQadL696WpPzIqJUtVvyuWex5Faxn0qpfl10qPZeR4Z1exHTsJPP2XV5hZeu8qOqvcepP35ZAOH2tLIeVAcNf972YYkMAQkjD4XpbDrOZymH-gC_hm4t-G5kSEuAYkl_7C1wKCVfZGZVEifx0_bcqR27LVOvqYlXgTFbvn7SCy1n4W4bYd7JpuIq-r353yt10wjcnH6WxvyvOYV7DiYVM6chIGg4BSMXF-s7rT3U-Sapo7HwAHMsPQ9Q6ixUrMt2piFymdqY90jLpZb0gWzJkCpjG11B7Q9dz6V1DCPpqaPMJtugqwdXWzDzvtpA3jWwiWgi0kzOCkZmKH4oU4XpajbhQ7jDtBZrJa6_cz0taYKYZkhOYwSNVLhzwihH2O6t4jyydzLjaWhnivI5EHhSpbpcNZXIAntl5AxO5c4QpzsE5lGsFaDXoGG4Szfj3NMRz9x9wrO0aczZeS23XXU3WV0mTqWlQnjQf5tGnmTS2c0c52eJ2WLXrOqVrbBwZcCIa2fHmjkNEQoCypYwNsx0XGkbY5TKjsTMbhmFvOyIK-qayClofh_xy-ZQKrSZY6DEfRG5Y-6Ql3CcQy50mC4HlqcKAeOrs5nDfXeeg8M2PFf1p5oU4YfsCYbUKN8yNYTymSQdxrfC1XnljePu7WWElK4M0KszgWbwzlt5W1kQQvBdB4SAa3aHuUr3rU-drpvXx6sZd_HxUt1J26ktQeKMxxwUlHD1FZ2iLbrC0YCAhV79o1-Ga02GmDgoOSjst3wI0PbkmIl2eo0IcOiwbUAcj9RxWVv5a9yQ0ybYJ5XwWpArnhlrID_ZkXGJCHTu64ndBt4Q1nAqiFV4aTWFBdEHDGH49TfdjyqQ5SwEfOXelml5b-ga2xYxMeCkGlYA7gBg5EBWfj4Z8oCBdtM1CBL7sod74plOBYNwaLldMWcUDExF7TcBD1Pm4IccVceSiC8xVc2OqJv-wX7JSxZrBuioaJkzjF7f-uW9qzHwT0QsLRPSEX2u_wi1YlxXu2FEo29lYP3CQGH-_MJqoS1BGElV_ytCxTN3DI9dNjIpdT2-CvTzot8sloLvoQf-akEvRPQeSXoFDei4BsKYyuc8Ofs1JTC-Fx8BteTrdqyqI=",
  "id": "rs_03b5ddfae23779b0016ab43930cce087d0a1abf551620312ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s narrow upper section is now nearly centred between the right jaw tips at the lowest height the arm has reached. I’ll try closing here, then lift only if the gripper reading suggests it caught the pen.\"}",
  "call_id": "call_zZBPYQK3ro2Z8NVolg5vgtOG",
  "id": "fc_03b5ddfae23779b0016ab439327a0087d081806473c21a7ba2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zZBPYQK3ro2Z8NVolg5vgtOG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.2893, 2.2959, 0.7475, 1.346, 0.2073, -0.0574, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4874 right_y=0.1109 right_z=0.0174 right_yaw=0.1193 right_pitch=0.3618 right_roll=-0.0911 right_gripper=0.0093\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7118, -0.0855, -0.0513, -0.0122, -0.4718, -8.3487, 2.5641, 1.2625, 0.1587, 0.1392, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0882bc5b885b9a1f366f38aec3888ccb6fb19b7c4ac7902a88b4226cc2a667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7066bc10c3d01646513da360789189b32e746fbf58f0c08a905c898e3db6048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b9252739328cca94a2ff1dd10efdc3f2aa1af01656cf471b9c66e0683f6845",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.996 s

