adhoc

completed
2026-09-23T18:51:12.890973+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
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
254.3 s
total steps
367
operator
0
scenes
1
trials
1
errored
0

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
camera top_cam flipbook
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
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe cap is the short dark piece left of center, and the pen lies diagonally to its right. I’ll bring the left gripper above the cap first, keeping the jaws open.
move_to
left_x0.4050left_y-0.2200left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6033, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7921, 0.6094, -0.3805, -0.0219, -0.0128, 0.9994] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.002 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5538, -1.5658, 10.4274, 1.8046, -0.0269, 0.1294, -0.0855, -0.759, -1.3744, 9.812, 1.873, -0.0366, -0.0562, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.22,"left_z":0.12},"note":"The cap is the short dark piece left of center, and the pen lies diagonally to its right. I’ll bring the left gripper above the cap first, keeping the jaws open."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap appears low and slightly left of the jaw column in the left wrist view. I’ll shift the open jaws toward it and descend to just above table level.
move_to
left_y-0.1850left_z0.0220
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7151, 1.71, 0.9733, -0.0315, -0.5735, -0.453, 0.9993, -0.0181, 0.7975, 0.6128, -0.3904, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.3941 left_y=-0.2105 left_z=0.1017 left_yaw=-0.0111 left_pitch=-0.0545 left_roll=0.0325 left_gripper=0.9993 right_x=0.2947 right_y=0.0024 right_z=0.1809 right_yaw=0.0015 right_pitch=-0.0126 right_roll=0.0014 right_gripper=0.9994 state[joint_eff]: [-0.3761, -8.4171, 8.9368, 1.7656, -0.4762, -0.0366, -0.0171, -0.335, -1.6615, 6.9538, 1.8046, -0.0269, -0.0513, -0.0122] 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":{"left_y":-0.185,"left_z":0.022},"note":"The cap appears low and slightly left of the jaw column in the left wrist view. I’ll shift the open jaws toward it and descend to just above table level."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap now runs into the fingertip area, but its middle is still a little left of the jaw center. I’ll nudge the gripper forward and sideways while lowering it to table height for the grasp.
move_to
left_x0.4090left_y-0.1690left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6601, 1.8561, 0.775, 0.2676, -0.5415, -0.4217, 0.9992, -0.0181, 0.7979, 0.6128, -0.3912, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.3856 left_y=-0.1795 left_z=0.0166 left_yaw=0.0053 left_pitch=-0.1051 left_roll=0.0686 left_gripper=0.9992 right_x=0.2946 right_y=0.0024 right_z=0.1807 right_yaw=0.0015 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.9994 state[joint_eff]: [0.6359, -7.9658, 5.2718, 1.6972, -0.0904, 0.0757, -0.0171, -0.0752, -1.2513, 7.3778, 1.7558, -0.0122, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.409,"left_y":-0.169,"left_z":-0.005},"note":"The cap now runs into the fingertip area, but its middle is still a little left of the jaw center. I’ll nudge the gripper forward and sideways while lowering it to table height for the grasp."})
tool
executing move_to over 2 steps (0.2s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe left jaws are at table height with the cap extending between their tips. I’ll close on it and check the gripper reading before lifting.
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]: [-0.6243, 1.9205, 0.7803, 0.355, -0.5167, -0.4015, 0.9992, -0.0181, 0.7982, 0.6128, -0.3943, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.3983 left_y=-0.175 left_z=0.0044 left_yaw=0.0098 left_pitch=-0.0941 left_roll=0.0531 left_gripper=0.9992 right_x=0.2942 right_y=0.0025 right_z=0.1799 right_yaw=0.0018 right_pitch=-0.0171 right_roll=0.0017 right_gripper=0.9994 state[joint_eff]: [0.9641, -7.9248, 6.0923, 1.409, -0.1685, 0.188, -0.0659, -0.3214, -1.2103, 6.9949, 1.7216, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are at table height with the cap extending between their tips. I’ll close on it and check the gripper reading before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper closed almost completely, which suggests the cap may have slipped out. I’ll lift straight up to see whether it moves with the jaws or remains on the table.
move_to
left_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]: [-0.5858, 1.9522, 0.7959, 0.3935, -0.5087, -0.3756, 0.0073, -0.0181, 0.8005, 0.6128, -0.3965, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.4113 left_y=-0.1653 left_z=0.0021 left_yaw=0.0271 left_pitch=-0.08 left_roll=0.056 left_gripper=0.0073 right_x=0.2941 right_y=0.0025 right_z=0.1788 right_yaw=0.0018 right_pitch=-0.0217 right_roll=0.0018 right_gripper=0.9994 state[joint_eff]: [-0.4581, -7.5556, 5.5863, 1.37, -0.0464, 0.0659, 0.5446, -0.0615, -1.2376, 7.2137, 1.7656, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The gripper closed almost completely, which suggests the cap may have slipped out. I’ll lift straight up to see whether it moves with the jaws or remains on the table."})
tool
executing move_to over 8 steps (0.8s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe nearly closed reading indicates an empty grasp. I’ll park the left arm to uncover the cap and position the right arm above the pen, keeping the arms apart.
move_to
left_x0.2950left_y0.0000left_z0.1800right_x0.4050right_y0.2900right_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5858, 1.6867, 0.9493, -0.0471, -0.5091, -0.384, 0.0095, -0.0181, 0.8005, 0.6132, -0.3973, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.4088 left_y=-0.1636 left_z=0.0956 left_yaw=0.033 left_pitch=-0.0973 left_roll=0.0622 left_gripper=0.0095 right_x=0.294 right_y=0.0024 right_z=0.1788 right_yaw=0.0015 right_pitch=-0.0221 right_roll=0.0016 right_gripper=0.9994 state[joint_eff]: [-0.3761, -9.7846, 9.4427, 1.4628, -0.2466, 0.0659, 0.2222, -0.3077, -1.1419, 7.3094, 1.7705, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"right_x":0.405,"right_y":0.29,"right_z":0.13},"note":"The nearly closed reading indicates an empty grasp. I’ll park the left arm to uncover the cap and position the right arm above the pen, keeping the arms apart."})
tool
executing move_to over 24 steps (2.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteWith the left arm out of the way, the cap is still on the table. The pen crosses the right wrist’s fingertip area slightly to the right, so I’ll center the right gripper over its shaft and lower to table height.
move_to
right_y0.2640right_z-0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1108, 0.8902, 0.6983, -0.4759, -0.1761, -0.0822, 0.0108, 0.8322, 1.8637, 1.2308, -0.2031, 0.614, 0.4984, 0.9994] state[eef_state]: left_x=0.2995 left_y=0.0014 left_z=0.1784 left_yaw=0.0705 left_pitch=-0.0877 left_roll=0.0517 left_gripper=0.0108 right_x=0.3911 right_y=0.2837 right_z=0.1092 right_yaw=0.0519 right_pitch=-0.0899 right_roll=-0.0567 right_gripper=0.9994 state[joint_eff]: [0.2803, -2.1265, 7.5009, 1.7949, -0.0073, 0.2173, 0.1294, -0.2667, -10.0308, 9.5795, 1.6484, 0.6276, 0.3541, -0.0171] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.264,"right_z":-0.008},"note":"With the left arm out of the way, the cap is still on the table. The pen crosses the right wrist’s fingertip area slightly to the right, so I’ll center the right gripper over its shaft and lower to table height."})
tool
executing move_to over 8 steps (0.8s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteAt table height the pen shaft lies near the right edge of the open jaws, rather than between their centers. I’ll shift the right gripper sideways across the shaft before closing.
move_to
right_y0.2300right_z-0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1078, 0.8928, 0.6983, -0.4866, -0.1753, -0.0807, 0.0118, 0.8043, 2.051, 0.9989, 0.226, 0.5941, 0.4824, 0.9994] state[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1756 left_yaw=0.0723 left_pitch=-0.1009 left_roll=0.0548 left_gripper=0.0118 right_x=0.3893 right_y=0.2669 right_z=0.0041 right_yaw=0.0476 right_pitch=-0.0933 right_roll=-0.052 right_gripper=0.9994 state[joint_eff]: [-0.2393, -2.0718, 6.9402, 1.7118, -0.1294, -0.0708, 0.0904, -0.9778, -7.706, 3.8769, 1.0916, 0.1538, -0.2466, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.23,"right_z":-0.008},"note":"At table height the pen shaft lies near the right edge of the open jaws, rather than between their centers. I’ll shift the right gripper sideways across the shaft before closing."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe pen shaft now runs through the center of the right fingertip gap. I’ll close the jaws around the shaft and use the settled jaw opening to check for a 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]: [-0.1078, 0.8932, 0.6983, -0.4866, -0.1753, -0.0803, 0.0123, 0.7437, 2.0277, 0.889, 0.3828, 0.5591, 0.4446, 0.9994] state[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1755 left_yaw=0.0721 left_pitch=-0.1013 left_roll=0.0552 left_gripper=0.0123 right_x=0.3948 right_y=0.2408 right_z=0.0009 right_yaw=0.0368 right_pitch=-0.0582 right_roll=-0.0168 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6972, -0.1392, -0.0366, 0.0366, -0.6085, -9.9624, 3.7675, 1.0281, 0.0024, -0.1099, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen shaft now runs through the center of the right fingertip gap. I’ll close the jaws around the shaft and use the settled jaw opening to check for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe right gripper has stopped at about a 5 mm opening, consistent with the pen’s thickness. I’ll lift it clear of the table and confirm that the pen comes up with the jaws.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1078, 0.8932, 0.6983, -0.4873, -0.1753, -0.0807, 0.0124, 0.7399, 2.0262, 0.8833, 0.4038, 0.5564, 0.4377, 0.0522] state[eef_state]: left_x=0.298 left_y=0.0024 left_z=0.1754 left_yaw=0.0723 left_pitch=-0.1021 left_roll=0.055 left_gripper=0.0124 right_x=0.3966 right_y=0.2406 right_z=0.003 right_yaw=0.0393 right_pitch=-0.0466 right_roll=-0.0101 right_gripper=0.0522 state[joint_eff]: [-0.0479, -1.812, 6.9812, 1.6142, -0.1099, -0.0464, -0.0073, 0.253, -9.5111, 5.8462, 1.3114, 0.2222, 0.105, 1.3114] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper has stopped at about a 5 mm opening, consistent with the pen’s thickness. I’ll lift it clear of the table and confirm that the pen comes up with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe pen appears to have risen with the right gripper, so I’ll keep it raised while returning the left gripper to the cap. The first cap grasp missed to one side; I’ll approach slightly farther across it with open jaws.
move_to
left_x0.4050left_y-0.1440left_z0.0900left_gripper1.0000right_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]: [-0.1078, 0.8986, 0.6979, -0.4911, -0.1757, -0.0807, 0.0123, 0.7399, 1.734, 1.0962, -0.1532, 0.5411, 0.4301, 0.0597] state[eef_state]: left_x=0.2977 left_y=0.0025 left_z=0.173 left_yaw=0.0728 left_pitch=-0.1114 left_roll=0.057 left_gripper=0.0123 right_x=0.3922 right_y=0.2397 right_z=0.1175 right_yaw=0.0526 right_pitch=-0.0933 right_roll=-0.0414 right_gripper=0.0597 state[joint_eff]: [-0.1573, -2.2359, 6.9402, 1.6825, -0.1343, -0.0562, -0.0171, -0.3897, -11.3573, 9.3744, 1.7656, 0.3687, 0.0562, 1.0281] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.144,"left_z":0.09,"left_gripper":1,"right_z":0.17},"note":"The pen appears to have risen with the right gripper, so I’ll keep it raised while returning the left gripper to the cap. The first cap grasp missed to one side; I’ll approach slightly farther across it with open jaws."})
tool
executing move_to over 14 steps (1.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe cap is visible just right of the left jaw column; it is still on the table. I’ll move the open jaws slightly back across it and lower to table height, then inspect the alignment before closing.
move_to
left_y-0.1580left_x0.4030left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5407, 1.6463, 0.86, -0.0933, -0.4797, -0.3882, 0.9965, 0.7403, 1.7176, 1.2034, -0.3782, 0.522, 0.429, 0.0652] state[eef_state]: left_x=0.3868 left_y=-0.133 left_z=0.0697 left_yaw=0.0658 left_pitch=-0.1873 left_roll=0.0962 left_gripper=0.9965 right_x=0.383 right_y=0.2354 right_z=0.1312 right_yaw=0.059 right_pitch=-0.181 right_roll=-0.0959 right_gripper=0.0652 state[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.619, -0.315, 0.0415, -0.0073, -0.2803, -11.8359, 10.2085, 1.7753, 0.3687, 0.0024, 1.0281] 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_y":-0.158,"left_x":0.403,"left_z":-0.01},"note":"The cap is visible just right of the left jaw column; it is still on the table. I’ll move the open jaws slightly back across it and lower to table height, then inspect the alignment before closing."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe cap now lies on the left jaw column at table height. I’ll close the jaws on it and check whether they stop at a nonzero opening.
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]: [-0.5762, 1.9072, 0.8467, 0.1799, -0.5117, -0.4324, 0.9973, 0.7399, 1.7184, 1.2022, -0.3901, 0.5152, 0.4217, 0.0652] state[eef_state]: left_x=0.4028 left_y=-0.1543 left_z=0.004 left_yaw=0.0786 left_pitch=-0.1713 left_roll=0.0842 left_gripper=0.9973 right_x=0.3809 right_y=0.2347 right_z=0.1284 right_yaw=0.066 right_pitch=-0.1954 right_roll=-0.1058 right_gripper=0.0652 state[joint_eff]: [-0.4171, -5.9009, 6.0513, 0.569, -0.0464, 0.2271, 0.0708, -0.0889, -8.6632, 6.5983, 1.3797, 0.2515, 0.0513, 1.033] 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_gripper":0},"note":"The cap now lies on the left jaw column at table height. I’ll close the jaws on it and check whether they stop at a nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe left jaws closed completely again, so they did not secure the cap. I’ll withdraw and reopen them to reveal where the cap actually lies before another attempt.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5766, 1.9251, 0.8497, 0.2058, -0.5175, -0.4419, 0.0073, 0.7399, 1.7184, 1.2022, -0.3935, 0.5114, 0.421, 0.0652] state[eef_state]: left_x=0.406 left_y=-0.1555 left_z=0.0019 left_yaw=0.0865 left_pitch=-0.1594 left_roll=0.0736 left_gripper=0.0073 right_x=0.3802 right_y=0.2349 right_z=0.1276 right_yaw=0.0688 right_pitch=-0.2 right_roll=-0.1061 right_gripper=0.0652 state[joint_eff]: [-0.0342, -10.3863, 4.7385, 1.0916, -0.1538, 0.0904, 0.5495, -0.3761, -8.6085, 6.5436, 1.3211, 0.2271, -0.0366, 1.0281] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1},"note":"The left jaws closed completely again, so they did not secure the cap. I’ll withdraw and reopen them to reveal where the cap actually lies before another attempt."})
tool
executing move_to over 14 steps (1.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteWith the left arm withdrawn, the cap is still visible near the table center-left. The previous two closes were empty at nearly the same forward position, so I’ll approach a few centimeters nearer the base and inspect the cap relative to the fingers.
move_to
left_x0.3690left_y-0.1580left_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]: [-0.1596, 0.9585, 0.7246, -0.5163, -0.2573, -0.1604, 0.9966, 0.7399, 1.7195, 1.2022, -0.3954, 0.5106, 0.4175, 0.0652] state[eef_state]: left_x=0.3008 left_y=0.0007 left_z=0.1655 left_yaw=0.1343 left_pitch=-0.1525 left_roll=0.0622 left_gripper=0.9966 right_x=0.3799 right_y=0.2348 right_z=0.1268 right_yaw=0.0708 right_pitch=-0.2029 right_roll=-0.1101 right_gripper=0.0652 state[joint_eff]: [0.1162, -2.6325, 9.9624, 1.5604, -0.149, 0.1441, -0.0415, -0.2393, -8.5265, 6.5299, 1.3993, 0.1685, 0.0073, 1.0281] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.369,"left_y":-0.158,"left_z":0.075},"note":"With the left arm withdrawn, the cap is still visible near the table center-left. The previous two closes were empty at nearly the same forward position, so I’ll approach a few centimeters nearer the base and inspect the cap relative to the fingers."})
tool
executing move_to over 15 steps (1.5s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteFrom this nearer-base approach, the cap is fully visible ahead of the left jaws rather than disappearing below them. I’ll center it laterally and lower straight to table height to place its middle between the fingertips.
move_to
left_x0.3550left_y-0.1650left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6571, 1.6344, 0.8341, -0.1902, -0.5713, -0.5533, 0.9974, 0.7399, 1.7199, 1.2018, -0.4114, 0.5072, 0.4145, 0.0652] state[eef_state]: left_x=0.3538 left_y=-0.1478 left_z=0.0587 left_yaw=0.1205 left_pitch=-0.216 left_roll=0.1054 left_gripper=0.9974 right_x=0.3775 right_y=0.2333 right_z=0.1241 right_yaw=0.0728 right_pitch=-0.218 right_roll=-0.1208 right_gripper=0.0652 state[joint_eff]: [-0.3897, -7.4735, 8.9094, 1.3602, -0.5153, -0.1294, 0.0708, 0.0479, -8.6222, 6.5299, 1.4335, 0.2173, -0.0269, 1.0281] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.165,"left_z":-0.01},"note":"From this nearer-base approach, the cap is fully visible ahead of the left jaws rather than disappearing below them. I’ll center it laterally and lower straight to table height to place its middle between the fingertips."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe cap’s thick middle now crosses the left fingertip gap at table height. I’ll close here and check the settled opening for a secure grasp.