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

message 39 changed as sent

message 48 changed as sent

message 52 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]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.3672, 2.162, 0.6254, 1.2007, 0.3054, -0.0311, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.448 right_y=0.1192 right_z=0.01 right_yaw=0.1046 right_pitch=0.2384 right_roll=-0.1211 right_gripper=0.0093\nstate[joint_eff]: [-0.3624, -1.2513, 7.0632, 1.7363, -0.0855, -0.0366, -0.0171, -0.0068, -9.0325, 4.0, 1.6386, 0.1294, 0.1343, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.3115, 2.2959, 0.7513, 1.3239, 0.2344, -0.0456, 0.9947]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0006 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9997 right_x=0.4853 right_y=0.1169 right_z=0.0135 right_yaw=0.1116 right_pitch=0.3453 right_roll=-0.0883 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7265, -0.0269, 0.022, -0.0122, -0.9915, -8.1983, 2.4821, 1.37, 0.1636, 0.105, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.2893, 2.2959, 0.7475, 1.346, 0.2073, -0.0574, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4874 right_y=0.1109 right_z=0.0174 right_yaw=0.1193 right_pitch=0.3618 right_roll=-0.0911 right_gripper=0.0093\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7118, -0.0855, -0.0513, -0.0122, -0.4718, -8.3487, 2.5641, 1.2625, 0.1587, 0.1392, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0882bc5b885b9a1f366f38aec3888ccb6fb19b7c4ac7902a88b4226cc2a667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7066bc10c3d01646513da360789189b32e746fbf58f0c08a905c898e3db6048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b9252739328cca94a2ff1dd10efdc3f2aa1af01656cf471b9c66e0683f6845",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk5WDsXSPf5c9_GOYxSQHrBf3jwdYDRFsJffmipln9vRvgtCozoXgR9wEbzdvKAXtWQc9bQWvNAtUDom7zQMrchrfMr0et25_HJfeWv90MSjdVyHYXGFy-oDN0hj0B-MZRdxToE2YP1tVhR6qnbH1GmFSnyxb7kENGyW50m7T3ng__BimlEydZ1xuI2nU6NR5TRHP_-f5GARUuuU818VrzcJSOo70T7SCws8K2mn7pWz1j5hiA6_FnZv5v4w6psplT9I07DZCpq1g8LtNZrjkypwiJBKZLPKmp-46omLtwRJX5nPvsU_3hFGo7v--oX0bAbTuh68R0EYfrB51B5J6-ZVKE7U5zf2CgRZls84LUiIBV2TreS_at2RMn12-GE0RYJJbNweOHYDPO9OZaZUmrAUIYDk8LjPXWPBXcktHzGSm_KnM7RDbv3qsG-WJYecikgRczbb7YSXFuNIbNd5jlh8CX_jAWjF9gR2pwRMB88OKSpJ6dib0-4-AWUa13Jsj7LJ_Gv8gORdLJerxpOaZPkIJvuesHQ6ESjUevnb2ePg2tUGBlgpPO6IipNf_lWO4zQK4G-ZUCz2fYu58z_wGTjFCJFpciMgb-4uJXT59WZHEdSYA58ANk_FuzNUE3W9Mnv7lgHGzY1t6V_6Z2Odo_iDPRaExyXuC4MFvTkQnG3vGuQN9o1dDcTgK1LD-zefIuISgQDxkRAONULTbUN-smL4HmWUEHUyXWILfzQS6EnFurqqy7uaKVkv3cBy7KyV6yVWJTPOxvcb4e4r00yctKRunDcJ_TczW2ck4TUbHIM6ES-p6lDULuD2bhTNc6raj9mTlISf5gusCSqEzgNI30pA24hHeVDn0UsjEYpArRCYG4rNukENfuXBbRNyZzmU7m5cH7mp-Gna1mzPemTo7KNbtug6fOKeGcETyj50ICBBiPPg4zgUqhf0fOrpPjghR4-MHk6_zcxI9iRAAngnPEYC2eT0PlZrZ4l3ogfrg8QA1D9M7tRLF9VGxoE3WDnXqB_DuWQ-prJrymGL14wQoycVu4WLdUMfHb6Ov0uCoBYUQeACdipWteW8SMr9Q6YxEIVnoByGkWxU2U5skjRLsg0am4eSZSQ1zXixRd73atOHh5Z2sPNE4N__C_-wYDhoSAPzMvi4kbuSvtrJAQqQmsq8TNkY2reU6VQwqXsadfSuykNEdlobwNVyIFm5yYfEesYXAZz6F78klF3i7HdHay-vtlmddor0sw2BvYXCP4docGbZ_NIX4RZYIQpcZJo34LdA6SEPkLrSbKxmvvznSffjleGg20pkHag40F_zDzfWLAqUjHN__M1iR4nBREVtl9E-gsiSDH6jdAgJXLTocIvi5x5QiUsuiH2OWFNqFwH6GrpAxHXju0AxoEao4f5M-yKLR7WfmqYIq5g9kzNwgD_Ns8kA1zXSywihU5sxh9_WE3sk8xUNJD6e2n2t9OM8-tFsUfU4cC6iaXLCAlv4_iwSiPl8qAqIvaMBOumLOUEfDzTbyFQuhtFtaUjOX69-3vQE0qQvI-CzrZkBvGJ__fS38ua_19g31ekG95IGHUkJvUNGAV_MqMIZa_PJkOUNuRunR1ichCDDhxe6eBjl0aMZG1zJrH7iChuDVy_p6dyqnmlH9A4lRXiJr3tL11fHbr0AHlcK6GCGqlGCAtCzLTp_amtJPCuQiQKINcHYvXpcHMD5clGWn4r3qEaeEC87Iww_ShSyNPcLQ1tten372BPibeyZ6hJxcBPEGhjl_nrn102q_BJj07LSWzml2ifK_h6H4We4yBXM_0D23Fv3NZGYDbr5qeAl4gD773DooLdnOv3k1BbluW2lWYSEhljWafsPHszc73Lai-0Man7tnBlPD0BHeGtouelpL14QFUd2FEp0tl1_GbPfZUQH7spxO-A2b0HAHjsjKxbM6Hm4Ay-HVTTLkPEW7vhq_A08hyeym8tufjznEaO6gZQ9VMu6wLnvWbHWJfICSFzSXlD7A0bg0ku2viWJXh8c9vIw-4CYW5JuUAgbuivCbChZk7v8avKGnKo3oOkGhCO6YTZFskhh_KyLsMyfKMsXcDmDK2Pi7OUcPOPc6IJOEy2pVMk2KRbknHmG8XWbgtVZeRMG3ZEdLr7-ewwM-hPZuhH7qfjE91lmSOXOx8dRtAZoTKW-KMfiJ901al0wmvWhF_h-VRzgPpYUFCiRUMGHuPYNp_zyln_U2_qra5OPh_kapd_xhDzY-2DKw1J5d30xc2NTOgUcQjNnL1aVhO35uqzMS8GDbsztsEk35IMMvYlbXgodNk9hWItWmx9M7CYcykpPU2ydR0809mgabCviQRH77Li7Ybs5MlLm53Q22QIdvvIN58XWviOA_R_AN4U00yiS-dmURc3PXEjyY283iFRZXRoyga49VtZg7vO-__UgaPVDgsgmRKQe833JztQGZB3ncMm1xXkBKJ1J1vjVNjTGLyuFbtqbLQue1bTfY9ewKZfDP9EubUfq2MGyKTc0WnD31QbMUYSljFekIJyY5iCeVdc8WDIB9h2MhhPU6JIdrXvWtF2jb0gkEFzH8fU-0u_1Hno1-yBQrYEC5fQE0EGcB1-9zMBPKKlV5kMl3O0vP69vHuR1b1FokCYjTCzu-auGSvmjdluMIMkp4hhaUkJ4GCdRtqkAwxlaYUsDDVuz3vRQ51fRGKqVvKdbATMZAs89pggZG4ce4WVOEQmk3ccZNlX7Pl7ToWgGKGMemUelqcDXlh-",
  "id": "rs_03b5ddfae23779b0016ab43935e4bc87d09fac383bcadb9d09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0.005,\"right_z\":0.18,\"right_pitch\":0,\"left_x\":0.408,\"left_y\":-0.2,\"left_z\":0.105},\"note\":\"The pen is still not retained—the right gripper closed almost fully again—so I’ll clear that arm from the workspace and turn to the separate cap. I’ll bring the left gripper above the cap while parking the right arm, which will also reveal the pen’s position from overhead.\"}",
  "call_id": "call_dYIsV8hTsns2p16v8qKldBjS",
  "id": "fc_03b5ddfae23779b0016ab43938c53c87d0a8dd479192b742e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYIsV8hTsns2p16v8qKldBjS",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.659, 1.6989, 0.9047, 0.0196, -0.5255, -0.4217, 0.9997, -0.0471, 0.8143, 0.5537, -0.2443, -0.075, -0.1673, 0.9968]\nstate[eef_state]: left_x=0.3945 left_y=-0.1889 left_z=0.0854 left_yaw=-0.0075 left_pitch=-0.0805 left_roll=0.0356 left_gripper=0.9997 right_x=0.3071 right_y=0.0024 right_z=0.1799 right_yaw=0.0913 right_pitch=0.0556 right_roll=-0.1017 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -8.5265, 8.7179, 1.6777, -0.4274, 0.022, -0.0073, -0.3897, -1.5248, 9.6479, 1.6972, -0.2271, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c033939e6719752b4289a8abaf0b101543d2b439d50f3bbcf3ea2fc28f561",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6693c34e89831528b3cd6272c4fd665bef9318adf6ce939a16ad780af0291c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae6c94f8285befd810ba03fe53bb91689491508bcd4ac4b8b148ca5e0330686",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.644 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.3691, 2.2913, 0.7601, 1.3006, 0.3008, -0.0341, 0.9944]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.175 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4807 right_y=0.1337 right_z=0.0136 right_yaw=0.104 right_pitch=0.3396 right_roll=-0.0943 right_gripper=0.9944\nstate[joint_eff]: [-0.212, -1.2923, 7.0496, 1.7167, -0.0611, -0.0806, -0.0122, -0.0342, -6.7897, 4.1641, 1.2332, 0.1148, -0.0757, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.2893, 2.2959, 0.7475, 1.346, 0.2073, -0.0574, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4874 right_y=0.1109 right_z=0.0174 right_yaw=0.1193 right_pitch=0.3618 right_roll=-0.0911 right_gripper=0.0093\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7118, -0.0855, -0.0513, -0.0122, -0.4718, -8.3487, 2.5641, 1.2625, 0.1587, 0.1392, 0.7155]\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 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.659, 1.6989, 0.9047, 0.0196, -0.5255, -0.4217, 0.9997, -0.0471, 0.8143, 0.5537, -0.2443, -0.075, -0.1673, 0.9968]\nstate[eef_state]: left_x=0.3945 left_y=-0.1889 left_z=0.0854 left_yaw=-0.0075 left_pitch=-0.0805 left_roll=0.0356 left_gripper=0.9997 right_x=0.3071 right_y=0.0024 right_z=0.1799 right_yaw=0.0913 right_pitch=0.0556 right_roll=-0.1017 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -8.5265, 8.7179, 1.6777, -0.4274, 0.022, -0.0073, -0.3897, -1.5248, 9.6479, 1.6972, -0.2271, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c033939e6719752b4289a8abaf0b101543d2b439d50f3bbcf3ea2fc28f561",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6693c34e89831528b3cd6272c4fd665bef9318adf6ce939a16ad780af0291c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae6c94f8285befd810ba03fe53bb91689491508bcd4ac4b8b148ca5e0330686",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03b5ddfae23779b0016ab4393c9e6887d087ac32344546facd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.13,\"left_z\":0.04},\"note\":\"With the right arm parked, the pen is visible farther forward near the centre-right, while the cap remains on the left. In the left wrist view the cap sits well left of the jaw centre, so I’ll shift the left gripper toward it and lower cautiously.\"}",
  "call_id": "call_dOCfD9mBcUbMCD34BGoFmLXT",
  "id": "fc_03b5ddfae23779b0016ab4393ec6e087d0a333c7f4bda2678a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dOCfD9mBcUbMCD34BGoFmLXT",
  "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]: [-0.4919, 1.7313, 0.7261, 0.2382, -0.4263, -0.3229, 0.9997, -0.0517, 0.82, 0.5518, -0.2768, -0.083, -0.1841, 0.9977]\nstate[eef_state]: left_x=0.398 left_y=-0.1263 left_z=0.0378 left_yaw=0.0288 left_pitch=-0.1152 left_roll=0.0515 left_gripper=0.9997 right_x=0.3032 right_y=0.0026 right_z=0.1705 right_yaw=0.1023 right_pitch=0.0158 right_roll=-0.1064 right_gripper=0.9977\nstate[joint_eff]: [0.3624, -6.5299, 5.2308, 1.7851, 0.0366, 0.105, -0.0122, 0.3077, -1.9077, 7.5419, 2.0684, 0.0122, 0.0952, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c47bd8f9054af1a9583ae143a3a224bb3df9b2893efb6b1df780a01553e724c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49d1fca68dfaa82a3c66b33a675d487831d6575c6133532dd3f20d26d1ad1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8e79ee97f616cdc08788de4c660a8a5cad3a309d2f1c8497f12253ef9625a8",
      "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 · 1.893 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.3115, 2.2959, 0.7513, 1.3239, 0.2344, -0.0456, 0.9947]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0006 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9997 right_x=0.4853 right_y=0.1169 right_z=0.0135 right_yaw=0.1116 right_pitch=0.3453 right_roll=-0.0883 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7265, -0.0269, 0.022, -0.0122, -0.9915, -8.1983, 2.4821, 1.37, 0.1636, 0.105, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.659, 1.6989, 0.9047, 0.0196, -0.5255, -0.4217, 0.9997, -0.0471, 0.8143, 0.5537, -0.2443, -0.075, -0.1673, 0.9968]\nstate[eef_state]: left_x=0.3945 left_y=-0.1889 left_z=0.0854 left_yaw=-0.0075 left_pitch=-0.0805 left_roll=0.0356 left_gripper=0.9997 right_x=0.3071 right_y=0.0024 right_z=0.1799 right_yaw=0.0913 right_pitch=0.0556 right_roll=-0.1017 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -8.5265, 8.7179, 1.6777, -0.4274, 0.022, -0.0073, -0.3897, -1.5248, 9.6479, 1.6972, -0.2271, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4919, 1.7313, 0.7261, 0.2382, -0.4263, -0.3229, 0.9997, -0.0517, 0.82, 0.5518, -0.2768, -0.083, -0.1841, 0.9977]\nstate[eef_state]: left_x=0.398 left_y=-0.1263 left_z=0.0378 left_yaw=0.0288 left_pitch=-0.1152 left_roll=0.0515 left_gripper=0.9997 right_x=0.3032 right_y=0.0026 right_z=0.1705 right_yaw=0.1023 right_pitch=0.0158 right_roll=-0.1064 right_gripper=0.9977\nstate[joint_eff]: [0.3624, -6.5299, 5.2308, 1.7851, 0.0366, 0.105, -0.0122, 0.3077, -1.9077, 7.5419, 2.0684, 0.0122, 0.0952, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c47bd8f9054af1a9583ae143a3a224bb3df9b2893efb6b1df780a01553e724c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49d1fca68dfaa82a3c66b33a675d487831d6575c6133532dd3f20d26d1ad1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8e79ee97f616cdc08788de4c660a8a5cad3a309d2f1c8497f12253ef9625a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlDJK05eXyEMELEX3fhihsab9Uy5Hj5A9klciokYNfyywpyDa-aht5O7r4wFLM1MZUx8B17_ksAQFTKXsZ8ZOtA__NLe91C3KjoCOdtnJcvYKyi98r8JespppTVVbTySr0HAmXGaODUG09UBrayJnXw5f4vJjcMqkZiSbCIRY2bqrEy-rMJtwwHkgPQsvvYqwlyNWSbkeQmhkMFbxvIMdUZ8thjSU9tAFFM1GX2tVAbferCGMB_83dY98InZ20Eb2gWiy7gTiC8nnNiJMaWT7uFIVwbQFSr6S4YgjlGFIZI91tCnes1x74VOwzFuPNa8FXDkqTWhkXzXEumWWZ_OAGVXiCp6_zsPQbfLb5kMlYSnTQ1C4qccCyQsxXReDTua1ZTuJX2TzMClhDgntWvb9KgZ533HBKY-iiMWzMkRKlhd9fj9lw9_Le4f1bQGDUAjSYrfwLmZ-xiPO-dRBRBnuiMLs8kjU-0ynNdrX1M0UswbC_t4Pi_e2Ma0jdMEj-JiMuEkzb7xnIpov2_LPpjYe33pBcm3pWWwZY7WZYhlj3irbkBLP1tqjwp5IK0XnxoHMSlPPfUG78nmd1rymQDQkh_yKREGzcPA7DyC2gTyoOCiHxjiKcrT3j7L_gDUKT0dIzftt_Wf8OsdiOv-RIoZBU3Yi9OvN4Pk3wtJ1jpBhp9GrQd68fDeja6BDQbxrmX183WFkwfwlN0j821g1du_v40MjcGCkYTXPcH5KX48t88d7K5uvoalhZ2cbM6H3feoYTj_R7OmL21yKw3o4ak0Y1o_Id66LZznL3m6G4YW50ks1XA9XFQNjQ8VbLONX180ZRDK2N6cJ3p-P_Sk7TZ0Tu5-LfdW-lg8Qxrv39FaM8FP6oabTrkkWLExJpYTn7zoQVEMtxxQ33_LdQLu-pYaMuQHfV624qMnAKeRqt5a_mDKRjgIujy0jSujdbvFfGbEKy5WKx5YYYBhcPcnFtiXJ16aK2lKHukO6V_WZwDY7doRv0QT5z61HtAcSRwvo_ZXPL3nbLVv8KsH6o1OrbzmqFK4btjqeKP7hYUKE79UeQ0hMuvmSw4TUwvXWKnm7LmGdCCT62Pp8A56Hv7-0Msk7yJZ6dqlopwKGRJqlGA4KUbE-aZB24nklI6eIg1knwEPBFhEbneRR940oNLozl2xov7zhcdSSJgWnSMRtXKILHC1wLCcVMvON5hKEQKrbOgOmmuyr6o4fAGA0aM0164tnSaUPceIUXcHdnoQ2QxD_rf0kpL3VsGGIpAxf2_p98Bpnq_ZtfrHN8rFit2OAmvSgR96kEGBtlrlgUqRr_T41lyPfrJRIeYJTGVnDKWa7foGKurqDtCsKPRxWQQJN0MBIQZHyOjVYDcZdVdcXfhbeJc18f4D0RgVd54LnJrJKriGGF0vE5vZ24Pty1ZprU8MVfdvHEtP3zDw4Q5i4FpoUFChofjVu1tbneMeKiJcOLr8A7CYfu2xAZ5DpfwabZI1l0taHXBGi2spsVcT7f1MQlHVEynTBW2j6VV_i6p8hhOjloLdOt_C3m3nubLbPPy3ZfwvQmO5OINhra3z8Ib8CFrXKEtldI4LYK9vFaDGv_3yB-C-bWJXT35dcp7N2dkxiPaU0j8hJKGVX4ztjRcL1I7N2_lHn0J-uT3XrSbg32OxutG1UlsHSBR32yQXCyQfKshwepOROyxsJeEq1AvtpkQ2KQkWM8OnqipBjxplxBSsO4m7s56cQO1EQIWD6Yiu4kr_7cHYbJgI5lT_KynGItwMnVbqY8WtfhAW45T8_SZfFzHf35YbLVw_UANoe2dkURWy2Zt9VUVTKRS53gIPoclbFsfnd6GSYciqQap4LtzFfRmU-Hwsm31rdxErR6_kgo3wH6u9ZKsgQanceQeLpg9xVoM82y5F8xb_A3LkTvv0V68G2_sIb5Zsk0zxV7KpCHbb0h6iuv2UB5YeN4EGcXbbcrSkstUHM6Qf1-PCLYpOaH44b131Tj3d7kpL0EdW8JIxkihd-VMhUujAVwDxl7Xo-11GX_MBIjJTPc_98FaKAYxIfp_njv06M7DXMgYvwfxIw==",
  "id": "rs_03b5ddfae23779b0016ab439410d9087d097142131bb25beb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.108,\"left_z\":0.002},\"note\":\"The cap’s wider dark body is now visible just left of the left jaw column; its thin projection is farther forward. I’ll centre the wider body and bring the jaws down to table level so they can grip the cap without pinching only its tip.\"}",
  "call_id": "call_lNiz2Kzhh60pE4fNybwObHJK",
  "id": "fc_03b5ddfae23779b0016ab43942ddc887d091c65218552c3a92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lNiz2Kzhh60pE4fNybwObHJK",
  "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]: [-0.4221, 1.8668, 0.7124, 0.382, -0.3859, -0.2985, 0.9993, -0.0521, 0.823, 0.5514, -0.2821, -0.0834, -0.1848, 0.9977]\nstate[eef_state]: left_x=0.4105 left_y=-0.1075 left_z=0.0018 left_yaw=0.0536 left_pitch=-0.1341 left_roll=0.0481 left_gripper=0.9993 right_x=0.3026 right_y=0.0025 right_z=0.1684 right_yaw=0.1026 right_pitch=0.0071 right_roll=-0.1055 right_gripper=0.9977\nstate[joint_eff]: [0.335, -7.5966, 5.8188, 0.4029, -0.1099, 0.359, -0.0513, 0.0068, -1.6205, 7.0906, 1.7753, -0.0708, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e42932e069507fb74cdf27e2da1d65ec2f8bd40c2c9902777111054f211972e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9faedc6d8dcbce8cc54599041faa2b3c0f349e8e035ef2eff7f1f564bca00f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c8d60d600b3bcef8ce7f17af441e72e6cae0221dfd4e3a6c53b70c65d60464",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.666 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.2893, 2.2959, 0.7475, 1.346, 0.2073, -0.0574, 0.0093]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4874 right_y=0.1109 right_z=0.0174 right_yaw=0.1193 right_pitch=0.3618 right_roll=-0.0911 right_gripper=0.0093\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7118, -0.0855, -0.0513, -0.0122, -0.4718, -8.3487, 2.5641, 1.2625, 0.1587, 0.1392, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4919, 1.7313, 0.7261, 0.2382, -0.4263, -0.3229, 0.9997, -0.0517, 0.82, 0.5518, -0.2768, -0.083, -0.1841, 0.9977]\nstate[eef_state]: left_x=0.398 left_y=-0.1263 left_z=0.0378 left_yaw=0.0288 left_pitch=-0.1152 left_roll=0.0515 left_gripper=0.9997 right_x=0.3032 right_y=0.0026 right_z=0.1705 right_yaw=0.1023 right_pitch=0.0158 right_roll=-0.1064 right_gripper=0.9977\nstate[joint_eff]: [0.3624, -6.5299, 5.2308, 1.7851, 0.0366, 0.105, -0.0122, 0.3077, -1.9077, 7.5419, 2.0684, 0.0122, 0.0952, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4221, 1.8668, 0.7124, 0.382, -0.3859, -0.2985, 0.9993, -0.0521, 0.823, 0.5514, -0.2821, -0.0834, -0.1848, 0.9977]\nstate[eef_state]: left_x=0.4105 left_y=-0.1075 left_z=0.0018 left_yaw=0.0536 left_pitch=-0.1341 left_roll=0.0481 left_gripper=0.9993 right_x=0.3026 right_y=0.0025 right_z=0.1684 right_yaw=0.1026 right_pitch=0.0071 right_roll=-0.1055 right_gripper=0.9977\nstate[joint_eff]: [0.335, -7.5966, 5.8188, 0.4029, -0.1099, 0.359, -0.0513, 0.0068, -1.6205, 7.0906, 1.7753, -0.0708, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e42932e069507fb74cdf27e2da1d65ec2f8bd40c2c9902777111054f211972e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9faedc6d8dcbce8cc54599041faa2b3c0f349e8e035ef2eff7f1f564bca00f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c8d60d600b3bcef8ce7f17af441e72e6cae0221dfd4e3a6c53b70c65d60464",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlFqubF_9Y7VhOn6YQ6fBWqNT9pfg7aTeELMN3-9R5p7gfpi5xC4dtmojXDQw19rQ_XIEv2_W6y4aueLC-IGkyCy2r5zElo7jpYzYnYUyN6i9Gg3ITgX6iFZNueRJOsTH7n0g9oLbG4AQ8Hu0kC0ZVLQWLkIOTXlazqbM0dSj9aXOdO8-JJ73-B6QYBmdfmM8zdY_-k64AEbKWEK2sDLzztWIygRu1fB5i8DPFgG8Eefxb4f9jIU98kIOVZc4b4wu-NcA_h1IL14km_XIIIZsMCbz7DApRMXY93g_x_xdn_Z0qyXN2Mvr11t_gOb8c1N-PppwgYIxiLFzrPyL0fLJfiwSizpIr_GKWp-DVkDPs5-Rw2yH_GWLcpPR_43hiqHgZ8fAKUAR-ROyQPeiVtsgzbjfAY1eBDMn5_97tkfNAox7QJRZPIkPFUs3UYHAIEIWAPoeCrFV9Epk-Zw9yNHX3Pz4eWpLz8GncCUVIgImiyM9qzn4DpDOHIvUtnVkD_Xru7qm7mwvqRudxOU6G0xKUSCIdFc-WZdtgnnhXQdeWu2eb95fa98iOst4hIrL9aQZF9omVaIAMYfixb1Qm4eY23TtspscQOadPjWqQzt-9z-9XUC2yYXQG0UcRd0hnCZwZUOU550RlJfHsS25u2bkXj_3keFoeoDW8YfsO584kd7Ie0BZXXvLQZy0bH2Llg1rHTX6WV3rGRaAbo-Lesv0-3h2bIKRtDLotp170sc4SwfD5fhKoNnqftrXffFyX-QMRot4YLG1glUflKHl9lL0LVnt1__IUCrqFxeSzaUnfmcQpRZWDikCdZ8jUrMSLo0GKtrMQ-T4kRS6g9qpa07R-TnXjMfME1irs4dXuv1ekF7jS1o1_ZOFVsODyTCVlvWfar-7ZDMkVGuLAo1IkKHmINcd4nhb2PVz5p1HMLAQmnI8vqEvALI7y0jAX3K-CT1ZOOpcqWvxamm2vhjUNQksJiHqIkQf2tJZG0LWV9s3_Rmi3U-ZysRiB7fuC0lRtq-ZEN8bQLJWn6eGUPRoAdC0BmgECP4rZunLblOQwA7GY_DHmGRs65UFEXsAG96RPl7S-x3F4U1K1UNxCin1g-d9ErrWg8oLyqL7K2uu_pjeD_TmAGyRNerM1f_YtRQ1tP55IZGk_IcHWjqdDTcvPUqBuuvik6M7Us5WcdOQ69uoVQHd8PM1vItvlsPrXJaaFwNqtSRoQhcVew8YrBFY575xtuahfN_JgPuTr1wjQF4auS5Vi7zEcbQ4c-uWFSLo9itigoyOf147aY0tY-h9IwyOdFrQFuJMG2pJhVyzGX4yGPCgf8mvJCfyT8GR1JZzbTQXyA",
  "id": "rs_03b5ddfae23779b0016ab43944f3f487d084a8b132be9f8326",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thicker section appears between the open left jaws at table level. I’ll close on that section and check whether the jaws remain separated by the cap.\"}",
  "call_id": "call_v3c86SkYtdNr8SOR4SHIf1Gv",
  "id": "fc_03b5ddfae23779b0016ab43945401887d0824a238d535a73fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v3c86SkYtdNr8SOR4SHIf1Gv",
  "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]: [-0.4042, 1.8824, 0.7189, 0.4152, -0.379, -0.268, 0.0089, -0.0521, 0.823, 0.5514, -0.2817, -0.0834, -0.1883, 0.9978]\nstate[eef_state]: left_x=0.4177 left_y=-0.1037 left_z=0.0029 left_yaw=0.0481 left_pitch=-0.1157 left_roll=0.0566 left_gripper=0.0089 right_x=0.3027 right_y=0.0025 right_z=0.1685 right_yaw=0.1044 right_pitch=0.0073 right_roll=-0.1085 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.4872, 5.4085, 1.6093, 0.0366, 0.0659, 0.6032, -0.0889, -1.3197, 7.1043, 1.7656, -0.0513, -0.0464, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb259bba271d7f39766519fd2e711cfda2ca42bcc1d32afbaeae34e6d3b0018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6e16131167636b8d5e1170b2df2c9947b060d50a4577bb3c0e0b45973b39f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c85d9c267c1117ea6b00bf020dadef33ac4af4d558c02bda2202f0a7b967f0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 2.19 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.659, 1.6989, 0.9047, 0.0196, -0.5255, -0.4217, 0.9997, -0.0471, 0.8143, 0.5537, -0.2443, -0.075, -0.1673, 0.9968]\nstate[eef_state]: left_x=0.3945 left_y=-0.1889 left_z=0.0854 left_yaw=-0.0075 left_pitch=-0.0805 left_roll=0.0356 left_gripper=0.9997 right_x=0.3071 right_y=0.0024 right_z=0.1799 right_yaw=0.0913 right_pitch=0.0556 right_roll=-0.1017 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -8.5265, 8.7179, 1.6777, -0.4274, 0.022, -0.0073, -0.3897, -1.5248, 9.6479, 1.6972, -0.2271, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4221, 1.8668, 0.7124, 0.382, -0.3859, -0.2985, 0.9993, -0.0521, 0.823, 0.5514, -0.2821, -0.0834, -0.1848, 0.9977]\nstate[eef_state]: left_x=0.4105 left_y=-0.1075 left_z=0.0018 left_yaw=0.0536 left_pitch=-0.1341 left_roll=0.0481 left_gripper=0.9993 right_x=0.3026 right_y=0.0025 right_z=0.1684 right_yaw=0.1026 right_pitch=0.0071 right_roll=-0.1055 right_gripper=0.9977\nstate[joint_eff]: [0.335, -7.5966, 5.8188, 0.4029, -0.1099, 0.359, -0.0513, 0.0068, -1.6205, 7.0906, 1.7753, -0.0708, -0.0122, -0.0024]",
      "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]: [-0.4042, 1.8824, 0.7189, 0.4152, -0.379, -0.268, 0.0089, -0.0521, 0.823, 0.5514, -0.2817, -0.0834, -0.1883, 0.9978]\nstate[eef_state]: left_x=0.4177 left_y=-0.1037 left_z=0.0029 left_yaw=0.0481 left_pitch=-0.1157 left_roll=0.0566 left_gripper=0.0089 right_x=0.3027 right_y=0.0025 right_z=0.1685 right_yaw=0.1044 right_pitch=0.0073 right_roll=-0.1085 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.4872, 5.4085, 1.6093, 0.0366, 0.0659, 0.6032, -0.0889, -1.3197, 7.1043, 1.7656, -0.0513, -0.0464, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb259bba271d7f39766519fd2e711cfda2ca42bcc1d32afbaeae34e6d3b0018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6e16131167636b8d5e1170b2df2c9947b060d50a4577bb3c0e0b45973b39f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c85d9c267c1117ea6b00bf020dadef33ac4af4d558c02bda2202f0a7b967f0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlKdlDhfiakdP_RAMs8-7iMh84T6t0F8ZIdnoWatfVV4JLhc2hazU2gIDji6P8DRoS1cWvuC_f3EbTxfXFVf9wUAScwI2kSkJMgArb05EVvP-o5ns8J_sf9ZxlGHwMsCDPQFvt9Ji7q11XjgFgI-t0qUDJmRm1ej1s845kRx1ViWlxrc30U7lAUpTA_ZcZ0O71-Y4YsgVshQU_bJqlGmzdIHmBXJhBlG_ASnbWt5s9dt1hvi-hzOVXHqCjFW4zurm5Iipesv-q3Wcq7oletIjEdOqpnQqK27BBrGt6NzyvFytQA8VQM6lIrZ1By6wc7AnF5boLkKUBFZyaJQl0nGh84OlJIORM7RftsIRX6NrLabIawY2w1yIjXGH0kuvs_cawADuaKqq6RkO1rmcqDXObWteB3ObMIR7MnugD1uxhkZ5KXx4W-glmmCIDxpn1BAj6DAVEwmpLZn6AChKlo1t0h3ZXR-tTGdhi_5anq7FjaSlZkctJLNmxDDIg7z046JRnxY2fLmngA6CPYPkFvoHyjxTlo76zeCIbHgCiMCtBLJHdeb4t1tZTU38R037dmIMQ7zhUZ_lCoTItbfwZvryz95qLjNBRDAX0WnmflzxLXeoibbFSqAqOCXj5Gk3exVdvioZA7TZPNu7dTwawW7ITTX6eQSde3somqtSxONp8j2u48cF5FUK7r3-nvmxQOp7WU5RImyM5w6Yx4mTMkTOpdOdvLpwPCxMpCXnHg3MUiv9nf1lWETLXnb3ui-kqJeN3YgzYcY1mfJ_m3-LBax2Xuxf3x1DNC-nlnqxECn0NHhg5tb8BCQhKXD5JV3wsVMTeN131cj7o_qYH1Ltn7QckUTV1yA6knudiOpG0IImV75KSHwAYb8MxWZ5Jj5fUHj9-dA1KcIUsO4hRg6ixjAPXFisIzTKH787PupB2TyQUipRVCHEV1RvwCnavyJ88T5FX7z-j5FmGeUCqWKBUC7O0nG9fJlf8T4PrYkhbTNbPAJpITzuT7Z33hTYEoLT1G3TjuZSzqG4f4p2op7tIUF-nDDd-_e7JTii7H5NHJsZGwqLNER8l84W6NcnOz6yFrurNSktTomgzbRhbQe7eHigCtYiCJbpW_0AJwJ2GbTK8XkAVPexap_CpMKf5pQjGr1ho2KtdLb_ns69IN6CyxBQg8f7NEZ3tjonGY149ODBWGbIK51_W8FwFwUJqDW-LA8urqhv62E7Ca7F15lrv28hq8Ff3ontHGjpiulQ1Zj6BYNmE0Au32GnGgMMJAEUXsoIpsYKvLmgHHzmlSKHwuGKDYxtbtc3xDa3cC55tes6As_N4HzXnDFmjOuOimbFE6OT43CcnKWkRhi1DbrH7Svsa56aCbKFLL3-C3DvhxHm0FgbAQArbJBCgLh5pQ_0-wSc8XfWxPzswPMpsqgviOoTpdVvYf6z9otgmeqKC4US0fX1CEM1TENNqQwQ-j7w8GQHsU3mLsNmiHermIqU_lGb6snz-rKNFG7FbSTynsmGfs6ye-4vXzvq2SYsaPa1dW24gfdHQTZHI0tzs-hH2azYrODg==",
  "id": "rs_03b5ddfae23779b0016ab43948c9ec87d080850340aaccb151",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper closed nearly fully, which may mean it missed this very narrow cap, but the cap is now hidden under the gripper. I’ll lift a few centimetres to check in the overhead view whether it actually comes along.\"}",
  "call_id": "call_lE8KFozoTBPewYAj9UBoviLy",
  "id": "fc_03b5ddfae23779b0016ab439498adc87d0a2f1dcdd2ad79396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lE8KFozoTBPewYAj9UBoviLy",
  "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]: [-0.4042, 1.6627, 0.8185, 0.0849, -0.3851, -0.271, 0.0109, -0.0521, 0.8242, 0.5514, -0.2821, -0.0837, -0.189, 0.9978]\nstate[eef_state]: left_x=0.415 left_y=-0.1014 left_z=0.0708 left_yaw=0.0552 left_pitch=-0.1237 left_roll=0.0629 left_gripper=0.0109 right_x=0.3027 right_y=0.0026 right_z=0.1681 right_yaw=0.1051 right_pitch=0.0058 right_roll=-0.1087 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -9.0872, 8.9915, 1.536, -0.1392, 0.0317, 0.2027, -0.0342, -1.5111, 7.2821, 1.7998, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f3df3a9189356ec14276dc5930058139469532d4f57ece36f813b219dc2146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04edf6ff69a32c69291c1bfaca311c96bcc1dbd44e55f67469db7682a0c5f7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f8851d2ab007866d6794561c543c7c61d89aa7c38fd3ec56ee34094af13c33",
      "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 · 6.317 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4919, 1.7313, 0.7261, 0.2382, -0.4263, -0.3229, 0.9997, -0.0517, 0.82, 0.5518, -0.2768, -0.083, -0.1841, 0.9977]\nstate[eef_state]: left_x=0.398 left_y=-0.1263 left_z=0.0378 left_yaw=0.0288 left_pitch=-0.1152 left_roll=0.0515 left_gripper=0.9997 right_x=0.3032 right_y=0.0026 right_z=0.1705 right_yaw=0.1023 right_pitch=0.0158 right_roll=-0.1064 right_gripper=0.9977\nstate[joint_eff]: [0.3624, -6.5299, 5.2308, 1.7851, 0.0366, 0.105, -0.0122, 0.3077, -1.9077, 7.5419, 2.0684, 0.0122, 0.0952, 0.0806]\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]: [-0.4042, 1.8824, 0.7189, 0.4152, -0.379, -0.268, 0.0089, -0.0521, 0.823, 0.5514, -0.2817, -0.0834, -0.1883, 0.9978]\nstate[eef_state]: left_x=0.4177 left_y=-0.1037 left_z=0.0029 left_yaw=0.0481 left_pitch=-0.1157 left_roll=0.0566 left_gripper=0.0089 right_x=0.3027 right_y=0.0025 right_z=0.1685 right_yaw=0.1044 right_pitch=0.0073 right_roll=-0.1085 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.4872, 5.4085, 1.6093, 0.0366, 0.0659, 0.6032, -0.0889, -1.3197, 7.1043, 1.7656, -0.0513, -0.0464, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4042, 1.6627, 0.8185, 0.0849, -0.3851, -0.271, 0.0109, -0.0521, 0.8242, 0.5514, -0.2821, -0.0837, -0.189, 0.9978]\nstate[eef_state]: left_x=0.415 left_y=-0.1014 left_z=0.0708 left_yaw=0.0552 left_pitch=-0.1237 left_roll=0.0629 left_gripper=0.0109 right_x=0.3027 right_y=0.0026 right_z=0.1681 right_yaw=0.1051 right_pitch=0.0058 right_roll=-0.1087 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -9.0872, 8.9915, 1.536, -0.1392, 0.0317, 0.2027, -0.0342, -1.5111, 7.2821, 1.7998, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f3df3a9189356ec14276dc5930058139469532d4f57ece36f813b219dc2146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04edf6ff69a32c69291c1bfaca311c96bcc1dbd44e55f67469db7682a0c5f7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f8851d2ab007866d6794561c543c7c61d89aa7c38fd3ec56ee34094af13c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlN7Kd-5OdAk1r6Ik6pjrqq0qLCX9UfZYsyu2p1WbPx4_GHHZnW2q0nk3xbeXOjHXVHR23rn59jdKL03pQCilg6MRCYSCcCfLhPSJKqPz6f_WV8bxVj2ZxNrVvgEztQuWNWUMFoX-OTGfQtrRQKPiddjrMWPtVk98bxcLAgzQRbCQFwlzvpGA9jJOn8rzQerMPrPIjM8TXtjjqwPs7hRmd6n-felwIjOrBNuZ5kADJVFNCPkfT7hUqr8a-VIymEctp6ZoO7GbBB6N4co9qxB-TJeIqgEpfzvyKL8Ki_8Pc3kbQTwQgOCzW05lljGVkRB0v6JX4zFiXHD8dhF98xXqsS0AUZUkFwo8un9D3PbypLIRIoSYTLczdHpLOxjq8fdxP6otiAZskOSohbBfg-Ev-RCPLcg7rL-oBD6Bt5Nqd1CDu7IrYZoDxhwa3OY9_Al8NH1C4tUlE1uAjmH4x4etI455JT5bCh2aNznx3bAANDaIpbCzCL9IDyfslbFDO0XQ3VxYjKkCtxazMm9j3g6DP8hey0s5df6OAFzZGVVDTiTI6Q51rKuatZkr2MNweK8i8NPZbFW4Hq1m3d42kWISRR9RmnvUhth-8n7qisHRTuv-uzAJduILi9NpTtFYEJwqRtWto4gTz7-sh_rDyvb0wsRTOuixYZMb0k0dAaRZW70jPUE5dMab1vGBTOuO-LaeY5tsz24Xc6dJHyhXQ2daYAfZkmCTXlo2Du9iR0oNt-LP8s_J2Yx-h7Y6nuBsY2_B89NlqqZMiv9-fmSIenn_6vS0ghMQaZu7zwRGplbCmrg3FcIM6smUhXy1qWRnSsAKuT_RaU3wo1SJGrIyLWExf_UawO6IUtMbUuw295hmPSO6RobxlT5qeJ-mGtV5G7ujmxR6ovrLjXHYRb1G_QC-qfBgCaVA9Akj3NLChMenNIp04vOCAE1NDqFv38W8ahkEoNS340f0Vhz5PNW5-f9n8pY1Y7BxKX02ovVVFKu3XoITiZfEYbjxtQ_zUIN4D8NYfcW5DBnFAZssqETUEwIOHEhT3nsu5NIK4xU-2D2OCuAl9M04ZF9SndpNq59WWXuFD_bURiiiFNNsFYhIXs-4Flpo8v31G2ujL77o1Dn4De1L-fOsmSBhu56GtQ2FHu0XbYdimEcmG8e20-BvEfp0dfJIN1Exjw40-E77j9soP5bi_iHXxyoeiKtFHlhHyFyOEBxwZ7N3qzUUkQhTbX8BV79VMHZnYuZQfzR5uThbRZNQ_RuBATvJnyYcuEMUngz7KXRQC1-0cV2Aid44G-40RjpEZOYNphTjpq6nG7iem9lyO5Qc86LqkzhkJyHBczyXHeW5yB2-N4EXI_XGSRKjg420VqJTTu4ibdxiK_z94pGyecGnW20ePXpjgpdFvySpnIMY3Ru6jH3sRxyo45wysyz2EQxkoVnSOtwSlmCOKcZDWRrFIlKSsHxc_s3yz29qAN",
  "id": "rs_03b5ddfae23779b0016ab4394bee8887d0a4021199656fe118",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.17,\"left_z\":0.16},\"note\":\"The lifted left gripper still hides the cap’s original location in the overhead camera. I’ll move it aside while keeping it closed; that will show whether the cap stayed on the table or travelled with the gripper.\"}",
  "call_id": "call_x0WhsmJHjTj25vdly3hX5BuK",
  "id": "fc_03b5ddfae23779b0016ab4394c66a087d096d02dcacdbb96ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x0WhsmJHjTj25vdly3hX5BuK",
  "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]: [-0.7486, 1.4361, 0.9424, -0.3912, -0.5789, -0.522, 0.0124, -0.0517, 0.8288, 0.5499, -0.2844, -0.0837, -0.1917, 0.9978]\nstate[eef_state]: left_x=0.337 left_y=-0.1762 left_z=0.1418 left_yaw=0.0045 left_pitch=-0.1362 left_roll=0.0589 left_gripper=0.0124 right_x=0.3024 right_y=0.0027 right_z=0.1656 right_yaw=0.1069 right_pitch=-0.0026 right_roll=-0.1096 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.8017, 9.3607, 1.2576, -0.4713, -0.0269, 0.1343, -0.0752, -1.8803, 7.2, 1.8144, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897566e702c8b4536756bf78bbe2fb8960024ff99e48468180309dbf23261051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d21549aab4234ac3a70c2184c8d325cdaabf2855c0ead60fd7fb8fbdb7f01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73c7ab7a31eab7b5c3dedcaa578846bb9d00ee89e8b7573d02deafbc5470ab8",
      "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 · 4.555 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4221, 1.8668, 0.7124, 0.382, -0.3859, -0.2985, 0.9993, -0.0521, 0.823, 0.5514, -0.2821, -0.0834, -0.1848, 0.9977]\nstate[eef_state]: left_x=0.4105 left_y=-0.1075 left_z=0.0018 left_yaw=0.0536 left_pitch=-0.1341 left_roll=0.0481 left_gripper=0.9993 right_x=0.3026 right_y=0.0025 right_z=0.1684 right_yaw=0.1026 right_pitch=0.0071 right_roll=-0.1055 right_gripper=0.9977\nstate[joint_eff]: [0.335, -7.5966, 5.8188, 0.4029, -0.1099, 0.359, -0.0513, 0.0068, -1.6205, 7.0906, 1.7753, -0.0708, -0.0122, -0.0024]",
      "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]: [-0.4042, 1.6627, 0.8185, 0.0849, -0.3851, -0.271, 0.0109, -0.0521, 0.8242, 0.5514, -0.2821, -0.0837, -0.189, 0.9978]\nstate[eef_state]: left_x=0.415 left_y=-0.1014 left_z=0.0708 left_yaw=0.0552 left_pitch=-0.1237 left_roll=0.0629 left_gripper=0.0109 right_x=0.3027 right_y=0.0026 right_z=0.1681 right_yaw=0.1051 right_pitch=0.0058 right_roll=-0.1087 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -9.0872, 8.9915, 1.536, -0.1392, 0.0317, 0.2027, -0.0342, -1.5111, 7.2821, 1.7998, -0.0757, -0.0562, -0.0171]",
      "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]: [-0.7486, 1.4361, 0.9424, -0.3912, -0.5789, -0.522, 0.0124, -0.0517, 0.8288, 0.5499, -0.2844, -0.0837, -0.1917, 0.9978]\nstate[eef_state]: left_x=0.337 left_y=-0.1762 left_z=0.1418 left_yaw=0.0045 left_pitch=-0.1362 left_roll=0.0589 left_gripper=0.0124 right_x=0.3024 right_y=0.0027 right_z=0.1656 right_yaw=0.1069 right_pitch=-0.0026 right_roll=-0.1096 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.8017, 9.3607, 1.2576, -0.4713, -0.0269, 0.1343, -0.0752, -1.8803, 7.2, 1.8144, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897566e702c8b4536756bf78bbe2fb8960024ff99e48468180309dbf23261051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d21549aab4234ac3a70c2184c8d325cdaabf2855c0ead60fd7fb8fbdb7f01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73c7ab7a31eab7b5c3dedcaa578846bb9d00ee89e8b7573d02deafbc5470ab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_03b5ddfae23779b0016ab4394f16d487d0a2d2b439aac5d10d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.17,\"right_z\":0.115,\"right_pitch\":0.2},\"note\":\"The left gripper’s opening remains consistent with an empty grasp, so the cap is not yet securely held. I’ll leave that arm clear and re-approach the pen from above with the right arm, using its current visible position rather than the earlier displaced position.\"}",
  "call_id": "call_htqvZG6DCKjYgwXI8ECBBF3c",
  "id": "fc_03b5ddfae23779b0016ab43953367887d098a477dbc54abee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_htqvZG6DCKjYgwXI8ECBBF3c",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4399, 0.9356, -0.408, -0.5701, -0.5407, 0.0125, 0.5491, 1.647, 0.6563, 0.49, 0.4252, 0.0456, 0.9978]\nstate[eef_state]: left_x=0.3332 left_y=-0.1746 left_z=0.135 left_yaw=0.0112 left_pitch=-0.1602 left_roll=0.0587 left_gripper=0.0125 right_x=0.4007 right_y=0.164 right_z=0.0925 right_yaw=0.1526 right_pitch=0.1033 right_roll=-0.1499 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.2564, 7.241, 1.4628, -0.398, 0.1685, 0.0073, 0.4444, -7.2684, 7.3641, 2.0342, 0.442, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649fce25f3604ed5d4f66dc6827c37b68f6ba7e395fb1798f0386d3ded3ab18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46a2fa364bca1d2c78066f0e4d76d5758e78ca8f6d341ebefab9ae33d3b4d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8da0eb3d4ead659804717aff29db6cf0ea33810afe214212ce5c87c8606b9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.83 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]: [-0.4042, 1.8824, 0.7189, 0.4152, -0.379, -0.268, 0.0089, -0.0521, 0.823, 0.5514, -0.2817, -0.0834, -0.1883, 0.9978]\nstate[eef_state]: left_x=0.4177 left_y=-0.1037 left_z=0.0029 left_yaw=0.0481 left_pitch=-0.1157 left_roll=0.0566 left_gripper=0.0089 right_x=0.3027 right_y=0.0025 right_z=0.1685 right_yaw=0.1044 right_pitch=0.0073 right_roll=-0.1085 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.4872, 5.4085, 1.6093, 0.0366, 0.0659, 0.6032, -0.0889, -1.3197, 7.1043, 1.7656, -0.0513, -0.0464, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7486, 1.4361, 0.9424, -0.3912, -0.5789, -0.522, 0.0124, -0.0517, 0.8288, 0.5499, -0.2844, -0.0837, -0.1917, 0.9978]\nstate[eef_state]: left_x=0.337 left_y=-0.1762 left_z=0.1418 left_yaw=0.0045 left_pitch=-0.1362 left_roll=0.0589 left_gripper=0.0124 right_x=0.3024 right_y=0.0027 right_z=0.1656 right_yaw=0.1069 right_pitch=-0.0026 right_roll=-0.1096 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.8017, 9.3607, 1.2576, -0.4713, -0.0269, 0.1343, -0.0752, -1.8803, 7.2, 1.8144, -0.0904, -0.0513, -0.0122]",
      "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]: [-0.7486, 1.4399, 0.9356, -0.408, -0.5701, -0.5407, 0.0125, 0.5491, 1.647, 0.6563, 0.49, 0.4252, 0.0456, 0.9978]\nstate[eef_state]: left_x=0.3332 left_y=-0.1746 left_z=0.135 left_yaw=0.0112 left_pitch=-0.1602 left_roll=0.0587 left_gripper=0.0125 right_x=0.4007 right_y=0.164 right_z=0.0925 right_yaw=0.1526 right_pitch=0.1033 right_roll=-0.1499 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.2564, 7.241, 1.4628, -0.398, 0.1685, 0.0073, 0.4444, -7.2684, 7.3641, 2.0342, 0.442, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649fce25f3604ed5d4f66dc6827c37b68f6ba7e395fb1798f0386d3ded3ab18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46a2fa364bca1d2c78066f0e4d76d5758e78ca8f6d341ebefab9ae33d3b4d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8da0eb3d4ead659804717aff29db6cf0ea33810afe214212ce5c87c8606b9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlaMKr9icc7yItbNCnp1OYWHJyRO2u4p34-fKk-GtEfwB9-NYbvFZLx8w0SyQFRNYlX4d4QlstZGlJjnCmFz9h6K8SZpqm9oTZJ_fJK5sir7dYKT-NPz78nfFCIg7ZyJ6BU9Bwzirpeb-Na4WrrLsikDRYGDX9ZAoo_8ao8qKAP-HGkG4Xvxf0Q9fl8bB6o96D8FD_0JbsG0HCHDu4zLQ9-55XAYdvY6qzFvk6vcyZ34OmfoIIkXqmYixqKnYpKpU6CWRhdMoEM0ijt11QeOo4k67YevgMqWYT9Do1fakCCva143b6TBUIakC-vVyirP1FxTcLA0-ykxholGgFN5-D9YxA6dHALSsR0lBkSkcF6Bm8scDUWjt1hC8J7bE8h9QbxkU0cbQzSqLr4p1UPC7X3SmH7t_PSWcMvgAmL83BNg9lvvZ5PRmwe1vI21zh7BnlgEVt4Y6rMXExwOoE5V_SV8rj_8q4N8wL0eeRXXb_n13kGI9MLta0iMP-N-cbEBjbi5lqSmwCMbcnZLZY0eRqwJko1Oq09HTX4Dud7L04wQ9mL09qSoRGBaqiZUYnc64zVyEFVDOnQhZmFkIc9hunZZZflTAf2jtn5IqI8VErks8DhqG8IBuq09Lscg4f3s8kVwFaN6ID_YU-HEVGh9_7UQ1WjcTm-q0ZyxBUIxlq2K1SBhK5JtqIv_2WG9tEOxW-m-8kuTnwlxP3ym7ZMzAKDVSGqQtrcyW5QKqryBNwAn1otgQoZIbNht80qxpfnToV_POf6VK3GtfCqFfBnSvujvHUgFuiWyXr-aci6zT53tkr80KYPYWmiShcVX1TaSxO1SsKx2WWx3bmNLkTS8hlhmUISAZN0DnbGxo4fHhVYVWJVihyyMaWmm8g3mVEhZfRfT-F4a5542UNESBuZp8yx8z3RH3MIKaZ5Bpr6qYCMU5jnfjoDA0oACRItvvxDDQRo7tcgZcWQcz3fRCtINgnY_2YFAHQPUEUjssSGDKw_nbSsBXDoQ-ljL56RZ2zFHN9C5RRQD7wl1w3NV1TGl1U0VZmy0jG6E3QQyFVe6fFCc26d7UpCtHfX-P137_LDqd9AnxsFkL5v0BfI9Ri9a0GkQaRAO6bjDtPNOtesRxbXX995_dzQgbUz-gEZb-kWqOEF67EgctVsXDxX0mctPze75AeRNID1f3AGTpV8OfbQoc4CEP2i8eiGG6FkWIFzXPF1t9LuDYhqLtKTb8PgpEKVUKD3RAeSDPGFSyD-FT0_bQyKphDzgDboaqEEqFzD-O-vcg5Lj9f2Stl-KG8kHvRGQkffjGRMb3r23BAH4A_eIfe0lPPVSXWzHyOg1wz8W3N5M0uDSTUVz3-daeQbePJBebkx3FbJ1OMVdhNJGd5xs4K8IJhE_yLzjI7FlQ2q9qwk8u0C3qAWrbwuFXrusUqzti_TFgF6PcHh3O-a_tt6Wzd5wyzBkPlh2tx__W90Su5g3r5WDWzyT3_VimZ3FFs_2yXF4Wi7s9pg8V3h593iAMN_PBMvpdqNBRaNAB03_zebQkxHEEzqcPeBHmj4GIeM7ewdyfWpDu2Ktce9k2xoQCaXHy058T2F7PdjBOmG3qbaWtz-yYGBKe5NuMGSSvW_ZlCVG99RnqyJglSq9e9deo48o8Dimdk7jG-J6Fqh4SIQgUimbU3D12hI1F4te5RC2GC1ysO1EZrxp0lay3jsgcu9AHGJI6g9Xr64jERXhqZ4xweTFf73QnakJk3ppFmy4Vg6y5_LM6zW-rrW95RNiah5CqLh-mz66Zs7Um4vXTtqIKclP4HV5-akdVzFDF6b4JxX9NNpDqARSAwXnsxcbGOpOKwxj16YnaadgBguyH-ZW5SuO-1zKSiLtGCBY08PRfljasVrqvJSooGsGsfytztXxUXanu-hMZ2YP6LS8BeHUiN1FdZQc0auhLaJPlwV0kuQXO_MjXc9DEqsvZ8cU-nwNww4bbW8V15VFtPVLijAOA2qv7YrYLl5zhagBplPbA==",
  "id": "rs_03b5ddfae23779b0016ab43956d6e487d0adb63f0cb2b79537",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.125,\"right_z\":0.075,\"right_pitch\":0.2},\"note\":\"The pen is fully visible in the right wrist view, slanting down to the right of the jaw column. I’ll move forward and slightly to the right of the table to line up with its middle before the final descent.\"}",
  "call_id": "call_Q5S13nhhBFIGbaIB4jr62Qxv",
  "id": "fc_03b5ddfae23779b0016ab439586c6487d089b261b7cf3bcedd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q5S13nhhBFIGbaIB4jr62Qxv",
  "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]: [-0.7486, 1.4418, 0.9348, -0.4084, -0.569, -0.5415, 0.0129, 0.3855, 1.8172, 0.643, 0.6987, 0.3187, -0.0387, 0.9978]\nstate[eef_state]: left_x=0.333 left_y=-0.1746 left_z=0.1339 left_yaw=0.0112 left_pitch=-0.163 left_roll=0.0596 left_gripper=0.0129 right_x=0.4327 right_y=0.1197 right_z=0.0565 right_yaw=0.1218 right_pitch=0.1044 right_roll=-0.1703 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.1333, 6.5983, 1.2869, -0.3346, -0.0073, 0.0366, -0.1846, -8.1162, 5.2855, 2.42, 0.1392, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e155c434b91fb8a6fbe62749452cd59b35566bb1c1ccc19a2bd460b8a30d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde18f245fdc8b6cde6b07e5463cbab903b6909457a55754ea83c16dcf44bb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516a5e38be9a8ba7b6db6581b5f0f95f49fc9882fb746cb6161040b5cfa780a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.471 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]: [-0.4042, 1.6627, 0.8185, 0.0849, -0.3851, -0.271, 0.0109, -0.0521, 0.8242, 0.5514, -0.2821, -0.0837, -0.189, 0.9978]\nstate[eef_state]: left_x=0.415 left_y=-0.1014 left_z=0.0708 left_yaw=0.0552 left_pitch=-0.1237 left_roll=0.0629 left_gripper=0.0109 right_x=0.3027 right_y=0.0026 right_z=0.1681 right_yaw=0.1051 right_pitch=0.0058 right_roll=-0.1087 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -9.0872, 8.9915, 1.536, -0.1392, 0.0317, 0.2027, -0.0342, -1.5111, 7.2821, 1.7998, -0.0757, -0.0562, -0.0171]",
      "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]: [-0.7486, 1.4399, 0.9356, -0.408, -0.5701, -0.5407, 0.0125, 0.5491, 1.647, 0.6563, 0.49, 0.4252, 0.0456, 0.9978]\nstate[eef_state]: left_x=0.3332 left_y=-0.1746 left_z=0.135 left_yaw=0.0112 left_pitch=-0.1602 left_roll=0.0587 left_gripper=0.0125 right_x=0.4007 right_y=0.164 right_z=0.0925 right_yaw=0.1526 right_pitch=0.1033 right_roll=-0.1499 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.2564, 7.241, 1.4628, -0.398, 0.1685, 0.0073, 0.4444, -7.2684, 7.3641, 2.0342, 0.442, 0.1734, -0.0122]",
      "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]: [-0.7486, 1.4418, 0.9348, -0.4084, -0.569, -0.5415, 0.0129, 0.3855, 1.8172, 0.643, 0.6987, 0.3187, -0.0387, 0.9978]\nstate[eef_state]: left_x=0.333 left_y=-0.1746 left_z=0.1339 left_yaw=0.0112 left_pitch=-0.163 left_roll=0.0596 left_gripper=0.0129 right_x=0.4327 right_y=0.1197 right_z=0.0565 right_yaw=0.1218 right_pitch=0.1044 right_roll=-0.1703 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.1333, 6.5983, 1.2869, -0.3346, -0.0073, 0.0366, -0.1846, -8.1162, 5.2855, 2.42, 0.1392, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e155c434b91fb8a6fbe62749452cd59b35566bb1c1ccc19a2bd460b8a30d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde18f245fdc8b6cde6b07e5463cbab903b6909457a55754ea83c16dcf44bb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516a5e38be9a8ba7b6db6581b5f0f95f49fc9882fb746cb6161040b5cfa780a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlf-Rz0Ktpcj2h1ROkRrGBA2le1AevssDEo97kQTng7QR9rf8Xz0RCYizW_PFAE5kIJvDGE3dKwD2Buz-uAQAcksGKfL6Cs4SV_lDsXljAhd51QpfNdzgbyiJYyaHN2lPY8aScvU_QGl0yhAv51Yb6kCcaRt6WgB7wWOTAsPRn-9zg0bFvWnO0g71M0dvxLRVCbr-NJlZreQ8FrNWx_R1XOnI2UycwP4ZDJQ8nFRocsYAj-LRCvWqFXGhonluy7gPpz0jqg93OLOztVqcdPSmMpbNxdVqHZtx0YFiucFqmzU9ZY8ZA0tW4-J-Dgfh54KGM9dKaAtN2tgYAwNkPayL3p06J5S3xap2GXiDezO1V8_Jgd_bTLbqzAZL6d7LTNVDUQjvFaeZi5i2_uD3Hd0F1LeCMqZJZ-q6_fm7Xsh_d-nQQRxuosb-ymJzFjvVe95qW7xF5Pr2uxNaxWzpe-jfOmrOU5koXfRW7sAX2N_Xc_oVTUDmjKOiDPGP9C2YsSHhSpEFHBHGDa8yBWlrXalMNIuUoRP1YUwl2jaV0Xo9tkuA4DCz7IqzZo7-nwiHb5R3SiXsy-1aS45GLs4zCgu5hHrwRu70X5wQPqQrRPs0D-YXXt88FCxxG9qG_Sc5ESHCETrfV9-FsUDie4DQWZSnXwYrfGZDrFr5OImkLSLvw3pHSy1hhmCcBcae2WKKZFYDYAM03A8WvZc_SKs-SnsYxH8U-eKogBjQFjwx9KpHTxsjLOiifqgF-fgHaj4OoCZDl7OWu5X5CYXH181Nja0O__MSxkIG53frFwxe6-rcTRYCk7ZTI5D9bT9U665vHaWMHemB965zpgKGJq1ndI1F7kmXrOAIxMAok07X46217XeLXtto5n-iiyzsOS8mvzRqfZeAQLcA3lSh5pvdNC4d_5qE7YUs1BiQ2wfIwv1u4xfTwF-MZc-Q0d6IjKKiGZJJvg3wUX-svQx7RA1_UZ5z5otfcAYV-1JDp7Q_NreCeI5liOPQrTpK7K_LSZqUvk4po3rrqrXHi1l9l-KltIEmPRS4Pexs9ojTAYDRVZEoqKP9JTt9DOUVxR3bQVqcgkF6SCWgnRkOKLyg3f3U7nFupvXDxDzaCsP2uEbLt-Bm3QMSsCvWAUud9UsB9BW4Ko1aARqLSA_v9Fhjb8uvlpSdVf5PbsNSDpavsD87Usu0dar5mOlrFl1vfXKukptQwkgod5H9EdCR0hhxJI9bfZEU2hoDIPHyMS365X2zxrnWMhUsRSHusMVY6jlwdhnV0tQD3kfKcUL0JTaNLcOlUlVWpHc3Yo1D1QFiQdUzkKRkyH5K5jakA3Mw2sl7PwFTM1fBzln75-RIIJLw-3jurg735M7Pmmpu4-1EjDRa0cdun99sPSrX_CXEsv9iZPgq-cIUSDGyNIQtRL-329yTogDnjTundJZYOKH11nhu4xW9_vApkoDgo0PvdcsTxJOozEicpjYulmNARsUxUCN6PX-QZOI0YGEW39GuK2D1W0qBsvDybnGVld7sKF2VHLzG7DoltNwEQlLff7LaC1cyJAwwxVVymf9MC1Gf0O1_A_zc49Pa6ijGGeWHk0iUFs3XNZX469wC-DgIx0tP_2dlSl-cJBh7S9dGNJZ4uUTV87_MaeofQBUT00WRbd9fL91lx9j5riatI8otN3__YmTnamuv_W_Wo6fGIe9cyzSvf6ozq60VakIezS9nRTy4LH4C0k9_-wc89BC6_tHil4ZAMeFC1MTc2DGwF2m7T1IFF57g5ltlyJLVPCEGTfQTLSPmBgcg10FZm_n8mHTDgK9lMNQpcNGIEzTWUoOsqne3I6u5G3Mju8XO93d8frtRSe_P3As_rRAfyu6JrU4MHaQwELOSsWfkXM2wQDUpRRXloR5tThJj-i6tL7XTa7X8WEmwfNlG_BMWWj3ZMN6FDlREAwtLrdRA==",
  "id": "rs_03b5ddfae23779b0016ab4395cdba487d08f8116399c32a664",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.434,\"right_y\":0.12,\"right_z\":-0.015,\"right_pitch\":0.2},\"note\":\"The pen now runs almost straight through the right jaw column. I’ll descend without changing its lateral alignment, using the small permitted table press to get the fingertips around the thin barrel.\"}",
  "call_id": "call_RIfh1rOAstx6mSu1UBHbNFpw",
  "id": "fc_03b5ddfae23779b0016ab4395e528887d0b6c7b2784a73fc7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RIfh1rOAstx6mSu1UBHbNFpw",
  "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]: [-0.7486, 1.4448, 0.9337, -0.4088, -0.5686, -0.5415, 0.014, 0.3866, 2.1685, 0.606, 1.2228, 0.3119, -0.0349, 0.9978]\nstate[eef_state]: left_x=0.3328 left_y=-0.1745 left_z=0.1323 left_yaw=0.0115 left_pitch=-0.1666 left_roll=0.0626 left_gripper=0.014 right_x=0.4409 right_y=0.1248 right_z=0.0066 right_yaw=0.1207 right_pitch=0.2351 right_roll=-0.128 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -6.2564, 6.6256, 1.2479, -0.232, -0.0366, 0.1001, 0.1162, -5.9282, 2.5778, 0.4469, 0.2125, -0.4957, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea787b76137e95215816702fa4d6d252b3d60b3b319e8473dcfd81064d7c724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73953c9a90038a40efa36b803ac07d02875b6d1170ff85f0bf3506a88c828044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9656f9b30bfd2d64110204f448d4318ef3a5c1095b8f86cbf0354817579c1ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.086 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]: [-0.7486, 1.4361, 0.9424, -0.3912, -0.5789, -0.522, 0.0124, -0.0517, 0.8288, 0.5499, -0.2844, -0.0837, -0.1917, 0.9978]\nstate[eef_state]: left_x=0.337 left_y=-0.1762 left_z=0.1418 left_yaw=0.0045 left_pitch=-0.1362 left_roll=0.0589 left_gripper=0.0124 right_x=0.3024 right_y=0.0027 right_z=0.1656 right_yaw=0.1069 right_pitch=-0.0026 right_roll=-0.1096 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -7.8017, 9.3607, 1.2576, -0.4713, -0.0269, 0.1343, -0.0752, -1.8803, 7.2, 1.8144, -0.0904, -0.0513, -0.0122]",