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]: [-0.6949, 1.8301, 0.7841, 0.0444, -0.6064, -0.6025, 0.9974, 0.7399, 1.7199, 1.2018, -0.4122, 0.4957, 0.4141, 0.0652] state[eef_state]: left_x=0.3574 left_y=-0.1622 left_z=0.004 left_yaw=0.1348 left_pitch=-0.1995 left_roll=0.0985 left_gripper=0.9974 right_x=0.3766 right_y=0.2349 right_z=0.1232 right_yaw=0.0813 right_pitch=-0.2242 right_roll=-0.1142 right_gripper=0.0652 state[joint_eff]: [-0.6359, -5.5453, 4.6974, 0.4567, -0.0757, 0.1392, -0.0122, -0.1162, -8.5949, 6.653, 1.2479, 0.2515, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s thick middle now crosses the left fingertip gap at table height. I’ll close here and check the settled opening for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe left jaws stopped at a roughly 4 mm gap, consistent with holding the cap. I’ll lift it and check that it leaves the tabletop before trying to align it with the pen.
move_to
left_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]: [-0.6964, 1.845, 0.7837, 0.0647, -0.6182, -0.6056, 0.0468, 0.7399, 1.7199, 1.2018, -0.4126, 0.4923, 0.4141, 0.0652] state[eef_state]: left_x=0.3592 left_y=-0.1622 left_z=0.0019 left_yaw=0.1419 left_pitch=-0.1886 left_roll=0.0993 left_gripper=0.0468 right_x=0.3764 right_y=0.2354 right_z=0.123 right_yaw=0.0838 right_pitch=-0.2262 right_roll=-0.1122 right_gripper=0.0652 state[joint_eff]: [-0.0479, -9.306, 4.8889, 0.9744, -0.1783, 0.0855, 1.5311, -0.1299, -8.5675, 6.4889, 1.2821, 0.1783, -0.0415, 1.0281] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left jaws stopped at a roughly 4 mm gap, consistent with holding the cap. I’ll lift it and check that it leaves the tabletop before trying to align it with the pen."})
tool
executing move_to over 11 steps (1.1s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteBoth objects lifted with their jaws, and the pen’s exposed tip points forward in the right wrist view. I’ll move the cap above and ahead of that tip while shifting the pen slightly toward the table center, keeping vertical clearance between the two grippers.
move_to
left_x0.4700left_y-0.3350left_z0.2500right_y0.2750right_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]: [-0.6964, 1.5749, 1.145, -0.5831, -0.6151, -0.6132, 0.0541, 0.7399, 1.7195, 1.2018, -0.4126, 0.4919, 0.4141, 0.0652] state[eef_state]: left_x=0.3609 left_y=-0.1642 left_z=0.1467 left_yaw=0.1465 left_pitch=-0.201 left_roll=0.1044 left_gripper=0.0541 right_x=0.3763 right_y=0.2354 right_z=0.1231 right_yaw=0.0842 right_pitch=-0.2261 right_roll=-0.1117 right_gripper=0.0652 state[joint_eff]: [-0.3761, -9.6068, 9.2513, 1.1355, -0.3639, 0.0366, 1.033, -0.0068, -8.5675, 6.5299, 1.2723, 0.1587, -0.0562, 1.0281] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.335,"left_z":0.25,"right_y":0.275,"right_z":0.17},"note":"Both objects lifted with their jaws, and the pen’s exposed tip points forward in the right wrist view. I’ll move the cap above and ahead of that tip while shifting the pen slightly toward the table center, keeping vertical clearance between the two grippers."})
tool
executing move_to over 16 steps (1.6s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe overhead view shows the arms approaching the same area, but both fell short of their targets. I’ll reposition only the cap arm to a less extended pose and bring it closer to the pen’s centerline, leaving the pen arm still.
move_to
left_x0.4300left_y-0.3400left_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.733, 2.5122, 2.8468, -1.5196, -0.6567, -0.733, 0.0605, 0.7506, 1.8084, 1.3937, -0.7361, 0.5037, 0.4618, 0.0688] state[eef_state]: left_x=0.464 left_y=-0.2678 left_z=0.2101 left_yaw=0.2326 left_pitch=-0.2687 left_roll=0.1814 left_gripper=0.0605 right_x=0.3644 right_y=0.2282 right_z=0.1197 right_yaw=0.0151 right_pitch=-0.3851 right_roll=-0.2355 right_gripper=0.0688 state[joint_eff]: [-6.1607, -14.5299, 4.8752, 1.7802, -0.5055, -0.0024, 1.0379, 5.2308, -9.6205, 14.0786, 1.9853, 0.5397, 0.2076, 1.033] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.34,"left_z":0.19},"note":"The overhead view shows the arms approaching the same area, but both fell short of their targets. I’ll reposition only the cap arm to a less extended pose and bring it closer to the pen’s centerline, leaving the pen arm still."})
tool
executing move_to over 7 steps (0.7s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe cap arm barely moved while the pen arm drifted, so the crossed arm poses are blocking one another. I’ll back the cap arm away to restore clearance before bringing the pen to an accessible meeting point.
move_to
left_x0.3600left_y-0.1600left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.741, 2.5462, 2.8883, -1.5711, -0.6735, -0.7879, 0.0605, 0.7422, 1.8023, 1.3663, -0.7567, 0.4953, 0.4599, 0.0727] state[eef_state]: left_x=0.4597 left_y=-0.2664 left_z=0.2028 left_yaw=0.2734 left_pitch=-0.2739 left_roll=0.1903 left_gripper=0.0605 right_x=0.3574 right_y=0.2187 right_z=0.1104 right_yaw=0.0014 right_pitch=-0.4216 right_roll=-0.2612 right_gripper=0.0727 state[joint_eff]: [-5.2171, -12.588, 6.8991, 0.8327, -0.5397, -0.2076, 1.0281, 0.4718, -8.6222, 8.6769, 1.0965, 0.2662, -0.0269, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.16,"left_z":0.18},"note":"The cap arm barely moved while the pen arm drifted, so the crossed arm poses are blocking one another. I’ll back the cap arm away to restore clearance before bringing the pen to an accessible meeting point."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe cap arm is clear of the pen again, though it rose higher than commanded while escaping the crossed pose. I’ll move the pen arm toward the center at a safe height, then reassess the spacing.
move_to
right_x0.3400right_y0.3000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7151, 1.6691, 1.9945, -1.0309, -0.6559, -0.767, 0.0605, 0.741, 1.8057, 1.3624, -0.7528, 0.4885, 0.4595, 0.0736] state[eef_state]: left_x=0.3893 left_y=-0.1906 left_z=0.3738 left_yaw=0.218 left_pitch=0.0133 left_roll=-0.237 left_gripper=0.0605 right_x=0.3569 right_y=0.219 right_z=0.1076 right_yaw=0.0041 right_pitch=-0.4285 right_roll=-0.2588 right_gripper=0.0736 state[joint_eff]: [0.6222, 0.3487, 4.3556, 2.1026, -0.2125, 0.1245, 1.0281, -0.0889, -9.3744, 6.7214, 0.8816, 0.3492, -0.0659, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). 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":{"right_x":0.34,"right_y":0.3,"right_z":0.18},"note":"The cap arm is clear of the pen again, though it rose higher than commanded while escaping the crossed pose. I’ll move the pen arm toward the center at a safe height, then reassess the spacing."})
tool
executing move_to over 7 steps (0.7s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe pen arm reached its new position and remains elevated. I’ll bring the cap arm down from its unexpectedly high pose while keeping it to the side, so the two held objects can be aligned without crossing the arm bodies.
move_to
left_x0.3550left_y-0.2700left_z0.2700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.709, 1.6531, 1.9545, -0.9596, -0.6693, -0.7998, 0.0654, 0.9123, 1.9961, 1.8999, -1.195, 0.5034, 0.5907, 0.0742] state[eef_state]: left_x=0.3948 left_y=-0.1895 left_z=0.3777 left_yaw=0.2525 left_pitch=0.0432 left_roll=-0.2986 left_gripper=0.0654 right_x=0.3341 right_y=0.2985 right_z=0.1728 right_yaw=0.0579 right_pitch=-0.4676 right_roll=-0.2666 right_gripper=0.0742 state[joint_eff]: [0.5402, -6.0513, 6.7077, 1.1502, -0.1587, 0.2515, 1.033, -0.4171, -9.7573, 8.3077, 0.989, 0.6569, 0.3834, 0.9206] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.27,"left_z":0.27},"note":"The pen arm reached its new position and remains elevated. I’ll bring the cap arm down from its unexpectedly high pose while keeping it to the side, so the two held objects can be aligned without crossing the arm bodies."})
tool
executing move_to over 8 steps (0.8s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteWhen the cap arm moves toward the middle, the pen arm is displaced, suggesting arm-body interference. I’ll retract the pen gripper nearer its own base while keeping the pen lifted, creating room for the cap arm to come alongside.
move_to
right_x0.2700right_y0.3050right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8387, 1.5864, 1.6428, -0.6544, -0.9291, -0.9699, 0.067, 0.9192, 2.0232, 1.8404, -1.2678, 0.4931, 0.5907, 0.0753] state[eef_state]: left_x=0.3825 left_y=-0.2085 left_z=0.3509 left_yaw=0.4186 left_pitch=0.1743 left_roll=-0.437 left_gripper=0.067 right_x=0.3148 right_y=0.2807 right_z=0.14 right_yaw=-0.0007 right_pitch=-0.5764 right_roll=-0.4018 right_gripper=0.0753 state[joint_eff]: [-10.1402, 0.1299, 0.6222, 0.6178, 0.6911, -0.3394, 1.0281, -0.9368, -12.7248, 10.7556, 1.1209, 0.3346, -0.0464, 0.9744] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.305,"right_z":0.19},"note":"When the cap arm moves toward the middle, the pen arm is displaced, suggesting arm-body interference. I’ll retract the pen gripper nearer its own base while keeping the pen lifted, creating room for the cap arm to come alongside."})
tool
executing move_to over 4 steps (0.4s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
assistant
agent noteThe arms continue to obstruct each other when both are carried into the center. I’ll set the pen down gently near the centerline, so I can withdraw the right arm and use the cap arm without forcing the two wrists together.
move_to
right_x0.3000right_y0.3000right_z0.0140
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8196, 1.5475, 1.6592, -0.5903, -0.9974, -1.0271, 0.0691, 0.9871, 2.0869, 2.0075, -1.4662, 0.4923, 0.6823, 0.0789] state[eef_state]: left_x=0.3828 left_y=-0.1872 left_z=0.3867 left_yaw=0.5454 left_pitch=0.2238 left_roll=-0.5991 left_gripper=0.0691 right_x=0.2898 right_y=0.2937 right_z=0.1565 right_yaw=-0.0395 right_pitch=-0.6109 right_roll=-0.4488 right_gripper=0.0789 state[joint_eff]: [-3.7949, -0.1709, 3.6991, 1.0672, 0.2515, 0.1099, 0.9158, 4.1641, -12.588, 11.3846, 0.0952, 0.3883, 0.2173, 0.7497] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.3,"right_z":0.014},"note":"The arms continue to obstruct each other when both are carried into the center. I’ll set the pen down gently near the centerline, so I can withdraw the right arm and use the cap arm without forcing the two wrists together."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe pen gripper has reached near-table height and its descent has stopped. I’ll release the pen there, then move the right arm out of the cap arm’s path.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8482, 1.6119, 1.6196, -0.6197, -0.9585, -1.0241, 0.0705, 0.9775, 2.1651, 1.5967, -0.9943, 0.4931, 0.6762, 0.0821] state[eef_state]: left_x=0.3862 left_y=-0.2141 left_z=0.3392 left_yaw=0.4568 left_pitch=0.1737 left_roll=-0.4687 left_gripper=0.0705 right_x=0.2946 right_y=0.2937 right_z=0.0239 right_yaw=-0.0562 right_pitch=-0.6205 right_roll=-0.4704 right_gripper=0.0821 state[joint_eff]: [1.1966, -11.7538, 10.1812, 1.6825, -0.652, -0.0659, 1.033, -0.0889, -10.0308, 5.2718, 0.486, 0.3101, -0.0806, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen gripper has reached near-table height and its descent has stopped. I’ll release the pen there, then move the right arm out of the cap arm’s path."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteThe right jaws are open and the pen remains in front of them on the table. I’ll park the right arm at home to uncover the pen and give the cap arm a clear approach.
move_to
right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8513, 1.6245, 1.6157, -0.6136, -0.9543, -1.0309, 0.0705, 0.9775, 2.1761, 1.5841, -0.9646, 0.5064, 0.6769, 0.9954] state[eef_state]: left_x=0.3877 left_y=-0.2184 left_z=0.3332 left_yaw=0.4521 left_pitch=0.167 left_roll=-0.4656 left_gripper=0.0705 right_x=0.2973 right_y=0.294 right_z=0.0178 right_yaw=-0.0579 right_pitch=-0.6057 right_roll=-0.4719 right_gripper=0.9954 state[joint_eff]: [0.0889, -8.6769, 6.9812, 1.37, -0.3785, 0.0317, 1.0427, 0.1846, -12.7658, 5.2581, 0.1441, 0.2613, 0.0171, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_pitch":0,"right_roll":0},"note":"The right jaws are open and the pen remains in front of them on the table. I’ll park the right arm at home to uncover the pen and give the cap arm a clear approach."})
tool
executing move_to over 25 steps (2.5s)
step 284
assistant
agent noteThe pen is now visible lying almost straight along the arm-forward direction, with its tip at the far end. I’ll bring the held cap above that tip from the left arm’s side and straighten the wrist before lowering.
move_to
left_x0.3200left_y-0.3300left_z0.1150left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8516, 1.6249, 1.6154, -0.6125, -0.9535, -1.0317, 0.0705, 0.0593, 0.8101, 0.5999, -0.4103, 0.1509, 0.0845, 0.9963] state[eef_state]: left_x=0.3878 left_y=-0.2188 left_z=0.333 left_yaw=0.4515 left_pitch=0.1665 left_roll=-0.4668 left_gripper=0.0705 right_x=0.2902 right_y=-0.0058 right_z=0.1687 right_yaw=-0.1203 right_pitch=-0.05 right_roll=-0.0197 right_gripper=0.9963 state[joint_eff]: [-0.0752, -7.8427, 6.6256, 1.4188, -0.3687, -0.0464, 1.033, -0.0889, -1.7026, 6.9675, 2.1221, -0.0464, -0.0562, 0.0855] 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":0.32,"left_y":-0.33,"left_z":0.115,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The pen is now visible lying almost straight along the arm-forward direction, with its tip at the far end. I’ll bring the held cap above that tip from the left arm’s side and straighten the wrist before lowering."})
tool
executing move_to over 15 steps (1.5s)
step 299
assistant
agent noteThe pen’s exposed end is centered ahead of the cap gripper in the left wrist view. I’ll lower the cap toward the pen’s height without advancing into the tip yet.
move_to
left_x0.3240left_y-0.3250left_z0.0270
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0958, 1.8652, 1.2495, -0.3695, -0.8547, -0.8738, 0.0705, 0.0559, 0.8127, 0.5961, -0.4122, 0.131, 0.0669, 0.9964] state[eef_state]: left_x=0.3202 left_y=-0.3235 left_z=0.1172 left_yaw=0.028 left_pitch=-0.0096 left_roll=-0.0115 left_gripper=0.0705 right_x=0.2897 right_y=-0.0033 right_z=0.1656 right_yaw=-0.0977 right_pitch=-0.0603 right_roll=-0.0239 right_gripper=0.9964 state[joint_eff]: [-0.4034, -9.5385, 6.3658, 1.3162, -0.3932, 0.1538, 1.033, 0.2393, -1.5658, 7.4872, 1.6679, 0.1783, 0.105, -0.0024] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.324,"left_y":-0.325,"left_z":0.027},"note":"The pen’s exposed end is centered ahead of the cap gripper in the left wrist view. I’ll lower the cap toward the pen’s height without advancing into the tip yet."})
tool
executing move_to over 6 steps (0.6s)
step 305
assistant
agent noteAt this height the beige pen tip is visible just right of the cap’s dark axis in the wrist camera. I’ll shift the cap toward that axis and advance about a centimeter, stopping short of a forceful push.
move_to
left_x0.3380left_y-0.3340left_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0935, 2.0388, 1.1107, -0.1066, -0.8478, -0.8623, 0.0705, 0.0547, 0.8165, 0.5961, -0.4149, 0.1303, 0.0662, 0.9964] state[eef_state]: left_x=0.3181 left_y=-0.3189 left_z=0.0269 left_yaw=0.0215 left_pitch=-0.0366 left_roll=0.0401 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.164 right_yaw=-0.0978 right_pitch=-0.0668 right_roll=-0.0251 right_gripper=0.9964 state[joint_eff]: [0.1436, -9.9897, 5.3128, 1.3309, -0.3834, -0.0513, 1.033, 0.0889, -1.6205, 7.241, 1.7558, 0.0317, -0.0611, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.338,"left_y":-0.334,"left_z":0.015},"note":"At this height the beige pen tip is visible just right of the cap’s dark axis in the wrist camera. I’ll shift the cap toward that axis and advance about a centimeter, stopping short of a forceful push."})
tool
executing move_to over 2 steps (0.2s)
step 307
assistant
agent noteThe pen tip has disappeared behind the cap in the wrist view, indicating that their axes are close. I’ll make one small forward insertion motion and check for contact or movement before releasing anything.
move_to
left_x0.3470left_y-0.3300left_z0.0160
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0817, 2.0991, 1.1515, -0.0631, -0.8436, -0.857, 0.0705, 0.0547, 0.8165, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3285 left_y=-0.3286 left_z=0.0174 left_yaw=0.0275 left_pitch=-0.0293 left_roll=0.0214 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1639 right_yaw=-0.0975 right_pitch=-0.0672 right_roll=-0.0249 right_gripper=0.9964 state[joint_eff]: [0.9231, -9.7026, 7.2, 0.9597, -0.4225, 0.1685, 1.033, -0.0205, -1.3607, 6.9949, 1.6728, 0.0073, -0.0464, -0.0073] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.33,"left_z":0.016},"note":"The pen tip has disappeared behind the cap in the wrist view, indicating that their axes are close. I’ll make one small forward insertion motion and check for contact or movement before releasing anything."})
tool
executing move_to over 2 steps (0.2s)
step 309
assistant
agent noteThe latest wrist view separates the objects: the gold pen is left of the cap’s dark axis, so they are not yet seated. I’ll correct the lateral alignment while keeping the cap at roughly the same height and depth.
move_to
left_x0.3390left_y-0.3180left_z0.0160
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0631, -0.8295, -0.8501, 0.0705, 0.0547, 0.8181, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.0453 left_roll=0.0319 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964 state[joint_eff]: [0.0615, -12.3966, 4.8889, 1.2625, -0.4322, 0.1245, 1.0427, -0.1299, -1.4701, 7.1179, 1.707, 0.0024, -0.0757, -0.0122] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.339,"left_y":-0.318,"left_z":0.016},"note":"The latest wrist view separates the objects: the gold pen is left of the cap’s dark axis, so they are not yet seated. I’ll correct the lateral alignment while keeping the cap at roughly the same height and depth."})
tool
executing move_to over 1 steps (0.1s)
step 310
assistant
agent noteThat one-step correction did not move the gripper measurably, and the gold pen is still left of the cap in the wrist view. I’ll request a slightly larger sideways move while lifting a few millimeters to avoid scraping the table.
move_to
left_y-0.3070left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0705, 0.0547, 0.8185, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964 state[joint_eff]: [0.0205, -12.4786, 4.7795, 1.243, -0.3883, 0.1245, 1.0379, 0.0479, -1.4291, 7.0085, 1.6679, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.307,"left_z":0.02},"note":"That one-step correction did not move the gripper measurably, and the gold pen is still left of the cap in the wrist view. I’ll request a slightly larger sideways move while lifting a few millimeters to avoid scraping the table."})
tool
executing move_to over 2 steps (0.2s)
step 312
assistant
agent noteThe cap arm is not tracking sideways at this low pose, possibly because the objects or fingertips are in contact. I’ll back it away and lift before making another alignment attempt.
move_to
left_x0.3120left_y-0.3100left_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]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0719, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0719 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964 state[joint_eff]: [0.1026, -12.3829, 4.9846, 1.2918, -0.4322, 0.1783, 0.7937, -0.1709, -1.0462, 7.2274, 1.6532, 0.0073, -0.0269, -0.0073] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.312,"left_y":-0.31,"left_z":0.075},"note":"The cap arm is not tracking sideways at this low pose, possibly because the objects or fingertips are in contact. I’ll back it away and lift before making another alignment attempt."})
tool
executing move_to over 5 steps (0.5s)
step 317
assistant
agent noteThe cap arm still has not moved, even when asked to back away; I’ll try a straight upward retreat instead of a combined sideways motion. I’ll keep the cap gripped until I know whether it is engaged with the pen.
move_to
left_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]: [-1.0634, 2.1342, 1.1751, -0.0624, -0.8295, -0.8501, 0.0752, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3355 left_y=-0.328 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.045 left_roll=0.0312 left_gripper=0.0752 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964 state[joint_eff]: [0.0752, -12.1778, 5.2308, 1.2723, -0.4176, 0.1392, 0.8571, -0.0342, -1.3607, 7.0085, 1.6728, 0.022, -0.0806, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The cap arm still has not moved, even when asked to back away; I’ll try a straight upward retreat instead of a combined sideways motion. I’ll keep the cap gripped until I know whether it is engaged with the pen."})
tool
executing move_to over 11 steps (1.1s)
step 328
assistant
agent noteThe straight lift worked. The pen stayed on the table, so the cap is not yet attached; I’ll withdraw sideways at height to uncover the pen and see whether the attempted insertion shifted it.