      "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]: [-0.7486, 1.4418, 0.9348, -0.4084, -0.569, -0.5415, 0.0129, 0.3855, 1.8172, 0.643, 0.6987, 0.3187, -0.0387, 0.9978]\nstate[eef_state]: left_x=0.333 left_y=-0.1746 left_z=0.1339 left_yaw=0.0112 left_pitch=-0.163 left_roll=0.0596 left_gripper=0.0129 right_x=0.4327 right_y=0.1197 right_z=0.0565 right_yaw=0.1218 right_pitch=0.1044 right_roll=-0.1703 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.1333, 6.5983, 1.2869, -0.3346, -0.0073, 0.0366, -0.1846, -8.1162, 5.2855, 2.42, 0.1392, 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 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]: [-0.7486, 1.4448, 0.9337, -0.4088, -0.5686, -0.5415, 0.014, 0.3866, 2.1685, 0.606, 1.2228, 0.3119, -0.0349, 0.9978]\nstate[eef_state]: left_x=0.3328 left_y=-0.1745 left_z=0.1323 left_yaw=0.0115 left_pitch=-0.1666 left_roll=0.0626 left_gripper=0.014 right_x=0.4409 right_y=0.1248 right_z=0.0066 right_yaw=0.1207 right_pitch=0.2351 right_roll=-0.128 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -6.2564, 6.6256, 1.2479, -0.232, -0.0366, 0.1001, 0.1162, -5.9282, 2.5778, 0.4469, 0.2125, -0.4957, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea787b76137e95215816702fa4d6d252b3d60b3b319e8473dcfd81064d7c724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73953c9a90038a40efa36b803ac07d02875b6d1170ff85f0bf3506a88c828044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9656f9b30bfd2d64110204f448d4318ef3a5c1095b8f86cbf0354817579c1ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlj4maWoMfhAJ-5zZdaRg9mPc0Ylp71_iTC_ClqR3jodYWfgSzNLKYmOxoxVcSOS7vhGxDsax7OsX8my4SbVtChpw3BMNeiYR4S7CVw05udU25agjkocIB-Egy010LFU16vFuCQ_Vtpgq6OmNvnJ6Rj-5AAN2DwuiJ4gnz4gKtKdWdvEwtBF7aBb5e6TaqkTVwtPYVG5QH_JMLreVnB7Gq6EqxVRdR7od9Q8rVnYeRWLBWKxOP20zwBTQ8_ndF8BkwXwdJO9EL2WkTej9gXUx5j8eG1sl4eDX4r-pfFJ6sMA8oR51EjJmLuyXIgIhckWl7sJjqEivSMlzOkBJ17mZjroqFIzf4bJfxHB1Fml4Eq1cTXfE6cXOkmUsS2OxITi6eXJkTQsBnnOH6KPvq3RqlqPbPFkqjs8dvs7AqkVyrTQSw3H_KieInfKo1l0pNvt7NX0r_SIytnyGbL4JT7TsHDObGeH2o5wZVt0dC5lW8zFQZ3cO_Fu_uxlbG_lPYDliMqcv8sGu1Obu_5cNpmOihGWU19WlSz7vLMPyWPAaouBCAHQEB29EthRBh-ITsgtZo4vn7i2FOW44T_941V3WguRka8SUvIs_2ccQMXQwCOW26pfKgOu89onAtVRynR8tgs34EJxSEpwK1XlJwnqWhFgTOKtKF5pm9cnbmdKh4UT3TwZUhEIb0nPI5YQra-GutbDHzpN4R4QwlbdlTYIit_bhVaHhJFbij-WaOjFwgRw8t6oXCcEwQYr5-E9qV19OxD-LzEXOd3A8uAh6xasXcaHcUPlAZARJ8A3RBQOPjD-8AgHOC8zXEcsjC5zJEVxeuFRZoKza_pPk8FbbRskxgH8H53sxI_CgEvTqrZSDSiulQyvTes6hpuI7DeOQYntt76Ly4BT4r-qH2ns3QdFwSmHkZu2MGccQmGNsha1atR_P7Z58Tgn3RmGYW2qne39NN4qd-3UfJHOdV9i7XM0z-PLp9SwfFiCJrqShT8BV5Tu0huQlBe7TziL1tFG7RYrCFwSejfuYGYmIeVihWa1ecrldcc_EYnW5V__5ImFIrWPxpxxf73Sv7YcefDeZmIDRNgpuiv6a4pIFRcJ-SursCOK1cjX4xnxG5vgCmKnuSF9QIxbV3B0cLelWGckqNaQSlrOxI5uFYiUeULOdmfWoGkcLguVE6p1gP7_aW8UIE8Dv5Z675B3DzZBJdZI3FRmGVJ8wA6FsKqplq54U8pTK0pQJouiSfD8WIcwhVb2h-ouzeVnQxbNZYEkMTucNs68tCVuhJDmsBNbLa6uGUsz032nfceQvWf3_a1eVwFMg6rfAZCDY8peJShvUJbfD32JFVV6vk52qPcByCMHbMYJku3DGpZHrwCOAdYINZMyI9MMT1RVbT2pz0TXbXiBX6vrzZ1uBdxjn9d_WHIyZY8d83lNe71WsqG7VBsmqMrzM3CLvuMEMcxKQbYcQLXyXmUjjvh3DVIWG42JmuHmaXtad7LP9rof4OgT7_cPrI0oYaUjz2XnYUY_1Bn9Fwn-iAsZdvkd95DfOpsC3vrLGMltGZt0Imq3Bti6z-DdHxU-eRgYAAcF_9RYFuu9DSbGJoN5d-DnbUZLNP4kUy-PatVGv6XYGYygANoEkKzipn_6Yg7WzRVcDzMouhVYYR8zzRUz-nn6w1k8oMWlBSAiZSteU0X0srlYKQS3IcWTrTDXmGgmPKuvc0VaXltO82stDMOOIEmoCh80vsywCTNuV03EEGarAHqeQFT4PtdvbdHgaVd6HgdHbQcjOF15ebsxjzuMJJ9P6rWY77_4DES-ktUl_lpjKicRxn5cTeaoe9u_lpFlbt0tiMmHfxb4pLTF2XJ3Lgf-SodQ0kfrb1vHg9UrNoK4QrjKYFpeI0y5EZPzpo5uJMFPWhPvvVkgf_2jPEjY55DzynuZH6R8eZdc83LoKskaoqb-pRL9moC4UJ44JJ-ApG8RWx4XHHmSSs2uK_1imij",
  "id": "rs_03b5ddfae23779b0016ab43960b9cc87d0880fbbe60e7516db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.443,\"right_y\":0.095,\"right_z\":-0.012,\"right_pitch\":0.2},\"note\":\"Lowering revealed that the pen’s near barrel is still to the right of the actual fingertip meeting point, despite looking centred higher in the wrist view. I’ll slide the open jaws about three centimetres toward the barrel before closing.\"}",
  "call_id": "call_XtiVPkMwrO99r6RN15Ul131z",
  "id": "fc_03b5ddfae23779b0016ab43962252887d081d680bf9bedc09f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XtiVPkMwrO99r6RN15Ul131z",
  "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]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0154, 0.3107, 2.2013, 0.6018, 1.2991, 0.2371, -0.0376, 0.9978]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0154 right_x=0.4493 right_y=0.1045 right_z=0.0073 right_yaw=0.109 right_pitch=0.2677 right_roll=-0.0976 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -6.0103, 6.7077, 1.37, -0.3199, -0.0513, 0.1343, -0.4991, -7.6786, 2.0855, 1.5214, 0.0952, -0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d80ff11ebb1ded0dbf027da1874b604e7e8b736db78911fda5d63851078e71e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc5b1d0f69a6845289e4145e4308a2aac1f8c8c34832d13ffc0331e89c6758f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b34f832edc1e98b79ef3aa87d305099464e3b2c59d9ff97e947e2d10d604cea",
      "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 · 1.889 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4399, 0.9356, -0.408, -0.5701, -0.5407, 0.0125, 0.5491, 1.647, 0.6563, 0.49, 0.4252, 0.0456, 0.9978]\nstate[eef_state]: left_x=0.3332 left_y=-0.1746 left_z=0.135 left_yaw=0.0112 left_pitch=-0.1602 left_roll=0.0587 left_gripper=0.0125 right_x=0.4007 right_y=0.164 right_z=0.0925 right_yaw=0.1526 right_pitch=0.1033 right_roll=-0.1499 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.2564, 7.241, 1.4628, -0.398, 0.1685, 0.0073, 0.4444, -7.2684, 7.3641, 2.0342, 0.442, 0.1734, -0.0122]",
      "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]: [-0.7486, 1.4448, 0.9337, -0.4088, -0.5686, -0.5415, 0.014, 0.3866, 2.1685, 0.606, 1.2228, 0.3119, -0.0349, 0.9978]\nstate[eef_state]: left_x=0.3328 left_y=-0.1745 left_z=0.1323 left_yaw=0.0115 left_pitch=-0.1666 left_roll=0.0626 left_gripper=0.014 right_x=0.4409 right_y=0.1248 right_z=0.0066 right_yaw=0.1207 right_pitch=0.2351 right_roll=-0.128 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -6.2564, 6.6256, 1.2479, -0.232, -0.0366, 0.1001, 0.1162, -5.9282, 2.5778, 0.4469, 0.2125, -0.4957, -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 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0154, 0.3107, 2.2013, 0.6018, 1.2991, 0.2371, -0.0376, 0.9978]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0154 right_x=0.4493 right_y=0.1045 right_z=0.0073 right_yaw=0.109 right_pitch=0.2677 right_roll=-0.0976 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -6.0103, 6.7077, 1.37, -0.3199, -0.0513, 0.1343, -0.4991, -7.6786, 2.0855, 1.5214, 0.0952, -0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d80ff11ebb1ded0dbf027da1874b604e7e8b736db78911fda5d63851078e71e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc5b1d0f69a6845289e4145e4308a2aac1f8c8c34832d13ffc0331e89c6758f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b34f832edc1e98b79ef3aa87d305099464e3b2c59d9ff97e947e2d10d604cea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDll5szmxanUx88rnumOpAfuLo8QJ1VRymnnY5uK_fy4QFvfj77vz6PFx9EP2YFZ88TvmsLT-6sA6D1KgEjxpAETWDg1EXL1OulBiSXHYvwdjc9Dv2pfSRHaZCrqlUikxILG6DNUO5y45cXUlFu2oLQoJasG2RFlNa5VNSKlbNUQzlE8LHSc9Wx50fhtm8gfEi6u8FEajhu80syiSbHgHvKKksGlm4Pco3R08NRlIwIoYTW6qHeP4Y3Eobf-toTaMbUrTIvMKW-M27t3DCT51MK7UjTy9gvknZImSGfq1wX7sC2pJUSlQLDABsna7Y5d5FUp85G9TGNZbOJ1qXwbemJmddUDBBMZR_T0aaLNUZYOzDCHdlXwRzH9zOCGJ_11sSjZotu4X49nU8X0nrt42nxiteq-z37OiTnq0YTnNxZx_lmSPECk2G1XTzlrZ970BVUfMKv6KTePdftGk1AS53XQL2Ou4xJXG8Xh4k2VY5cx1mhVSlMreI2bE_SxA5KFLPuvGx5iTljT_NnJH-pbHyFHR49hocc-zfHfyrJhu7aYhABbmOH6jGeaRO0KkyujQjehodHrU34JteFE0Wi_yO3tTTj6X1zlyTJbMu586LtgX9EGqMGUKO9Nd7RpE-RP-NN8YVqlzpGJZGSu0akMY30hX1J8WzESuLsYJ18ur2pStlHUl4J0CfhCClTAZ3GtS74NgOsukKeBfZDb7rs4VIubuFyhGcF6R7KIqKn3QxLFGNB2Gjgwndu8DY9PMWz_kznrA9B5ijkY8u4PgWrNuBLGTfNK4dYb8Nq6WHde7K8V81uI3thEiATDhopRgHaeeQJw4SH9Jr5mpBMpJ3-SVP6nOP--yYqkn8Ec3ho--iWeYTZLR8D7xahPHeAW9hQmb4p2zhFuQHgG9NDyhGe-ESnZabgwRUnml5Es55LGHjScwq2FEzQaQzqwvpPvyG-oLisgNABLOsvq1oNBF4VR2rrFeEjWSsInmozAK8SdR-aZLnTFGTJbCBmHO1bwBHLEhldFAccquJ6Lv3xiRgwb8K5w-kAkHaSTJYew7cgiqbmWu9nReyTMi9eLsmhJXedEIuENyFtaqxl7VPzrKUTbJP5ycs1cWIH45DUa5StkHwLwGgjiIVvtSV9JMQKQSvMC56fFyz4ob4XJEZph0g-H4oVuB33OAHM9EWaoVNhL0nfnIL5CQRTmIMPuLk8xwq0fNhssj4l_2IQ4drpZ4uoHpOOUgqjZyW2aNa_5G2QGanIKZM948VQkiziEHLH0d4-vr7R_QCopZ5TAFzTVtITE-kVoFKZaylB4ODaUMTWpmypClolVoPmTAuE6uevFhcZkciXlVvtn_MdZzFieYjkaghQNjLphR3g0d96W2yFO78R8b12ukoN7TE6BoE5mBV9D1PAk1a6XXh1MIGYYtsshf27sQw==",
  "id": "rs_03b5ddfae23779b0016ab4396451c887d098368336983fae0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, the pen’s barrel now runs into the space between the right fingertips rather than beside it. I’ll close and check the jaw opening before lifting.\"}",
  "call_id": "call_IsUFL1CoHUFu27MqtsdSsDbS",
  "id": "fc_03b5ddfae23779b0016ab43964c9f087d09b169b7e6ce59d1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IsUFL1CoHUFu27MqtsdSsDbS",
  "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]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5419, 0.016, 0.2897, 2.2013, 0.5987, 1.2938, 0.2008, -0.0586, 0.0512]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0119 left_pitch=-0.1661 left_roll=0.0622 left_gripper=0.016 right_x=0.4496 right_y=0.101 right_z=0.0048 right_yaw=0.1317 right_pitch=0.2565 right_roll=-0.1088 right_gripper=0.0512\nstate[joint_eff]: [-0.1983, -6.0376, 6.5846, 1.326, -0.3004, -0.0757, 0.0464, -0.5128, -7.7333, 2.0991, 1.4921, 0.1343, -0.0122, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf487ff62dc39a2fe75ab29871b123b29abddc622beb7fcc9380394c92b2417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82bc904bc79385ddf63cc5071734932c55e9ded2400171b58f77a849011dba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618c4fbcddf7f5b2c5f3db3fd6a028af4b80fac2e5832b707180e855075068b7",
      "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 · 6.927 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4418, 0.9348, -0.4084, -0.569, -0.5415, 0.0129, 0.3855, 1.8172, 0.643, 0.6987, 0.3187, -0.0387, 0.9978]\nstate[eef_state]: left_x=0.333 left_y=-0.1746 left_z=0.1339 left_yaw=0.0112 left_pitch=-0.163 left_roll=0.0596 left_gripper=0.0129 right_x=0.4327 right_y=0.1197 right_z=0.0565 right_yaw=0.1218 right_pitch=0.1044 right_roll=-0.1703 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -6.1333, 6.5983, 1.2869, -0.3346, -0.0073, 0.0366, -0.1846, -8.1162, 5.2855, 2.42, 0.1392, 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 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0154, 0.3107, 2.2013, 0.6018, 1.2991, 0.2371, -0.0376, 0.9978]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0154 right_x=0.4493 right_y=0.1045 right_z=0.0073 right_yaw=0.109 right_pitch=0.2677 right_roll=-0.0976 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -6.0103, 6.7077, 1.37, -0.3199, -0.0513, 0.1343, -0.4991, -7.6786, 2.0855, 1.5214, 0.0952, -0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5419, 0.016, 0.2897, 2.2013, 0.5987, 1.2938, 0.2008, -0.0586, 0.0512]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0119 left_pitch=-0.1661 left_roll=0.0622 left_gripper=0.016 right_x=0.4496 right_y=0.101 right_z=0.0048 right_yaw=0.1317 right_pitch=0.2565 right_roll=-0.1088 right_gripper=0.0512\nstate[joint_eff]: [-0.1983, -6.0376, 6.5846, 1.326, -0.3004, -0.0757, 0.0464, -0.5128, -7.7333, 2.0991, 1.4921, 0.1343, -0.0122, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf487ff62dc39a2fe75ab29871b123b29abddc622beb7fcc9380394c92b2417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82bc904bc79385ddf63cc5071734932c55e9ded2400171b58f77a849011dba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618c4fbcddf7f5b2c5f3db3fd6a028af4b80fac2e5832b707180e855075068b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlovFau9PCll-LAgTvwQXGR2X4WGcwdjrKsdvmXcpC9i82cGj6VT1eUlguINLo_14D2G_8T1pt20DR9kEe9ZllLyEJOaCp0S-KYuk8NdV48gJtb8S8nqgNrA78_36y2jvoTahJZjib4DyDDQez9PHCEXABJEyePU8fkVmvGaxrrSapwzhaQok4IkAheO8pZPDIhGvcK0ta9-UfUsJYkOpuKSlph7eXYmcg4iV_wK9AdzCgsfbX7upIT3-YwGGk1EBNxd1vaPAsW-gi5wzYGcfZXJZmP2P1vobabPc_KErMhOmjHlNz3dcyp7hQsN1LLJ9R3kPWaWgskPcSrPWTIlg3-3vRVdwIeMYMKXqYMM9B7arHzVMWY6yTg4sJNaYOGyEOXGZIahHNEBdnWUo48uMocfeDRSK86W_6FPyPIBsddvO49Vb7ELQN2IcfWMbI63A9DfGKKjjMDJusTFiBzmFJnYc0dqVLBcjw9D5pvYjE94LYHQMpd8qWOxn-iBazfi9oU4ApQnaXyNsWKVtSUwsx3pY_wiWsxKMKlCzANdgKTiQAN1jkIm9DYQjcwT9pufVu-360Yoh7hW8VsJfCKCZMgraKyycSceGFIF6QKwYKCnaQWRVtEgg9J9TeklcKQrKXHVkFc8GGaI2j42jLHJyQYvKFdccHrt2BMr0TC4AhLlQWPRN5zlTEY1jrsDpk6_quNsCoMazJb-jHuyenzukRozpaP_7_cDE-CmhvGd-iGCaqX4VcFo5yvj4u_CgoauPRBWvll10ijXm_7YRIcp-P3V-144hwbEV92iBcuIHsJV1LF7gKSNbvgajc0vv32ML-RUm4bwsy3BOP6yBmua4pTwnrE_IfM8UdMzUTZDxDUm1ZobN_EeGDtkI1ioy_sXhZrKDvrGIvCj8ssA0Juh6ubzgMSo7Z-Q_lzoOPl4ENUBdWE0AETDEVVl_fYS-oYuNFyI-LoOjOEKVc7Nopowb38nMdhdYYXlCaCdgy6nHH90mQl5z6l4aUZrJOvCABgjlS8lBF_oeKihKsZneDN8mVko6TArNuZ6AK9ZqmHyqjVAcmjH9kRKInk3-ANwlN1eO9syRyEvldyj9dUhOyFsWi5hDuhdHr-4DfpxjQ-CYXlawNJ4-Ibj88FosbjL-608xdj1DetwveQvOYSV-X_iNPBXfvYvbOjWhZoojpR60jrYg0ZRPJELsV2uXD-8tNvQrGTNH14LQhPWYFEudEDGocs4Q==",
  "id": "rs_03b5ddfae23779b0016ab43967516c87d087242be2b2d61e5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The right jaws settled at about a five-millimetre gap, consistent with holding the pen rather than closing empty. I’ll lift it about ten centimetres and confirm that it moves with the gripper.\"}",
  "call_id": "call_fBsQB3nxCmlDroUR7akvSvMw",
  "id": "fc_03b5ddfae23779b0016ab43967824c87d0a96d1ed3cd77d668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fBsQB3nxCmlDroUR7akvSvMw",
  "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]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0161, 0.2901, 1.7927, 0.5964, 0.8738, 0.189, -0.0643, 0.0567]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0161 right_x=0.4443 right_y=0.1017 right_z=0.0865 right_yaw=0.146 right_pitch=0.2421 right_roll=-0.1128 right_gripper=0.0567\nstate[joint_eff]: [-0.1026, -5.9009, 6.5026, 1.3016, -0.2955, -0.0464, -0.0024, -0.1709, -9.388, 7.706, 2.0098, 0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db3c646eb69b84b79b0b0b91ba7285742e600ddcc26486a28aa5bf84f0d40ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d9334cd675913d0bb0bbf4caddd62e2a1f06fd4e7f12ac8f770402412f624e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92038ad45922e4d90667fa52f68c4d5684354d4bf982bd7f06f7b2f840759a0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.613 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4088, -0.5686, -0.5415, 0.014, 0.3866, 2.1685, 0.606, 1.2228, 0.3119, -0.0349, 0.9978]\nstate[eef_state]: left_x=0.3328 left_y=-0.1745 left_z=0.1323 left_yaw=0.0115 left_pitch=-0.1666 left_roll=0.0626 left_gripper=0.014 right_x=0.4409 right_y=0.1248 right_z=0.0066 right_yaw=0.1207 right_pitch=0.2351 right_roll=-0.128 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -6.2564, 6.6256, 1.2479, -0.232, -0.0366, 0.1001, 0.1162, -5.9282, 2.5778, 0.4469, 0.2125, -0.4957, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5419, 0.016, 0.2897, 2.2013, 0.5987, 1.2938, 0.2008, -0.0586, 0.0512]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0119 left_pitch=-0.1661 left_roll=0.0622 left_gripper=0.016 right_x=0.4496 right_y=0.101 right_z=0.0048 right_yaw=0.1317 right_pitch=0.2565 right_roll=-0.1088 right_gripper=0.0512\nstate[joint_eff]: [-0.1983, -6.0376, 6.5846, 1.326, -0.3004, -0.0757, 0.0464, -0.5128, -7.7333, 2.0991, 1.4921, 0.1343, -0.0122, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0161, 0.2901, 1.7927, 0.5964, 0.8738, 0.189, -0.0643, 0.0567]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0161 right_x=0.4443 right_y=0.1017 right_z=0.0865 right_yaw=0.146 right_pitch=0.2421 right_roll=-0.1128 right_gripper=0.0567\nstate[joint_eff]: [-0.1026, -5.9009, 6.5026, 1.3016, -0.2955, -0.0464, -0.0024, -0.1709, -9.388, 7.706, 2.0098, 0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db3c646eb69b84b79b0b0b91ba7285742e600ddcc26486a28aa5bf84f0d40ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d9334cd675913d0bb0bbf4caddd62e2a1f06fd4e7f12ac8f770402412f624e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92038ad45922e4d90667fa52f68c4d5684354d4bf982bd7f06f7b2f840759a0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlvQ76GOTIrqYAGFov3Dki2Cmua26wJNAv_9r_9ZzTbDh_bG3OsT21jTIpGpCWuDSvCMaHSYBFh0muZASsFTbgmCnXgL7SvXfLmWfM5EdMXQZvrBntsiqzlREJ9ZQfPG31Ka5Rz0AcS7dom4zaawlJhovfMUDVTeJojukFc-JDHX6CUhXUlic9eH8UUnvA5AjK8OfxpLfP4RhzG0Pjo7dWraXd9-H1VMcowjpxAxuoYHE1J2e0OQjtrrwniQ0JIU38tyjWPv_9r03VYrjCfTEHgwbISq1K8IF2DUITBzI9ogARekjs0jDItocj_ON8VKwtQ_vdeJ98UWoUE78uNl7TfDQg-i-o4-yFkZLTQSE8dLE_6kFCVUqP3O6j1vb4TEoHB5Xo2nGeKPpF-JSf7MqJzBUKM2scF7-qvOIJAMBGhBr1yV-X6r9SOn6g4pT63ALxHTDSGOGST93kNWNg45GbYszaKB_lCgaRa68upBMHUScTSV3cQcAgg_M7mWeTiVi57Ez38VbZovOUYnzhWMh7N9d1drzPCz8TOsPXqtlL7Q5x4olj0_JBjcwl7XaYbcRwfe85WL8S-YckM2nqTYQFyn-VySem8aV7_jSgCW-OVX8gCXysEIqGcXLegkWLtp6tBxgrAd2IjkENzhn6IF3XqiSSTVqRdU1ayI440zoE0qZe9jnbb4_Wcrl7cSrakjrIqbuWbSAGHG_BT4GJrUX2HoJKQBEyy1aL5Dr6fripykgkI01JxZxYLnmiki2PzsetNtBAlZ_614DBVDZy7vq8WxV_n0DcmZQtEOgJK6LmZPtHiA2pho4AV1uZi26pV3FduvWk5ZLJX6g7Q87mbWhqxdw9pkzysMBRx_bWhPe1f3LLgAKpoNAsqyL-WqevpHJpNey-GHzsdJZNNz2paiFTgNiZrFsufeByNElK0mT1r8LiCRbWN8tcTNlfPu-PUfFNnhFuIEZvhFrViA17cJQJ-yEExmLzdb91-UxNFNKn1M8UYaoW0eSZEfEXMeFnQozsyRDXKUXAiQbPbWm77sb7IJyE3NiKJziI1S9bo791b4M9n3hytJCJUbUccSxistPswPCJGpXCnfeTAE23kjU057x-QZUu8DjKNXSc1jVoJicSwfq6cEF4js8UNk1BxUsyo543PLDN7oa9g32TtnOkyaIGk7vJS_zlHcMP3J879SMWYY4LG15M4krs0pBw_qa7gZLOJUPDRYGIy-b949xU2FnYL_JnI_e-dUngr_hmZH4v9Cx0wDMGCr8M9_2SI2XdYysYt3zi8954Q6X8JxLlcGAF4ciwq-IM2G2YLRdHjJhARDYt3ZLisv-LQZL7Tv4vudw5jDaf75Iz-A4PFhE8GqOH77bABoq9mjG0oO4mS8pSfEohX-7s4hmn-4QWTNOaUb3sxCBwj1yuUIj93o3ZLNMmMAo6ro26WryukfkRwruGMkvSIXHqdItonScI00K563kE_95Q8MGfiC5FYKTBq5Q1OISUK_U1kiLzu5Oni3aZj8A9q5x1udHfEooml2_X2L_2RmISiIylE3dHT9W0aKMUX_7RdUzqKLp8hQds9n2Y25cquh4LU7shHPMJoM7HUBc8iZssC9LerCUwsWBx_ts0FABJqqiN3n80kBuMQmTiEfir4-BiPwT2T2ddSHxTlDxb6v4AJnpc18FtONXZOGqW0KM-rR2AfS7VvZ76JHfvp8LKCxbkRGsEKheSuxonqL6NcSZD2Vs9DtmpnBKLnbeUWDRqD6aRkUC_yECzTzPkLBXv7JYTvvKqc70hTe3HAoulfe2-cSs59ma1PYH1tMy5FujytkdpriGRbKxz_q-rvQNi4XqP7Cv7T6ux_h0t_0iDRencGWhHkeDSK0rwFPGWuSkzxUOz4d98X1poiFzQsUA0yvGIRiOVapxVyzCV2P0ypW6YYKocfwCI1htaImYHNQ5K-90dx4wX8hDV0z9TLUl1XzTebGTW114lECN-Z1z_qaoxoWnmqnj7U2bzYnB63n6N4nd1qv_4L2n6K1d0IK1pTVthXRPOekctd77wf6fTEENzjJbk0pVwfSi3oUAO8wSqqcaV92-FFYgy-lPQILJhZ6g3aCDioAeNRSvgImGSG0G09nkyC6JEz1FG5_cSwgjpPxtTnmeICtZzz2MX1sYHQEp01jIVpAUhQ0LcAaPbN_U0D1jhtTeg0fSDwh8WnkenXbrW3govDT8gpVhZaKzALpkLy7dXLDdlLazoZpd3UlEY57IqiDmAaL1QyT1hCykQ2W5CUg_ndp7GkfsC2_3hMIlGrEKOfvkR2PyhS9uFA2s6kEo4VYE-zsQyaq9d3F1TZXwqvtQQ4aQ7gKcxQSKwkcN1GJ1kQcL5dW4fl3fI73N7Ff5d6uBTcmytzk0YJOAL58Y05qjAUfBxtv-4MMHN_R9rZX7Zg5wHKcJwnLkRh4BIl9juEEL603JeZyl_AUZwCMBE7eiSUOMwIc6Eu5zv-47ZJpOGktuyTMG4cUsv978zaaRVyI64bDIBXvZQrxXLHt3qqEpAWS1lOVkHx46_YF_yglkhzP93Synk5EtHCd3tfJY9sGFqesqTqnIw-0lRhvy7jlM9xRROnudhXgVy1R-enVyuc5Si18oIxe5YO22OH2QIsK1F9NeiuZkC8xgx-oTjJXVAyOiljKmfeE_uGA8dB4UqWikdRL4dv6vzPn2EOuiyqyYDQxCb--QmBi1cI8J7LOgIsCUOGBq9EZa7jz5RwlPNWu79QK36cbhYC7KPxyZMqEUoCUa2fE04SJIzzJMWJop6br5FwIp-mjqI6VScvJ-orhdMZ6HzbiJEWponYihwBHHE4SciB92JwkF8pZg9TelI1r1CeLbooEcRdDUZlLYEK_EyRW8OAD6_TyMrb_GDG6ZFa9AWpbTBMdXojQScIiSP1UlmmMFioab8-Q7Z9_u8wyGmYmsulla1LApIWMMmrSyfu57bQDdkdQ-XuQXwG66U2_VRVSwGqRI7k6_VandM_2Wkfdwd2LVXZbhW-ycbx5P96Tgx532BzukNzi96xPAYkODNwDW0Hz_gHiPi_6AjEB5oKUpcs0xufSRDyrTJfvBXTr4rGJcKMzD4yfSY0fsNYTtbQnsvcAx4XCNR7JAUvF8geH3kk59lnkOIAfM7CgBaZiEv_pKgcK_bWSSkpdc8HMTDOtKWYMzpmuJa-_f54iWJtUr9qcRrEAcZYJe922iqKMhHfQIs4qSYFrOxAZdTvZfRRyl4LtMxUJX90kVan5PFggN_wICWIGUEisjD-Csb6aO3quf_SjyNt6sRKZLSNiSOMosm8eF-NnfgaZhcDVocpjtCD4FnMuPygotAhUk7aTEpFY0jBh6onSH_s7X4DNC0dCM_Q0nsZuEeob3uw26Z3af-yjYfXXUPQNVqtQUs-he7XXQvHR3hDYfPR3moDMmf_j8Y0sWwL7tPi_G-YKhwPG0w_ORuJo8tv7UZN5bcot0W4exKonPZN_gLx4gAIH9EJ5clRrNGrWG9K0ru3dh8JnLgOWmjFmaculYS4mk7s6q06hF6QlvRGe5yJrVqOTPNho6QFYwRAdV2oAjwC__GzCW0zRQrlOW-aC3TeQ_KiCwsGS7QfDtsrWORYIgd_N551uGII3EK7_0A6ORz-kWIASZfUHy0_ZSWKWWJANNzdCRr0lRlaZrfohSw93ErbiuRlC3Nk9mxq6sTVVSx0dkJYSFtc07E0wIRp85jovU0i_zFN9iQHPC0P3HdKgnuIGYlQwq330ZOXh7vTdUaf6BuOQ39VQYkM03A3ITBLiFD9_vhY21NAUMsKY6S-GmJrajc2gV8ujrxT74mSswDcytlRmC5d",
  "id": "rs_03b5ddfae23779b0016ab4396a0ff887d09f295c9c31a6f6b7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlvgul-JCQ-Avbop5U1cj6wTppxZB5IF6izeGTNLN80p07lMByhJlsEjJLeD7I5Z75UkmlyXT6xHYVgPooDPzFhGzeDcTgMcpLrXMuZIi-uNuD1C7-cKJ5gcO6cnanD770bDd4OBQ-M1gjT8WMkNQAEz3CEQ7XT8mzSOnsudAxaz0WvTK_JXX2hoVJ0GgdDcsG8wjiiJUb_S8wHLTb0OgBDpRBhRS6PPV7Ki2r98_tKuQQAUzRXGT1uEB9QQ5O5fiNCkL9piL4_CtCTsMj3IwzPYoQ7hxCG8CVVIbMJAmWFvA4PLdbLNPCCoA85Jdr4XCGq-TfWUP34GTx2KRdewUFMlPehtVi65ib5bTjzpODpicDhMRuHjxzw26A_yk7Q1yXnEwOO6YG2hJwmK29YBWkE5PVhkHUCq3rcl-Z7_riox9O8aAbLQREiYhZHKUYwkCUmJQ0cTlkmBHbkNNZvSd7XcVueLDlBGvL4bFaup4MTl5EmhZ0fpmY4vuwKCmaA1ETfVo5QMNelXhJmgEmNMHckf_4KywM3rXLR4Zq-wBOu6vmi6avMg7j8R0JyEIANgSHMNDoIzkspyO3JQgEalcq9og9qK0h3lYJTeoJlToStK9GaEZotB6Ks1s-qIKucV4FzC1rmDSVZv1GbyKvdIa2HobaK0kar2Iso6X_n3xgnPEqKevr85ghQ6BxUoTh0gV5isI8wog5coZrvYjy_zRQPLEXhTcibvWHGmniC-vRnrb2bYbaWnexfUEMvfq_ZOsR2DPeHa_irYytt-Q5YqAPkPZ3pA_KqwB2uW9-myBvAKf9oz6zPkJ8PMvx9yaZpbRDDA6Upu5GUQNbrz2Rf2wfhEITmHNYpD87JO_F7IIWANPc_rcDT1cPnXRM1-vx26fv9vh1njwafz66AOBGtWNgCiH3h3g-dTVsrlOQIKUYtjYtHWAqNNM5n-qcA5XMMHc_K08rDZOv3mxGG50JNcZMEgyjyX61JkpVgSW4a2-vZr2U8M8NTpsBLW1ac4q7RWFsumoXcYcKotU5S8w4c1rMWTakdXYgT1WKQjdKcykI2XCgjcbyOD1s3cHeHMHj8BMDNNVVlUKSsIF9yNgerVzSehNYeIPtbErCI52gi8iquI6enphn04EeTWjAj46o1JVxiTVIWpqnQYlRz6vsm86vXqczWHddYLk4VW8vkLjBbaeepJbr35GHaqI0m7W_SYlwPWw4nz711vrdL4RFk8R6TqTLTq1RpHib2kfOiO_QyYg0Fe5XYMYhnXNfebAv7WT4K",
  "id": "rs_03b5ddfae23779b0016ab4396e5ba087d087314733c483c559",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.015,\"right_z\":0.17,\"left_gripper\":1,\"left_x\":0.414,\"left_y\":-0.12,\"left_z\":0.12},\"note\":\"The right gripper continues to hold a pen-sized gap after lifting, so I’ll keep the pen raised and move it back from the work area. I’ll reopen the left gripper and return above the cap for a more forward grasp than the earlier empty one.\"}",
  "call_id": "call_yk1iHbjtIwRNjOEO8Pw33Cec",
  "id": "fc_03b5ddfae23779b0016ab4396ea5f087d0afc10a6d34a4e4a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yk1iHbjtIwRNjOEO8Pw33Cec",
  "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]: [-0.4484, 1.5818, 0.9558, -0.2554, -0.3893, -0.3244, 0.9951, -0.0036, 1.0187, 0.3962, 0.3489, -0.0563, -0.1474, 0.0626]\nstate[eef_state]: left_x=0.3957 left_y=-0.112 left_z=0.101 left_yaw=0.0536 left_pitch=-0.2282 left_roll=0.0831 left_gripper=0.9951 right_x=0.3531 right_y=0.0122 right_z=0.1763 right_yaw=0.113 right_pitch=0.2851 right_roll=-0.12 right_gripper=0.0626\nstate[joint_eff]: [0.294, -6.653, 9.4974, 1.619, -0.1685, 0.1978, -0.1197, -0.4308, -2.0718, 7.1453, 2.0293, -0.1636, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0cf4b97ed3979b378f9377d85b7c9bb62597ce856526dacf0cec049700c3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd18f056f144afdc5f7dff2aebcae1bf369ecf5308bdf14f7df9cff6bd575f82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f408fca126a4c73eecc2e11fcfa43db74afe17486abd14fb471056634d5554d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.354 s