move_to
left_x0.2800left_y-0.1900left_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]: [-1.0634, 1.9289, 1.4639, -0.5934, -0.8249, -0.8627, 0.0782, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3359 left_y=-0.3298 left_z=0.1376 left_yaw=0.041 left_pitch=-0.0649 left_roll=0.0522 left_gripper=0.0782 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964 state[joint_eff]: [-0.1436, -13.4632, 9.0872, 1.0379, -0.4322, 0.1001, 0.6813, -0.0068, -1.1829, 6.9949, 1.6435, 0.022, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.19,"left_z":0.16},"note":"The straight lift worked. The pen stayed on the table, so the cap is not yet attached; I’ll withdraw sideways at height to uncover the pen and see whether the attempted insertion shifted it."})
tool
executing move_to over 13 steps (1.3s)
step 341
assistant
agent noteThe pen remains on the table but has shifted slightly left, with its tip still pointing forward. I’ll return the cap to table height on the pen’s new centerline, leaving a short forward gap for a controlled final insertion.
move_to
left_x0.3150left_y-0.3060left_z0.0270
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9909, 1.3666, 0.9226, -0.5549, -0.7849, -0.7895, 0.0806, 0.0547, 0.8185, 0.5961, -0.4179, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.2823 left_y=-0.1965 left_z=0.1556 left_yaw=0.0487 left_pitch=-0.0688 left_roll=0.0424 left_gripper=0.0806 right_x=0.2892 right_y=-0.0035 right_z=0.1629 right_yaw=-0.0976 right_pitch=-0.0717 right_roll=-0.0256 right_gripper=0.9964 state[joint_eff]: [0.2393, -6.106, 6.735, 1.2283, -0.442, 0.1392, 0.5983, -0.1709, -1.3607, 7.2, 1.7509, 0.0024, -0.0659, -0.0122] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.306,"left_z":0.027},"note":"The pen remains on the table but has shifted slightly left, with its tip still pointing forward. I’ll return the cap to table height on the pen’s new centerline, leaving a short forward gap for a controlled final insertion."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteThe cap and pen tip are at similar height in the left wrist view, but the pen tip is about two dozen pixels to the right. I’ll shift the cap laterally onto that line and advance partway, then inspect before the final push.
move_to
left_x0.3370left_y-0.3110left_z0.0230
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.076, 1.9888, 1.0561, -0.2142, -0.8112, -0.8974, 0.0804, 0.0547, 0.8219, 0.5961, -0.4198, 0.1303, 0.0662, 0.9964] state[eef_state]: left_x=0.3059 left_y=-0.2896 left_z=0.0176 left_yaw=0.0475 left_pitch=-0.1134 left_roll=0.0989 left_gripper=0.0804 right_x=0.2891 right_y=-0.0035 right_z=0.1616 right_yaw=-0.098 right_pitch=-0.077 right_roll=-0.0267 right_gripper=0.9964 state[joint_eff]: [-0.4171, -10.0171, 7.3778, 1.0769, -0.5739, -0.0073, 0.735, -0.1299, -1.6479, 7.1863, 1.6581, 0.0269, -0.0611, -0.0122] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.337,"left_y":-0.311,"left_z":0.023},"note":"The cap and pen tip are at similar height in the left wrist view, but the pen tip is about two dozen pixels to the right. I’ll shift the cap laterally onto that line and advance partway, then inspect before the final push."})
tool
executing move_to over 3 steps (0.3s)
step 354
assistant
agent noteThe pen tip is now almost on the cap axis and appears near its open end in the wrist view. I’ll advance the cap another small increment to seat it without driving the pen across the table.
move_to
left_x0.3520left_y-0.3090left_z0.0240
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0416, 2.0632, 1.1664, -0.2325, -0.7963, -0.8791, 0.0824, 0.0547, 0.8223, 0.5957, -0.4191, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3278 left_y=-0.3033 left_z=0.0157 left_yaw=0.0632 left_pitch=-0.1188 left_roll=0.0914 left_gripper=0.0824 right_x=0.2892 right_y=-0.0035 right_z=0.1614 right_yaw=-0.0976 right_pitch=-0.077 right_roll=-0.0264 right_gripper=0.9964 state[joint_eff]: [0.253, -9.9897, 7.2547, 0.8327, -0.398, 0.2711, 0.6422, -0.1709, -1.4017, 7.0632, 1.6142, 0.0024, -0.0659, -0.0073] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.309,"left_z":0.024},"note":"The pen tip is now almost on the cap axis and appears near its open end in the wrist view. I’ll advance the cap another small increment to seat it without driving the pen across the table."})
tool
executing move_to over 2 steps (0.2s)
step 356
assistant
agent noteThe pen tip is no longer separately visible in the wrist view after the short insertion, and the cap is still held by the left jaws. I’ll open the jaws in place to leave the cap on the pen, then verify once the gripper is clear.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0241, 2.0724, 1.1904, -0.2501, -0.7921, -0.8551, 0.0818, 0.0547, 0.823, 0.5957, -0.4187, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3348 left_y=-0.3013 left_z=0.0169 left_yaw=0.0661 left_pitch=-0.1248 left_roll=0.1107 left_gripper=0.0818 right_x=0.2893 right_y=-0.0035 right_z=0.1613 right_yaw=-0.0976 right_pitch=-0.0774 right_roll=-0.0265 right_gripper=0.9964 state[joint_eff]: [0.4991, -9.9487, 6.7624, 1.0867, -0.3297, 0.0269, 0.6129, -0.1573, -1.4564, 7.1453, 1.7216, -0.022, -0.0562, -0.0073] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The pen tip is no longer separately visible in the wrist view after the short insertion, and the cap is still held by the left jaws. I’ll open the jaws in place to leave the cap on the pen, then verify once the gripper is clear."})
tool
executing move_to over 10 steps (1.0s)
step 366
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.021, 2.0724, 1.1904, -0.2466, -0.7841, -0.8581, 0.9953, 0.0547, 0.823, 0.5957, -0.4187, 0.1299, 0.0662, 0.9964] state[eef_state]: left_x=0.3354 left_y=-0.3017 left_z=0.0162 left_yaw=0.0665 left_pitch=-0.1295 left_roll=0.1019 left_gripper=0.9953 right_x=0.2893 right_y=-0.0035 right_z=0.1613 right_yaw=-0.0976 right_pitch=-0.0774 right_roll=-0.0265 right_gripper=0.9964 state[joint_eff]: [0.212, -10.0855, 6.7214, 1.0867, -0.442, 0.0464, -0.1294, -0.1026, -1.2786, 7.1453, 1.6777, 0.0122, -0.0708, -0.0073] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.079 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"
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  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "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, 0.7933, 0.6033, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7921, 0.6094, -0.3805, -0.0219, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.002 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.5658, 10.4274, 1.8046, -0.0269, 0.1294, -0.0855, -0.759, -1.3744, 9.812, 1.873, -0.0366, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7bb826bfd106f304920e5f134595644bfe606648301a7ae1157dd867975cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac17d4e0ac1834552d74347a2efc0cbbc00d72681b7aeea37e11eb216d3b6af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c077985a10f21fe868da7312a4cac600eacb606b1a4fea2f787b6d8a96b5f59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 4.697 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.22,\"left_z\":0.12},\"note\":\"The cap is the short dark piece left of center, and the pen lies diagonally to its right. I’ll bring the left gripper above the cap first, keeping the jaws open.\"}",
  "call_id": "call_DhsEcJL4ohMU3SPpufEKkHah",
  "id": "fc_0358d89aeca12933016ab41fb537e887d0a3b7adda975596b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DhsEcJL4ohMU3SPpufEKkHah",
  "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]: [-0.7151, 1.71, 0.9733, -0.0315, -0.5735, -0.453, 0.9993, -0.0181, 0.7975, 0.6128, -0.3904, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3941 left_y=-0.2105 left_z=0.1017 left_yaw=-0.0111 left_pitch=-0.0545 left_roll=0.0325 left_gripper=0.9993 right_x=0.2947 right_y=0.0024 right_z=0.1809 right_yaw=0.0015 right_pitch=-0.0126 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.4171, 8.9368, 1.7656, -0.4762, -0.0366, -0.0171, -0.335, -1.6615, 6.9538, 1.8046, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7d22a6045a774fed3268cf4f0ffc7a3d7f1518485c1d117b02652174a21980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7df00cbf394f8b86e4ae8963d938170cd56977373d89fe9581b62aa7c3a62f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22fd5f9e38171d0bc1724e9b88fdcc492d3aacd2727944670ee40fbe69869f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.402 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6033, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7921, 0.6094, -0.3805, -0.0219, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.002 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.5658, 10.4274, 1.8046, -0.0269, 0.1294, -0.0855, -0.759, -1.3744, 9.812, 1.873, -0.0366, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7151, 1.71, 0.9733, -0.0315, -0.5735, -0.453, 0.9993, -0.0181, 0.7975, 0.6128, -0.3904, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3941 left_y=-0.2105 left_z=0.1017 left_yaw=-0.0111 left_pitch=-0.0545 left_roll=0.0325 left_gripper=0.9993 right_x=0.2947 right_y=0.0024 right_z=0.1809 right_yaw=0.0015 right_pitch=-0.0126 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.4171, 8.9368, 1.7656, -0.4762, -0.0366, -0.0171, -0.335, -1.6615, 6.9538, 1.8046, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7d22a6045a774fed3268cf4f0ffc7a3d7f1518485c1d117b02652174a21980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7df00cbf394f8b86e4ae8963d938170cd56977373d89fe9581b62aa7c3a62f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22fd5f9e38171d0bc1724e9b88fdcc492d3aacd2727944670ee40fbe69869f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-8X8DUasJE-VkpaXVIolOYFLUPqNVd1zmADSI4xZjb-W4fHG7WZEgG9b2YGllBnzpaigYAxRABZZHxNWGdX0WtmiZ-gu_tUt62JC33Atpy1rCxiXyUjyCImO4-xKnwD916yPZIxqjFVyaYvpAMIOeiBQUs_CF-UlDUmKAxHY6BH1sHsgNbJdYLK_U8L6y5oKJ4cTDBZMROcP1CDm63eyfs2K2_7A0jnAVr01Aj9RS-GyHKVl5vw2Cir-T5UNldvgBAqNct9rm_PHid9YymtfCoAtaeYL5eBpYznhx24DxDok5p8FBdDR59ri-Y42H4dIx9kUcqYhjQBoTRi7kn7wyhdRpIxWzlFiIVc0QQ6BmxH4rgHVOMt_JV5dtLdy029J6Is4gqFuLPmHeXnl5oJfbTFwhf_8zXwWBexLoYCQPbYRaHSjiE5lQWBOquwoTKK6KY4clZATOcO7_UpVi0Y-fCcdmZvSDw3dY8F91HWSoKpPLxJg1od0dKV6y0pjGIeMBSpUJvtuCCjkVvXSCcdv2hV4_1Mp47FfQRN4nVtUjOy10e63pvgssVD7BuKdRo6tpoRik8And1y-V3hvw2mfmHrHnAc4T4m9ATE_hVPEvsqJb5w-oLMWwxuBa_Zb2FtAhdfvtOjHyl3--6H_zybQkzdYJWlfWGIUfsOjoiK4bORTzkHcEgAVX_dDV88TGYEjLYgoxcHnUzlMkbNF9zmXCKeIFH8Iz32clb107hfxqNkZwOpDgBQ7YhFYlhrC8Y5-RTXJbqoNyk4JFZ5nKvYssy8E-noBYZaX44NISpmqwUuexLoA9dmtXezz2glF-qF9LG-wB9Ki14jA0pVq6Rk2OuvdLw5t5y0neRyU0T10Z8J3uHT5GGkr2vejp55vk-WPfwWOiT7Tq29EPqiaXE6eqAw0JHc6_Ze9St8Nz7Rbo-9HfK4O3-ad23Dh43m3lu2Vif0z0hJ4oBS6xs5OguQdWqvN_7eKdy8oZv_28OrpgXJpr4dbTrQ2jsNaM43nSLfNiZ-ObESXAW8sQ4pbi6lMmcnTDXcOVxy4kiAozpFnG5V8zElX8FMIhHPEWdcvwAhE1VwwBRdWSgBsfFlpuDgcxjzFE071I5wgQDcoOzUiilPIna1C6JtaKQgt5wzbioGG4MBfTeAn1swk6XwCzIO2PBNW9ZFrxlQ-lJsmG2VK6_pk_UgFzO89nLOuBR6_obajeWAm4357MkAUMKOUtBQ2IaRWcloN1mdjFN2VLU6mkbdVxprZ6tkTzlIbnK4Az7L0pGDiOUKoj0cqbYXRQ3Po-38jk4Pi_EC7TGg0FXw-KFeuVgmMNEBzuw4HXB7cKzhvLzGBfcjCtpjTICMR4eYavqYoxccE-9SbTqRHzYv026COLUHaEBP-XCz0IEuZ7cFn8pPsj_uXZHq4Mh3N-Ykvf5RyH6xmThBIehrACWdW72epY_0o5cEVqjYGpXX4mn1Vf01cYn1XEcEwskuP-G3oZQ5o8lZR8vvQdNvDWVcnkW9nqbdCuZpHAraMOgbRR0WLDNUbCg9CVDI2p2iLQPhw3VKUQwvCqNLYpfDla7fqShvXerzo3zndChUpGHFfp8jnUMq0_6G1Lija8YAkFqf91InhbqCmfY1gaowzjwWjGbMELhGSXbIE-0tzsB1WwylaeRyP77veJ-Y7kydO3vSixP6l9JFYe8OgC3InKkpIHLEm_LN6lURFzb3u2mQvDyXRQESb3frpCrXrbAVFgeCz-pc4LBam-oHzyZj6A7efr6Bc3rFR3A_x2dA91328U9wazH7Y6PIsJscITcT_hwSThK9aMnhBGhV1iNNwWppnAObYwNFztYgU10t9c6kDurOuY7eCM8fvYMIQP5bhuuAO-6v3U_yMOyusvFtTCHn3tSXpkRATOTLrEpXhyGWFb-QU90TA3rSPJO1i0U1M_-i6SHjtcLST5ahOuGEl7e1j5HbiTHrpou9bQF-uTNfir68VUBHvBbaKWTMF4h3EEbDAcly_9uIOMC9Fmctxl7e2eLmSvQdufDXUoeknZUUO0JSsJIPjg-WSmMgidP4ho9gQo55Xd5Phz7kN9XEgmhFns28veC_Tg55ZuJcETC0BbvznyFnLwRTvgnhBCAdJ6wUH6E2zWlcY9meEn_mjgdISem_DY2ZkDvwx61ChzYVkoiIfUzPNLfYfdfo5qTGr7qkn5btJLwy9s9DIiU3xIU_TY9KiWOzpQ7NYVq7-A-CPjHW7t1AyEc9ABtfngl3b3YoesC7UqKp6JLL-Zux8xo0E5bLYpjLG9daupYs8YzouTGOs-Ko7U1x0ZykzbdKEgxxjq6r1izt9BOvfGgjjQMtAiu_1ALV4frEaSUs2c3M5K1hZ1XUUhpTndLZ7IMz6Ec31hQtue2aPfc8lmY-t4lw8ODGFz_o2y6OlbBPRrxWGlyGKI7DOCH4xlKtV7BPnpgafsJqExWLBpOz3v-PKiL-TPMeQTj4gpQRtM_B49PNYFkqTFjAnsG4IquZ3Ug496r9GtF0oSWsBDBmJGf-HYf7SSQ06WZiqxtq9BvSAiRdDa0Ms8ZgOnWmsivpqsPdrDT2mmkl0pF7y-JCioaJhl1M77BZmg=",
  "id": "rs_0358d89aeca12933016ab41fb8b2cc87d09ee151b3c9efe8b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.185,\"left_z\":0.022},\"note\":\"The cap appears low and slightly left of the jaw column in the left wrist view. I’ll shift the open jaws toward it and descend to just above table level.\"}",
  "call_id": "call_CMeYvzTIZW2LzHjnlkN98tX0",
  "id": "fc_0358d89aeca12933016ab41fbbd1c487d0903aa7fae50d06b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CMeYvzTIZW2LzHjnlkN98tX0",