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

message 92 changed as sent

message 100 changed as sent

message 105 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0154, 0.3107, 2.2013, 0.6018, 1.2991, 0.2371, -0.0376, 0.9978]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0154 right_x=0.4493 right_y=0.1045 right_z=0.0073 right_yaw=0.109 right_pitch=0.2677 right_roll=-0.0976 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -6.0103, 6.7077, 1.37, -0.3199, -0.0513, 0.1343, -0.4991, -7.6786, 2.0855, 1.5214, 0.0952, -0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0161, 0.2901, 1.7927, 0.5964, 0.8738, 0.189, -0.0643, 0.0567]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0161 right_x=0.4443 right_y=0.1017 right_z=0.0865 right_yaw=0.146 right_pitch=0.2421 right_roll=-0.1128 right_gripper=0.0567\nstate[joint_eff]: [-0.1026, -5.9009, 6.5026, 1.3016, -0.2955, -0.0464, -0.0024, -0.1709, -9.388, 7.706, 2.0098, 0.105, -0.0171, 1.033]",
      "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]: [-0.4484, 1.5818, 0.9558, -0.2554, -0.3893, -0.3244, 0.9951, -0.0036, 1.0187, 0.3962, 0.3489, -0.0563, -0.1474, 0.0626]\nstate[eef_state]: left_x=0.3957 left_y=-0.112 left_z=0.101 left_yaw=0.0536 left_pitch=-0.2282 left_roll=0.0831 left_gripper=0.9951 right_x=0.3531 right_y=0.0122 right_z=0.1763 right_yaw=0.113 right_pitch=0.2851 right_roll=-0.12 right_gripper=0.0626\nstate[joint_eff]: [0.294, -6.653, 9.4974, 1.619, -0.1685, 0.1978, -0.1197, -0.4308, -2.0718, 7.1453, 2.0293, -0.1636, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0cf4b97ed3979b378f9377d85b7c9bb62597ce856526dacf0cec049700c3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd18f056f144afdc5f7dff2aebcae1bf369ecf5308bdf14f7df9cff6bd575f82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f408fca126a4c73eecc2e11fcfa43db74afe17486abd14fb471056634d5554d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl0VXizINBbSjHtY5hcat22Em8CdWD8qRtHFO9APyQSTrv2txyuUjsvIzg4wslZH3NHR364IJW8TW0jovaeHAKiRR-oxIhDkXNiG6c7DgWge1YHBlI9tcEHVBcDZVcNG4q8VaN0w2R3fxr3ojX7ZnBEZS2ugIfU26cIpe7sAiGQNdV4CJNkv_xxZMjz5CN5XN_1zefAx2IrhU0VIveAQC8nhx-mrD14lt6m1TkPLsqUbZfcl5A31Y3ylf9eJpHga0e0u59gEpaBKdYDZbA6g-lciFwtk3Fjj8-bF29AgV6UmyY0d_3iFkkasehpKIzGEFSyauRygMaLCKI7wUMOtJYKl2ctZrTjY8y8ROtexTvBO5MvJYxWhv85NADsg_FJ0x3jko7zleK3fMrCj_BvjZ7-vqXe6Fce7tt3Xw2TqN4EUiElricynGTyZu1r6PL86VO8oktQ9OsrVrPdIRswn63rku52XEp56iyoEC8lsb8D_ouysZChw2g-VAgRhnWTuEy9uWd0vAsz3DjJt_7j9Q0qExzlQkApQQV6Z0cbure_S9_xiaucjLBXAPtLqagJWUP-ClC-GFVh1XClvRe_JRsQT3cyLyQrO92hXolsUtPZjfroIZI2CHaJiBm_hovBwM5f_GnGXOO2KVDcD_ved1-UZqTiJT7nuVjHkR9qhhYjos_adVvIEKszRWavTzM33sV_M7D4zuATMCqjSJESBzkjlKu5_407HnkR7mxvVIZnVgEdTM3LNSjlVH1yJYkR3N26ZYWAC1XPu_ZCbpmg6qcLB0FJH_NySryqkkuooltxe9sOW36tAHJmPd6movB1Z2w9DdW2OLb9ZTdmG5KTINR6cV7JHSYtnocudWAHBtQqUE8SPX8cCYkU5JnJ1qmuroAff1Kh4QdAKtg_C1f3VBEIP7yWVr-f9boGBQzQiLXOE026MIAFqy9nwxd9vMR3oXaXGP5ZGGvXKMSxvYWkydLbrIWUzkImsSvqRbB2AdH5aJ2RijKf--YS7p8tDF06ld0KP-2mx5WRUF_AmYKFMP2p-9XNr_xGUubAFySNj7bwdspSrVfPeFDHDs2JFXnmwrjzbx9POiFhgtbYwDm_RmbbyuOAGcBLin00kwFAaq7uopDilvEw0SyZ9Z7JfFtK9lXRKomm8Nhisk6UgX7XwHthJtpvjEc8zGJOL6IvZJIeQXY5pO1m1b-VNUf6fzTYWYOanXPaxWfV0tzf4k6Buy6TbgKiJNgjhg8rUhxZbkZODXPN_3mceDc1F6HG8Rs_6FWUC8E5Kn-xLIkGt4nwDWgu7EpokOPUldImMUUfXq3zyLg0YCpy0_ing78_Rq60Ge5OtC-WfhSwnUjhBGQv6katrNayZs9zxE9A-mgz_EcWzK4CaebKt-Q4Rmq7tHXYRAqtr7W1T0_dvTS7-4KI5OaUlPoeTEXpbCICkSxR_AK4R8DrPX-OxSkLyiAX1oZW8J2Tn5ZxLrsrhWPkUiKSErVr3HuHR7R2j3dQ7C7Hsi7bj358OWKEmtOXaF_f166GjHyWM93aumT4AiCnSsA9QyNJjfeeHeeWY6Hp4HeX34giolWSe-zj1_guAEQJpOpWDeKfuxRQXNly9gRs0CP5hN935IASzkmD_rb7lxP5z0TwWFOmtTeMT5AO8CKtup4fSJ4zuB6Hm4u-W6DSxo1o8ZjvxOmnfnOemumByCzFvcXVUa52KdswNlQX96PJliTBkoAMD22eExcBpmRaeGNWg89aaGdfRH48suq7Pmk3MkxB21cndSR5nwYuDmaAz4dXfwfL_4tD-NQy4ySA8NWndnzRiXcfqvu_ROi1p5BP3ocgnpYpqhDtKjmHP7xpd1TfgjlkfaXTD0dVadHackYU5IWZb9ImXFUD-kVVkPphNaO8oizQymZT-pE6xBJvARXrXfNmqxG8cPTu-VyxX6kgLgAUCUbAMuwQz8U43aSaIL9VHvPI8gL-5ZesH8c8OViZoXECnOH5l-3f5K_8MI_QcW7QEqzVOhocEjMqLTQbGyJQPpjbCjk099bM_My0leieeHSyM4UWO6uXSNoXxdFPdpMF4bBD3qaoWMSQZhk7dgFCwG5HQRsvjs1siyxRKsN07ioO3hk33J3JEr9ffm5oj-7PLYIXKy_w4qC3NuFXLcd5MQc=",
  "id": "rs_03b5ddfae23779b0016ab43971c59887d0be8783531597f8de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.426,\"left_y\":-0.136,\"left_z\":0.035},\"note\":\"The right wrist camera shows the pen extending ahead of the raised right gripper, confirming it travelled with that arm. The cap lies crosswise near the bottom of the left wrist view; I’ll approach a little farther forward and sideways so its body reaches the left fingertips.\"}",
  "call_id": "call_9DB1KvBqMNxNjesSDUdl5Ep7",
  "id": "fc_03b5ddfae23779b0016ab43973605087d0b536b099813fc44d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9DB1KvBqMNxNjesSDUdl5Ep7",
  "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]: [-0.4721, 1.8343, 0.9554, -0.0803, -0.392, -0.3393, 0.9963, -0.0059, 1.0203, 0.395, 0.3141, -0.0746, -0.1619, 0.0626]\nstate[eef_state]: left_x=0.4111 left_y=-0.1301 left_z=0.0256 left_yaw=0.0505 left_pitch=-0.2942 left_roll=0.1141 left_gripper=0.9963 right_x=0.3504 right_y=0.0147 right_z=0.1671 right_yaw=0.1335 right_pitch=0.2478 right_roll=-0.124 right_gripper=0.0626\nstate[joint_eff]: [-0.1709, -9.0462, 6.8718, 1.5751, -0.315, -0.1294, 0.1197, 0.0342, -2.7966, 6.9675, 2.2149, 0.1685, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277a3586edf8b42f0640e8b0674d9a8b5413ac632c4baebce360e96a3c1782ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d294a2ec11a2bd08b4149cd8970c5698017940f907b78655bbe37a11e2ce19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2deb410adc5f50987e54e801f263d08c06becde66d5ddb96343ad5cc99ec37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 2.175 s

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

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5419, 0.016, 0.2897, 2.2013, 0.5987, 1.2938, 0.2008, -0.0586, 0.0512]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0119 left_pitch=-0.1661 left_roll=0.0622 left_gripper=0.016 right_x=0.4496 right_y=0.101 right_z=0.0048 right_yaw=0.1317 right_pitch=0.2565 right_roll=-0.1088 right_gripper=0.0512\nstate[joint_eff]: [-0.1983, -6.0376, 6.5846, 1.326, -0.3004, -0.0757, 0.0464, -0.5128, -7.7333, 2.0991, 1.4921, 0.1343, -0.0122, 1.2723]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4484, 1.5818, 0.9558, -0.2554, -0.3893, -0.3244, 0.9951, -0.0036, 1.0187, 0.3962, 0.3489, -0.0563, -0.1474, 0.0626]\nstate[eef_state]: left_x=0.3957 left_y=-0.112 left_z=0.101 left_yaw=0.0536 left_pitch=-0.2282 left_roll=0.0831 left_gripper=0.9951 right_x=0.3531 right_y=0.0122 right_z=0.1763 right_yaw=0.113 right_pitch=0.2851 right_roll=-0.12 right_gripper=0.0626\nstate[joint_eff]: [0.294, -6.653, 9.4974, 1.619, -0.1685, 0.1978, -0.1197, -0.4308, -2.0718, 7.1453, 2.0293, -0.1636, -0.0464, 1.0281]",
      "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]: [-0.4721, 1.8343, 0.9554, -0.0803, -0.392, -0.3393, 0.9963, -0.0059, 1.0203, 0.395, 0.3141, -0.0746, -0.1619, 0.0626]\nstate[eef_state]: left_x=0.4111 left_y=-0.1301 left_z=0.0256 left_yaw=0.0505 left_pitch=-0.2942 left_roll=0.1141 left_gripper=0.9963 right_x=0.3504 right_y=0.0147 right_z=0.1671 right_yaw=0.1335 right_pitch=0.2478 right_roll=-0.124 right_gripper=0.0626\nstate[joint_eff]: [-0.1709, -9.0462, 6.8718, 1.5751, -0.315, -0.1294, 0.1197, 0.0342, -2.7966, 6.9675, 2.2149, 0.1685, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277a3586edf8b42f0640e8b0674d9a8b5413ac632c4baebce360e96a3c1782ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d294a2ec11a2bd08b4149cd8970c5698017940f907b78655bbe37a11e2ce19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2deb410adc5f50987e54e801f263d08c06becde66d5ddb96343ad5cc99ec37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl5pMZBGQM_e69LXQd_rwkJm-0JWCD_b9NLiFs0SvurZz_DZaHtDOxdqjNNSQgF_-o_NkXdwOYjxA6wa9tMeWxsSg3C2PAt7T8UHh6SR40vNxUHBJ24mwtFdTiYFjGCwe2v7SlCYacH2FHoKDS2SBZnAwAl6F34Ibp4_1dJRr_I-4J5IZJD4W86npPJjqetBWKqT6VbeSIdMQ0rOykMdgPxI7Tpz_Xo0ozdlRJX9hiNrD0RsD4OE2NNR1Y_0DOjzbSduz8AghOvKInlQX0JGAE3dGSwiMX88-2AnvKUcWgkJfYfMHKIopG62az7zsBiYYYoY8sNSNxG2XMMqqC4T2-e4rEWE_r10nYhsMYH0FEI5BM2wH5ixQyvO9eWoLD6E8CQ9u4AZu6W90J0uaQubG-Vz-YJkDP_57g8w7kMIk2SuhihxJGdGLN0K3pAEkQH2Lq61-A9Pmr2RUUn3qIEzEvmCfkmNHdmurec_3HYiL7SNpYx3yHTL9fygm9uhVZ4MopC-XJ3LChtavXfIs2W4n1pbLfL23u8NzVeArR8M2d1FUTpwPSDAnkMGerK5yAzmHPzovMCf2NVtbpcmHuJibBShrz_m5DmVtxJbHpYmh5Rf7R3d1jGdCeWgASe-JBG_ueL5u881aZQZf-2Uj_ddenvtHQOM7HAUWwTGb3AR-k_GONTmkwPsUULyaEazK8gNSr2CsI3v77RgR0y0Re8cIzOmecOtX8aCa1TP9cYCKSpFL4Lp_qKfB0izhf75Q4tPV9oImLl019Kl9HlwhVEpX4Z3JU0885M3ZH_Wz-ddQ90Xq7HTjO5-D9sb9s6V6uQkWv9cSdOgTE27PjRzlF1z4xAjXN9CM0RKetDKTLNLyYcMr-NpQswbheVfgSsTT6OFaCIMy-qGj6WQq-n2OfRAaa2zRCx3eT0F-XDQKHI6K-PL51Nwlf91XyEAS6lXLnpkoJ6YTTUtawOrlliL1bxV13snZDLcR4nuKlEhc6EZBDeWVSvBAJS-KklTQTpjQj3Qet8acXIXuiU7yvtywQGuAprJK-t7U4KJdDDDsQWHisdVXjnEKbS_14XItazmsCwcxqjXTSOPyzpLVEw6J4g6iYjcyPEITvGfvmHKmtP-IVd7azucZNQmQ-JsBsu_9dRfd6MRgOjYh2HZrX30G4i84McIb4AI4bJdvHR-QiBOwo2zfMXSj3_MxOnqjyxPB9bE3454a0c4mm7qr-81tF7f6brOPWzxGkq5ezkPkWWNrW8Oum7nYr266Tv6BQ5v-yQfm7vDwynThLkwfsTTKxIpMIhRZZ3fB-hDTC_aawRftkBJ_wxanw-DRcMI8gZOC6AbKAW4roRLPylHCBZFYZW9RGCkwGjNZZA5A-aXr-hTon9usOKcQfnr_8KHnoK1V_IEbcVTzR1k-EiJA0kkX3YoAc0J7FZ61WoHLZgBPIW-yAnfsbrSgWVspT33m5vUfQtPmf2Lr0KgNnwPFY9vPTAuDAXYVe-XXYI5OeuuDE5pVG__D4XflR6aOk3BvO-r2ROQ_AeEYmSURLG9F1M_6zCsPEK_BJczeX5xWELnIhOIo0kJCigDPraTbBIwMd8BAM_4rZGJpIvsnCyBmBM3NbU_PcV7d3_7B3iCo0ab2ycOnrrpTHbne0C-Pw3AsWiAREFVN-6NgRkZli2AWnF_JxpqKMWZSDxPTN32JJRevNhZMphE1-2DNXwmknxfjjesjBVNTiT2d6p85DtXgZ2foEg_EhoJV-BGYhhdx8OX8ejjlqN_0Vd-8qJZunDvNcxQFYiLt-1U8dYlhoO2syP2BbZdX3XPQRLLZdcMyDNvBfrCjGOjhQlDwUumKec0KnKlM5flEftHXDeP9VUKZhmC3OHjFMlzyGWCn3S6yeSmeu-I1JF8ESssY_C1pDkPqR4LPC4AetHNN6XtDQQv4WukIA3c6D_c_cLTcubAfnWSnWzALkzxxtf7L0s-IfABOK0oip4cjj_njJd8jhN6i9wrvgexsfEG-_RM3fk6q2lyhkynKqLPCKJYuujIdUyhZdnHERqNsQU8x67BYLM6BNh5Xx5fPSS_jGXuf9aCK1CmSsJuk6t8_8aZx313HwuIgcVZvhb3xwJ80lKYbQMt858PjDeeflYkm4lkLQN3_lTcXXKPJ1Z_mLLXANw6fMqLUxDhTTkdT4kgNPDLQUp5M2VJe2y3QhynPJIKSZiD34_VNSLH4oj8taWM4HqOcez5DR_wy9_TZgZ",
  "id": "rs_03b5ddfae23779b0016ab43976067087d09c8f3dded5be3ece",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.432,\"left_y\":-0.13,\"left_z\":-0.012,\"left_pitch\":0.12},\"note\":\"The cap has disappeared below the left wrist camera after the forward descent, which puts it near or under the fingertips. I’ll finish lowering with a more forward tool pitch before testing a grasp.\"}",
  "call_id": "call_Ggfkv5hoJYdfY5QNspAyK94c",
  "id": "fc_03b5ddfae23779b0016ab43978063487d0bf97b1191dd4cc0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ggfkv5hoJYdfY5QNspAyK94c",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5076, 2.0949, 0.7097, 0.8722, -0.5541, -0.2356, 0.9965, -0.0059, 1.0203, 0.3943, 0.2989, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4388 left_y=-0.1336 left_z=0.0029 left_yaw=0.0699 left_pitch=0.1382 left_roll=0.0586 left_gripper=0.9965 right_x=0.3491 right_y=0.0143 right_z=0.1632 right_yaw=0.1315 right_pitch=0.2319 right_roll=-0.1227 right_gripper=0.0626\nstate[joint_eff]: [-0.6906, -6.8991, 2.7419, 0.989, -0.2564, 0.3004, -0.0024, -0.0479, -2.7009, 7.0769, 2.044, -0.0464, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2455b4849eb8dfb5be4f6eeff0cb7d6125c3a578482080c2c1314979aa3bce99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2680b24d1605795fa03820054a599d24c7bc9bc2fe51edf9449aa961ff1ddd08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc1f907073e7df0dea3fea50bc0989089f5c3f4c51716cfdc023a407f2be4ff",
      "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 · 4.519 s