  "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]: [-0.6601, 1.8561, 0.775, 0.2676, -0.5415, -0.4217, 0.9992, -0.0181, 0.7979, 0.6128, -0.3912, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1795 left_z=0.0166 left_yaw=0.0053 left_pitch=-0.1051 left_roll=0.0686 left_gripper=0.9992 right_x=0.2946 right_y=0.0024 right_z=0.1807 right_yaw=0.0015 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.6359, -7.9658, 5.2718, 1.6972, -0.0904, 0.0757, -0.0171, -0.0752, -1.2513, 7.3778, 1.7558, -0.0122, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8533df04e8cf100bce41c800464e3d3317b75406427e012beab382376e25b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf766486ff1804c05e44e37e51a9d0d1615d0dea29052055128fc6eb1a0314c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ada2ec900d005048b7f0b3f3e6f5f56d94778e79ee098249cfc291619f9fa66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 1.86 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7151, 1.71, 0.9733, -0.0315, -0.5735, -0.453, 0.9993, -0.0181, 0.7975, 0.6128, -0.3904, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3941 left_y=-0.2105 left_z=0.1017 left_yaw=-0.0111 left_pitch=-0.0545 left_roll=0.0325 left_gripper=0.9993 right_x=0.2947 right_y=0.0024 right_z=0.1809 right_yaw=0.0015 right_pitch=-0.0126 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.4171, 8.9368, 1.7656, -0.4762, -0.0366, -0.0171, -0.335, -1.6615, 6.9538, 1.8046, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.6601, 1.8561, 0.775, 0.2676, -0.5415, -0.4217, 0.9992, -0.0181, 0.7979, 0.6128, -0.3912, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1795 left_z=0.0166 left_yaw=0.0053 left_pitch=-0.1051 left_roll=0.0686 left_gripper=0.9992 right_x=0.2946 right_y=0.0024 right_z=0.1807 right_yaw=0.0015 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.6359, -7.9658, 5.2718, 1.6972, -0.0904, 0.0757, -0.0171, -0.0752, -1.2513, 7.3778, 1.7558, -0.0122, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8533df04e8cf100bce41c800464e3d3317b75406427e012beab382376e25b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf766486ff1804c05e44e37e51a9d0d1615d0dea29052055128fc6eb1a0314c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ada2ec900d005048b7f0b3f3e6f5f56d94778e79ee098249cfc291619f9fa66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_BYqwZQ-gji6P4F1-xFVqaY9CVDKkMHYWo65BDYUSgLwqEEkW8aAHus02tB30kPsbw8yWGQE7j5eB6WHZTfCGW15WSn-_EAok0Mfpb66XO6lsfFBlkBsQBSD7POaYemvfzd0c1CGINOu3reS-qKU_oz8KLtb8JCA6FIqgANAuANRBYZQOZypFT-tHMcdie-hpH7CDCLbLek-YdAwnvSNdiLY8F-K7cR0DpAHjXcxGBASNRh78BJ9yQSf5U00qCw2Tf2SfsuQIjPk-GHZrl3Hr0_QsmCZLitL-Mxc22Zkpho-NTfLILnYVeFF4SJQbHZXpKjU1FZ2m3q_JhmgpIbt1V_pLTsX-cVejj5vlLdm6b-Es-8CvWzE-ZpoX_LL0c-eFFqfyEn7TDsdyIiYy2aJYp7WPS4RPjs_pTyu6vcuzP-x1cWgmFX0Nxb19E-iYGk8MVwaAHpg8nOYp24hmhokvdE5GBZu60LezkRK_vU5EfIUQ4gaGVTCMu6xZnbX2ZAHbszzZ8UVP3SmdY5Ib94SEX71Y7mGpEyTx16yLI-n0lg0Y2Uzw9PXjsM20FFbVns1aPjx1S27vANPGpec84j6qXNdcz_s40UGURtAkuGyz-PzkjCaqp7cLaeVB7Vc9JzFye-0VJL8lz1P6D3jIBfApk1oKFZmlMUGeNmup3X87G5jU-dY3xS2aToNq1tKgU4pqyJPEQKtS5g0MwwVDjPSfgVNNx9OxAwZlVZM_5P4ZGh2kIDrec8LITw2n55fFRMvFoOwhBvFqjh8X9ioDq3JEW_4qVBTGIFFaRDeGhsC6lMDcaNXdaxr_xSqBEaENO2QXASSH0r-zSqwVNBgy5QD54oXgW5uOrlJYQ3dy4qmRLJauEfUrtbckr3nhvIrt88AH3KSLDY3auR3_yopaGQ3fqIHCblhTjXvhajOHj7MYl7wd2GSAXo4supPu_ZdRTsestOhWxz3kugCDxfiUWiOWlBYdeff5mv2fpPCuGEtdbLuN5UeDp9ddyTY8TWG_hy7vbcCBsyy1CA_wvQBhqVQsxYmuT54hjTmYM5kgKMLGIoxHzCRQ61-XzT9X1X_M0pIbuZQ-DQxYJQlDVpIz-hOkLCeJZtppN7NIixSRFhb2bmOPL22PnkZputBscXYhmdQ7PbjfRvrnKgxb57lrimOwD5v8wXFCVE_xVKY_myqEdTs7cojXL3lHnjsrn7FaORLOhWpzOxCnk_4ae-0pbDnl9-4gVyZpFGPQmByME8rnoN5-uZKrLaJk1c-T77eaOnIMnKR9QQ1Ga7kuPV3MNuLkn2rMdmsdr-m9o4gzLz0qA6LjQ4lo8_ItFj3crTBxJ2lYHjnj15ii68A70652nVYcunySNeDjf1xgrrVXRnJhzP3jefDV5Y-XDDEqYFvsjBdhh85UqHAHmNdxKCbuy7TQ3RuuHBwdOy8bn1J4EUzoucp-PbcsZTah9-To8qi5Ov9cknj9ollfLKl7YceFIWViRop84MFNbIOWHEw7CkolL_gbS6HC_Mt02X-R5WSuMMVrFxtk6XrUu5qpgB8wb6VGXEnMorGPMdZZT-EBNvaXvql5xf_qpJVMlmv2D-qRIBGHcp21gjPmyLtNjtsPsFRvzXq342Lo7X4qnjaPoH2VkcZGPaRTlbBoGv6UpzmRaW3otpP520ipYfVcmZgzYue4q5-qv7rjd5LBOuvHJyKoa6CxcoMMmRJEqfhxzK5E7_UrZpovfyeR0G6SCYgzBoKSWAWlELbub-SYPe6q7PPk5Dqeru9NUcgsD9UEXFvAJjCYZ5v160Kf5IGpDKFAjIZwHDJcnF0rsyOsD5Ndohyiql88G4Z44Smee1eUeRjqCabwrSPiyJmtJlg34AoeLz5pLC3zNcplj6DWEmgmvymUSYM6xW_1jAAqg_K15B_2F746wa533t7Y5-pye7Y3VUosin8xePZwxShKEp22_IqRBCgrAj7VUxZA1Q-b4Pca5-mUOejWmxQLH0sMp4jj-ArOGOy5_zRnHA7oCTI8IH-cZ19v6XqXwJZJA_fAl2nR-mB4TXmo7TH6BLTqjpsaBlH8Z3F2riAeyilaE7jYi4Asb_I3h-HJnAIhMdIKKzt29jTwGLrlZUHTvGvr5S8j368td30QmWnSsCXU8lBz5B40DMRLXdkD1ME1GkKHAXg5rxSM-sOmyqG1ZoaM9XdcWzJGbZS0UzekmiPQu8ha286ICsEnfwPqW6JcHRTszjcA8zgrPsT2dRPW6i-a_5a0DzuHxCf1h7KVWSt_YW7LBGRpR37r46lm5TxlQBQFKscBvKu53AE8QmZvU-TWzJ2IvGIvmKjr091AUSYDwlPxrO5vBKwTbgfBicgygcfxrNvqO1qDSwZDkOHoVVeL8FFsd7Xkgo3d0E6LWOtW7ZPiDtONeEHktxVcsYAYWVHn_4bDXlZ2X",
  "id": "rs_0358d89aeca12933016ab41fbdee0887d0937df962f83d9941",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.409,\"left_y\":-0.169,\"left_z\":-0.005},\"note\":\"The cap now runs into the fingertip area, but its middle is still a little left of the jaw center. I’ll nudge the gripper forward and sideways while lowering it to table height for the grasp.\"}",
  "call_id": "call_tHiJCrGzbLHqUinchXdeFeVK",
  "id": "fc_0358d89aeca12933016ab41fc07ad087d0a539bbd1ee0b2aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tHiJCrGzbLHqUinchXdeFeVK",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6243, 1.9205, 0.7803, 0.355, -0.5167, -0.4015, 0.9992, -0.0181, 0.7982, 0.6128, -0.3943, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3983 left_y=-0.175 left_z=0.0044 left_yaw=0.0098 left_pitch=-0.0941 left_roll=0.0531 left_gripper=0.9992 right_x=0.2942 right_y=0.0025 right_z=0.1799 right_yaw=0.0018 right_pitch=-0.0171 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -7.9248, 6.0923, 1.409, -0.1685, 0.188, -0.0659, -0.3214, -1.2103, 6.9949, 1.7216, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f76575211eb8afa15e457e358236405507a00eb5ef462cc70b0f36cb7b46aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3d3d6cce740b93850aa073873ea296f45ff8c44bcc5ac1d327c160057b1f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83bf45b68791411ce6e35dce00eeb14c5da7c46304d0f13b1f7e93460c121dd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.743 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, 0.7933, 0.6033, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7921, 0.6094, -0.3805, -0.0219, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.002 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.5658, 10.4274, 1.8046, -0.0269, 0.1294, -0.0855, -0.759, -1.3744, 9.812, 1.873, -0.0366, -0.0562, -0.0708]",
      "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]: [-0.6601, 1.8561, 0.775, 0.2676, -0.5415, -0.4217, 0.9992, -0.0181, 0.7979, 0.6128, -0.3912, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1795 left_z=0.0166 left_yaw=0.0053 left_pitch=-0.1051 left_roll=0.0686 left_gripper=0.9992 right_x=0.2946 right_y=0.0024 right_z=0.1807 right_yaw=0.0015 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.6359, -7.9658, 5.2718, 1.6972, -0.0904, 0.0757, -0.0171, -0.0752, -1.2513, 7.3778, 1.7558, -0.0122, -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 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]: [-0.6243, 1.9205, 0.7803, 0.355, -0.5167, -0.4015, 0.9992, -0.0181, 0.7982, 0.6128, -0.3943, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3983 left_y=-0.175 left_z=0.0044 left_yaw=0.0098 left_pitch=-0.0941 left_roll=0.0531 left_gripper=0.9992 right_x=0.2942 right_y=0.0025 right_z=0.1799 right_yaw=0.0018 right_pitch=-0.0171 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -7.9248, 6.0923, 1.409, -0.1685, 0.188, -0.0659, -0.3214, -1.2103, 6.9949, 1.7216, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f76575211eb8afa15e457e358236405507a00eb5ef462cc70b0f36cb7b46aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3d3d6cce740b93850aa073873ea296f45ff8c44bcc5ac1d327c160057b1f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83bf45b68791411ce6e35dce00eeb14c5da7c46304d0f13b1f7e93460c121dd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_DbFtJFT0PFGJ2K6bg2WLhQhzauCxDuBAB6xKbfU1vLO4S9FVoDAVjhDHbieQRPjU8hpqC2kFCDgoROX0w6TaczYv0AbIGxV0cpcyH0FK8NyHJhVQS23rCMS5x8Xow1_AEgRxLyaUZKuqChgo9iDLX_ec3HsAa1tR1Hf2wjNtTZpefsGERtFDzdtycJwqH9EXm_ZqCvbbZaJzMjbmaEiPP8vcqHItTjOV8637uWI-_1SZamnGYO4z9fQ1uhYppfEPihU2pDVA9SI_9iyGnTSixJRV6xRmGqm8Xf4FWj57P2x2ATBZpMgzuv7ndT8Qi4kiWas84bJeVVV7yPXGeWxRILNE3EFQ1SuGDtOkJI6dAvpg8QCZ_-dMW5n81ksQeVCsV9ZqGYBqb8Pyjy37RTse4t2c3nyiwgknED-AdpN4lxZ4OKhawjnrA26ddgWwh9d3_CVP8sosdVs33lz9X8Bf2Nw8FCRW20v49gJlU1H3d0X09eAeRxA8-7avpScfVua5zN1Gr18Y2Llw10AMy_42qOQD6Ce1n4pDmEYI7jEFOxqwVmv3qa84DG7xTDfptSq86qhesIL3V5q9A2cUTvFXKqzRwg51xSfqgrKHHKFhMuA748EgvJN_JaCqAW2MUVazHK-6lUin3rpZCsfqsZymGHTZ3CdU4Q1P08e41BfacswvcxykBIxKYYPGrmr4LiiM0DJVxUTT_gIU0FZaTipmVo44CnPQ8bAu19D-Dm5m9tR-aK1y-cqq0fp8pamvK4hHqsFgNvNQf5Ifv3kjSN7sk06BtwhYOnTtuVipqHTW0Oz_Stdlh4-VqityoQ2HLUHJn2LqTGa81jAKNvQtxUK6GCjAbV1ehx1M11cfCsgizseqwa46IYVozmlefHvJ_k4EpBBBb2-ejwkAbBZekxZ3Ro_F6MK7Rnp3y6mSCblMXzt_kUe7Ff8wA1O461urZvL1ArQyspzmZOiq-JJOy_LukqbX4skYY4hGCgbu8CkfXPfemMSJaDoR-dt3FiJuQik14fRpaLgFJn-6fqzjFkq_8sT13FxKQ5SQHMeHJ9SrGYqkd3rRLJBy9S7dBnkow3xiCOSvlaubu1cvgcNKwxI3Ecv2WOcQqtZNy9HUe4zVFtT0e0bVWB8fE7QabS2KMGDGyVli5XycSehYHNoIKO9fzHUfYIOZ1t3TqgGBD-rM281rERvbINo-FP4-IDQpMfNTeooHawe646S2_RbZ2Dz5dpst3sn9S3zw5vfU9VDlSmPU=",
  "id": "rs_0358d89aeca12933016ab41fc288d487d08201212e84408b51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are at table height with the cap extending between their tips. I’ll close on it and check the gripper reading before lifting.\"}",
  "call_id": "call_yRBrPMRObUXzq4GSnh9Vv6if",
  "id": "fc_0358d89aeca12933016ab41fc2ce7087d0b7170035552a1a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yRBrPMRObUXzq4GSnh9Vv6if",
  "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]: [-0.5858, 1.9522, 0.7959, 0.3935, -0.5087, -0.3756, 0.0073, -0.0181, 0.8005, 0.6128, -0.3965, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4113 left_y=-0.1653 left_z=0.0021 left_yaw=0.0271 left_pitch=-0.08 left_roll=0.056 left_gripper=0.0073 right_x=0.2941 right_y=0.0025 right_z=0.1788 right_yaw=0.0018 right_pitch=-0.0217 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -7.5556, 5.5863, 1.37, -0.0464, 0.0659, 0.5446, -0.0615, -1.2376, 7.2137, 1.7656, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ac82a7c834c32c4b287dd014bd8f9c7536e1af4f5a231898d0aa719fc28450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2989100ec0ca51ab5ec958e7d3c53776b7325ff357f1bb84eeec72aee3b3f7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a433f3c3d58bfe717496b1ba2748a838a5258e802ba0919c5baf77a364ddff6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.008 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7151, 1.71, 0.9733, -0.0315, -0.5735, -0.453, 0.9993, -0.0181, 0.7975, 0.6128, -0.3904, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3941 left_y=-0.2105 left_z=0.1017 left_yaw=-0.0111 left_pitch=-0.0545 left_roll=0.0325 left_gripper=0.9993 right_x=0.2947 right_y=0.0024 right_z=0.1809 right_yaw=0.0015 right_pitch=-0.0126 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.4171, 8.9368, 1.7656, -0.4762, -0.0366, -0.0171, -0.335, -1.6615, 6.9538, 1.8046, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.6243, 1.9205, 0.7803, 0.355, -0.5167, -0.4015, 0.9992, -0.0181, 0.7982, 0.6128, -0.3943, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3983 left_y=-0.175 left_z=0.0044 left_yaw=0.0098 left_pitch=-0.0941 left_roll=0.0531 left_gripper=0.9992 right_x=0.2942 right_y=0.0025 right_z=0.1799 right_yaw=0.0018 right_pitch=-0.0171 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -7.9248, 6.0923, 1.409, -0.1685, 0.188, -0.0659, -0.3214, -1.2103, 6.9949, 1.7216, -0.0073, -0.0415, -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]: [-0.5858, 1.9522, 0.7959, 0.3935, -0.5087, -0.3756, 0.0073, -0.0181, 0.8005, 0.6128, -0.3965, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4113 left_y=-0.1653 left_z=0.0021 left_yaw=0.0271 left_pitch=-0.08 left_roll=0.056 left_gripper=0.0073 right_x=0.2941 right_y=0.0025 right_z=0.1788 right_yaw=0.0018 right_pitch=-0.0217 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -7.5556, 5.5863, 1.37, -0.0464, 0.0659, 0.5446, -0.0615, -1.2376, 7.2137, 1.7656, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ac82a7c834c32c4b287dd014bd8f9c7536e1af4f5a231898d0aa719fc28450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2989100ec0ca51ab5ec958e7d3c53776b7325ff357f1bb84eeec72aee3b3f7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a433f3c3d58bfe717496b1ba2748a838a5258e802ba0919c5baf77a364ddff6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_HA1Yps8WO2ZfdUP8icBwomcoEa_ht0GcCMXkk-RP82pBDUQx0Dh84r8mjuF9SvGansK_eNYFyW1j__POU8Q8N8AMaAik0E_idXejOgo4RPfEQcvOaZLMhT15Dz8TsEFzKf_yZs_FAUlZxhSjzN3qp3DKWcB_2UbilxDNCZt09_Aiw5V-_JhFoWL-6HkEnpCR1KHtAm5MhibmDkzfCSwklK3l_hUfgfqneHr5LbIOgHx0tosv-kWGeYVs6lGUIxLLFzedNkBzyztjaeigMlS37H_5sCwBRy5CvsNtMeKgAEEr_hZMaWXxGomqOAGBUh6z2xj3p3kyM8b2A57IrgQy-K_36g3IFpNahUd_vG25L6RLiOlxMaXq7T1S8EoHd4xYZXb5bS1dfO_v12nFeI2y1IMwUo9W_nqywzmyC56bfL527ibmKAHhD6-Qnd9s-JQRApx1Vt_71P0VuD9iQhSXwGBPlGF9By-GcJKH23rGR0Mvys1G9n3y1uBGuJPCh7EYW-aYGf18NfDhfX3_w09n62sI3IVApHwXFADZMw1betTrv0Ti_iQeOsKL8wIkykRc3vTgOqlenZim7r9HsNS2cTp2CSzjhay2XS-I6fgY_oRiO5cWSdo54WSmx1guQA1QRpq6i1g5Q4wIBDWCkD5vu0rHsZCoxhiNdZD5reTRyrKQ_bGIGw0PhkBsVD3Yz4Ho7GQvOudYUFpdEldvq2QnwQPGTSxUHZ6bBtLqwBhXRu0dnxo0OA58HI66s0o99JLZPQCKl7Ov6UkWv_QnOE6Emh4VIdHXxyATNzLF0c_0g3j_6dmeyFgx93SBOjaq_gymDxtOevOTtEH59Ad95ZQGZxK8uU68VMTAn8eLpW_V97qHnFZ2gATQH3DgHPjhQVvazOPg9UpdyPc3J05rxD5CF9cltrm599bJqp5bwPKRiLW4Tp3SjdjlqvUaAhcIzwmsBjYkayrrNOpsggPwjMVbrNDC_IwE-fdlcDP8BblOQK73wGNjKHxIzQ2u5LUdHhzpj2Riae0UJYRz2i_mJyO65KdUgqV_3YluWHRl6VPnt73d22CKTmZnqtVI2Qxe9yRiBKsIa1i8jPhFTdLJKtkYNtfMI9rNkrvPCqIdaI37oJ2gMRLTdnm4erWqJd5STaroHThTP9orND4YvlL-kTNoBZL7O0JDp3IAcvWdJXkOH-IUSI3WRViBDpQQKT6bvg5Tgh9iEnps8AC2UhXj1mKSNtG9UKQYXGMkCPUqZbyAzPv9ik-_8QslHp3BGDVMuzlgMQ5pwKrE8jJ2qN1YMO2CRY6oB1LT6hWxlcYKMZcARPe4jjZG_2LAIv3Xhtam-py-q5muqRw5LqVlaWgF0gVLRTmkM8O69i5UFik_yeyT8GQeqOhLj73NvEFiKA0_3-eciQK1m2StUfNH699qDeyP4GD7-4FFCo9TcYBCgO8kJXNTcDSRTm7Xu7eNu3r5weBEbkPv2NaG2i-bhxIG728MWaA==",