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

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7486, 1.4448, 0.9337, -0.4084, -0.569, -0.5415, 0.0161, 0.2901, 1.7927, 0.5964, 0.8738, 0.189, -0.0643, 0.0567]\nstate[eef_state]: left_x=0.3329 left_y=-0.1744 left_z=0.1324 left_yaw=0.0117 left_pitch=-0.1661 left_roll=0.0625 left_gripper=0.0161 right_x=0.4443 right_y=0.1017 right_z=0.0865 right_yaw=0.146 right_pitch=0.2421 right_roll=-0.1128 right_gripper=0.0567\nstate[joint_eff]: [-0.1026, -5.9009, 6.5026, 1.3016, -0.2955, -0.0464, -0.0024, -0.1709, -9.388, 7.706, 2.0098, 0.105, -0.0171, 1.033]",
      "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]: [-0.4721, 1.8343, 0.9554, -0.0803, -0.392, -0.3393, 0.9963, -0.0059, 1.0203, 0.395, 0.3141, -0.0746, -0.1619, 0.0626]\nstate[eef_state]: left_x=0.4111 left_y=-0.1301 left_z=0.0256 left_yaw=0.0505 left_pitch=-0.2942 left_roll=0.1141 left_gripper=0.9963 right_x=0.3504 right_y=0.0147 right_z=0.1671 right_yaw=0.1335 right_pitch=0.2478 right_roll=-0.124 right_gripper=0.0626\nstate[joint_eff]: [-0.1709, -9.0462, 6.8718, 1.5751, -0.315, -0.1294, 0.1197, 0.0342, -2.7966, 6.9675, 2.2149, 0.1685, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5076, 2.0949, 0.7097, 0.8722, -0.5541, -0.2356, 0.9965, -0.0059, 1.0203, 0.3943, 0.2989, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4388 left_y=-0.1336 left_z=0.0029 left_yaw=0.0699 left_pitch=0.1382 left_roll=0.0586 left_gripper=0.9965 right_x=0.3491 right_y=0.0143 right_z=0.1632 right_yaw=0.1315 right_pitch=0.2319 right_roll=-0.1227 right_gripper=0.0626\nstate[joint_eff]: [-0.6906, -6.8991, 2.7419, 0.989, -0.2564, 0.3004, -0.0024, -0.0479, -2.7009, 7.0769, 2.044, -0.0464, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2455b4849eb8dfb5be4f6eeff0cb7d6125c3a578482080c2c1314979aa3bce99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2680b24d1605795fa03820054a599d24c7bc9bc2fe51edf9449aa961ff1ddd08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc1f907073e7df0dea3fea50bc0989089f5c3f4c51716cfdc023a407f2be4ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl8E38E6UUdA-kB2l4GH3Q_W7vB7k2JT8VLD1-PaWQHTBnlyQc_CgE53K4zMjvPNMCGJvL92oiSz1oBgkgbiBjvBlwn4BWuEMKXr4NQaq65yF2DeH7g9Hn87aSMZBC5SVgmdc-2ork6RSEAjhpVUdrhBatGTGJEIrX61ql3vV6-MFIw3vhPKnUnOXbvlRMI7NKSrMeZtoRuwUGItpJGpmmTllSaQ7wzcZ9pSpJBKM_1jMp7wBwzi01n13rWli_ZDTViU82Jwonr90dvklqR4jcrMcALMFKH9x_PhQIpSIsxwVwBPyXYirbOvfVFnM097ziVP75JB5AHlh7X5zAnPIAT5eTHYIOLhPRdm71wgKIcQyWKD7w42WX_QjTfNlSzoSzO5kxBowSso8OtC1QO5bOwUf5WkWktTbX9q8Hx9jRhfGplU_pLo4fjtVG6CBj5cC3jEme8vPhCoUEmQj1T5T5frXUOCI4aukz3UREuA6L9bl788p-Mc7WIJayuEUZ0QrJUOysof_biRpx14OHlcOPpr0ZLCvxE532x138ttHCl98AcwEvhetdC5YfYxfZJIAUkOoENrC911MSbIkI6kKsGieizlcjn3c-PrVnx0R8QvdgIJ6xIi2dP5YGxyhUmZ6ibpy0EtFs3aJZPG0xImtN1Vic9zT5S1mxDV_iHr-ou-xonp9VLtFxlJadcjCeff61pxay3K2hOvzNZQ6GtCcPtfeXzEiRHHOjo1Zm4la1kC_VWCBM_ocnlxLa8HjQwO5nZ0lfRozRl2i6e8j7nK_KE2DriVdx0C2PoILYikXhHRzSer7nUCcfCaWxoTUKk2q2rohiqLdz-_jUyc_4tiiA05FJvO6I_XqBQw0vtZLGc_D9BMuo_6muTLYpEH8QVfP1pvSXLURCVCIoLZaHkLH1wT3Q-zm29DRTUCX1XSzLq2JorZHjbpbKiHok43SG5pH-HTngs6NMRRD0gavE-Xi5U4CDqE_jBBFLaRpMFHcQnM_TVY6WvRm9CH3gAqpLlv5TxvTSQwojhu6WHx7MuDRF2nwxHJ9d9pmUdnkPl-RXK1FgXGl0POTxwWHsI9VFZuWSHniZ9QBm5otsceJqCKVUByS_Vp5r2lf1pDR1mt1t_sNFDpXgwLa8TxBYK8Ld-QpJz9JZj85KVoliQ2HK50mfJqQ1CV6LNLQnxDRvsJPxCEy12IDCKoVEtbrJUsncvZ9HYh4X--vQKHIcALHVG548XDA==",
  "id": "rs_03b5ddfae23779b0016ab4397ba3e887d0943d022184badc76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips have reached tabletop height over the cap’s last observed position. I’ll close now, then use the jaw gap and a lift to tell whether this more forward approach caught it.\"}",
  "call_id": "call_l8Vji7VJtqOEVSyiUEwqvxQf",
  "id": "fc_03b5ddfae23779b0016ab4397bd37887d08f3097e802e9ef44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l8Vji7VJtqOEVSyiUEwqvxQf",
  "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]: [-0.5072, 2.1094, 0.7021, 0.9092, -0.5541, -0.2417, 0.0073, -0.0063, 1.0206, 0.3943, 0.2947, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4387 left_y=-0.1333 left_z=0.0016 left_yaw=0.0748 left_pitch=0.1508 left_roll=0.0448 left_gripper=0.0073 right_x=0.3488 right_y=0.0142 right_z=0.162 right_yaw=0.1309 right_pitch=0.2273 right_roll=-0.122 right_gripper=0.0626\nstate[joint_eff]: [-0.0205, -10.2906, 4.3145, 1.3358, -0.149, 0.0562, 0.5446, -0.1436, -2.7009, 6.8308, 1.9365, -0.0415, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6962b3a2b3e1628a36af154974ab2bc4a2d12bdd610e41bdccd92328bc5844d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fa08e9171545054960e0decd48f1e022fc91bf09ff48f56223c5b4e45e56b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facf17ea5198e3a687a5f655006c7c2ba426a89b34040aec10f3398d2128ab96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 5.429 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]: [-0.4484, 1.5818, 0.9558, -0.2554, -0.3893, -0.3244, 0.9951, -0.0036, 1.0187, 0.3962, 0.3489, -0.0563, -0.1474, 0.0626]\nstate[eef_state]: left_x=0.3957 left_y=-0.112 left_z=0.101 left_yaw=0.0536 left_pitch=-0.2282 left_roll=0.0831 left_gripper=0.9951 right_x=0.3531 right_y=0.0122 right_z=0.1763 right_yaw=0.113 right_pitch=0.2851 right_roll=-0.12 right_gripper=0.0626\nstate[joint_eff]: [0.294, -6.653, 9.4974, 1.619, -0.1685, 0.1978, -0.1197, -0.4308, -2.0718, 7.1453, 2.0293, -0.1636, -0.0464, 1.0281]",
      "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]: [-0.5076, 2.0949, 0.7097, 0.8722, -0.5541, -0.2356, 0.9965, -0.0059, 1.0203, 0.3943, 0.2989, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4388 left_y=-0.1336 left_z=0.0029 left_yaw=0.0699 left_pitch=0.1382 left_roll=0.0586 left_gripper=0.9965 right_x=0.3491 right_y=0.0143 right_z=0.1632 right_yaw=0.1315 right_pitch=0.2319 right_roll=-0.1227 right_gripper=0.0626\nstate[joint_eff]: [-0.6906, -6.8991, 2.7419, 0.989, -0.2564, 0.3004, -0.0024, -0.0479, -2.7009, 7.0769, 2.044, -0.0464, -0.0611, 1.0281]",
      "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]: [-0.5072, 2.1094, 0.7021, 0.9092, -0.5541, -0.2417, 0.0073, -0.0063, 1.0206, 0.3943, 0.2947, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4387 left_y=-0.1333 left_z=0.0016 left_yaw=0.0748 left_pitch=0.1508 left_roll=0.0448 left_gripper=0.0073 right_x=0.3488 right_y=0.0142 right_z=0.162 right_yaw=0.1309 right_pitch=0.2273 right_roll=-0.122 right_gripper=0.0626\nstate[joint_eff]: [-0.0205, -10.2906, 4.3145, 1.3358, -0.149, 0.0562, 0.5446, -0.1436, -2.7009, 6.8308, 1.9365, -0.0415, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6962b3a2b3e1628a36af154974ab2bc4a2d12bdd610e41bdccd92328bc5844d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fa08e9171545054960e0decd48f1e022fc91bf09ff48f56223c5b4e45e56b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facf17ea5198e3a687a5f655006c7c2ba426a89b34040aec10f3398d2128ab96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmB-s4uXZzENyc3MAYZF7Z009Y0zyk8DO71ksY9bRoeMM9zsFqpPntyR7C-BEb-JxO86b_z9lJIQ7vUgAvHzbmNKtNkPp4tCATtQpNzObWsbIMDomRrrcGojPEkdAlAyt2S8dWGIdXqHNuc2yTiVXeCdoJDALlzS3QelDOZgRAzjQ-sOjhDPa_PEwgUe3ABKMrRUf8qcam6wwm1tlSP6aYRmrXpMDR7NOyMH7mYkfSrJ0x9NOOnBm4UH5u4V1j7eViebWwP5UCvnqu-hmNvbEJb8ZOH_uxXhSj4aGf7Ga07MRCszCRrZiE6A8W5O5hoLyo26UsCqSKT0ZjTEktT3gAAgXq7VqAGCyG3ru5NRee5wemP17eURGrC0qefKShXIS3VYMZTKaQktuWdczmjWPw7mrkJwQ7-yKcPD18MNd_bX07U8c4RnGAB1ODWmTYO2NXRnsOJbAY9LFMzTkk0hpnsEuuTeTcjT6MCpFY0bP5ltTGaSbVYST77XIgck3T2iPIceP7Pc-upfACamAnrkYvJN_Q06WVbRYP4PrFlw3kAEhzpNHO8j-5JcHlU6nASpvCE1Q-TaJMcbnii7UM45knbOQBQGArjVXOScUYQw9jKoPlObBK2cSOdrH110BB2l-f_8OuC-CWyyJTisqE9iLVQeEZ_7kg1t9pOVlea_6GSU0MSXikSc2cvODFSpNPglLDjZshiXvh9Wt45zdMkHsy-BMbrsZNs4U4rsrpHmTOSw5ckp0Jg6wKqnlTyaZxQNZQ--K-yFKn-FWuWJR5lai0VbAQuYFkn0vpNvhtlY6VfsCQ5tKdS14kkRkDtLZvqqmawZHrCsZ4E5CKv_of7KeYfhyUIKM-7N7JMdsx2hxyc-6OtaVabDKMKeihhN7wIxXleEDfHSDjxJWrCkyMrkeurqcwmmUseJeFsXEkMuDEUuSNTRZkcIDedrgNjzToH9hi1Ancw7NkdXQt5fw6Xbg5r90aaK4HGM8FLkdFfEcofxqI5jAdsADYFxLuX3j7INawWQ2ABppRUiibsbdInmo7jS8DTJsi7lrWmAdbGE9sSdvlih-EDamVtMWB6e1JmMCV8WSOm9h07qEgWybGU8B8Gri02aJ1R6PnUDOMh0OiwnmC3PGbkIjcA9SULRU27g5Fqy3H-X203gTQbyPjjOkzxcIv3MoxYFmefwVcBmyT4xcChEq95YfNmvmaW8zvs4ZbTCb2fMvxclWC-5zGRFTg71-vMSdvaL1zuS1yPMlCJ3YWMieYqSKX-P387knGICmCur_bsi_5Yacocm-V-bRCChcOMhIWG8UyxCWoBpYPKSAOlxMdKf94-lPCwXXFcWxC_8YHdVMYjN6lEQN0ft_azNOlZEMk7vn_OUU4Qr9uyG5-XmjLJg4uqUw5EoXgvaXmQkwyB8wHShGZoQaGMlKq2cBqbfF8SL0kIhSK9KA7OZMexjpqXzpA9wJztPNbQwyoS3FAaWDGtc_jnVBcPCOodG9DXfV4SgeOYCGepggfEUl9lpZYzLUQLNKa3chgQ77hMWGW6XagADodeXkN1xLnMCUDV4wfPA6RikG4y9pjqPdcyug5AUt5tctlAgM9uwGB4yDLV9q1bvPNNqYWPWbaMPFAGmdmCp9s5SOHhkRYcy90zfkgLWVzZKktqOOGIaPg_0srGRyawzQAK4nnp3zXQX4L1f6QapVIiksldPcS4CRQBfYmiBvDsYiV1GoRkS_-F0my6a28U88KxhWB1KdCEI55XF3THUjlZXqFTZ6xbfhoZutybjrL6EecWWIJh9vt4gNd4X_zGXUtFThk44myb2BeF-2ZMgs0yfJ_x-ktPOAaibmvbLvl0yeE9EGVANyaBoR0_KQyZoQZDUMfboetp_zFPWtnjqlFGUtTFy3Dj8aGiFVmO6Tdf0JSgDfGvf861hjjmEEc_J86XERzCG8gulfgHkRchvV1lZw9ro00nTr6LRcbRrRnwJZqrnPkze2TH",
  "id": "rs_03b5ddfae23779b0016ab4397ecb5487d08253dc7f0a59fe94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.3,\"left_y\":-0.01,\"left_z\":0.17},\"note\":\"The left jaws closed empty again, so the cap is not at the point I targeted. I’ll move the open left gripper clear of the left tabletop to expose the cap in the overhead view and re-localize it rather than repeat that grasp.\"}",
  "call_id": "call_PYCF9A81CWkW7aHSegLWBFbJ",
  "id": "fc_03b5ddfae23779b0016ab4398060f887d09d4172e7b2e7c147",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PYCF9A81CWkW7aHSegLWBFbJ",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2386, 0.7929, 0.3851, 0.0456, -0.3496, -0.1349, 0.9952, -0.0063, 1.0245, 0.3885, 0.2848, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3109 left_y=-0.0097 left_z=0.1746 left_yaw=0.1247 left_pitch=0.2305 left_roll=0.0059 left_gripper=0.9952 right_x=0.3471 right_y=0.0142 right_z=0.1558 right_yaw=0.1302 right_pitch=0.208 right_roll=-0.1198 right_gripper=0.0626\nstate[joint_eff]: [0.2256, -0.4444, 10.6188, 1.7949, 0.0806, 0.2515, -0.0952, -0.2393, -2.5231, 7.2547, 2.0195, -0.0562, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5e06f90b1ace4ede5b62037e03bd2623419f887bf465436da2aef72715a21d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d8cf82fddd0e9e9f592a3fda3ce81d4eca10386c0d1b58b6a787d7b65ebeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec1f90d4fe737f26a28d9b5ef4f494a249d41b3cd341a955914fe9267e8ec63",
      "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 · 3.651 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]: [-0.4721, 1.8343, 0.9554, -0.0803, -0.392, -0.3393, 0.9963, -0.0059, 1.0203, 0.395, 0.3141, -0.0746, -0.1619, 0.0626]\nstate[eef_state]: left_x=0.4111 left_y=-0.1301 left_z=0.0256 left_yaw=0.0505 left_pitch=-0.2942 left_roll=0.1141 left_gripper=0.9963 right_x=0.3504 right_y=0.0147 right_z=0.1671 right_yaw=0.1335 right_pitch=0.2478 right_roll=-0.124 right_gripper=0.0626\nstate[joint_eff]: [-0.1709, -9.0462, 6.8718, 1.5751, -0.315, -0.1294, 0.1197, 0.0342, -2.7966, 6.9675, 2.2149, 0.1685, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5072, 2.1094, 0.7021, 0.9092, -0.5541, -0.2417, 0.0073, -0.0063, 1.0206, 0.3943, 0.2947, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4387 left_y=-0.1333 left_z=0.0016 left_yaw=0.0748 left_pitch=0.1508 left_roll=0.0448 left_gripper=0.0073 right_x=0.3488 right_y=0.0142 right_z=0.162 right_yaw=0.1309 right_pitch=0.2273 right_roll=-0.122 right_gripper=0.0626\nstate[joint_eff]: [-0.0205, -10.2906, 4.3145, 1.3358, -0.149, 0.0562, 0.5446, -0.1436, -2.7009, 6.8308, 1.9365, -0.0415, -0.0366, 1.033]",
      "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]: [-0.2386, 0.7929, 0.3851, 0.0456, -0.3496, -0.1349, 0.9952, -0.0063, 1.0245, 0.3885, 0.2848, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3109 left_y=-0.0097 left_z=0.1746 left_yaw=0.1247 left_pitch=0.2305 left_roll=0.0059 left_gripper=0.9952 right_x=0.3471 right_y=0.0142 right_z=0.1558 right_yaw=0.1302 right_pitch=0.208 right_roll=-0.1198 right_gripper=0.0626\nstate[joint_eff]: [0.2256, -0.4444, 10.6188, 1.7949, 0.0806, 0.2515, -0.0952, -0.2393, -2.5231, 7.2547, 2.0195, -0.0562, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5e06f90b1ace4ede5b62037e03bd2623419f887bf465436da2aef72715a21d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d8cf82fddd0e9e9f592a3fda3ce81d4eca10386c0d1b58b6a787d7b65ebeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec1f90d4fe737f26a28d9b5ef4f494a249d41b3cd341a955914fe9267e8ec63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmIxQw69J0CWG8jyeCzQoXDagnqh2h76DOFF9RCnSOjaY3u8ehxUUUAJl8yPWmTmDS8FNRSWSEVkYvh7g9n4L7PZBnspU8xMZyS_i7x7RyWLstaArcFMuISZtuPcVZCKpVd-2RvqAC0PpnwYPLz7hfKwpmdU-o-8fKO0OIgAvEpbIoqxK3Mi9Xbbk49e9YiNkujKUXFaTZPRZN9maKdbW7EcEuF-OY6HhEq0exn2e_OV9AlCLbdo0fAvpaBztZt3rfUAeyIQMV053YFJkIqa1XMkLuxJB6W1h-n9KqIR3Xvs0pttsBDfkq1mbKZtwiLS-BP_lzJ5y7M8ETYnTgVkRnLwycCQm8hJcvMX_ePFFQ-S_YGXJAMrF9-Cteq4XY5b-WNh4RS80H_L_9gKCBEh6gW_7cH7AtwkxazHuMPtLeqHHrPe1KEtggIT38SPV1Iu_onqRaa7BhO5jfubYC0_gzALxwiuIwvbk8G4pNpNJYWtyCKi6cLhfOj995Oy99Mxwq2I6OsfSqeU-y8628h94wn4oOhc0c3ZkDIq6KWVIC4QITLUHVNkhIER29PU9xJkQpeLpbfgs8JweELKccRHsWiCqLA7eeHWq0xvBz68-wp9F6IsN4SYjlTTVlgWgxREsEGWqW4DD09ZZ4Ou1CMrRMm6bzyUvsUVTfXrxUupt-SZR02_jfdDmPIciX4OK3KG9J-YsTpQTFS6BMQi_l49ATqweu6xQduKr9GkAYEtDlr1I0JaE2etoV7aCUtdu3djmNGv6HlL11K-E8ev8969TipbKNc04zXDcwETjSEUIBsks5Lu4PaeSq2c3PBKErqUk2U8TTOOL8sbT_gIKw9RiWRGgmlOdXW3ETarqjpui-XOoNkFRp2vZnSRCriBLjAdZUGUxzZErqrkXeQIGMtvRsYQe2xo3IjdKbUzFRjPEGfXvwK-xXjZhiKpSeoqvga0fDb9j1ViKxUinMrLLYLvV9J1QpDqGPWBonwp1T33uoWN-bCipNCJWWI2ADuud7dq7go4e44d-ykJmHV3ElgyXKWZktOcsx55qs9341cpyvt3ipt-AMr_-4gXHGzFKExK4DobVdxSuYS9CTBAibh2xdqeFbAz-ndGLIEnM2R49VSYxaoRHKL1-IKcXJyUbfX5M5mUOjMdPq_tWfKAv32OpOCVf-H497RgXv55bIu9DkKrfcffjrQemDvISCoETVyipl3yjBWREhC05WuAhhNshDqCNj7gmonUc5Z7TCuscQGnVvCIkGeQ3objUT7qulf5QbyohqdiDcaPAG2P4wR1aWSlsFeoIma40inHvzoy7-PH1MjRbZbFOFaBFvN7sKi3f1CJvghwlYiwzcYnPPbacwggQG8PBdvudfDeeW5hSwcQCiVXpiEMl-6znImmACoXFJF86mfXQga2bcxyxvJPGqGyPavNk7k5KRnUl2WVOEQklObepnM40UJ0f_y6fz1yMexBmhdpsqTLUgBsEa3WaUIoeVQ7UEc9kVJu42U2o0mD6qv0dMOEh569G1vUy9VJ8bbo8sqN2_liJvqvfNneAPktOoEV4ZDj0gfuPzsV-d8CR9wTkk_NQRItA03Oso7FzfUrAB1Ng5IPlvNhqgKxp6KZNkGOHaL4f_XD_6VxOeXd9Qdkdk8c8CG-wjtY0ik49m_WGcy1jynp60oJ0yA4mYs4CG-iCW6A2NkObr_aBZPY8OEJSiTN1jV35khlKIkaYaJ80KNcZt9qngyGYH4M4W88L1RI3d8K1T572cWvWgsudDT0iewPtLzJQQkzAF4A9ZX4Jq2Oiqj4VvGr-qDGO1bzh-74z5ESpCWdeETIU0yE_y1Xiw9AQs5r94IzZkwn_pOEfroYgFq6SmI1F207C9-lKwB-p2ADK28SK0MX30Oe3EPJe2ql1bduGl8lYZfK3rdyQAJ6xiOWRYshz8wapNXNRNrYMX2Tzxb2TGLbT5vUnqfRhAEjZkdky8DoHNuhgJv0_UaXyGy7mMlmicaa6jpNGmdxQMZ8U9pGbVSu23WWAulbM7SjErs988LHVklaIJki9_cgpxQ0eU_ac1oqan18wMqoUMDTWz6FPAAOYE-ymMK6CMFd3IFWGZDoqhOXsef1QYNBiQGcLLidiRjOn36XtzJeUy_EaIXpfGjWOob7dVw_F6c9C5M1442JGgmIwsq3fM9qCS5ExG4hbkRbVJZ2cllCz9dXNjSPzpzIWzbeod4k8emsr38sEvvnxuSsZMXK8KWLZcOsZTmQhdESOgo3or5W4PY2ivADqc98yoV34YOK8cQQDJsTIv6O0-BqkCOoZl1oQxVrnELFU-M-JHxZT1euQjv2QtHmC0-99LJyddPfIeHRJzcYR8A_IG4UMhEQ2EK7n6tzCDC_tampIVU2womaARKwiz9z3rCmE-JxPXviF-jN6fGy0vZleR8j6tUZFi0DCJCIfh0Y297O0coW9WILml-OdG0KM3YvVDe6gMNmVcVoeQgjxjr8qDfKUqqX2WSdlmeOWqGXEt0qmRrBEtciy9RMtT5PwooFf7D-ga42OV0gpxWjb5ARnEU38qk0ZAPan7u1jLLEjmTYZ-CtQmV7JhNYJqe9mYB1dcrthRK3VkFrdIAVq8_HqiJnbD_94R_1lPKpCtf6OnAme2HckKz-dbtdKRj8ue6ZcQ1jwD5g1YYJHsv08W6g8Tk6Geq3AcXG4nunGRMUpKcBcKEYQ==",
  "id": "rs_03b5ddfae23779b0016ab43984899087d08d5d7b27faf8a43d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.11,\"left_z\":0.11,\"left_pitch\":0.05},\"note\":\"With the left arm clear, the overhead view shows the cap has been pushed back toward the left base, around image position (57, 126); that explains the empty grasps at its old position. I’ll approach this new location from above with the jaws open.\"}",
  "call_id": "call_N71fWFXEiekyCggLijjVaMLE",
  "id": "fc_03b5ddfae23779b0016ab4398772d087d08da1ad0f97a4c43e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N71fWFXEiekyCggLijjVaMLE",
  "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]: [-0.5987, 1.3258, 0.5274, 0.0971, -0.5976, -0.3962, 0.9963, -0.0063, 1.0271, 0.3874, 0.2684, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3349 left_y=-0.1038 left_z=0.0952 left_yaw=0.0921 left_pitch=0.0063 left_roll=0.0491 left_gripper=0.9963 right_x=0.3456 right_y=0.0142 right_z=0.1506 right_yaw=0.1297 right_pitch=0.188 right_roll=-0.117 right_gripper=0.0626\nstate[joint_eff]: [-0.3214, -5.3402, 8.5402, 1.6679, -0.4176, -0.0513, 0.105, -0.1983, -2.8103, 6.8991, 2.0195, -0.0464, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807ed01efe32692f73e996fc6eece077598ec23c1c974d47cfc2e56ccb3c7fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a62cdb2390d25557c256742c62a9ca5039eff13bb5c061cbd0a0ccafb082721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1722bf2c53c7eb99d31c7806d45a750130068c4331ee607547c74b4fdd385c64",
      "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 · 3.146 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]: [-0.5076, 2.0949, 0.7097, 0.8722, -0.5541, -0.2356, 0.9965, -0.0059, 1.0203, 0.3943, 0.2989, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4388 left_y=-0.1336 left_z=0.0029 left_yaw=0.0699 left_pitch=0.1382 left_roll=0.0586 left_gripper=0.9965 right_x=0.3491 right_y=0.0143 right_z=0.1632 right_yaw=0.1315 right_pitch=0.2319 right_roll=-0.1227 right_gripper=0.0626\nstate[joint_eff]: [-0.6906, -6.8991, 2.7419, 0.989, -0.2564, 0.3004, -0.0024, -0.0479, -2.7009, 7.0769, 2.044, -0.0464, -0.0611, 1.0281]",
      "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]: [-0.2386, 0.7929, 0.3851, 0.0456, -0.3496, -0.1349, 0.9952, -0.0063, 1.0245, 0.3885, 0.2848, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3109 left_y=-0.0097 left_z=0.1746 left_yaw=0.1247 left_pitch=0.2305 left_roll=0.0059 left_gripper=0.9952 right_x=0.3471 right_y=0.0142 right_z=0.1558 right_yaw=0.1302 right_pitch=0.208 right_roll=-0.1198 right_gripper=0.0626\nstate[joint_eff]: [0.2256, -0.4444, 10.6188, 1.7949, 0.0806, 0.2515, -0.0952, -0.2393, -2.5231, 7.2547, 2.0195, -0.0562, -0.0562, 1.0379]",
      "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]: [-0.5987, 1.3258, 0.5274, 0.0971, -0.5976, -0.3962, 0.9963, -0.0063, 1.0271, 0.3874, 0.2684, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3349 left_y=-0.1038 left_z=0.0952 left_yaw=0.0921 left_pitch=0.0063 left_roll=0.0491 left_gripper=0.9963 right_x=0.3456 right_y=0.0142 right_z=0.1506 right_yaw=0.1297 right_pitch=0.188 right_roll=-0.117 right_gripper=0.0626\nstate[joint_eff]: [-0.3214, -5.3402, 8.5402, 1.6679, -0.4176, -0.0513, 0.105, -0.1983, -2.8103, 6.8991, 2.0195, -0.0464, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807ed01efe32692f73e996fc6eece077598ec23c1c974d47cfc2e56ccb3c7fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a62cdb2390d25557c256742c62a9ca5039eff13bb5c061cbd0a0ccafb082721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1722bf2c53c7eb99d31c7806d45a750130068c4331ee607547c74b4fdd385c64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmMFP4ybA9J3onDVUY4SbLBecvL6LL9h2qHQTPQlrmSMgpHiRoq55YfDMT2VBISMv6a2wGnKHtljelzqYJEpVBTOtH4Kb-o9s2IIXSI_JfpGZ6XIK2ESnvZ1udPURBivSGfCv1JYXakiZmzI9aIfVIRd2fKWvDQUgv_mSwfrp_8qklpoLLJpRaf5pBfVghkAhAdRH2RXY6bfrq6A-ZWN3OheQZ_eLnsWeHjwIdG2xKeQtBQ-TWR_duI16d7WG6DRgtmwi0uQtENgcBXYMAxTePFWd8rSrsiEsweuU-wpJA_hf_eGPTXphDz_EP6WlgZ5IAab43GOhC7eClgDD90FSZpa-HKWB20qQMCA30mGOvm6fIl_BN1oaMh2eIzlJ4Iu5u2OcHzWh7iv5LHD-eWI1yZISr2YYcuvyaErLkfpNnEBKDgpEsjPPAmIBcuF7wYW3O4-pBr4jZh4tJd9vdTKfR23vhH59dzgp2gQR93h2ka3v96yGgKwfynXUWRIrKiZ2g50knQ5Aw5ec1r5z0YG1RjPWTd1bpKKkqev2UFc9NeXUDoNFxEAekj5AClOWfAnYNgueb3agVql8u62K8Kto6IHnl4Zt0jd6TZiqj8LPgjKl6S1ZX9QfHuO9ugTpigQT6eb0o_gbMdYPILn_zTrR8Oon3MXF7aMHRE-mHAHpzRecYtBcUVo2To4BZeTA8OO2KTM4dgzi5qk6Fh3ZB6vOfuUVhdOOVKSAoOjpccZaQs_EOhTLuPmBA_INP6bvl6BzV6eGjVkkum4XY27IUDASJtUHQhyOYxx_4VFNOhlvI8ebKoB1rnY9sh6OaMHTbyQ5JBRCxg6FcjianOvEj-T80yiLb_zXCnUh5-ZVx3omez-VEb5Lqre8u-CWaojQAVuKYJJdIBN5H7yvsQStRfSZ2yGyzBcMd3uobyEpm8m87JctsQXminQnUtDka5lGqFTh1KkdvdQC3Qo0HEDKng4pG44LRlcblE_umJ3Zh2-j6Tsm1FL0ODVOSuwObhMjWdv3ZMCWn4H-s4GYOX4xBxv4TgqsKoaufB-zB3568vMZCDH9ly8-Yj3AyHVgaDOePz_drZWrnfwOIKvWG1PARPktVjlr2VnNd5Pknr8pZs7iM-SeNsRV2dLLVfZE7j915RtOwsR_17rUHBJJUlJb-xCrRMg7gVLYUy0fHPVBsCMHSN97sfcevtOIgr3ll3tdSr89UhZKSCTKDSv87YDURh6Ryh5CGUAFpAYq2zd9JocEHo1YFSfl7hmGPCsKwA7oZHN73lL0a_i7AQ75rR8x4_p9pal5oGn585_aUnZKzsgGfukVO2QC7y_wTLjIYRwAsbKbvTkX1J5Dk9ulKgkAxEtJalIm3D5xLcXUpmygrj2oqy82V49vMeAUgzc2lxQpG6uETjbqOEw-ln65xMY5DZSJJ7u7XCBUFU8FWkX3C7zQuqfipS9y6L6coQ2Ze9QjLAikYqQ3-quj7ONFUEYoOyK4XPxK3o7SqCskbbLJb4bm6g6DibA_hNVLa3Uqb562AdvaZZuMPe1IqObcdEli9MX2sRTnBO1D4yVJ9EGcfXeUu3fAGlCE5VGXtvgYharTlpAKV8B86SX3jJnwB20WHcMtG9Mgiq4S7ybiMj2bqMSBOJrqr-_7r70patKxaxSCp0gMX_ulkcqSSclGs_3-42vzMwVQIf-KU2IpFX4-AX5NSCpMWL0tQQBV57mY9zWM_rRdEvPkZbqhZVBi4QvwGCTLWqST0iA3biVowgDnKVFgnC94_FUVsMe44WgVl7CPjReP4gsdq74l6o053ctNgeBkKBxs9VEXvaPc999p0-Mu41C039Jx2BCtk0eVipW9bvl-Ckw-o4-7RkDoM3CJ26hc814B2aqsjfbb6O39VhJUb-2jQ971rRa_kq0fxPB-WzYN3kpfPefPe6yWF5WfFOsMBHVsWXXBC5eiuJtDf8fLXj8Oxz6gXWVYfsh_dIwdPYwngfeXnWCt1qH5jJNFTFO_7WjfQ92kvfm2ku04gjtyKgVa0YTk34CtdQ_85TjVc2n-B2IhmxTYlVZ2J6bOjYe4eeEEhYQvucYrpSIOxMtk1nn2c=",
  "id": "rs_03b5ddfae23779b0016ab4398a72cc87d0a67d49896df5511c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.362,\"left_y\":-0.083,\"left_z\":0.018,\"left_pitch\":0.05},\"note\":\"The cap is now visible near the bottom of the left wrist view, just left of the jaw centre. I’ll advance a little and shift left to bring its thicker section between the fingertips at table height.\"}",
  "call_id": "call_pqxPMROfvGDttKXycA5ZfaBG",
  "id": "fc_03b5ddfae23779b0016ab4398c319887d0be11f76dfba7f990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pqxPMROfvGDttKXycA5ZfaBG",
  "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]: [-0.4816, 1.7123, 0.3912, 0.5907, -0.5396, -0.3252, 0.9965, -0.0063, 1.0306, 0.3862, 0.2604, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.346 left_y=-0.0744 left_z=0.0031 left_yaw=0.127 left_pitch=-0.0429 left_roll=0.0954 left_gripper=0.9965 right_x=0.3448 right_y=0.0142 right_z=0.1472 right_yaw=0.1297 right_pitch=0.1755 right_roll=-0.1151 right_gripper=0.0626\nstate[joint_eff]: [0.5675, -6.065, 3.6855, 1.116, 0.0366, 0.3297, -0.0024, -0.1709, -2.8786, 6.8855, 1.9219, -0.0611, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b3e6129db575be655c45221c35681b26b35a05bc9deff25d1cf2d33533f318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1560572d46fb3a3dd24d487f983c2b044afeeab4526a1645a861894aa7b3e869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4464038d5f2f59268ad1cc16896cf31edd0d71864eebed8c267ad26e08bdbf1",
      "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 · 2.14 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]: [-0.5072, 2.1094, 0.7021, 0.9092, -0.5541, -0.2417, 0.0073, -0.0063, 1.0206, 0.3943, 0.2947, -0.0727, -0.1623, 0.0626]\nstate[eef_state]: left_x=0.4387 left_y=-0.1333 left_z=0.0016 left_yaw=0.0748 left_pitch=0.1508 left_roll=0.0448 left_gripper=0.0073 right_x=0.3488 right_y=0.0142 right_z=0.162 right_yaw=0.1309 right_pitch=0.2273 right_roll=-0.122 right_gripper=0.0626\nstate[joint_eff]: [-0.0205, -10.2906, 4.3145, 1.3358, -0.149, 0.0562, 0.5446, -0.1436, -2.7009, 6.8308, 1.9365, -0.0415, -0.0366, 1.033]",
      "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]: [-0.5987, 1.3258, 0.5274, 0.0971, -0.5976, -0.3962, 0.9963, -0.0063, 1.0271, 0.3874, 0.2684, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3349 left_y=-0.1038 left_z=0.0952 left_yaw=0.0921 left_pitch=0.0063 left_roll=0.0491 left_gripper=0.9963 right_x=0.3456 right_y=0.0142 right_z=0.1506 right_yaw=0.1297 right_pitch=0.188 right_roll=-0.117 right_gripper=0.0626\nstate[joint_eff]: [-0.3214, -5.3402, 8.5402, 1.6679, -0.4176, -0.0513, 0.105, -0.1983, -2.8103, 6.8991, 2.0195, -0.0464, -0.0366, 1.0379]",
      "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]: [-0.4816, 1.7123, 0.3912, 0.5907, -0.5396, -0.3252, 0.9965, -0.0063, 1.0306, 0.3862, 0.2604, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.346 left_y=-0.0744 left_z=0.0031 left_yaw=0.127 left_pitch=-0.0429 left_roll=0.0954 left_gripper=0.9965 right_x=0.3448 right_y=0.0142 right_z=0.1472 right_yaw=0.1297 right_pitch=0.1755 right_roll=-0.1151 right_gripper=0.0626\nstate[joint_eff]: [0.5675, -6.065, 3.6855, 1.116, 0.0366, 0.3297, -0.0024, -0.1709, -2.8786, 6.8855, 1.9219, -0.0611, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b3e6129db575be655c45221c35681b26b35a05bc9deff25d1cf2d33533f318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1560572d46fb3a3dd24d487f983c2b044afeeab4526a1645a861894aa7b3e869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4464038d5f2f59268ad1cc16896cf31edd0d71864eebed8c267ad26e08bdbf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmQ_yOHw-b7Nb4C1VoLGojX-10C93sQ6aOkdkKJyRPRoM2iOtaHYSDcxT1nAKvfVhHOHAnJBvF3YU76HZtiTtIVck4m2la_UgUtHbLdGWqdCc1tXmAzDncG2gUAfpYPBjhscXhuTXK7S9kK8okgmvmpRVPMsJTL8KySQ6uynlSwffurLeMq7L90AVfFNcuEV4UiMfduZHt5LLf7e6qd4US5L2a7eH_I6MZvOIOSRn6nuU46Okw1XK5t7-yuOm7--mNEUp-6ZZYypNAS6bmVTseLlU_gthXwedn7AUY-5rmzoRHukGlmPXdotMagG_UfuqjT6MFtV0quHGT5zwJSfFEImpJNY-I7HeZs0RjVYtMkqtiN46Z1URsjg7kyIe8h5MD-WznOp7eUe9u7p6FAbEFiM7ya_o9V0uIskcH3SDkudSNJXNJfvnP0QDmZ1UbvuZ0sg_mkNlHEfFcHH3DM-Q1KrPYudvuzgtjULjfAwrypcc43l-eFSUXnT1vH38HE-EdElw50UJwq1Z-LgXQBb7C57XwfHS4VtFPNmt6rbY1m8gih3xYY5RrlZttvPROO5bm-ggPghE5jLnQha9V9oiZE9X93_jHaBjz588HtUR38frmakkk1-IZurexmTlOkH4VFIf8qImSQOgkxAPhUgceV2hlmmrpaJvr1eow05SdWBk6mTqp-HDWtPPI_uv9girQKdO1Yj27n2qsgBkj9N07RMlsnprKB-SCYjmiyQcyIk-N1RsXHwBuhVlwF1sRbxTTczQwTD6N3oFXwM7NpEBYRLNMqdK66N5243RUeGtvv-9VGLcef-TVCJA1tX4-sk8J_y_ukySsO1IOzRlDOGgMpgnYdiXmcmi0ZKyI1htysJNgj6SPSbwzGsNaeOwJfPje4SFw4OPDLf_tyvARprk5HCiFifzbU9OYRWC2MBt3iVawnDZXtj0oM7GBDaIFraF2XFGr1S7kQOIQsf-0dJ5PPftNuvkEBcNcQRtMZRDsI_96Q1uD5O3y7RCOwNfAVWSXN-4wVXGGcs0UjFg8FvYwwcYz_I52Fg5S4bRGB7f78tRrTYKE7P_tt2A6v1pSFFwJSobv3reBYV78-W7ZqOgNCYjNKPqQtGJOOAIyJ-tqADoYlXHnCo7NQ1DeaufQi7A__mZpEhppqF_HQajVjof_j5VXbcAXtuc4XDhmh4vAPr08ySx91sHFo0-dBZ3CTuBaD0R2OsGgkMBkBKGgl6fnrfej261UrRNjK64Dp4uFix6zyP4_wUqq-PmuDhMxT78s-JxU-qb7si0iO7Dhe8JeDjhjJKz9TQCEGd3wJT7WafLdKCGQpoEVJE_OAtQ2xHy_Q",
  "id": "rs_03b5ddfae23779b0016ab4398f294887d0a563806ac79fbbab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s near, thicker end now runs into the left jaw centre at tabletop height. I’ll close on it and check whether the jaws stop around the cap rather than fully closing.\"}",
  "call_id": "call_ZfXl8kuTFhmY1w4aVuGuDAKg",
  "id": "fc_03b5ddfae23779b0016ab4398fcba487d099142a02118bb2c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZfXl8kuTFhmY1w4aVuGuDAKg",
  "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]: [-0.4801, 1.7264, 0.387, 0.6163, -0.5434, -0.3309, 0.0471, -0.0063, 1.0317, 0.3847, 0.26, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3467 left_y=-0.0735 left_z=0.0018 left_yaw=0.1344 left_pitch=-0.0352 left_roll=0.0886 left_gripper=0.0471 right_x=0.3445 right_y=0.0142 right_z=0.146 right_yaw=0.1296 right_pitch=0.1725 right_roll=-0.1147 right_gripper=0.0626\nstate[joint_eff]: [-0.2667, -7.1726, 4.2462, 1.3114, -0.105, 0.0269, 1.1062, -0.0205, -2.7829, 6.8991, 1.8779, -0.0904, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f0b8a4c20cb4900351006bf58a5fe27e6aa1ba8e55e5736cb22883e88debdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ccd0a30f2032e1f4eec9463b804c80203137002c44b670288f0ff79cdf87b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725082e9243ad90c2a68baf93b40a654716a7e610e536be250b1fabc3e26ee59",
      "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 · 13.81 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]: [-0.2386, 0.7929, 0.3851, 0.0456, -0.3496, -0.1349, 0.9952, -0.0063, 1.0245, 0.3885, 0.2848, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3109 left_y=-0.0097 left_z=0.1746 left_yaw=0.1247 left_pitch=0.2305 left_roll=0.0059 left_gripper=0.9952 right_x=0.3471 right_y=0.0142 right_z=0.1558 right_yaw=0.1302 right_pitch=0.208 right_roll=-0.1198 right_gripper=0.0626\nstate[joint_eff]: [0.2256, -0.4444, 10.6188, 1.7949, 0.0806, 0.2515, -0.0952, -0.2393, -2.5231, 7.2547, 2.0195, -0.0562, -0.0562, 1.0379]",
      "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]: [-0.4816, 1.7123, 0.3912, 0.5907, -0.5396, -0.3252, 0.9965, -0.0063, 1.0306, 0.3862, 0.2604, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.346 left_y=-0.0744 left_z=0.0031 left_yaw=0.127 left_pitch=-0.0429 left_roll=0.0954 left_gripper=0.9965 right_x=0.3448 right_y=0.0142 right_z=0.1472 right_yaw=0.1297 right_pitch=0.1755 right_roll=-0.1151 right_gripper=0.0626\nstate[joint_eff]: [0.5675, -6.065, 3.6855, 1.116, 0.0366, 0.3297, -0.0024, -0.1709, -2.8786, 6.8855, 1.9219, -0.0611, -0.0611, 1.033]",
      "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]: [-0.4801, 1.7264, 0.387, 0.6163, -0.5434, -0.3309, 0.0471, -0.0063, 1.0317, 0.3847, 0.26, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3467 left_y=-0.0735 left_z=0.0018 left_yaw=0.1344 left_pitch=-0.0352 left_roll=0.0886 left_gripper=0.0471 right_x=0.3445 right_y=0.0142 right_z=0.146 right_yaw=0.1296 right_pitch=0.1725 right_roll=-0.1147 right_gripper=0.0626\nstate[joint_eff]: [-0.2667, -7.1726, 4.2462, 1.3114, -0.105, 0.0269, 1.1062, -0.0205, -2.7829, 6.8991, 1.8779, -0.0904, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f0b8a4c20cb4900351006bf58a5fe27e6aa1ba8e55e5736cb22883e88debdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ccd0a30f2032e1f4eec9463b804c80203137002c44b670288f0ff79cdf87b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725082e9243ad90c2a68baf93b40a654716a7e610e536be250b1fabc3e26ee59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03b5ddfae23779b0016ab43992b92c87d080e46152281bad3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.135},\"note\":\"The left jaws stopped at roughly a 4.5-millimetre opening, consistent with gripping the cap. I’ll lift it clear and check that the opening persists before bringing it toward the pen.\"}",
  "call_id": "call_3OICc2Pvh0GISEi5d7BYVyeX",
  "id": "fc_03b5ddfae23779b0016ab43992d8a887d0a66f1be1359312a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3OICc2Pvh0GISEi5d7BYVyeX",
  "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]: [-0.4801, 1.2766, 0.6323, -0.0719, -0.5434, -0.3389, 0.0513, -0.0063, 1.0336, 0.3843, 0.2447, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3475 left_y=-0.0739 left_z=0.1203 left_yaw=0.1386 left_pitch=-0.0292 left_roll=0.078 left_gripper=0.0513 right_x=0.343 right_y=0.0143 right_z=0.1417 right_yaw=0.1292 right_pitch=0.1551 right_roll=-0.1123 right_gripper=0.0626\nstate[joint_eff]: [-0.0752, -5.4496, 9.0188, 1.5849, -0.2906, 0.0757, 1.0281, -0.0615, -2.6872, 6.8855, 2.0342, -0.0659, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e38ebabc3fadf43b923407a27eb67ee46d3969cca9a3f74b0a3ff35028b54db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8929a5b91da1c03063b8a2dff7dde63c08507a6f13b393c6bd0249fe5f9562a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde1f3f310daeda4a6bc58fd690ab9dc62aac34e0b2475082e13f21f2949b574",
      "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 · 4.085 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]: [-0.5987, 1.3258, 0.5274, 0.0971, -0.5976, -0.3962, 0.9963, -0.0063, 1.0271, 0.3874, 0.2684, -0.0723, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3349 left_y=-0.1038 left_z=0.0952 left_yaw=0.0921 left_pitch=0.0063 left_roll=0.0491 left_gripper=0.9963 right_x=0.3456 right_y=0.0142 right_z=0.1506 right_yaw=0.1297 right_pitch=0.188 right_roll=-0.117 right_gripper=0.0626\nstate[joint_eff]: [-0.3214, -5.3402, 8.5402, 1.6679, -0.4176, -0.0513, 0.105, -0.1983, -2.8103, 6.8991, 2.0195, -0.0464, -0.0366, 1.0379]",
      "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]: [-0.4801, 1.7264, 0.387, 0.6163, -0.5434, -0.3309, 0.0471, -0.0063, 1.0317, 0.3847, 0.26, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3467 left_y=-0.0735 left_z=0.0018 left_yaw=0.1344 left_pitch=-0.0352 left_roll=0.0886 left_gripper=0.0471 right_x=0.3445 right_y=0.0142 right_z=0.146 right_yaw=0.1296 right_pitch=0.1725 right_roll=-0.1147 right_gripper=0.0626\nstate[joint_eff]: [-0.2667, -7.1726, 4.2462, 1.3114, -0.105, 0.0269, 1.1062, -0.0205, -2.7829, 6.8991, 1.8779, -0.0904, -0.0317, 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 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]: [-0.4801, 1.2766, 0.6323, -0.0719, -0.5434, -0.3389, 0.0513, -0.0063, 1.0336, 0.3843, 0.2447, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3475 left_y=-0.0739 left_z=0.1203 left_yaw=0.1386 left_pitch=-0.0292 left_roll=0.078 left_gripper=0.0513 right_x=0.343 right_y=0.0143 right_z=0.1417 right_yaw=0.1292 right_pitch=0.1551 right_roll=-0.1123 right_gripper=0.0626\nstate[joint_eff]: [-0.0752, -5.4496, 9.0188, 1.5849, -0.2906, 0.0757, 1.0281, -0.0615, -2.6872, 6.8855, 2.0342, -0.0659, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e38ebabc3fadf43b923407a27eb67ee46d3969cca9a3f74b0a3ff35028b54db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8929a5b91da1c03063b8a2dff7dde63c08507a6f13b393c6bd0249fe5f9562a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde1f3f310daeda4a6bc58fd690ab9dc62aac34e0b2475082e13f21f2949b574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_03b5ddfae23779b0016ab4399b242087d0930b4e4d7bae8a64",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_03b5ddfae23779b0016ab4399ec46487d086c4803428fabadf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":1.57,\"right_yaw\":1.57,\"left_z\":0.19,\"right_z\":0.19,\"left_pitch\":0,\"right_pitch\":0},\"note\":\"Both jaws retained a cap- or pen-sized opening after lifting. I’ll raise both objects and rotate their forward-pointing axes toward the table centre, so the pen’s free end can approach the cap’s opening from the side.\"}",
  "call_id": "call_pvKKVajTekY7GQBhyL7IlxGE",
  "id": "fc_03b5ddfae23779b0016ab439a1467087d09d4c34896874ae67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pvKKVajTekY7GQBhyL7IlxGE",
  "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]: [-0.4007, 2.0907, 1.6058, -1.4807, -0.897, -1.9629, 0.0556, -0.3557, 1.9511, 1.6093, -1.1553, -0.9642, -1.7386, 0.0664]\nstate[eef_state]: left_x=0.3556 left_y=0.0031 left_z=0.1139 left_yaw=1.4039 left_pitch=-0.0469 left_roll=0.0883 left_gripper=0.0556 right_x=0.4092 right_y=0.0066 right_z=0.1614 right_yaw=1.2863 right_pitch=-0.0551 right_roll=-0.2042 right_gripper=0.0664\nstate[joint_eff]: [0.0889, -10.3453, 5.4085, -0.7546, -0.3932, -0.0659, 1.033, 2.0308, -10.7282, 7.1863, -0.2418, -0.6129, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcea420220928cd314ae8fd2f29408fc685400a81b38078ec27f18c3caa8f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6311c06401182fd34e7a2d910020355ce97e9d2c291da67eec56754badb855b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e2249176721945dc1483c6b66e418101ba19039ee822530a64b56ec254ef76",
      "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 · 5.73 s