  "id": "rs_0358d89aeca12933016ab41fc5b2c887d09c26c2a7e5a10e08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper closed almost completely, which suggests the cap may have slipped out. I’ll lift straight up to see whether it moves with the jaws or remains on the table.\"}",
  "call_id": "call_Xh6FrLqYnlq7r8SIi1yeVF2z",
  "id": "fc_0358d89aeca12933016ab41fc66e4087d0b9cf660c3130a50f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xh6FrLqYnlq7r8SIi1yeVF2z",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5858, 1.6867, 0.9493, -0.0471, -0.5091, -0.384, 0.0095, -0.0181, 0.8005, 0.6132, -0.3973, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4088 left_y=-0.1636 left_z=0.0956 left_yaw=0.033 left_pitch=-0.0973 left_roll=0.0622 left_gripper=0.0095 right_x=0.294 right_y=0.0024 right_z=0.1788 right_yaw=0.0015 right_pitch=-0.0221 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.7846, 9.4427, 1.4628, -0.2466, 0.0659, 0.2222, -0.3077, -1.1419, 7.3094, 1.7705, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa1fb117fa279f7e0616617339926e5a7ad4fee5f216b9f03b8ebd34073c566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91594a3cbeaa8ec31cba3343a161bf0bfa44cd80dba1cd1f48b0acbab5367db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe1a7d3ce3b50cb2dca104d288d4c7600ce651f5eb8cda08c689f525d5e06c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.598 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]: [-0.6601, 1.8561, 0.775, 0.2676, -0.5415, -0.4217, 0.9992, -0.0181, 0.7979, 0.6128, -0.3912, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1795 left_z=0.0166 left_yaw=0.0053 left_pitch=-0.1051 left_roll=0.0686 left_gripper=0.9992 right_x=0.2946 right_y=0.0024 right_z=0.1807 right_yaw=0.0015 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.6359, -7.9658, 5.2718, 1.6972, -0.0904, 0.0757, -0.0171, -0.0752, -1.2513, 7.3778, 1.7558, -0.0122, -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 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]: [-0.5858, 1.9522, 0.7959, 0.3935, -0.5087, -0.3756, 0.0073, -0.0181, 0.8005, 0.6128, -0.3965, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4113 left_y=-0.1653 left_z=0.0021 left_yaw=0.0271 left_pitch=-0.08 left_roll=0.056 left_gripper=0.0073 right_x=0.2941 right_y=0.0025 right_z=0.1788 right_yaw=0.0018 right_pitch=-0.0217 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -7.5556, 5.5863, 1.37, -0.0464, 0.0659, 0.5446, -0.0615, -1.2376, 7.2137, 1.7656, -0.0415, -0.0708, -0.0171]",
      "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]: [-0.5858, 1.6867, 0.9493, -0.0471, -0.5091, -0.384, 0.0095, -0.0181, 0.8005, 0.6132, -0.3973, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4088 left_y=-0.1636 left_z=0.0956 left_yaw=0.033 left_pitch=-0.0973 left_roll=0.0622 left_gripper=0.0095 right_x=0.294 right_y=0.0024 right_z=0.1788 right_yaw=0.0015 right_pitch=-0.0221 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.7846, 9.4427, 1.4628, -0.2466, 0.0659, 0.2222, -0.3077, -1.1419, 7.3094, 1.7705, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa1fb117fa279f7e0616617339926e5a7ad4fee5f216b9f03b8ebd34073c566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91594a3cbeaa8ec31cba3343a161bf0bfa44cd80dba1cd1f48b0acbab5367db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe1a7d3ce3b50cb2dca104d288d4c7600ce651f5eb8cda08c689f525d5e06c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_K_Tzqac9lNN4tf5lpw5PYy-eS2XcY7SN-hbQDp36J3t67ygd0qSy7t6M6iUyjkNTwX8WTjrfB-EpkqpcvCbruQ_fhtVxyjSdihO6V-LSm-j7r248UpKHWdXyIGPFv81GdVJceo4GS-xa_PqfxQtLiJ0Nk4Y3nrFuAVxd14KM-Obljunswk9Rap9A_NP8WTVLqnMsCIyyV59FsL8YAVmi1Dsu48GO4Izk_rJEZR8mVLJ_AzLcwDvhsRXXnmwcmeH6pL4d6QuAiwb7jKLkKy4fZfto-J_ZaGtukemBw-P1LeqMM9pqBRfrQUZB-bUxFP1YhlkV9j0l7nkYNH1L6HWGImBuqGopKzazGiE7sJWz2y5j7e09OKe6suBdKc61MT-MF0M5SCVkuaWEbM5VrWQVpQK1y-SuU1OYscuBuMaO2_HCsOytZBHbz142jVWnDllywi7gpfm2BSpcZfw0qTAS_48klZnxBnaQvkWT3pbx-U105Tjx-Nh30luKO9WQudyHMOsXQ8_aB41i0lqsGAJcIG3752X9i9Udl5CvxGDJj3hgTUh91NBQN0zK8v49RiZjbpjaqxBbO45PkosVgnhXHz1zzYhStNyke7xcSyDKkzsG75KLjhEprpjs3CU5xCNgRNA7AbMhFGXGSSvNwCf2tstnTlpnQaMos_j38NyhOfc5JlxNr6VwLQqZDnhNT3F3unM0VC6BAy85wLG6swAJWiNxi4VyfsqSmW9QknLLiX0Bfa249fKIiWHMIe-O49ibyp67_QEnBRXJOlZALuEfJlnskka2V7DkDLOHnil5F4tjeQWjF1GEyvL-PLqo-nWpgtD5LbU5wOu7JYqYLUxqvt6dfdsx9X2MmTu785J7mtzaSIStGta1bKbGyQtWMt3UbEOl7dwToF-dJAc3ROGqweqg0N-vaYIMCrLfXkfwPP5buiHXVpJB2OA-H3yinPpTl6fherei08oybuPlgfseRbmqfuXrR6sgvg26fi0aPS2ooyBHkGEQwuKb9Z5Q9Hke1yt5ps7zP3HzmoEjQK5QmSmXhfeeM_1SK4KHviHaZb5xw_IVaMY4OxzEHjyyYPcIk5m3xQDeBViztbNTpczszwT9zEz3ABXrZtTBNTVSN6EREqAvBNJfVuQpCiw-z1KlVW-azCodCWWnNZyVgF4VeEiKmtdDLp519NDFR3hMoWDksFPLCJLAzI-fAtVZE5tNizGHJHdJkW4pUoUKjaAP9mv6JBZTrsWKDXHCnxmufJLXft-Yzw-t4Mi_gRMff1HuyFFsGdPgPYow_SOGCMTxGuO0TjS2tZmtc68xDJcqr-VNoCxD2jNMZRiuEsSDeUuLq_e7Fu5pKIDtu1WjgyzCn82_Q2PQS8oetLZZkXYvQsPmujfoDg-OoRmNJsXaD8xVJJcSQROAvLegLsOnM7A-EqB7rxcOqauO6aY9bz6g-VjCn-dUQpmUtE-f2lxRzR_avsXXdFuuy6UO51xnEYRIccKB8GOOaY3VpZWfYIgqmFRmgq4GFhTK8jkuiNZVTA8Tnv-Hgjo9sYwvGdxZWiyG1LJWsDy-Oh994fNIoPrZk9ei7pvtI0ATdyHam7cNce0nWAlam2n2Es7oo9lHrqYFgMJzVbmpVgo4EdD5Tb1biYsvfkhUbaFExeOjwjetwswIj_b0gUTlop_BCLY7H_LxzFR0WVIIUsaBL5m0y3JKtiZuFr5CA7BGRctcvNu2BJRP_CKYM_A1P2_naXu_nGHTJz-jsCd7PBQVTNLOghCcQs6co7VtJWvWEWzw34VR6l9VXIw4IPfWpXo6W6mpUAqqz7BmBtvuZYSeqqUoq0sfdDDd2Eo94BltLlySFm-AnDgAKNTyZMpdp8yfLFBBnN1rGwVheqocv-BSHYP_r_NW5E_8=",
  "id": "rs_0358d89aeca12933016ab41fc8ac0887d0b3661c8a88796934",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.405,\"right_y\":0.29,\"right_z\":0.13},\"note\":\"The nearly closed reading indicates an empty grasp. I’ll park the left arm to uncover the cap and position the right arm above the pen, keeping the arms apart.\"}",
  "call_id": "call_2rBp5qtkoVlI7SznG7jZdaDm",
  "id": "fc_0358d89aeca12933016ab41fca12b487d093c9ce08c8876149",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2rBp5qtkoVlI7SznG7jZdaDm",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1108, 0.8902, 0.6983, -0.4759, -0.1761, -0.0822, 0.0108, 0.8322, 1.8637, 1.2308, -0.2031, 0.614, 0.4984, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0014 left_z=0.1784 left_yaw=0.0705 left_pitch=-0.0877 left_roll=0.0517 left_gripper=0.0108 right_x=0.3911 right_y=0.2837 right_z=0.1092 right_yaw=0.0519 right_pitch=-0.0899 right_roll=-0.0567 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -2.1265, 7.5009, 1.7949, -0.0073, 0.2173, 0.1294, -0.2667, -10.0308, 9.5795, 1.6484, 0.6276, 0.3541, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5960c09700065328f1f092a987692583ab6331b1041f02bfcd3779695a9add28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da37e4cb2d5940726e72055c78a4a29f8a24a87cc2a9a5e49b64d5aac4e1aaa3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a028be75d53cfad310f700296cfd8a3ccc38c5e8f9fe5334aed747ccaa9333a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.719 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]: [-0.6243, 1.9205, 0.7803, 0.355, -0.5167, -0.4015, 0.9992, -0.0181, 0.7982, 0.6128, -0.3943, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3983 left_y=-0.175 left_z=0.0044 left_yaw=0.0098 left_pitch=-0.0941 left_roll=0.0531 left_gripper=0.9992 right_x=0.2942 right_y=0.0025 right_z=0.1799 right_yaw=0.0018 right_pitch=-0.0171 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -7.9248, 6.0923, 1.409, -0.1685, 0.188, -0.0659, -0.3214, -1.2103, 6.9949, 1.7216, -0.0073, -0.0415, -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]: [-0.5858, 1.6867, 0.9493, -0.0471, -0.5091, -0.384, 0.0095, -0.0181, 0.8005, 0.6132, -0.3973, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4088 left_y=-0.1636 left_z=0.0956 left_yaw=0.033 left_pitch=-0.0973 left_roll=0.0622 left_gripper=0.0095 right_x=0.294 right_y=0.0024 right_z=0.1788 right_yaw=0.0015 right_pitch=-0.0221 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.7846, 9.4427, 1.4628, -0.2466, 0.0659, 0.2222, -0.3077, -1.1419, 7.3094, 1.7705, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.1108, 0.8902, 0.6983, -0.4759, -0.1761, -0.0822, 0.0108, 0.8322, 1.8637, 1.2308, -0.2031, 0.614, 0.4984, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0014 left_z=0.1784 left_yaw=0.0705 left_pitch=-0.0877 left_roll=0.0517 left_gripper=0.0108 right_x=0.3911 right_y=0.2837 right_z=0.1092 right_yaw=0.0519 right_pitch=-0.0899 right_roll=-0.0567 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -2.1265, 7.5009, 1.7949, -0.0073, 0.2173, 0.1294, -0.2667, -10.0308, 9.5795, 1.6484, 0.6276, 0.3541, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5960c09700065328f1f092a987692583ab6331b1041f02bfcd3779695a9add28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da37e4cb2d5940726e72055c78a4a29f8a24a87cc2a9a5e49b64d5aac4e1aaa3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a028be75d53cfad310f700296cfd8a3ccc38c5e8f9fe5334aed747ccaa9333a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab41fce35c887d0b7faef3a58dbe60b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.264,\"right_z\":-0.008},\"note\":\"With the left arm out of the way, the cap is still on the table. The pen crosses the right wrist’s fingertip area slightly to the right, so I’ll center the right gripper over its shaft and lower to table height.\"}",
  "call_id": "call_UPZlJAqZ3pB8Q5vI9wb1oS1f",
  "id": "fc_0358d89aeca12933016ab41fd2f8f087d0a259a7476b9c5acb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UPZlJAqZ3pB8Q5vI9wb1oS1f",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1078, 0.8928, 0.6983, -0.4866, -0.1753, -0.0807, 0.0118, 0.8043, 2.051, 0.9989, 0.226, 0.5941, 0.4824, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1756 left_yaw=0.0723 left_pitch=-0.1009 left_roll=0.0548 left_gripper=0.0118 right_x=0.3893 right_y=0.2669 right_z=0.0041 right_yaw=0.0476 right_pitch=-0.0933 right_roll=-0.052 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -2.0718, 6.9402, 1.7118, -0.1294, -0.0708, 0.0904, -0.9778, -7.706, 3.8769, 1.0916, 0.1538, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60de49d9a54caed1b1eaf825d27da65116c7d8ce30ba4c0195e7148c9d0ebc99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b1bf91916396d7c4debae05cd9bd811edf1df3658ffb208071adcefa5d2546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4289b77eadf0d0530726d216fb3578071b7c83299b044b4257cfc69e36a1cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 1.926 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]: [-0.5858, 1.9522, 0.7959, 0.3935, -0.5087, -0.3756, 0.0073, -0.0181, 0.8005, 0.6128, -0.3965, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4113 left_y=-0.1653 left_z=0.0021 left_yaw=0.0271 left_pitch=-0.08 left_roll=0.056 left_gripper=0.0073 right_x=0.2941 right_y=0.0025 right_z=0.1788 right_yaw=0.0018 right_pitch=-0.0217 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -7.5556, 5.5863, 1.37, -0.0464, 0.0659, 0.5446, -0.0615, -1.2376, 7.2137, 1.7656, -0.0415, -0.0708, -0.0171]",
      "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]: [-0.1108, 0.8902, 0.6983, -0.4759, -0.1761, -0.0822, 0.0108, 0.8322, 1.8637, 1.2308, -0.2031, 0.614, 0.4984, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0014 left_z=0.1784 left_yaw=0.0705 left_pitch=-0.0877 left_roll=0.0517 left_gripper=0.0108 right_x=0.3911 right_y=0.2837 right_z=0.1092 right_yaw=0.0519 right_pitch=-0.0899 right_roll=-0.0567 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -2.1265, 7.5009, 1.7949, -0.0073, 0.2173, 0.1294, -0.2667, -10.0308, 9.5795, 1.6484, 0.6276, 0.3541, -0.0171]",
      "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]: [-0.1078, 0.8928, 0.6983, -0.4866, -0.1753, -0.0807, 0.0118, 0.8043, 2.051, 0.9989, 0.226, 0.5941, 0.4824, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1756 left_yaw=0.0723 left_pitch=-0.1009 left_roll=0.0548 left_gripper=0.0118 right_x=0.3893 right_y=0.2669 right_z=0.0041 right_yaw=0.0476 right_pitch=-0.0933 right_roll=-0.052 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -2.0718, 6.9402, 1.7118, -0.1294, -0.0708, 0.0904, -0.9778, -7.706, 3.8769, 1.0916, 0.1538, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60de49d9a54caed1b1eaf825d27da65116c7d8ce30ba4c0195e7148c9d0ebc99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b1bf91916396d7c4debae05cd9bd811edf1df3658ffb208071adcefa5d2546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4289b77eadf0d0530726d216fb3578071b7c83299b044b4257cfc69e36a1cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_aZvo_zHj65j_o3rfEWOsdhm-ayGH2mv7vE8Z4awTpvP2Z-OERzw9SihWth1tbL2HotmxZE2fmTYVXXUaaRmNnxIISXh6jhsORY5tG7pfMGh2SjPJgOep-Q3jPhhF_OUvGLCHFv_mPGLFvNKoVwhKcXlQtFEg9N3OMDBb6Ah4IiLP8TCI9PI5OMGqMTQx46L3SJ6g3VVL7aiHWJzWU-bMblFt8rRzMj-Px5GmJ65IXH3rqWNxDK5qjeIhDzz45gv-pTSTe7JZu5jXMkVXl7iinU_8JUmakd0YQGSmCcLCaj3ShOrGcU7rpAoLJU5Q7haJkyRe3DXedvkbMLrDvoZ2YubUzvMC--HkREPcaRZPR7ZEXZfgIpe0jfVN4fTiW0ZsIMdV9FLx93wy-xt-FOrki_63PVHFjaq2oAwxsoqfglLywivNLJ__gL6Ojx5CeZZVwGljtZFnB5fvkEWw7vB5qPh2YZKkde2DxAaDwM-8iyAKh-uuzECuD-sZIgK1-DdDz6lMudwtqcyxF1XYon3iq4LeNJU_hajKEI-rQNVj-bk3hKaaliyBKnoix5UJY3koGoackcyZNzH6OyxKB7cFIgtGqs9ms4YJmmNAdIFPoF9EoAzro1jTDhRlWxqTpGys1gojfYd8k9X5kKmsHfmxjlYpQnyWIopDu6Gnr0wDwpQkF3B9H4_RvTYDlSSifmkuqG14XfjtjrU0ObPL97UIQXsB-b569ao0CDO_D5rueuElgoiOk3Ay8zgrUU_Orp0xfJsdSE11yOg_rpQvTliIBGQAccbxL7g7v5WVYUMckKHOW1ZltJy9rdetA--UjrXmAWq7Xn6fVD92rGZKYTvA7pmcYJEj2rS5_UNY5iEw8uR-OP04PmuPpVfqtfFZ_MDz1WCVj1I55dbzgE2nMuVKiCW1KQk30xZ0DsvSeKk6YOLKjc4n-1FCQ-ZLBQfSLWJwGju5iVMAxyfGmvrAuSHgIRasJn1EE9NrC9tH_B9IxwlTBsfZPxu4P5Qd_v6RINmysqSDS0Mf-zi_WOeDucfHp6n2EB4DaUklbSqC4yntKNwacDhnhoMt-E_SNXZxfPd-QbSwz4DrezHYE5QnWR2Z_2mETuP479kUsfCTyBx61eZE_YCcwiAs0GluBUTotM-TAi2cHAxi6kO9QzUVQwIX-kVmLKJw7OeGSa9u3NeahwQML2aINVO9MYzaI22ZyH9jzZLttktztfXubrq9YK_me0lIMZRF3DV2coAe5PL5YiBXFqtoCp25jCHpxA3ny4xU1EjzTspegqZ_OZ1C-izx3JLAAKb8EcWdDfN9vlJ-Yu5q5B8HweoZZiYTbLZ4TaNBEhVZt0y81H7TfQ_UpSBQoZk4papM4np55Fa68JYOQMZeFofjcgw3_8WMzIpbxT4zZbVWpR_PrQLw0ZNyXwcbfNXsRxjDNiRilAgT1NeXGpZ4ab8vOeOzZBQArtEd843ei2Qc5BgMsH2IZbxly11Gc-CVh9M-47aJ-JhAK27TXUeyq0rLP4QXW42opTNSuxk-A2UZQdAcVRHjKD3Cdyg5PVC-occlnSo6U66KRNl930ybURlyiDkjqAuAzUmNI-6OtQcL2W909t6dIyjzE1WmS35BEt_FLF2mumV-WTeD3cL7qeJsGIcKpiIvoWkOgNgHZ2njo0OsLvWRR-oB5bSK9rxqymNWIhdkqkgqz8SmRmNA-M24R7_INcCtxj5MjTXp4Scrvn8UeEKyzgm9j_MoxIgHJPSuOEI1KzIJqOSzfXRuTBY7chVpvXa94jxR5rgWu8qcwtM_2gQ7mlRKN823_g0hW0FBRjy7dTeWaluU1GTi4z0QXPj3yKDCctvYFcRSIXUt3vYSgQ6oA_t8rv_AzqALORS3B7v_Qrrl61QsxR-fO7VQ-6VS8_lTsp5LXmlqlCYtL8DC-iTcrNrfXCfqIxbXvATTpCXOk5Id_xUK8JrUXPxphfw9-4narOJX7VRqhz-hYH0O-gs5M0YrXxNuAvcKwEgnOuEUEOxOgwDdH3hjKZP16Zygm_9_8-iegQnuCqXjj0M_MT_X3L6T0zMd855xp5ESK3_tLOWssQZnQdMLbV5SIfDDRaQZQIb_aCnJp0SlsjfwvF632oKXYn8mCCKFpGArlWCB1eJuBZNvatcQrT6gd0jjRLgF2KYHoVdwOEXlcxlY9bELxy70nFnMONT6hpMwfwhtztPdTraH6neVNOnYJ7WWZZi2ODTM5ZgwbQ-SCCdytUdMCFq2lU3t-3Diao7cgM_efnYttKZK9MZpBS_JNYVSth-wkyO9QrAbTrIDDjc43g4Gj1PCsG73ZZFYbOUpgze18O3EQHw-7K94ij8y3HHxFmDkL4fIvWgH8Oo_ZqrCKXr7JJh6FWjr-dtFNWcWVpHy9z_5uNRt3Le2RHwDX-YlKffE5e3Y1FVFiW6kwtsGnno3afHkpVjn3l8Yn8AxPUvqmN-C0DAGLjsroP32HXdfGeF6uiyxbfZJUqKrt-H_KVAW6kFe6eMZK-GkLyjpZPUWysdYVJboGIFAJwHbO67kui9ZmDQldceF7yV0noxik9Zxsqy9W5ov8_wLZcraPfyiUoK6klf4Ton1BUTSXhttAkMOVHKoTb0K_EQBss-3ivZfBvvbfR2VN-pmDnPnukwqDfk_7xKs7QNfOzp11LXDNx6Coy4Kmqy8o3FmvHoQP8KEKrdLd7Hh386XIXtWc54tV-GvVm8ecWK5g5DrhOCpi05L-itRC3POkjSEopkHWkCDLXtBNe4dGhUJzhIeXEMYSL5B0HfFSOu4uklB9L3a6qvAmdMXZ2tU59FR9d47mL0g2Zsy1_NIm4orgj-UGBiu-g3DNXfyzOpqri-tTLkJNjojttZ9V-fGwZ2ZQGamQwtS3xWAjnOQzCC40KtotrtbAlnLObo6uwQKYacr9OMiqP6J8nSBkX2abw4LaFNwvbLiXQeFz7kRikYRFWXMpxdp1rbCfQUxC2otQePOnk-zZfzIG7OjBImHjGp5ycFSZyFHGvEWK-chQaG9fsPu0x-wix_oYu3BoG_ur27rOOy7dPirpTc-PqxN_uk5pM6zbXVZW_ABTcgfkJN4gicy9GLxMgOArmgm7UF_dTS6luEbfWjA6zvpySkuMp1muqXxq0iveM1mJm9rxocNx67zshCieOIxRuztrsZqW8lP8uTKf1tD2AJ_PJRHJZXtl8-nJ1QTWdyG7c4Npp79EGqF_pDiirA9WefDhOlMz3mTTNM4LvWZ_rBXEHFcgiwKD0w0UAZWX-g-jmPAi7uDQBfvAvBwh6R8V4S3mSvEmdOFTKa-85w_8GgM6vIUufKvTSGDYbL9dknbTQ8ETXox_MHx6-qB-o0BPJ9c15yQ=",
  "id": "rs_0358d89aeca12933016ab41fd571c487d0b4199e0998b01a0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.23,\"right_z\":-0.008},\"note\":\"At table height the pen shaft lies near the right edge of the open jaws, rather than between their centers. I’ll shift the right gripper sideways across the shaft before closing.\"}",
  "call_id": "call_vE7Oasdg26vqrEs2Mg38o6Ay",
  "id": "fc_0358d89aeca12933016ab41fd99f1c87d0adfe71493b7796c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vE7Oasdg26vqrEs2Mg38o6Ay",
  "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]: [-0.1078, 0.8932, 0.6983, -0.4866, -0.1753, -0.0803, 0.0123, 0.7437, 2.0277, 0.889, 0.3828, 0.5591, 0.4446, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1755 left_yaw=0.0721 left_pitch=-0.1013 left_roll=0.0552 left_gripper=0.0123 right_x=0.3948 right_y=0.2408 right_z=0.0009 right_yaw=0.0368 right_pitch=-0.0582 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6972, -0.1392, -0.0366, 0.0366, -0.6085, -9.9624, 3.7675, 1.0281, 0.0024, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae01e351163c012352e9270ddb038fef8ed632c5aaae6def8e104742fac3b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecc778f41b5f1205d5cb0c0885d10b9870682920ad7739438e8020e384e0aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f83349ccb8ff8ec6d57324a2ba40107a0dba1bd266e35be1fbfdd3412ce3c52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.014 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]: [-0.5858, 1.6867, 0.9493, -0.0471, -0.5091, -0.384, 0.0095, -0.0181, 0.8005, 0.6132, -0.3973, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4088 left_y=-0.1636 left_z=0.0956 left_yaw=0.033 left_pitch=-0.0973 left_roll=0.0622 left_gripper=0.0095 right_x=0.294 right_y=0.0024 right_z=0.1788 right_yaw=0.0015 right_pitch=-0.0221 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.7846, 9.4427, 1.4628, -0.2466, 0.0659, 0.2222, -0.3077, -1.1419, 7.3094, 1.7705, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.1078, 0.8928, 0.6983, -0.4866, -0.1753, -0.0807, 0.0118, 0.8043, 2.051, 0.9989, 0.226, 0.5941, 0.4824, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1756 left_yaw=0.0723 left_pitch=-0.1009 left_roll=0.0548 left_gripper=0.0118 right_x=0.3893 right_y=0.2669 right_z=0.0041 right_yaw=0.0476 right_pitch=-0.0933 right_roll=-0.052 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -2.0718, 6.9402, 1.7118, -0.1294, -0.0708, 0.0904, -0.9778, -7.706, 3.8769, 1.0916, 0.1538, -0.2466, -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 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]: [-0.1078, 0.8932, 0.6983, -0.4866, -0.1753, -0.0803, 0.0123, 0.7437, 2.0277, 0.889, 0.3828, 0.5591, 0.4446, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1755 left_yaw=0.0721 left_pitch=-0.1013 left_roll=0.0552 left_gripper=0.0123 right_x=0.3948 right_y=0.2408 right_z=0.0009 right_yaw=0.0368 right_pitch=-0.0582 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6972, -0.1392, -0.0366, 0.0366, -0.6085, -9.9624, 3.7675, 1.0281, 0.0024, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae01e351163c012352e9270ddb038fef8ed632c5aaae6def8e104742fac3b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecc778f41b5f1205d5cb0c0885d10b9870682920ad7739438e8020e384e0aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f83349ccb8ff8ec6d57324a2ba40107a0dba1bd266e35be1fbfdd3412ce3c52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_c0LieB-EX4KoyavKXuu9UtBVgd8T-0cNnKIS7XqaR2_KAHcyJM6UgoMn5deZ-mdwT49nt4EGjiyuLIgHEx_62lJucrAvcJtQdZkRL3-bfQHFghfPsHCeiId84mgpv2ZrZRQ7lZzqb6__Inv-w8USeMCb-d7vQxCDgtcwR1NwhQFnQpTziZnlqbSxtXWLaOiDFDnIazGbpEyi6KIS-qQeKa-DQGRb6reF0TyLgeHZ3ItHXMt9IQ3o_VlrDFEpoA3WYwL-3vn4bsf1QW1l9khWULRXeuCMeRzMHS4kHf1mwnd3I4G-zLkZQZ466o2oA_K63UK1yxPq2h-tuVdqFfu9xPEQXPmonfRVkY0SQS4q5sUZP9ZCfJaysvKMLQZkjXMN8y5s1-gxQ0_Sj5UbXUIUNFwCXx6gOOGgoWkVqi_R2R9aug6lNol3f_fLwrpK6FhYxjwMDubrs3e9SiSIbvQ7B4YGcIS0LfvN1YdHZNMoeKTrAy-jvueqq29azmw8DDYH615QwB01AC6x8fKONeYdQymlyHkLp45XXKz-YeM_L_OsopiwYYPhG12CiD1SZAis18Lc29xDDn8BsW4MHmi1TSg6YVeAjTVPGez4vf8d0hWwP4MPfU-XzscgrvNbkAaIavxV44TGzSkEDoEAT6jgSWJffC9SCq3eA3p7cEL3BI5nwQwoVhvHooBsatZ4_2vTM0nNEAI5B_ft7XBk4WrEkiuV9KS3kO2x3Lxncs-hh48gzKoSAkialLuENHADbc-H6V-luzp3szelxJHQCY5N4TImT7hxLe1ZIGQLHLnB6oJ8h3X8ebmlqnu7z-VSknKk-Y9aWGMydA8ZYEXNEGf1LCR9fKir9CfG5EjMun6vMlMt3iWA9C2O77XBvIjrjTyg9K5leBMChv8QHALXG9mNr5wiTdpjP2JvGfjiwJwNaQle9Zf1hw_88sG-icFNHw2IKxk18em0iyniBbcISkwwXB1lJil4IcrQ4n70wq_amyO969ciGCPgM5zfc6fvFOyyJwz2Z0Q6gdjcVi8U8zXCvRuRvWvAPgUedIrFSrK8zGY2rmLeTvgKZdeZvkZmQxg7BVO6OkfYakIw_ohIgZLfFjrY7Mrej-16oQSNZGqoDsPg7s56j7V_Wyk6b9MlB6gd2obzjpUU20OoaXgQX40u_TYuWQz-8azopqjJcSFfh7zz9HmYKrIRb_lmRfcKV-mHGjoI0e4DT_ygVpv9Hk3JLvmDSPuO6rDB6SS9262ElySg=",
  "id": "rs_0358d89aeca12933016ab41fdbb14487d09b4bf1e1c9af575d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen shaft now runs through the center of the right fingertip gap. I’ll close the jaws around the shaft and use the settled jaw opening to check for a grasp.\"}",
  "call_id": "call_9ICziQjFilppx0WJU0SpM9uF",
  "id": "fc_0358d89aeca12933016ab41fdbe19887d09e03791e577f8b2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ICziQjFilppx0WJU0SpM9uF",
  "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]: [-0.1078, 0.8932, 0.6983, -0.4873, -0.1753, -0.0807, 0.0124, 0.7399, 2.0262, 0.8833, 0.4038, 0.5564, 0.4377, 0.0522]\nstate[eef_state]: left_x=0.298 left_y=0.0024 left_z=0.1754 left_yaw=0.0723 left_pitch=-0.1021 left_roll=0.055 left_gripper=0.0124 right_x=0.3966 right_y=0.2406 right_z=0.003 right_yaw=0.0393 right_pitch=-0.0466 right_roll=-0.0101 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -1.812, 6.9812, 1.6142, -0.1099, -0.0464, -0.0073, 0.253, -9.5111, 5.8462, 1.3114, 0.2222, 0.105, 1.3114]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53242561904d2a404edd25b1efded7cf1b93647a5d8b95efa828bca5027e4b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f291a29a792257900b735046e2c2cd49221e6ecfa2dbee32cf2ee86b3c17f180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcbd3dc19dfbcba2eea89cb9298b91f576a1aeb38797889c7652783fcc51944",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.889 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]: [-0.1108, 0.8902, 0.6983, -0.4759, -0.1761, -0.0822, 0.0108, 0.8322, 1.8637, 1.2308, -0.2031, 0.614, 0.4984, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0014 left_z=0.1784 left_yaw=0.0705 left_pitch=-0.0877 left_roll=0.0517 left_gripper=0.0108 right_x=0.3911 right_y=0.2837 right_z=0.1092 right_yaw=0.0519 right_pitch=-0.0899 right_roll=-0.0567 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -2.1265, 7.5009, 1.7949, -0.0073, 0.2173, 0.1294, -0.2667, -10.0308, 9.5795, 1.6484, 0.6276, 0.3541, -0.0171]",
      "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]: [-0.1078, 0.8932, 0.6983, -0.4866, -0.1753, -0.0803, 0.0123, 0.7437, 2.0277, 0.889, 0.3828, 0.5591, 0.4446, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1755 left_yaw=0.0721 left_pitch=-0.1013 left_roll=0.0552 left_gripper=0.0123 right_x=0.3948 right_y=0.2408 right_z=0.0009 right_yaw=0.0368 right_pitch=-0.0582 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6972, -0.1392, -0.0366, 0.0366, -0.6085, -9.9624, 3.7675, 1.0281, 0.0024, -0.1099, -0.0122]",
      "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]: [-0.1078, 0.8932, 0.6983, -0.4873, -0.1753, -0.0807, 0.0124, 0.7399, 2.0262, 0.8833, 0.4038, 0.5564, 0.4377, 0.0522]\nstate[eef_state]: left_x=0.298 left_y=0.0024 left_z=0.1754 left_yaw=0.0723 left_pitch=-0.1021 left_roll=0.055 left_gripper=0.0124 right_x=0.3966 right_y=0.2406 right_z=0.003 right_yaw=0.0393 right_pitch=-0.0466 right_roll=-0.0101 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -1.812, 6.9812, 1.6142, -0.1099, -0.0464, -0.0073, 0.253, -9.5111, 5.8462, 1.3114, 0.2222, 0.105, 1.3114]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53242561904d2a404edd25b1efded7cf1b93647a5d8b95efa828bca5027e4b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f291a29a792257900b735046e2c2cd49221e6ecfa2dbee32cf2ee86b3c17f180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcbd3dc19dfbcba2eea89cb9298b91f576a1aeb38797889c7652783fcc51944",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_fSRvP5dPxSEQOVfMVkaUw3IhjRUDskHLyyVSs35u0oVjQPjfM3LqTdF6VOuhiNB04-jW3S2Kr4Z5tc4RQXsuEtKVS8plRtyogjby7YJeA5-hd1BFbs07wvuaTlRn8BIO0uAr6_hMdnYu97FqzAyZNfecP1N6--B4INbjBgvogwWn8rguslsJj2pnXb0ggJoaKNUr1ezPP9EuAbSI2DRqltLoZYJZEy8StfB0UujCAdAKUP0v263rOEXrnTXfUcMUaawOywp0Bnj4a6IXz8Fedf9r8ml_UAfPuH442iNy1C1k-H-iuPXq3IWNNsYy9OS6QUR38lLoGOVyDxCBpI_IfVTyivl4Qned-oxC2Y85mR-MukXKGYHz2U7hcZf2-2ODPlRLdPeoArGUWHcevMoJFdL7mxELXzZpCNSQLJEm3zMSgevwj1VDwP2SMUmcV7diLvan7vm3ZZAQpeeG0aanqJIkKF0lMdwdsckdFPyDF9MHmx0C2y10A1YGc5nPBW9mKsRrugvMiW9MjN61QJSLaeiPI4WzDlOYW91ksHJYY_ca3hlvSXAil4Q5rF1Q3A05Fc0p7ThCkTII84B4nGEABiinackzWAuaVp6NIlvLgfcz3ml_EMJ7FHouBy2jqs027TgVsjSNK2grTsEWEsWZQbUBAJHsJZQinZ16Z312nyr8siWA2xUl_F4PJxXGRLlyUL5mr_qVwur62CG0Wm0QUUDMvy8qhCnjyjpBHgV_89_B3MQqDwlqV-krAATqlukwirCKUikScdxZA9gpTirR-YIzxx1hbi3eUGqKrr7Ux0rXwzdl3KV-pWROGLB8Z9tKTu3c7OZZY5uI0fDvb6gnpWXKN_CUz-UbPMX5Qfyyesdn7Bu39Mp4d5k12nd55OfiRyG-9l0fG35QvaxFAq8Q06DEqocscGXg9HaMDG528dtRkG7dqtTVMbfHij2ayhkQju7fWifVo_7epndVfDSFjeqDnoPDMIzdyYKbyjiq3-aiigIrcXmeEiGnFj1U3kVxhmW2YqYoF9R9wODshu3lq2spV3mbU0IyB-eONpM7cGH7uOEIzhpioKfVTeVrf6C9mRhWZsxVmmWrNBX2WadjP3Rp46fhVY8f9KJzt0s1Ci0GZJq1q0xIwBRdrS-Feo0FSmPt2W8zuWpA0AZWe_7ZybQwLgyGZ-wjtBjSOix1mFlUQ4Y1bWD85k9MeuLKBX30vTN0EE7GfvSf6Xji_qFX0qcrLPO5dIxMpWNLiS6qomrE=",
  "id": "rs_0358d89aeca12933016ab41fde8c3487d0a4c3da16c6208275",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper has stopped at about a 5 mm opening, consistent with the pen’s thickness. I’ll lift it clear of the table and confirm that the pen comes up with the jaws.\"}",
  "call_id": "call_d4hJEEpGRzkfncCY3606Oiib",
  "id": "fc_0358d89aeca12933016ab41fdeb47487d0bfa5b21826b9d58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4hJEEpGRzkfncCY3606Oiib",