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

message 129 changed as sent

message 137 changed as sent

message 143 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]: [-0.4816, 1.7123, 0.3912, 0.5907, -0.5396, -0.3252, 0.9965, -0.0063, 1.0306, 0.3862, 0.2604, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.346 left_y=-0.0744 left_z=0.0031 left_yaw=0.127 left_pitch=-0.0429 left_roll=0.0954 left_gripper=0.9965 right_x=0.3448 right_y=0.0142 right_z=0.1472 right_yaw=0.1297 right_pitch=0.1755 right_roll=-0.1151 right_gripper=0.0626\nstate[joint_eff]: [0.5675, -6.065, 3.6855, 1.116, 0.0366, 0.3297, -0.0024, -0.1709, -2.8786, 6.8855, 1.9219, -0.0611, -0.0611, 1.033]",
      "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]: [-0.4801, 1.2766, 0.6323, -0.0719, -0.5434, -0.3389, 0.0513, -0.0063, 1.0336, 0.3843, 0.2447, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3475 left_y=-0.0739 left_z=0.1203 left_yaw=0.1386 left_pitch=-0.0292 left_roll=0.078 left_gripper=0.0513 right_x=0.343 right_y=0.0143 right_z=0.1417 right_yaw=0.1292 right_pitch=0.1551 right_roll=-0.1123 right_gripper=0.0626\nstate[joint_eff]: [-0.0752, -5.4496, 9.0188, 1.5849, -0.2906, 0.0757, 1.0281, -0.0615, -2.6872, 6.8855, 2.0342, -0.0659, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4007, 2.0907, 1.6058, -1.4807, -0.897, -1.9629, 0.0556, -0.3557, 1.9511, 1.6093, -1.1553, -0.9642, -1.7386, 0.0664]\nstate[eef_state]: left_x=0.3556 left_y=0.0031 left_z=0.1139 left_yaw=1.4039 left_pitch=-0.0469 left_roll=0.0883 left_gripper=0.0556 right_x=0.4092 right_y=0.0066 right_z=0.1614 right_yaw=1.2863 right_pitch=-0.0551 right_roll=-0.2042 right_gripper=0.0664\nstate[joint_eff]: [0.0889, -10.3453, 5.4085, -0.7546, -0.3932, -0.0659, 1.033, 2.0308, -10.7282, 7.1863, -0.2418, -0.6129, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcea420220928cd314ae8fd2f29408fc685400a81b38078ec27f18c3caa8f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6311c06401182fd34e7a2d910020355ce97e9d2c291da67eec56754badb855b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e2249176721945dc1483c6b66e418101ba19039ee822530a64b56ec254ef76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03b5ddfae23779b0016ab439a4564c87d09fd4bd57c8a6fad8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.19,\"left_z\":0.2,\"left_yaw\":1.57,\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.2,\"right_yaw\":1.57},\"note\":\"Rotating the wrists changed the actual grasp-point positions and heights substantially, although both objects remain clamped. I’ll explicitly reposition both arms toward the centre at a safe separation and recheck their measured poses before attempting to join the parts.\"}",
  "call_id": "call_c0mgaiaX8v2VDhsNfgihp1CO",
  "id": "fc_03b5ddfae23779b0016ab439a5b4a487d0a99c2e1bff1793c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c0mgaiaX8v2VDhsNfgihp1CO",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4156, 2.2272, 1.7439, -1.5578, -0.8207, -2.0869, 0.0556, 0.0662, 1.845, 1.5772, -1.0523, -0.9226, -1.5028, 0.0664]\nstate[eef_state]: left_x=0.364 left_y=-0.0155 left_z=0.0909 left_yaw=1.494 left_pitch=-0.0858 left_roll=0.0805 left_gripper=0.0556 right_x=0.377 right_y=0.1697 right_z=0.1881 right_yaw=1.566 right_pitch=-0.0735 right_roll=-0.19 right_gripper=0.0664\nstate[joint_eff]: [0.4718, -10.988, 7.2137, -0.696, -0.3834, -0.1343, 1.0281, 0.9094, -9.1692, 9.0188, 0.7888, -0.5739, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80bfdc908cc7c9d04e28193ff1c98b1bd48acfa533e1f97b14176ce711a327ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35e3f94ca9fa0a91f7b1560760f2b6513a16ba76cd0928dd4bcc81ba38dfe8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200bb0564daa5b063a474f64e57b69388df9e5c1eee555b957f5c11b55c8802c",
      "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 · 4.798 s

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

message 133 changed as sent

message 143 changed as sent

message 147 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]: [-0.4801, 1.7264, 0.387, 0.6163, -0.5434, -0.3309, 0.0471, -0.0063, 1.0317, 0.3847, 0.26, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3467 left_y=-0.0735 left_z=0.0018 left_yaw=0.1344 left_pitch=-0.0352 left_roll=0.0886 left_gripper=0.0471 right_x=0.3445 right_y=0.0142 right_z=0.146 right_yaw=0.1296 right_pitch=0.1725 right_roll=-0.1147 right_gripper=0.0626\nstate[joint_eff]: [-0.2667, -7.1726, 4.2462, 1.3114, -0.105, 0.0269, 1.1062, -0.0205, -2.7829, 6.8991, 1.8779, -0.0904, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4007, 2.0907, 1.6058, -1.4807, -0.897, -1.9629, 0.0556, -0.3557, 1.9511, 1.6093, -1.1553, -0.9642, -1.7386, 0.0664]\nstate[eef_state]: left_x=0.3556 left_y=0.0031 left_z=0.1139 left_yaw=1.4039 left_pitch=-0.0469 left_roll=0.0883 left_gripper=0.0556 right_x=0.4092 right_y=0.0066 right_z=0.1614 right_yaw=1.2863 right_pitch=-0.0551 right_roll=-0.2042 right_gripper=0.0664\nstate[joint_eff]: [0.0889, -10.3453, 5.4085, -0.7546, -0.3932, -0.0659, 1.033, 2.0308, -10.7282, 7.1863, -0.2418, -0.6129, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4156, 2.2272, 1.7439, -1.5578, -0.8207, -2.0869, 0.0556, 0.0662, 1.845, 1.5772, -1.0523, -0.9226, -1.5028, 0.0664]\nstate[eef_state]: left_x=0.364 left_y=-0.0155 left_z=0.0909 left_yaw=1.494 left_pitch=-0.0858 left_roll=0.0805 left_gripper=0.0556 right_x=0.377 right_y=0.1697 right_z=0.1881 right_yaw=1.566 right_pitch=-0.0735 right_roll=-0.19 right_gripper=0.0664\nstate[joint_eff]: [0.4718, -10.988, 7.2137, -0.696, -0.3834, -0.1343, 1.0281, 0.9094, -9.1692, 9.0188, 0.7888, -0.5739, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80bfdc908cc7c9d04e28193ff1c98b1bd48acfa533e1f97b14176ce711a327ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35e3f94ca9fa0a91f7b1560760f2b6513a16ba76cd0928dd4bcc81ba38dfe8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200bb0564daa5b063a474f64e57b69388df9e5c1eee555b957f5c11b55c8802c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmuuLWELovwXkvKOQcvBjqI_Mn8WiZYuRclDQBE5Vhj6_1Anh9BnN2KIrHHGSD8FCWYepjAxrIZ57YBip4pLPpkHY6Y99weO0_xQSzOmvdB2ZhdEERckUK_ZIssmCzagpFxEaO9d8TsdWLiq7FVwByt_ZYY3cmaqBN0rxdf-v2PHCBw3k_cBNbBCNWoF7wvb7qP_aenWiUR6Yigi3cK6W9wQrK5k5McWUVaWbJ629UIPNrb-N8TNjHv8Icr5WX1MKCHvvvGshBQlenNTvz5A8uzet93rq7sKM5zTlnsMt5koP06CRqSUoXZ2LxuR4GGDzdRC8ceogwwS4OEb9vfccqzYQiM8LjXgvVoR3JQHVIq4s-1Ow5h9HFGv8f_I7Au7nQwWSF8YvjXyuxvWgg6plMJANYcvFAUe-LgHK0E6gbBNjEWfrLejQpjUx1TZr_4pBEsasSlVbeCAPoE_EdJbmwGS1gTsmECrT3dNGQwQIMon8PRWNOhhqTFj9gHIroI0ArMCqBI1G5JzHSShI4cFWa1Kj3Jo6Bhhq8RLrUcBc3OC29blgzCmaSdRJeOVni9KfmpqaUNilrX9FmuVsKhgC_FP0HI3YTluKVQBpqzHFsWjZMSrVhKzT-Vsf5qpfM52ZIgfXdb48LKDf7eaV9H4Motx0GvIWPNU-LgFb1IGJX_NNN_C7j01oxxJTZd0sLWinxyZXcbtq2u4Sn2UhuLCH-0sO-rZgUt_lT0eezXdqemSZQEhj5WPr_wZEpOYYP68MnTglHKjT9oJTWggM2Z9wUaGHOqcj3JgVnIHacw65apPxkO34gY7X6hC78fZwUPJaIGHBYKzneBT2JMa5U7PWD1_c5HaMjpOwwo3vRU1Q5WsOM5VUesKF50A_aouDrSTLAWg7kmyVP6mBnSWMTgs-nXl7UqWvMatKq3W_R6n6aF2TqNeHoL_4R4LyT0luccdh2-0l4i-TVe01s0DzKxf2s4R8mdZIaGD8r-QLoAEZR3VBet3y8zp7YfZq0RskYN5N7xla2xNmdEHKN0zYzucnVc9WoSdzY8RIUh2QyAGOxEtfuej0PipiMlISKISMHDcDAReO_GsJaxb7BfJHP5essxjtLO0nLGJwYBL-288MFdoAbg03ITWw6iIM4VjOL39bqg38ZegOyuNnnx90cycIxks72hTRamVO-neTOiR5-CeoDGCrSvaOYhtO8BmLdxruBtCwCpLVj4WrNnX8lV7Ixbkgb4gl69WAFZXP5-11_YExwX_HaeyCAH5fPMIUIDOZtrrwO_3co3rS8T4l9_Zn8l2A5o3AZRT-ZyCFL82E0TCFBv_sCcZskXd3BjnxoEKMVd6T8OOygFDeLFiiRwXPwKFuGRucLIU5cv0PclWQZSfd7VArwEhvLR1-407SoU16fVUQLltJ2Vo3jvWdMBZnVrbwma52XULews9-sQbjZZhTRIFHCbp80ITLfafDWAzd_MeWgS9fP02OIqJ2CND4DAFjECAfyUd_qeIqASH1bdcsRwzTEWPWaZtE386YhymY7osLoPf3wva0sCz82jr57GB8OK0oMBy6bsm2u5pnbD1mgcSe1URLv-u4iOv5xNwUyd3xiUPXx5YLK0hoy43gFvrhkIT2QSTD7026viuVbLy8X2_6EF9ibwIzkZxtKObn2m5C6JSp3A_OdP_YJomgu1KUu5tb4yBONcmCfoBWPeq7PugIkQRMm2EFnnwS05ZA-XkRCkx3jCDpJY0nGHVBlk1lZgGUaGLT64M1jxu78NtUeukx7TtCHJdHlIvGHppJHc-mHhxFxnyAAaJv5WDE0tQVprA-dhMmNFu1FYus7YtBsYHf3wOSzZaYzcRP3SjRY2Z3IySy1nv4lVOn1aqUjCAzDV_x-FhnrTcP4PikR_Z9XVuV5KlriWD33sOpqNQU9eOzN1Gvc6z9IOkplcQ-ewAVnO_a3DgEugje6KeuZ7U90zfmTAKbJ28BxooMQUYVjoviX5JkcNs-6qt0A8KaI7CdP4aajuyWZITTr_pZ3B85FxoHLgQVEMmOh29CZ-5qbMc6Kpi5sJVeRxLj4_aJZbO3IqDPoZPVcsxAJeALsY4Sb1Sxqh7B0i1INxdfPYHuIH2a4yfr07zFmlMQda2tNTvNh_4D7LVkY-nMprbb-q-cHucxjszKcavd3mzWjGoEJbjJmhayqtLsiL1-qsGaTISLl2mAzV8lJJseMiZ9jnmBuYcP52neMzNs3xgzlNk97yaP1jWr4WaVNKeTJvCuTPEC6t0VfR8yiCWS_4dZkNjQi05a2SllpSXpx6IYYoJ2VoaQaPe_41VHSUQLuPx0kE0l440w6c0HdawWF4ZuDJKOnwhftBeCbTqAjAQEIQL4Yzn60qnmzT_pH7EltMq0suH8KDcwtAATQWm326bk2aofw_zKp9XgBPDrhNUDlkA0eolANoxTkv0O2Frr5X5r2pe-PVJ5afrECN07vRxICVz8ASJJVbX1zzrs_-NAYnOkKjj39hYIcsVZ0UQYgzt6d_ltg-cTz7-52BAKicAMHhLtVL2wtWKhkaxi3-EvU5rkdKncTuxlsFhoonb4k5m7q3j1y5yBVY7rjgtaUUcsCf4-QZZE0n_nUwu267TaDfzhkdkXBt-kLhDGWICR27kw7RaYznA5e4-d5iESXCWk1E91y2NE57KMpcBxWYPoyy8rGf",
  "id": "rs_03b5ddfae23779b0016ab439aacf5c87d097b1cd1fd4a9d8b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The right arm reached its inward target, but the left arm did not: it stayed far from the centre and much lower than commanded at the sideways wrist angle. I’ll straighten only the left wrist and move the cap inward first, then reorient it from a reachable pose.\"}",
  "call_id": "call_zVzHsP23VNNvX6Qdgmco3Wmc",
  "id": "fc_03b5ddfae23779b0016ab439adb6f887d0983ddd3e2a965f95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVzHsP23VNNvX6Qdgmco3Wmc",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.9009, 1.5661, 1.1412, -0.5323, -0.8001, -0.6979, 0.0556, 0.0658, 1.845, 1.578, -1.0397, -0.9165, -1.5002, 0.0664]\nstate[eef_state]: left_x=0.3368 left_y=-0.2153 left_z=0.1719 left_yaw=0.0967 left_pitch=-0.0391 left_roll=0.0881 left_gripper=0.0556 right_x=0.3796 right_y=0.1691 right_z=0.1881 right_yaw=1.5616 right_pitch=-0.0782 right_roll=-0.2016 right_gripper=0.0664\nstate[joint_eff]: [-0.7316, -9.2923, 6.5709, 1.5116, -0.3541, 0.2564, 1.033, -0.1709, -9.265, 6.0239, 0.5348, -0.5739, -0.0855, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f521bcddd68afe4e15edf067ecb3ebb3d497a6a89e0b76f8815c193743b0234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7096f0a1bd97e1261d74db6553a1fc2f91a3d40a251646ffb67b3f3a0655c638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d80fce1e813cb468e143783041c64413882ded613e6cbac37e860e4a70520d",
      "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 · 7.863 s