  "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]: [-0.1078, 0.8986, 0.6979, -0.4911, -0.1757, -0.0807, 0.0123, 0.7399, 1.734, 1.0962, -0.1532, 0.5411, 0.4301, 0.0597]\nstate[eef_state]: left_x=0.2977 left_y=0.0025 left_z=0.173 left_yaw=0.0728 left_pitch=-0.1114 left_roll=0.057 left_gripper=0.0123 right_x=0.3922 right_y=0.2397 right_z=0.1175 right_yaw=0.0526 right_pitch=-0.0933 right_roll=-0.0414 right_gripper=0.0597\nstate[joint_eff]: [-0.1573, -2.2359, 6.9402, 1.6825, -0.1343, -0.0562, -0.0171, -0.3897, -11.3573, 9.3744, 1.7656, 0.3687, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368266e1730efb89820f45609968eb29998a5ab1a94c6c7962668b48d93322f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2478909078ec51dc49790fbeed31bd95424ef0a9427e24c899acc49cee58a15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06b2702efe54036a37e72ce135ad66a0ab75c048c2ac7916d88dce62a901b65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.507 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1078, 0.8928, 0.6983, -0.4866, -0.1753, -0.0807, 0.0118, 0.8043, 2.051, 0.9989, 0.226, 0.5941, 0.4824, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1756 left_yaw=0.0723 left_pitch=-0.1009 left_roll=0.0548 left_gripper=0.0118 right_x=0.3893 right_y=0.2669 right_z=0.0041 right_yaw=0.0476 right_pitch=-0.0933 right_roll=-0.052 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -2.0718, 6.9402, 1.7118, -0.1294, -0.0708, 0.0904, -0.9778, -7.706, 3.8769, 1.0916, 0.1538, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1078, 0.8932, 0.6983, -0.4873, -0.1753, -0.0807, 0.0124, 0.7399, 2.0262, 0.8833, 0.4038, 0.5564, 0.4377, 0.0522]\nstate[eef_state]: left_x=0.298 left_y=0.0024 left_z=0.1754 left_yaw=0.0723 left_pitch=-0.1021 left_roll=0.055 left_gripper=0.0124 right_x=0.3966 right_y=0.2406 right_z=0.003 right_yaw=0.0393 right_pitch=-0.0466 right_roll=-0.0101 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -1.812, 6.9812, 1.6142, -0.1099, -0.0464, -0.0073, 0.253, -9.5111, 5.8462, 1.3114, 0.2222, 0.105, 1.3114]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1078, 0.8986, 0.6979, -0.4911, -0.1757, -0.0807, 0.0123, 0.7399, 1.734, 1.0962, -0.1532, 0.5411, 0.4301, 0.0597]\nstate[eef_state]: left_x=0.2977 left_y=0.0025 left_z=0.173 left_yaw=0.0728 left_pitch=-0.1114 left_roll=0.057 left_gripper=0.0123 right_x=0.3922 right_y=0.2397 right_z=0.1175 right_yaw=0.0526 right_pitch=-0.0933 right_roll=-0.0414 right_gripper=0.0597\nstate[joint_eff]: [-0.1573, -2.2359, 6.9402, 1.6825, -0.1343, -0.0562, -0.0171, -0.3897, -11.3573, 9.3744, 1.7656, 0.3687, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368266e1730efb89820f45609968eb29998a5ab1a94c6c7962668b48d93322f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2478909078ec51dc49790fbeed31bd95424ef0a9427e24c899acc49cee58a15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06b2702efe54036a37e72ce135ad66a0ab75c048c2ac7916d88dce62a901b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_nGZuEz8FDpIagaorqHmYMgLcgTSenKqoCqgt9scqj23pEGfGQhV-rcObPChCF3fHyhpS6Bq6Teh-d4VjW3h6eDgGkIRpxmUGOFO7XSuxI1v2h0-MFh8U2tzEW83CmYOr30JeXd1Xnq0wxKLQzGl02waT-OXvSkLTqgeyk_o1NXSGdTlIcyx3rPY4ylKwHLQvsH-4v4znQpI5wDUPuuZDljJoeH0T5gGaTVMz3kVpKcodI8R8ZZxZYRJMjnEGs3UGMtuHOXR3ITWr-x33ZXxASy2VEb1nZvtFG6PmKg-9-tWAMG7hoZM-Nww4vxAhKJXn1FEFHYBUsAxvmaA0fTdvjKaC-u49EVk9qCNIhQiFw8Y7BzxAmMnp3QQGo0zdyo5EobDgJ9WLg3NUCLWsTo1O0g4d8ano9Q6U2lRRy8YKpTIr5gOSimsiD0cOzahHt4GErbynLx3TnPMti_817PNgnr7YP-PJwaXdMqiSAxg7S3JS5rVL2lxR9hCGabj7_xW4qM4k7l-cCVLFV9A4t872NZTwpBu0qHHyrb-t2ojDJQ3BBXCppFjX2k9sF_dObbdeNKqP8nctQoF8VkpIzvRKwG_N6khj4OXWpiKJXTMMNur0ViCytk__gzboKwtm65aTHjbHrKUVShjxomvl28ob33ntluhwxq2Q8n344gfxjmyDSmhlmPEtpwwxJXmbSukn7Y5R3osWd0dli9su7-dqiZUZjC-sE13BHOu0Vq0ZbO_RSxAi9c2AltK2HC22R9PtbTNldL7_YfpovoUtCuwlpn2EAB0qHnoZhYXbD77FTBcggljUUzpWCpUzCe0cBAflzBbw5YlCAFzpJiGRDPZCNOdOv9oknwjl74Q1WFaaQ8YTb_BmgybtxCHrOvJacc0SFkuUjThEJkveBoXE5fyNBrOUSTw1klGExPnTOn2ncUrWFMtmJXYrFLH0u4_ddf943eWDgE9zfRfs92BxYVxh2Y7sZiNx2b6GwlYbSc0RwdBbWP2j_KLb-4pe6Ww9Zo1EYBv7l-U0kbKhqIN27c6oXuaedmyc87fSY9-JT5vtJr9uyInaL9_p6sM2dqH0X4z4KzJvwu2D6ogWNaZ0xhfwv8-MxBWYFxWLykzGFQ6xE37xAk1gqkIYzDzQU8qBb8q933oT1WdS6m4hpHMjFGhMn3tVDMIklhTEl23mn9cdRxWTHOBp_5KRyQnIRTdkcxjda8CVHIupWgr5eSwu9D8CH0GD_yTHTaxwAg4cBo1fSIX_UG6lY0jz5TKSh1N64_6T43sgGc8Mh_y6C4ZtN52iPel94ByMreYmbsIBq8CUyaLnP9IBxjcKZr-I0tqTkZnVIWXKPTXaf_yxmLLkXDvX_tW3hBJF9V3pTGoHV9Ye-6QZ8qLC4QksN4MtexxeqyQS48HPQQX_ASG4kulYzh9yW2DLOOOz8AJ6AzmV6B6F4DYD3tfLk9rEUJxWs22IZwazrcu0I88IZpDKPAEU7Mzjju-NvGyvPCv8qhf2ZhzurbRU-03lrkVffV8U7ZikTY1pJZFa_UubcZdo3DAgsVCGVhRTh-KpcrtYJ1jT3BAxoeqCAC9iHKxcFchC2HMBvK9xhL_oKzDBFgY49hX4H0I2LuQ58Nqrz7NV6ajckSbLx2NLC9dY_6M-unNYJWjyxmhMT8V1scu-Lw9VvfItJOydSdpJQbjzJQlblxR0rn7fs8yvdsrqU9wdtlwMFUnu7xIGj2Zm8OacHv6AzWhCqj5Pg6MYaajqp8ffHujuI0Ix3amw6sce4DPlQBznjHovMdgt_1hgfbSnyQ7riJ1v8_6Tvo5bfoZ6bZutHeizmOUlcme2cdu38Ab3Cb-ne7VBMEMuJ1-UaZ3a_imJ0p7rndd-kesiYG-HyeaIrJJx3llJx5H5mfyf8u_lhVEvA_2he5J9yI-ba1wSC-y2UAFMWStj_yJ-ExYk9BwpJKVJg9E-hzFr-BPs358GrbQRvWSwFe_ElCce03uWQA0EoBs5E7UI7d3mjSy9YjtOtWY5amTRtznppgfeyIeYBx4rJMFs0cFjeC-nKUoKwdMZ5DCul7KguGEkUsFXOWq1j_3BRLOwDOdx_MjrGs5i14yRJ9rnEyJyY53eGegc-XlgL5pDYLCqzG505MnsB6lTYxjetONqYUCY4HpYYgMYp4NywHKvzIVaaCbWjLf-YQIbkPHYqtzMQ-8E3ZYGAAHq8zDAZ2hVWoWWbNdoCoQPstnbDFKuS23SyCCr6C7j4-wld0FdE532YZIpNT5RdZ5nAju9RWYHaXthk1cMXPJzcyzUwat8Ocq_gOw1d3HEdNxu5Rqhz1VjQX3EwVn1ANG-CP6W0XxNL52upsCcLMlaOGL10P8SYyAPtzIJMiILz_-x2yxLiLj0Tw2rrEbfWrL2xZSHkifRHd6qXpVOsIgboP-GDyv_lZY5SxRGXz49GK2PAU7Oh8ul74YF8mzHrSRBk83p5nb-QqCsqAzFRIlshNujhn4F8eYfrsRhIXGwpEZlhaeSDQ0vakcite-6TnwNI7vK_zeoWtSxHXBvUEFYyHSJeU6J1sD_57q2dIjSVc4inaAkx-puSxmxFpwTTe5O3-ept0vhUrc_3ZUhVVB91kvhC163HtsQM7JzaadAiYDjO5idtefqnhX5E7GPFiEYm0fQEmC-tP1gkgxMEEZUa7H5izBbycYaXYjhLeJLeYy9fr8vSeJFYc9DmEnu6EHAyWR6mhtFLFNCAKcbcyBp-wbw3PXOZAaPXvde8dOQo3bm6c_1jYeZ9Ev8QziKisvXfptrhLudTX6RR-RqLMwVdZcMfojnd53dzKzBx1scrWItPX1ZSQ6PRyB0HRNXJCNSkDCv3YX2O9ffgmyj6Qj48QkAic6uUItdIRx0Lhu0tA_9KRUgXY1QYo93ox9Q7uh-JSLzf8IQwSgmrSVybmtY5lzvKQPFb5kz31-9G_ICFAlkGIljkK1FXdcEfGCeNR_gga7IlVsUGvJ46X74cVcyMj4Zgy3ueXRz_SRB1xuS6CBCHamCKEW9E45JJGxP9RYqy-GBj-xl00mUTFCyNrOjQV6AWTyyRPk5Y5TU57z-DJkO4xYGQ6qj3PVTm-fEtjNwTNW3gX_CK-mY0RzHXOIUH8WqJ68acNgc27kT0VY6Lx31JyjX32UufflXGabUwtuGJ02J5U1Xokh-jQsfT4Vuh3evIc9KWeYbXi25kDUec4iBwoJRkBF6KbzGNPTZLCdhZMmDScXQ5rDOPjGI-WiyTRTivtRCMzFomP9lZpErOIyjjS4Y_AsZ-MutLr1FLcrR_bNu5Ic1SsLYmNP1oSMnjXzhLy_0KdNlGNW5KleHnX-RkTaGJK26RNWqvzvMlObujf6Wjeb7ihksU3CunM-baAxBze80etUm6s1FBg5yIPsU0mHgZLrbD4X4oL-2TjqNyZq1jg2Mjt30aCx6J453CVVh1YqvVKhT3bb-dAP8DxkKBVlORJJKGP0pJmXumi6hlshFTXnQQUSdkzEkTyfclUdCorEQCz_muXWZJtp3PDdfk1P6nhwrWrDL2cdzlEqEXVVN4OqUkYnJ1QigOV5lq4vZ721wLcraKRcuLaQQTAyS5_GCpNLbA_EdByzAHy32W4oPjUdCQfz77aXRkZKr7hyv1HrgrHvfvM4B0qh0L6f6-gcw6hz4Y0dsaQYomM3T6QUmsgvBN9f_CXRq4JVTXM_fp7rKvzhcVMWXYZkKg-sZ3hT8-3YzxKsdUvV2VQfCRCdicqEDC1P3B-nevDzXZSoGKpfWOzbE66dE_xEUrvZldDdfItVAzdJpVKQ0OmVWd5LbR4qbswzI=",
  "id": "rs_0358d89aeca12933016ab41fe1404c87d090db75bd4644456d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_n9hoMIsKe60WXI__63KFUQrispPtge0Wwb_cjv319l82YDeudB_5k--ndJeQ0MGMeMqGOL_vAAbd7EvDZhvec_H_61HMVu7A1r3HUha3j7uh9q6uJpq_QYA2jdEx9qG6PElx_hOVhkYyH79gazTw57bUAwGK0TYrn-kFRmP2hECztExTdhrCdUKXyxtLCLzLD7YLht5jTxDSNApkY2mAr9akT_SuCTlM2XGApxaN5e_Mi3r88NzWCMmizNzZ0GqxSxwYXKqRpBRx1dfc9z3o4rJfqz_ha5eoHdNad36O5CWKrYlnjto7xAHk0zwpYmhmI1E2QVKODMowMFuVOnJxXAYqkmOEnhgzSAmA5IjLgh83MYEQVHSa9O8yErJSeZ3cqgNm8NHodPzqFH9Nyh8M9p9Va5vmHP8Ja_fqjo_kDQd3SzFZ5GJYzrwA6n_yavALr5Pxy9oN2BgZ80TK9kXkRzXKrCJjnIhMzp40IcyiEXP_ZHI3eCMJXnNDOz3HMepAnv0FCCyJ1ppb2_9AbFsk1SQPO1yULzzndaQ2FMAjhtNZJ6gb_ybhiFxv7j5FSA5aErhebTGWZa7eGR5VHAK_iZgS5gDPseWJTHYpQAX3Gp9VPMvZs3EPQk3jRWNa9tJu-Kk43y1CdHksv6gPPyKzfHmidpoCrV5UaLlUqi2rIC3cnT0FdwzbTGXaYyaCl5k0HV9SzYeZWz2VofdL95Ax-BINpubeZTFFq6Cjj2xxy-o_swyHbGQuJIHwTplQiX-ZUgySVt2OLv9zNXKMxoqr-FzpEkWn_zOUYgG0iGDeK-B1G6PFZBCkSPgF_7eTfIklxOZf6gtKpedStZ2wwwyne-YTJJferrudGmcBZiELUgySFS0TKKl0ZphyCFagTdu0zzraYmvXXvjEAr5AuF87Uc_qNRYRJVbvfGoof7Nu6r25Hw2ZvV5hc-bCmRNDnxgWu4Rx06vbIYPGPvTDjGDEeJnDBsCqPOjkpJ4hG6CWCOAA3axFzKYCVnebFzsPj2FLGkECFmAC3cOrioEDD7qVUPfhY15JN9KmIV1cWnkK2h0lKwimn4YfGhZ0E13Z9_mXOFwNhvfem0q3v7ld25LCEHaGZW_eSHhmkcDbQhf0x3P1pYraJU9N0Q-myJDmesa31W7eZPJOpV-akiX-TJBnLGgvpYau1W_T6nUEa73_imwlGwOhQGTvH1Wfyb_M8Hc--2mpZtftMQu6L_2qSoLaA3DtJ-fLpErQFf1XepzUjZzMlefqoPywQjWBRE8Wg3kiuDxc9azBhaUe3oe33KvI3eCDri21xEVT5JmqiBlyx_M9UH2aeXrbbYH-ZL6X9eLXtC4c8mhPaE7H3aClRTD1R0_L98Oy82tKBSwS_HWwR3czz9hsfw2tg5ComNUI10NVE",
  "id": "rs_0358d89aeca12933016ab41fe5d09c87d085f08f4929b072ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.144,\"left_z\":0.09,\"left_gripper\":1,\"right_z\":0.17},\"note\":\"The pen appears to have risen with the right gripper, so I’ll keep it raised while returning the left gripper to the cap. The first cap grasp missed to one side; I’ll approach slightly farther across it with open jaws.\"}",
  "call_id": "call_O0BNu3Q0v7f6FY1gHInPFKP8",
  "id": "fc_0358d89aeca12933016ab41fe66d3c87d0a3a4cdb13e53d7f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O0BNu3Q0v7f6FY1gHInPFKP8",
  "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]: [-0.5407, 1.6463, 0.86, -0.0933, -0.4797, -0.3882, 0.9965, 0.7403, 1.7176, 1.2034, -0.3782, 0.522, 0.429, 0.0652]\nstate[eef_state]: left_x=0.3868 left_y=-0.133 left_z=0.0697 left_yaw=0.0658 left_pitch=-0.1873 left_roll=0.0962 left_gripper=0.9965 right_x=0.383 right_y=0.2354 right_z=0.1312 right_yaw=0.059 right_pitch=-0.181 right_roll=-0.0959 right_gripper=0.0652\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.619, -0.315, 0.0415, -0.0073, -0.2803, -11.8359, 10.2085, 1.7753, 0.3687, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639dea380caada0ff2393acef4601c75d5adf45b3ab4c281f715bdab79453aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1da12f60c5a2a57efc702f81cd83ace0a29ee25fb19cc377120a59a30872992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1078d98f399aaf23b30a3ecf991ee9e663fadf3e97090d3d01d688de92cfeab9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.047 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 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]: [-0.1078, 0.8932, 0.6983, -0.4866, -0.1753, -0.0803, 0.0123, 0.7437, 2.0277, 0.889, 0.3828, 0.5591, 0.4446, 0.9994]\nstate[eef_state]: left_x=0.2981 left_y=0.0023 left_z=0.1755 left_yaw=0.0721 left_pitch=-0.1013 left_roll=0.0552 left_gripper=0.0123 right_x=0.3948 right_y=0.2408 right_z=0.0009 right_yaw=0.0368 right_pitch=-0.0582 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6972, -0.1392, -0.0366, 0.0366, -0.6085, -9.9624, 3.7675, 1.0281, 0.0024, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1078, 0.8986, 0.6979, -0.4911, -0.1757, -0.0807, 0.0123, 0.7399, 1.734, 1.0962, -0.1532, 0.5411, 0.4301, 0.0597]\nstate[eef_state]: left_x=0.2977 left_y=0.0025 left_z=0.173 left_yaw=0.0728 left_pitch=-0.1114 left_roll=0.057 left_gripper=0.0123 right_x=0.3922 right_y=0.2397 right_z=0.1175 right_yaw=0.0526 right_pitch=-0.0933 right_roll=-0.0414 right_gripper=0.0597\nstate[joint_eff]: [-0.1573, -2.2359, 6.9402, 1.6825, -0.1343, -0.0562, -0.0171, -0.3897, -11.3573, 9.3744, 1.7656, 0.3687, 0.0562, 1.0281]",
      "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]: [-0.5407, 1.6463, 0.86, -0.0933, -0.4797, -0.3882, 0.9965, 0.7403, 1.7176, 1.2034, -0.3782, 0.522, 0.429, 0.0652]\nstate[eef_state]: left_x=0.3868 left_y=-0.133 left_z=0.0697 left_yaw=0.0658 left_pitch=-0.1873 left_roll=0.0962 left_gripper=0.9965 right_x=0.383 right_y=0.2354 right_z=0.1312 right_yaw=0.059 right_pitch=-0.181 right_roll=-0.0959 right_gripper=0.0652\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.619, -0.315, 0.0415, -0.0073, -0.2803, -11.8359, 10.2085, 1.7753, 0.3687, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639dea380caada0ff2393acef4601c75d5adf45b3ab4c281f715bdab79453aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1da12f60c5a2a57efc702f81cd83ace0a29ee25fb19cc377120a59a30872992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1078d98f399aaf23b30a3ecf991ee9e663fadf3e97090d3d01d688de92cfeab9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_trcjtfA8OtYIIMcVYJUDGHOLV4IMn0LexANbt4mofKGGBq__nTL7cPAh0jMYTH4oISx9JkhDIee2hcFePuI64X3TSIuR7kutKVAobc2M-91Hbrm6439GRbq_cmvjpFkGjOqqCIUgH_8UpoyFh0PoQ13OLaucGRzyr0qe5Id5-LKnb-bCNFOQWq7Pq0qoRx4ogSRVAMSHEinKIUX2crPBEZy5DQJqRBeEGl6Ul_vMF8oCx__x_k3G545fju18YWs-8NOPWwJZqito6j0fv9h-1cbKzr0sEoEUOJf6tq6wPxF8Ik4OY0U8zags5l5kYgKGxHp8pcM_M3ncDIRgOCRpIIIRJh8nhADyOEV52zpZYo5x3No3wn_cG0xZltqCHvAs3uKEr1oSqO9f2TNU5w2tA7nhRJkKW9LUT729Morn9xDFylGJuaYdh-tyBE1TpIf_0_M9hiSzTQqmQlkL62CeC97Odkk_Mnsj_-urM8oCPbG2VL8wgkea3KSGbcouWnXnMImvlnzrLeSLjiIWiOgdFWwRrvln0e9Jk3XSslUJzchHBPS2NNDcmI0YSZyhv-D3nhJiTCmNaF9hK21GItrN5COgIhDGIFirYkCejhV0_EnDTH7-KgIzQa_eJYdnglibIkUr_1lCk6Lt-pV5HOM8i13w2vqokTL7oPRV3zTuehFtr7q3Uydiu8nwf92DAfiJLN9EfBfwaeFmFTRlE-gOUL2wFocy_VvqFpCXakpgpqEnNHHMjJFKE7BCttOmEgLS3ZLHN-vpk7uMRCeEaKx7-Xb1ib81WeFZxJ9Pod69zUUwiO4l7I3HQVgVsM2_qvsXLQSGeefz_utd9UiYdtxa6qm-6cKSQJxPIDtbyWrxlWielaNTTlaeyo7DqlV8x8yT3g0w1NdcoPb3ATpxTNPC-vaPTtizHqslku7z7EcW6D8hi6OyIbvgy214PXVxxo5qbN2Bm1dUsGRejkXVSbNsVqFf79SSKz4Mz0OtOZOxcCtWK8fj3UEUXkVrS2Oig-QEdn9xUHsgjIex7wD9v6gNwd3HYBEKAqycwxAmkK1kAxONU3oPVP9WqXQnq5fpy4xhN2C0bt5nt5HN1OwExCagVZepskCbeF1gbTPBw3NEaZch4F1CBfnd4bpLIOdY21lc-E66XqMXoACsj4F7ymprR1ajfa1MmNaPs1lFlE2nb2W88SfQrh0JGYtJfnxSfnK6KIdEHjOCkW2LTv4ZmMbyd00gWt6uhoxQSEU7Eps2wNrgdaZptA4I3kI10aCtxaAFtUJGoUevkbc13e4MU16a5x7oBL-wOF_XonaulahJRHfonTK_LTKfQtdtj_P8-wZ8YbtndFQ0Yi3Bmwv_Lh7-RN1Fto9TqZdfiBIQvVNuOqvHcpu7d27yWWXslm2TjXy095KSv5jQ67WPY6R72SS7Zfte5uySSQs4wksqG2ReZIBaV4rE71yqB08ki_xl6klsphksTTJ7cFjb_XRzWWiFNK6atL9cUr769mMtyR1tfmTshxslqxbRYsyX-eO5ssVma04iM0TfiU4qrmOQ9d0e5VpQ23nyH5_SuxE1wum4SiIjsZIJ7MDkNEsD0IDl-z0NewlepTkw2SEuNVBUXL36CtrA-Jw0EBfOe9cyTZTekSJqyOrMINgzXQ84laH98nL-l0zY-uN0oFErio7-fwUQRcQPYYhROU8lsEIHl1YKM0o6GGnDRiynP-M5sNETMD7WWFUJLLgRTBtoDAgjryl6X_JNFTKWIEeF8lN-mChxYjLnNdeB1ViLpye1YhFExPTzwITwr1pbbg5gHOesAWuYgV7YARp5w3iO0n8xu_v7zhsmDFE7tN9PnhJLHhjbYn2v5Ha147PhaNGCujiGE0kMDJtMBsKQSNpJAJkLNpTuI6bZlLNLrfrlEEYF7LhALVBwUKCZWkFQ0VQTuupW-bRAnXJT7RfRmQYfGAOGuOJGWj5ZZP_VQ66UO8itDtEVvkrIsUSZUE83-OHJV5cQ0g58af5qImBrHTvX1ga6NVU5eKLwPSTkZPd4kdcYxBkw9HZP4DqSzdprJ0uYgU1pUjMcB1fAdBEMnhU6m9OVbf5frX-gj2Eopk2evKsHyCZ_SEtbk_AZFtk5CxzTDzZeaw4gK1cMAN3sYuHnBUmbKBJpK-65MsTu-1Uw5J-uWfVJZTJ7qT9prI604Qib8UNq0h5jMLpSM90mGwVObS7GJYFbKdfzM6OGzApepzrtu1KeXO7nU5SOd8R0-DDzKVPV7T4ZoJvJXtwmI3uW5iJyrYgJGmCcWgfsSvs43SQAU1FvPvRRK-WiDGXNBgq5-3H_KBq1S6376-KUBG6Eh-L3oRP6Awu016vLl4hQYnKeiIN4cU-R9tMjD8bnJZ2dfuB1P6VV-Tw==",