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

message 137 changed as sent

message 147 changed as sent

message 151 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]: [-0.4801, 1.2766, 0.6323, -0.0719, -0.5434, -0.3389, 0.0513, -0.0063, 1.0336, 0.3843, 0.2447, -0.0727, -0.1627, 0.0626]\nstate[eef_state]: left_x=0.3475 left_y=-0.0739 left_z=0.1203 left_yaw=0.1386 left_pitch=-0.0292 left_roll=0.078 left_gripper=0.0513 right_x=0.343 right_y=0.0143 right_z=0.1417 right_yaw=0.1292 right_pitch=0.1551 right_roll=-0.1123 right_gripper=0.0626\nstate[joint_eff]: [-0.0752, -5.4496, 9.0188, 1.5849, -0.2906, 0.0757, 1.0281, -0.0615, -2.6872, 6.8855, 2.0342, -0.0659, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4156, 2.2272, 1.7439, -1.5578, -0.8207, -2.0869, 0.0556, 0.0662, 1.845, 1.5772, -1.0523, -0.9226, -1.5028, 0.0664]\nstate[eef_state]: left_x=0.364 left_y=-0.0155 left_z=0.0909 left_yaw=1.494 left_pitch=-0.0858 left_roll=0.0805 left_gripper=0.0556 right_x=0.377 right_y=0.1697 right_z=0.1881 right_yaw=1.566 right_pitch=-0.0735 right_roll=-0.19 right_gripper=0.0664\nstate[joint_eff]: [0.4718, -10.988, 7.2137, -0.696, -0.3834, -0.1343, 1.0281, 0.9094, -9.1692, 9.0188, 0.7888, -0.5739, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9009, 1.5661, 1.1412, -0.5323, -0.8001, -0.6979, 0.0556, 0.0658, 1.845, 1.578, -1.0397, -0.9165, -1.5002, 0.0664]\nstate[eef_state]: left_x=0.3368 left_y=-0.2153 left_z=0.1719 left_yaw=0.0967 left_pitch=-0.0391 left_roll=0.0881 left_gripper=0.0556 right_x=0.3796 right_y=0.1691 right_z=0.1881 right_yaw=1.5616 right_pitch=-0.0782 right_roll=-0.2016 right_gripper=0.0664\nstate[joint_eff]: [-0.7316, -9.2923, 6.5709, 1.5116, -0.3541, 0.2564, 1.033, -0.1709, -9.265, 6.0239, 0.5348, -0.5739, -0.0855, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f521bcddd68afe4e15edf067ecb3ebb3d497a6a89e0b76f8815c193743b0234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7096f0a1bd97e1261d74db6553a1fc2f91a3d40a251646ffb67b3f3a0655c638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d80fce1e813cb468e143783041c64413882ded613e6cbac37e860e4a70520d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm1M-sHayaY4kOZxBRjs5kb13G3M2C_hXyFsEU9IGHqCxpM-1SbY3Aofe7PA9w0SSfy9HtpPAdR_e-M-lp_v1swjbauVrH-3kcoY2FgudKWOb8EllXO5MXuQ16i7Drd3I6PEUMFwz2Bs9qZCoTvXdnCbniPVTbORzcGmUwOYmlcrNOxFLYadhO8ByQbyJn43KIlxcNKPl2RDFg_mEdg41VcY7OvzFk5ezxjUNMgAeSGZU2rPM-78GRxjw6Fe-RCq5RTCBQj7-X_C2jsLwlkm6z5SAtPiuimdKEtLd41HeY8IFfnLArI8QMrB5SxQRd1g_sMVOdUjYIRqn4rD0IapTI6F6OFcRmpMlzJ6AkLG4-9fq0sUv22jqw0klN-cCNlS_EScV6wt6Xaw_n27U6uxymSMftoM_7miKdhWHf8MgqGRcwNQisCvKr5d1JHe35Oh37PNCXLOmATVQ4K-dSMY-nm2irFJsc6EGIX3U6417rvw38H5WianWMK3vi6imBjjKa4GxiPmVBsSxHZpzjSThWY08k-vcosD56GOED5NGT2qJZP5UGOV3jNZ-P49I_rF0-EI4x6M9fMLMWwc11ZsC9HZBWa7Kc8GvdVWa4CzFGZyzxD9A0sZw9l1EVenfPcouH3Fm8YnjMa1sU4eubArYagAFBhog6BVrZJXXuEatcU_x-NjmouUAfOnkMRkEJdkW8_Z3i6qcLW_KB9A6mQkgcRLzFXMjIpM4sJ3LHejVgY-9Mt3l9AgUTL8fBJplmy5OJUP45kotJTkIB2_C4R7qOi_xOFWde0ceQmUBIzOYyMotJBPjKyTe3g7J11wBEpGTL3t9LLDTN1_w9uZqwRUzHxfQfLJYC1i600YyKe1I8-qSNa9PZU6je3RjXR3owokPM-jbekd0HWiEGg4IKdMG13Gzwz5SrSkqzwaKo8-2DaEh9JzFUh8WDBenJwhtri_6rcn1HxWqClOR9wEa2rfVWdjlo1B0tewhpwrNa_0M5WGrgcj7sN5pevZCX8FdOSyQQ24FUB00kHu-VqIVkHblzKnFU1nPkKUJNR3Ikf9XENZ-9bZS5TeUR2ZzlizXM7KXAhWEtTcwf2VrLASpXb7RP-U5G-KjEikIB4YajovuNyUdwrBQwY3YHxAGI-9vHqWcG91V5nrnUtEwBcJRWq_CflSDE0CgrtNl-uebqbg6NUzDA0PJe-1L7w-dH0NSAyRxSO0ONy2moB7SwoujnTZQIkQENU6UsGlsq-GlSm38jsmUevZX9Ube69CGgddOSeAY0Q9LphHU9Y1XcxDhXVfvv6q8kzRxOyMD_nHde4mZNGnqkOQcU752yQ23JjI2AJfqQuHq3OxAIu7gLe_9whKI_4N1w3pt7MNj8lkwy5onw1TQh8fAw4tziihWZE6T_fBXD4LEWtAlBDewOIru0qe-Xim81YMDf8U3-95LR52izT2rbLiYnFcbhYfHwV9r-Qzl0sZVFgZK2G5DNDmYyqbMQz6xyBdMl5SxONCmGkmop1msMvrotQFzMoWZHoDR4JUEtXO2u2zOns-Z-RKYC3NG0qPdimynqMmq1RsJdW3nxV54jYa8SW0nl1_9oMcooOnphkMoxG4n4R9JaZVqRd7syvynIFGpi18rOOmURe1Jx79jJapElLDN7KFezFjSgGnCpySbgFA4gGWu3Ey6Z-xZFptl32-9On3IhQcPVBxEh9tGzwULtArVR0qw00jb3NinzNk208418p26LWsMzSE1eTP3CD3kN68Q54t0OdIZ2yDsSvwKDKROYFMMNWvxv1IVtT2PgMX6TjdZjVx8gHlWhCluF0gQhOZU58ttjHAiUAD55dMXDAnJ4jMFqg54Ka6PvdaiW6mv872LyILWwWP954GXfnFQ9zTOg6slC3GUAtW7q9nBct5_9snoCDjIo5w_4iQAxM3q7kM_GEBMwKH5QvqIuCxxlBIAYjmZ1kJ0AuyG649QiACWtgBYeEWYIeYET-oKHcQktuGQlksOQpvTdvGX52qVKX69nB6qsAOGp3WYVt2sdFTNfi6M3O112tEx4GGm8yCCCgburzThRxn3jw8qmcyqaa6RtBR-_B8moEWaE=",
  "id": "rs_03b5ddfae23779b0016ab439b2a09487d09933ce4bee394662",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.2,\"left_yaw\":1.57,\"left_pitch\":0.22},\"note\":\"Straightening let the left arm bring the cap inward to its requested area. I’ll now rotate the cap toward the pen while holding its current grasp point and height explicitly, checking whether this pose remains reachable.\"}",
  "call_id": "call_Q7gM5b9LHLCZsLFAlpWPy6l8",
  "id": "fc_03b5ddfae23779b0016ab439b47bd487d080217ece01cbfda9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q7gM5b9LHLCZsLFAlpWPy6l8",
  "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]: [-0.3702, 2.2337, 1.676, -1.5322, -1.0447, -2.035, 0.057, 0.0666, 1.845, 1.5761, -1.0386, -0.9092, -1.5036, 0.0664]\nstate[eef_state]: left_x=0.3763 left_y=0.0216 left_z=0.1038 left_yaw=1.4048 left_pitch=0.114 left_roll=0.1186 left_gripper=0.057 right_x=0.3796 right_y=0.1686 right_z=0.1866 right_yaw=1.5623 right_pitch=-0.0856 right_roll=-0.2041 right_gripper=0.0664\nstate[joint_eff]: [-0.4991, -13.9829, 4.3829, -0.8181, -0.7253, -0.0855, 1.033, -0.4171, -9.306, 6.4479, 0.735, -0.5543, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6902a5acdd3cdd2a3034e7cebc312e1aa44ced18cb5dc2f2cd1e2953650c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a85305538003f51088353c01265606e1db461be15a45e997cc47286d5e22b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a314d36e5b72f4c8c10b64953721aafdaee7fe7390e39adfb3e8478645cff59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 5.529 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4007, 2.0907, 1.6058, -1.4807, -0.897, -1.9629, 0.0556, -0.3557, 1.9511, 1.6093, -1.1553, -0.9642, -1.7386, 0.0664]\nstate[eef_state]: left_x=0.3556 left_y=0.0031 left_z=0.1139 left_yaw=1.4039 left_pitch=-0.0469 left_roll=0.0883 left_gripper=0.0556 right_x=0.4092 right_y=0.0066 right_z=0.1614 right_yaw=1.2863 right_pitch=-0.0551 right_roll=-0.2042 right_gripper=0.0664\nstate[joint_eff]: [0.0889, -10.3453, 5.4085, -0.7546, -0.3932, -0.0659, 1.033, 2.0308, -10.7282, 7.1863, -0.2418, -0.6129, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9009, 1.5661, 1.1412, -0.5323, -0.8001, -0.6979, 0.0556, 0.0658, 1.845, 1.578, -1.0397, -0.9165, -1.5002, 0.0664]\nstate[eef_state]: left_x=0.3368 left_y=-0.2153 left_z=0.1719 left_yaw=0.0967 left_pitch=-0.0391 left_roll=0.0881 left_gripper=0.0556 right_x=0.3796 right_y=0.1691 right_z=0.1881 right_yaw=1.5616 right_pitch=-0.0782 right_roll=-0.2016 right_gripper=0.0664\nstate[joint_eff]: [-0.7316, -9.2923, 6.5709, 1.5116, -0.3541, 0.2564, 1.033, -0.1709, -9.265, 6.0239, 0.5348, -0.5739, -0.0855, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 2.2337, 1.676, -1.5322, -1.0447, -2.035, 0.057, 0.0666, 1.845, 1.5761, -1.0386, -0.9092, -1.5036, 0.0664]\nstate[eef_state]: left_x=0.3763 left_y=0.0216 left_z=0.1038 left_yaw=1.4048 left_pitch=0.114 left_roll=0.1186 left_gripper=0.057 right_x=0.3796 right_y=0.1686 right_z=0.1866 right_yaw=1.5623 right_pitch=-0.0856 right_roll=-0.2041 right_gripper=0.0664\nstate[joint_eff]: [-0.4991, -13.9829, 4.3829, -0.8181, -0.7253, -0.0855, 1.033, -0.4171, -9.306, 6.4479, 0.735, -0.5543, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6902a5acdd3cdd2a3034e7cebc312e1aa44ced18cb5dc2f2cd1e2953650c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a85305538003f51088353c01265606e1db461be15a45e997cc47286d5e22b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a314d36e5b72f4c8c10b64953721aafdaee7fe7390e39adfb3e8478645cff59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm-DM1WTuZFm_hhv_0aPUzT1N_Zh6j2115cb_4VKGYW9w8k3U1OAC01lFwV8xImMn4kP2tBWeWN5MVsXvMZhjx_eS--FpWj3gwbWGouZup-A7bcT7jqP8Mo_kNDZWDHA0uZJRV7mSkp-X0zZiD83oQxue3tDK3iaBLSrs7mGbJoOfP1dlAgk4FsQXMdk3bbwQYlyx-DXY9C9VKlxwsDw-csNOIwuavjXPUl74jkS8yE4TBnnivRFT0wJRbYEFERGw6pjy5Hom2K6vGnwBTfYY5JzEyNRddT6PFDiq-ojBv4u2prY3kwLUpWiYJraCf1CYMul5Rrcf-aD26wNu2lkut9zqeODno9eT0F29iMfkWzvr96yo_I-J3ugF_gPSmNJegYELJuHNYELnw7UzJ76ROodBHlxRyiZdsuvAOXkCObucdHPUkHv6g6niE3LmVCWJ1Gz4gRPM8a7BWa-t6leBHxDxf2jsnorHNIlJbYmcSYm0ETLOOOO5XJZKXIDp5rB2EA02g8u7d3nuwTI60FBLeyxxvW5gWR2jxNyKmyFLqktZlcAWIUiSHFieJF37I9fQ9aU_19sEQuJA9EoGdKSbH8zWr7xHKzxW94RT7qJrjl5tDBxDHPqlFtV1N7dKs13WHZ8klNusko3AGbD5SqA_VrROhXQUxzjIx6lOJwztjgWO8lb559I3b8FbXTmr5xmhTdvLMq5KhDO3-tPA2lVrDVzqSlx7LNS2fgnp4tv9uWt34HW3XcocwyUQVosNPnlcRJk_hPF-vQtkryOuBVMJ7Qr7HdIZpeZE4vY9K4uox9j2jkvbS_qQ4a3KtMK3-1zcw_tQH5lJYin8nWd4oAyPbnMdACoV0AdiRLiLJie2My4nrI43OCwLTAm4UyEnrttXSXLqPKHQQG3wRBlb74uMtSWBZjePAStpFimrVtcigp_SEKk54VhbFUmFJ5s6SURDq_5O8LSTFqVVGrOWXqdxV5_3vM1YRyMryw9LGgVFZFomg0lKZaFKCfiktE-7pL4kof9IX3jOtTXE_0rhG7IQcRvg4wngANSoCHf3GN9YR5VaTamZB-cKunwvOqGgJtZ7OBuLqkfypJmHclGeXrKnQW_Lyl5b5RQmLByzOZfhkICHItkZF9U4gJZYSwk1F2TGa3NlIBgLTZkjGSV4wCwGmM0YSsbF4OB4_EftFtAVBRUJUZZRz5FLyl8LjVmMgdEJs3x1kD30IViNpieLclrw5H5fGhvjWKAfpvkymAbdl06EJiuOPPmpN8sAA0W-QVZcjskn4gheemD2ioXBzxe3C-yb1SDLC6frr7luTVWX40Xwj8PtzxNQ359XbrG-Djj2AUQKNVc3shD6QBEqryWGrW2GXc8rVlbBbyxpLvhdQCJZ7ty4XUOfQklOZk7p2YwDZweTY3SBnaknWt93ATrcsXt1KarN1UG2H04-yRGvlam18PKDDrM4EB5qV7H6We7LCN46Spmnaapp7NVjGTbQmtKOpXZmlKTWUujsyE20yZX-c7ld1yImBO6cJtd_iuUXZePcHAV0CxCQ9E4yWx33_xdwzoPaUowF4lOPlQrfQ0mXK4cMOYIFzk5rbNzQdm9Je-2MW-o6ejdoZgliR6EeKlRLPBHOWgYq6A8VPrLgu942fir59Y5CDowP6MqZNfo5uzheBa9z6DcdzP3wMOJhlRet2m8JrhTs6jXRMLVka5xWGgh2imKyaTMZPKqgCuy6DyAQKZoT0TL8euNIFM9XswMIUccpkPtk54LWziA031A4CqXqNjbUG19iQ7y9cNd3syA-sDEZ1gRJ1RP88zYEeaQeeb_HHP5UZIrhfupakwMyPhuc-ZgnUpEZXzKf0whbayjocKlEheUlrSEOao4hSWapPVb3qR7FUO0I9j9exM5Ca9fpqv70p6l2ETaWwTn7myp7KMxACRzup9J0X9Ixhhv6ol5oSxn5iDw6ejc3RVvJZZQfEfdEXgFekgbZdlnfQRbw_C7Xtc9dIB8EtXslzq2OgfbSnf4QgA-1S_mDZGjlXZXp6kOmv_R9a8RKpgvAlqNlj97bcXZl9-_4NVgEM2bQM2xqJPoOn653-qpLWRAjtq3ZzQUxxz_AsqHsIvYAJl-eiTgcimX9fSzlMtkSi6HTDmHwE_tBMcFtGTt_okCujlutneRxw-89d0noURCUX3JNRcy1-zTVh6vrXKl7Ua4Hzc-3owH_-Cb_VJGQ4dplYsvCedky9aetcP2p57dN-uHma3EdO-oYWS94S6IYn6MWuu1RO1jVlDqPz-PIF2TXbiOPaLIXx8WxHYgaxLorgRlqxnpCqjrZAv_diZJi09mkK7c5pouvBzSixvDd0_xdqVWl78UHhKfmK6LKsvTbKoPsrN01ci2ZHtsSaW7DaBVaMJSd86jxxX9YYxBCEkU8WXd6dxa3VX0V4N9nmeF0RrPCwNniEGyTeejcMgx5D4O86fPZ--iFgxoxA6-w6DGhgEPXT2cJ4WwQ1AGVtenkFxiP1YROPBcTc4wmnKuH5jWxGR-E9ihkvjfo_1_gdfIR2H4X3jV0W7KriHUHmoMITl1c6P_e8zxprMMD9Qp78uJfS8vMk8zTJAWVym-U3qZpSG1UW-QLFQTY_yDx_fQk5hGeXWXnKZ1Yyc7qLI5zyaOQbx8jc_qhewkcPgclDcDSX4hCKH9yGx041ZPf5U7YI58K2VOiN-lqQanon4QCgsEd_bT-GwrlNq1-Z0EZxEHZXyOPC_5obc3yq1j2O9F8G0L-wnXyZ1aH8TdMrHaikuYuhtah2CwCI4jLKaneVt69TILJOAR5SqgOq6Lo-B4DmSJNkUBNZ2I152sqP-Sbei63T4oZxecnjvKqRVSGPoA85EFkBTOwUSJ1ZAWnyfeDVC0B_0jWz9xCqpy1EjBpa_TnZh2-cFcKh3SyqEcVsoKW4XXUckzcGhOZ6E-gLswMSErhOGFH0rygV5z7rQElnT2_ZcENM1NZfQUiIgyVj4yvOuAnLSp6tSo9IiYZoFgq2_GHFLqiZCTGG5zBABkqt7P9MHKNZrklfK_ATL_9hkaLGMWOyTtBaBT8xT9LB_yEtrvPrqeu-OA46rLdizUov6TI-zoLpsFpSBhsqb-i1SaeqSFAhH-3GV7A6BfdDFVZZNwvtXTRuSWo-F8PE4OtZ1En-jqXjFTT9f9Wq0YjlinU9yxXH9L2rDHmAdwgj7jHmTJvDKNf5kQnOjUseOyk2igRjzhTGyI0FYcJ50jSV0ERRUDFG5vopKhQBd4JvtSHMuF5pvwDFDdFQlKPf3uwHM4BC_ySn8EUDluLCDgowJKB58zYHqrCvKyqveD_qNV8x0Yk2hCEVuOqxkZ7Jd9bR6oozXtfCaGlPH7BZMo-47maLfh5MSmCcSQTImb9iKTJzPX2n-RtFsx_CGeoD1gvkf9AQB9t44In1SIwtk05EYXxIUI2hMs3dfrQFssy0fxJh_lcFEouhutaL3njmUn08MNWEytjugNtQGsAAKYSo3vKcFqESf_HkMq6efSqq5t2fCsUfyN09Gcqm014rgsqH1B4RXLIPNPcvW5zd5oJ1MrYHcUgG2ZPLwmP3OZlNwKyD1fga4zKUq1aG3KRAvx5ud3G13kGdwjqurC5eR4D3Q5_oJnCkm1iiCxtjwJsbj8BEUmqMVmtylPun7_HBz2dCoLCygasH4o8HRGjOhm24DDqHf3sKslMAga3Fj-7gxuArnopHAK5Fk-Or11KQmHkKsk9G3QXSVbsugU8vTrT11xRA=",
  "id": "rs_03b5ddfae23779b0016ab439b79c4c87d0af0cba31695cd4fe",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm-zji1YZb5AFJGzoUH7_M4r2JYHObLqxSXi2kUgoqj1dVe9FL7S2klq5YXim-wR2qPDC_bEWS_FuZ4nFno-LLzlKPnDims0AurYAcrfQhZx0WMK6Rkf46W1aLA6V5XWSDV9Xkfx3gfT4WaN9dt2l9j-16Es3Rg5P8-UAVCJXy7EAHKFn9f5nTp7aJqsbasBnbmuIz3AcVt43HYQbQMkG5CG5-SVMcmLMziFjmQxyiH4ff-eN63Ta4uFo8mEaTWAAHA1FpbzztV5CHi7hny8Fq6Ic7qqmyvrexpOVaTOfzxGoQUNWE_qrHMocH7Z46Pe6q4_NCmsm-n_zlktQfNX9ppqEb0O7pyqdAyngKA6yZctKw9nTlU-inIBs7dy05gn4llaeSZorR5qX7OSse6kVRcTtKie_CSKibtGdHklOE2KEBevQedKBoY6Fk8dHnujwuVo3FXu1HBZFgzAZpkb-HjVI4tVOzJUJLSpZms37RMlk1DWM9Hghrvym4cCYpHVVqXjHnZCzIt8jC26LCAck99hLtpfATRdvWFd1q6_hKuQmZLxm4dORwRggXq_HGL4VCXp5ouZ6P0t-Y988C7qdCijJF9kasfoDgzDTdy1NCnQ72gthT5wNJYdO6Gep5vckwKUawoip6A9MMGp7n3Bilr-4JhF1z7GRJGUKo8sTcHL9_j1AJA8ilESRwLINisKPiWG-fXyM3AMBlqRqQXhZotJJGvYVu4D6DT9muQNfGmX78BiRdfNtl6esEaI54DhoJ1whQqIUt6hCfyDdd9fKyEvXrPRyXZnFlMWOo8pte0VSAKEKak5WTTYUjVPkefvzkxqnQpb8zt9-oUI13o8onbiwXvM4hm5PobsKg3So5eafkav_iFmkvH702FevQhA95y9B3Oqu-T93idCWLCXz0nZu1U3ugPM4kYvDeWOi7GrMOKCcYgGbiKWcBuI8VMe34LbjVD8-Ha-Gk3MVGUajm193QLmX4j52zxbcQIgnU54EhC7IlmoTlupxFqBnS2KeHry1_IUk51daI86jpRd4RPf1pvWE-Ypiq9rBwoVyykC12jms7RetvpgO8HHyiSm_dTbleRSKza1X1fjR1QAYUMRvxyW6aOoaG5xiTSReM4ng7rdSNYfiP8poA8YFgUCx8PRuYbnu1ks0vhr1a0lEAQoJ5NCrng1OnqefObUZgrKRf_ewMwElmXTM23iJfyGLUA532i3219pGQEveoHu0BwuFV2g7xT9lTg2RJ-NcWtWMkF2fj88utpliZPMa9g9Z145tfOk81Lz4dveU0TkNipYvZHAHgIScJELJp9IBEr5CC1pmpaUlzQRM6LQspx5a4Gg4gqoO5h3iF_cODXDjbsFjc8946kT6BQaCRBsZyI5nS1vGCpo9N1387tbh4x2jNEqvjZJsEz5QpCIhqJK59j7jcYEHoX2pa1NilcWvXH31d8KPTff2tgulF5AeQkGoa3HV2qhKFstvJt13iE7eqh-PXrSVc_c-JNEkU4tOdJrjgfwGUpqELEVILsBqpsJIVNfBLAiZLtJ79rJsHcJ8Wo85zAn_VPKcoipeeVdiZ5CWwQJRmXR3pySVwhLq3TSCxaO6i-KoJc04XXnmeHZo8rLZDLX0xuxHQDqflrLJlACjjXGuiTcCwc7G4CCLtQJ6uNoTv3M86sZvDghDq1WXA4fimQcQF57o-sR62C7n0A6uM=",
  "id": "rs_03b5ddfae23779b0016ab439bc337087d098124f9a745e540c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.25,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.29,\"right_y\":0.26,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"At a sideways yaw the left arm again swung away from the centre and dropped, so that orientation is not usable for joining the parts. I’ll instead align both along the forward axis, where the left arm can reach inward, keeping the grippers separated while placing the pen’s free end behind the cap.\"}",
  "call_id": "call_SObxt1g9pcMrjf4O84JtoyB6",
  "id": "fc_03b5ddfae23779b0016ab439bd3c3c87d09dc5595308443032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SObxt1g9pcMrjf4O84JtoyB6",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7719, 1.7397, 1.2457, -0.5438, -0.7918, -0.6106, 0.0571, 1.0622, 1.4994, 1.1809, -0.6102, 0.9443, 0.6369, 0.0672]\nstate[eef_state]: left_x=0.382 left_y=-0.1914 left_z=0.1418 left_yaw=0.1787 left_pitch=-0.0979 left_roll=0.2212 left_gripper=0.0571 right_x=0.2955 right_y=0.2436 right_z=0.2167 right_yaw=-0.0135 right_pitch=0.0664 right_roll=-0.1577 right_gripper=0.0672\nstate[joint_eff]: [-7.665, -13.0393, 10.0718, 1.8877, -0.2076, 0.2271, 1.033, 1.6205, 0.1983, 8.2803, 1.7021, -0.8425, -1.0085, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4205cef0515111ae4cdd4e7c06d4f2ff2c655c7f9f0b8b154b17f482e1c0204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5deaa122badca82565a9e05fb1e1e2eb401e83f91bedccab926bb1dcb72cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376c7807ac6ee89720acd8e1fbf7de5787db4ffec7d5df3648de128432c71f37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 6.712 s

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

message 147 changed as sent

message 155 changed as sent

message 160 changed as sent

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4156, 2.2272, 1.7439, -1.5578, -0.8207, -2.0869, 0.0556, 0.0662, 1.845, 1.5772, -1.0523, -0.9226, -1.5028, 0.0664]\nstate[eef_state]: left_x=0.364 left_y=-0.0155 left_z=0.0909 left_yaw=1.494 left_pitch=-0.0858 left_roll=0.0805 left_gripper=0.0556 right_x=0.377 right_y=0.1697 right_z=0.1881 right_yaw=1.566 right_pitch=-0.0735 right_roll=-0.19 right_gripper=0.0664\nstate[joint_eff]: [0.4718, -10.988, 7.2137, -0.696, -0.3834, -0.1343, 1.0281, 0.9094, -9.1692, 9.0188, 0.7888, -0.5739, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 2.2337, 1.676, -1.5322, -1.0447, -2.035, 0.057, 0.0666, 1.845, 1.5761, -1.0386, -0.9092, -1.5036, 0.0664]\nstate[eef_state]: left_x=0.3763 left_y=0.0216 left_z=0.1038 left_yaw=1.4048 left_pitch=0.114 left_roll=0.1186 left_gripper=0.057 right_x=0.3796 right_y=0.1686 right_z=0.1866 right_yaw=1.5623 right_pitch=-0.0856 right_roll=-0.2041 right_gripper=0.0664\nstate[joint_eff]: [-0.4991, -13.9829, 4.3829, -0.8181, -0.7253, -0.0855, 1.033, -0.4171, -9.306, 6.4479, 0.735, -0.5543, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7719, 1.7397, 1.2457, -0.5438, -0.7918, -0.6106, 0.0571, 1.0622, 1.4994, 1.1809, -0.6102, 0.9443, 0.6369, 0.0672]\nstate[eef_state]: left_x=0.382 left_y=-0.1914 left_z=0.1418 left_yaw=0.1787 left_pitch=-0.0979 left_roll=0.2212 left_gripper=0.0571 right_x=0.2955 right_y=0.2436 right_z=0.2167 right_yaw=-0.0135 right_pitch=0.0664 right_roll=-0.1577 right_gripper=0.0672\nstate[joint_eff]: [-7.665, -13.0393, 10.0718, 1.8877, -0.2076, 0.2271, 1.033, 1.6205, 0.1983, 8.2803, 1.7021, -0.8425, -1.0085, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4205cef0515111ae4cdd4e7c06d4f2ff2c655c7f9f0b8b154b17f482e1c0204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5deaa122badca82565a9e05fb1e1e2eb401e83f91bedccab926bb1dcb72cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376c7807ac6ee89720acd8e1fbf7de5787db4ffec7d5df3648de128432c71f37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03b5ddfae23779b0016ab439c2156087d0b66053dea293a57a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.22},\"note\":\"With both tools pointing forward, the pen is held behind the cap, but the measured grasp points are still laterally far apart and the cap is lower. I’ll move the cap farther toward the centre and lift it slightly before bringing the pen across.\"}",
  "call_id": "call_exXggGUobHJXWM6VlBSpHc04",
  "id": "fc_03b5ddfae23779b0016ab439c52ab087d08713b74628d3a367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_exXggGUobHJXWM6VlBSpHc04",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7795, 1.75, 1.2366, -0.5301, -0.8307, -0.6048, 0.0571, 1.0664, 1.4929, 1.1793, -0.6697, 0.9833, 0.6834, 0.0672]\nstate[eef_state]: left_x=0.3823 left_y=-0.1895 left_z=0.1403 left_yaw=0.1898 left_pitch=-0.0744 left_roll=0.2498 left_gripper=0.0571 right_x=0.2919 right_y=0.232 right_z=0.217 right_yaw=-0.0519 right_pitch=0.0736 right_roll=-0.1798 right_gripper=0.0672\nstate[joint_eff]: [-4.547, -9.1829, 6.5162, 1.3846, -0.5934, -0.1001, 1.033, -0.4991, -5.9419, 6.9128, 1.7118, -0.0366, -0.4908, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55370ff8e8f2fd8f8b8c5355847da337032758a39e1c56e835ba8d341366284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b1af91d083e3272e6b342efa553d7af18fe4f7eccfa097dd25ef88ae233cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda1d33b4794a6c6f95d4ed13f1eca4beea798e906a8a8e4d0dce29feff57609",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]