  "id": "rs_0358d89aeca12933016ab41fe9c30087d091f1f5939a50879c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.158,\"left_x\":0.403,\"left_z\":-0.01},\"note\":\"The cap is visible just right of the left jaw column; it is still on the table. I’ll move the open jaws slightly back across it and lower to table height, then inspect the alignment before closing.\"}",
  "call_id": "call_mq68oYIW6b1pYGSZ5FrnHYZN",
  "id": "fc_0358d89aeca12933016ab41fec5a5487d093a9d367f16d6d23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mq68oYIW6b1pYGSZ5FrnHYZN",
  "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]: [-0.5762, 1.9072, 0.8467, 0.1799, -0.5117, -0.4324, 0.9973, 0.7399, 1.7184, 1.2022, -0.3901, 0.5152, 0.4217, 0.0652]\nstate[eef_state]: left_x=0.4028 left_y=-0.1543 left_z=0.004 left_yaw=0.0786 left_pitch=-0.1713 left_roll=0.0842 left_gripper=0.9973 right_x=0.3809 right_y=0.2347 right_z=0.1284 right_yaw=0.066 right_pitch=-0.1954 right_roll=-0.1058 right_gripper=0.0652\nstate[joint_eff]: [-0.4171, -5.9009, 6.0513, 0.569, -0.0464, 0.2271, 0.0708, -0.0889, -8.6632, 6.5983, 1.3797, 0.2515, 0.0513, 1.033]\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:04a70f7b5e591e61cccc18b08749b2316f38640f9e3eb093eaae5c164d1923ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01ccd59c133fd294143e6e68e0401762fb05df0d2b2324d01368bfeb9fa404c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c9888daf974c8c3b5f96bf9eb9af339fc50895e56fd256005a9234ee9f696b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.76 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]: [-0.1078, 0.8932, 0.6983, -0.4873, -0.1753, -0.0807, 0.0124, 0.7399, 2.0262, 0.8833, 0.4038, 0.5564, 0.4377, 0.0522]\nstate[eef_state]: left_x=0.298 left_y=0.0024 left_z=0.1754 left_yaw=0.0723 left_pitch=-0.1021 left_roll=0.055 left_gripper=0.0124 right_x=0.3966 right_y=0.2406 right_z=0.003 right_yaw=0.0393 right_pitch=-0.0466 right_roll=-0.0101 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -1.812, 6.9812, 1.6142, -0.1099, -0.0464, -0.0073, 0.253, -9.5111, 5.8462, 1.3114, 0.2222, 0.105, 1.3114]",
      "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]: [-0.5407, 1.6463, 0.86, -0.0933, -0.4797, -0.3882, 0.9965, 0.7403, 1.7176, 1.2034, -0.3782, 0.522, 0.429, 0.0652]\nstate[eef_state]: left_x=0.3868 left_y=-0.133 left_z=0.0697 left_yaw=0.0658 left_pitch=-0.1873 left_roll=0.0962 left_gripper=0.9965 right_x=0.383 right_y=0.2354 right_z=0.1312 right_yaw=0.059 right_pitch=-0.181 right_roll=-0.0959 right_gripper=0.0652\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.619, -0.315, 0.0415, -0.0073, -0.2803, -11.8359, 10.2085, 1.7753, 0.3687, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5762, 1.9072, 0.8467, 0.1799, -0.5117, -0.4324, 0.9973, 0.7399, 1.7184, 1.2022, -0.3901, 0.5152, 0.4217, 0.0652]\nstate[eef_state]: left_x=0.4028 left_y=-0.1543 left_z=0.004 left_yaw=0.0786 left_pitch=-0.1713 left_roll=0.0842 left_gripper=0.9973 right_x=0.3809 right_y=0.2347 right_z=0.1284 right_yaw=0.066 right_pitch=-0.1954 right_roll=-0.1058 right_gripper=0.0652\nstate[joint_eff]: [-0.4171, -5.9009, 6.0513, 0.569, -0.0464, 0.2271, 0.0708, -0.0889, -8.6632, 6.5983, 1.3797, 0.2515, 0.0513, 1.033]\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,$blob:04a70f7b5e591e61cccc18b08749b2316f38640f9e3eb093eaae5c164d1923ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01ccd59c133fd294143e6e68e0401762fb05df0d2b2324d01368bfeb9fa404c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c9888daf974c8c3b5f96bf9eb9af339fc50895e56fd256005a9234ee9f696b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_wT35Z3-ry4KCxQq7vjLdZfZpPY_TaWDFOXTg3AzxnEi4QtX0FtyiyEwPeMh_SwWHa27_-nBehPsPtbt6kMnKDjfrbLdSviIZlA0kJqC_GcOWtZGNW_c8yRDHE6GJqELju7XzEFnsb_Y5VKCirx-8m9V8WVaO5XVqJcFEb5xrilWylsstWMGiYkTcp0CAf7ZJEYOBmOk_YFR_XLVzouCbXx7jnJLcXlt2NwStC3h0XZoxs1YS6BiS0UMZqf6CukTKun4tWD8Wwq8XSgFxiskl_jb23ohm92uquLl9Q91F0P0T4YGPAxlw6gR3vfCZjwRHKCg04TvcPeXxe8kWO8ibn6Y_RoAWIa1d2j2mf0uoPtnMHTovbXdvZ4C60hKX1n5yzt_TmX_YbsB-phGFjweqltmjSPeTWeFu7w3XSAXs5GPmYrI5wzWTzliSfTdIiZv2f8PmFpyrJs2EpfnaH6aYoNaKcXPNotCCIQcuOJobdB6RCmFxNRqLLzogq44X_8sFvD1yQr_b4GhbJ1glS9ov8owR5S9g6PdVC13Ucqb3XTkfFLyzjUNyDirac8ErmfesmdUTBggL86E7VMIm4xksmnAixo7oamOH7tFjMLUc3TUnbz5UQJPGzDTU7SDJebetB8nMFILo6WiH06IjO1Hr4ZLSS9RZr_REvySKH8PSL_DE_NJGPxjAIgloj5dEgliWh7ni22ROLoglrPNwLih53DEUBbflThW_W6-FD67kL4LCMCtjpog06SZoqA5Fs59-x8VevcwU5uGjx0V9kFEvIWrPo4ubIvX19GPf9UKvvhUVx06d7n9MvAYryvL0n6N5V5JesAy-cbNepqgn_nfW-_14Thf4J0NGV9toza1XxkyxtI4ZFZvgF6xBvKhI8RA2xQ822yMakALgpvYAFTrJhjDxWh9eFpwo4vc5abV5EASX9lww7eNIQw-qZ1zlkAk6U9EgT3QzMhirLwZWJNr_Tiw4snDBhccG4ap5WjBxLGDwMC-UmVafM9aKDwlDFBQGlbIEHa49rZPrhm7MdSkdkM443w9FAdzajWE8UnhdVA811Pbs9OlKcpQkCT2Ym_Lg72jdrm6Pl4EdGC7x-SNDg6TUo2A7pVfDU227QC62rVgEalIiM33erKS9uHh8rnPi7GPHDDIelhGviFTvF5tsDJRXVOzG0gIkDWdu-d5162pFa5QZ4-ClXlmIDJ0V3Pn3oL2KJPRZAxUI-LlMJFU6kclX_gjcY1b6Wgc7E_AFABaJ_QgPrWCzT03A-7DZL_8GLbLxeVGi7onTczdwjQ3t8locK9gKmYeKXeZXxxPlPpags3d7IZTxytfzqKdcd55hkJpigRA-xmXVadGMNt9P2zqhJeHcVCSiEtfwIILTEXHv9wfxSOhRJYm3weRXB4iragse-3xhQMQvhGr6Qwv_gXw==",
  "id": "rs_0358d89aeca12933016ab41fef748887d0847320ed32d6ab8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now lies on the left jaw column at table height. I’ll close the jaws on it and check whether they stop at a nonzero opening.\"}",
  "call_id": "call_GB0BhNghXkPgb8quegiBewOT",
  "id": "fc_0358d89aeca12933016ab41fefee1887d08b4d113d1ff924b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GB0BhNghXkPgb8quegiBewOT",
  "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]: [-0.5766, 1.9251, 0.8497, 0.2058, -0.5175, -0.4419, 0.0073, 0.7399, 1.7184, 1.2022, -0.3935, 0.5114, 0.421, 0.0652]\nstate[eef_state]: left_x=0.406 left_y=-0.1555 left_z=0.0019 left_yaw=0.0865 left_pitch=-0.1594 left_roll=0.0736 left_gripper=0.0073 right_x=0.3802 right_y=0.2349 right_z=0.1276 right_yaw=0.0688 right_pitch=-0.2 right_roll=-0.1061 right_gripper=0.0652\nstate[joint_eff]: [-0.0342, -10.3863, 4.7385, 1.0916, -0.1538, 0.0904, 0.5495, -0.3761, -8.6085, 6.5436, 1.3211, 0.2271, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962ebec7bca4106fbb97e6d235dbcae121c8934fc7eb489ba36b04c97ca3d0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1365cbaf6d8e42c04af7b331bd18071e2e96e047cd2a91a542382397e0f373b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4996b6cc38e9ccf5130697a6e12607df55b2a5c90f93662f8813be7bef8c0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 11.94 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1078, 0.8986, 0.6979, -0.4911, -0.1757, -0.0807, 0.0123, 0.7399, 1.734, 1.0962, -0.1532, 0.5411, 0.4301, 0.0597]\nstate[eef_state]: left_x=0.2977 left_y=0.0025 left_z=0.173 left_yaw=0.0728 left_pitch=-0.1114 left_roll=0.057 left_gripper=0.0123 right_x=0.3922 right_y=0.2397 right_z=0.1175 right_yaw=0.0526 right_pitch=-0.0933 right_roll=-0.0414 right_gripper=0.0597\nstate[joint_eff]: [-0.1573, -2.2359, 6.9402, 1.6825, -0.1343, -0.0562, -0.0171, -0.3897, -11.3573, 9.3744, 1.7656, 0.3687, 0.0562, 1.0281]",
      "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]: [-0.5762, 1.9072, 0.8467, 0.1799, -0.5117, -0.4324, 0.9973, 0.7399, 1.7184, 1.2022, -0.3901, 0.5152, 0.4217, 0.0652]\nstate[eef_state]: left_x=0.4028 left_y=-0.1543 left_z=0.004 left_yaw=0.0786 left_pitch=-0.1713 left_roll=0.0842 left_gripper=0.9973 right_x=0.3809 right_y=0.2347 right_z=0.1284 right_yaw=0.066 right_pitch=-0.1954 right_roll=-0.1058 right_gripper=0.0652\nstate[joint_eff]: [-0.4171, -5.9009, 6.0513, 0.569, -0.0464, 0.2271, 0.0708, -0.0889, -8.6632, 6.5983, 1.3797, 0.2515, 0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5766, 1.9251, 0.8497, 0.2058, -0.5175, -0.4419, 0.0073, 0.7399, 1.7184, 1.2022, -0.3935, 0.5114, 0.421, 0.0652]\nstate[eef_state]: left_x=0.406 left_y=-0.1555 left_z=0.0019 left_yaw=0.0865 left_pitch=-0.1594 left_roll=0.0736 left_gripper=0.0073 right_x=0.3802 right_y=0.2349 right_z=0.1276 right_yaw=0.0688 right_pitch=-0.2 right_roll=-0.1061 right_gripper=0.0652\nstate[joint_eff]: [-0.0342, -10.3863, 4.7385, 1.0916, -0.1538, 0.0904, 0.5495, -0.3761, -8.6085, 6.5436, 1.3211, 0.2271, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962ebec7bca4106fbb97e6d235dbcae121c8934fc7eb489ba36b04c97ca3d0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1365cbaf6d8e42c04af7b331bd18071e2e96e047cd2a91a542382397e0f373b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4996b6cc38e9ccf5130697a6e12607df55b2a5c90f93662f8813be7bef8c0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_15wBVwbsWDHRwThHxUzXq7yOTCHbM1EbK_mBvVCRdkbfwnE66MQSeHPUqUJEt_f_mXFwbPYLmYWP9CFERdUgf43L5sjMc1j_ervSQBmD5-pSUq0YtR3R8JGVAMR5lVeG0aXMZ_JQucH-nFCL6YNrekDSHk3jJ6y-PygGMXlUJlZEFsRIZ2YPGKZz80yjp7PYSNbCKN_Z31T5mfS1PM0be8AiLxAnLxkgWaxHD8fHXiqQkMhJqwNOGqxzF02ZSdwFzRPSnMfoNOnlyniOmRx3B0hG7g-avAr1YIDipoll1jbXFq1P5mjpTAPSY-Vf5doI1waA5f6bvgT0pIFVVq2jA6wQYOhrortPr6YyF8TkVk87MDq2c0ns_0R7YPRDZvgatA375ppkovUjdt-0e8ZcmyTVH0or88b4bT4rmBlERM3NC_3sEtv7xu8sfFb2pEXgxtmMlVJVBg02PhfuZRQso67CgzcLcgnki9GHHn2v_oPL-EQtR7H_n9i_VbEXvoOicRS69n_o6RgTwKM_nbFfzyeJcRrXsDRse6Ragir2E0tq-mNZMeljnZFS9MLpPs5roskpRANIt4vkI2U_2kMh6nfoumm5d7S8vmjTieCZSE0oGH47um7vNgZ0y1ikm2x3f5J-w5cmDw9caf6zlPRKS5z1DhskuMZX87eNxdHDPyCPNY0aEbCI4iG50tFUt7UstVe1p7pcEJW67jBcIehyk_8BHsCF_mzduh5tDS2ys6wZVaxyK6-YNhWQsNYmtlcNENxRPxx7Ebo5bsXfphtQ58_OBsS09JXKNO1lLdD_5JMpCfCbczRoelsHMvTRK9EA6GlpfY7Um_79tepOj4VxMObfy3-tfFBhH9vfCFZis5W4Ly06FV7VAxXkulHi7-OPvi7b49PqHXoY9mzKqh9UYBgNW6qHrQsgxHSeWVY63IHhqGthh4TBFC_XPAGXkn8c367_c2DKqlbvLv1m_AH4E1_TlXXsnZWTPJbLd0RGR7QkzDrL4e0xHFxmH0ogxZCPW6AcErL2ATmH42QQ8G-JPCkd8_3LzdOPTj-6cGGOu9IXQPvFX6iGj5V-7rxcg2xbY8T2MedysBpk9ApXmSORZf2ZYEXPBMZgxc03IyuE1tDiAmDPonRxOgz5L51hqmFPy0TB1aDxxkEhlqh7PQyTu7FaHUolXIOi8zw4Mdl4flqOMSd1T-xrrX8uY8CKejKIGCGYot3LTnrO1RTA1dixFUaFRRI2a7QiQZJY7VjPOi9NxTw_R98eQW3iUJ6FHb7ogoCnR0ZnDsFW3uplfFmLv0aGzuaK77sEjyAxv9z2mco1AU4qWUTGE71pX9lRaN_XWNYKqB3rdw4_jZnAgNY7coxqTBTdOB2kdlf69BhS0BjLN3GnPE7Ci7k_9dJTHYGT9SUumxjL0QMS8CWlZyl1Rz3RK7X0tYyMLyG_CW_AZx_eriQh8V_ojiP8e3MUHLZ9jrRHXY6y-TN0Mn_0Qe9p_9yY5jKjTaUPoh_eSIC-Ho2neysn0ZdIVNS8o-sUUh6AjPgTVu3d2fdkSzLoxm69VXchhzsJm3PNnPeSihB61aZT9qYbBTwkHSOTVh9xH-mJHgd4Q5qF8-sGs8st6D9pM_frtDw9PEMixgVFQn1ALFIkJWYtSLT8gQ-1t_aD_ogXupfgrPIoH7Sksh98oTpNpPsLzKGfx4DDAvH6deFZRJpdkOVZ8cX570RHBh-rhb4G2cCbU0PHsRDLogZ1R4EzP88gx7qQst33LZSwx-Y7S5ci1D7-PVh3cLqhlPOKDxP-yQakN1wA6_BeMup5RR_XqkAbuOYuGdHsbySwSt2qcJBo0L_kwXULsbCOv2OBFOka_HCmm0329yBbD-n8AJQfnm_r1QuYg8z8EmBNTBlc-3-uwemZTjW94kVhIVB-QkzEGjQToF3EWgJZk4ovyKKIEkf_clfjifJ0_5378oBl2Hp6epuwwAOlqZJYdtOiKUMSJNKpq0bBqWBG0J5edzjI77BIGNVR_oW1xJi4jCOxAYHanEqGDxl4R6SQhOofp4Tey7kxZ6JhaB27bCzfONV_ZyMk9Uu3sDZylPoDlrTOeF-QMowJ7NXtEzv-ZA5_yMwaq0HzIZA-BX2_ZWYUazuAjXVxLQ8FaOPPeUHP5cru2nhVO_zt2SYP4EjkLXSvYBiV0pMWNpZ_PZ9MV5kMQr7BmbGifpmIDfoZX8lZPu_cV27GE83VaaI7C90d4_NSzK7CDviVNASOd15vQgWt59XY1ly2qQa_8Z-zrQINtHz5a3gkWoADvi45pG2Ch8FSJTXwyEj90YkRkmh7h5XVaHnKcc2qhM9JC5QOGGld_4TRLbdv2_coVg4TNpSoPtRy4-FHtYLkdpdagOK4ccD1I6EwFE2yZqFpFlthEcHKerttuhy8dZ66DxlJ2ivzpGgeB5cH-zxRQTlSlEPtM_AcC-5czdfuz2apPNwYFac2zY2PTIBc=",
  "id": "rs_0358d89aeca12933016ab41ff2cba887d0acf6ca0b96088b43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The left jaws closed completely again, so they did not secure the cap. I’ll withdraw and reopen them to reveal where the cap actually lies before another attempt.\"}",
  "call_id": "call_VLgyAcOhuOz0BGFtDNLrjPpt",
  "id": "fc_0358d89aeca12933016ab41ff4a39087d0aa83f0fa5ea90d79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VLgyAcOhuOz0BGFtDNLrjPpt",
  "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]: [-0.1596, 0.9585, 0.7246, -0.5163, -0.2573, -0.1604, 0.9966, 0.7399, 1.7195, 1.2022, -0.3954, 0.5106, 0.4175, 0.0652]\nstate[eef_state]: left_x=0.3008 left_y=0.0007 left_z=0.1655 left_yaw=0.1343 left_pitch=-0.1525 left_roll=0.0622 left_gripper=0.9966 right_x=0.3799 right_y=0.2348 right_z=0.1268 right_yaw=0.0708 right_pitch=-0.2029 right_roll=-0.1101 right_gripper=0.0652\nstate[joint_eff]: [0.1162, -2.6325, 9.9624, 1.5604, -0.149, 0.1441, -0.0415, -0.2393, -8.5265, 6.5299, 1.3993, 0.1685, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb788cfe513af4b3eaef0aac5a818899546324ff5cd525f7c9702b4403ba38d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4efb65fc7d73a0a103429ff191cf819da6904b9e9ee3a4b4134d8053d349f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde72e8245fdcbb14480970bd1080498759efd19c972904aac996f6b498b5193",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.768 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]: [-0.5407, 1.6463, 0.86, -0.0933, -0.4797, -0.3882, 0.9965, 0.7403, 1.7176, 1.2034, -0.3782, 0.522, 0.429, 0.0652]\nstate[eef_state]: left_x=0.3868 left_y=-0.133 left_z=0.0697 left_yaw=0.0658 left_pitch=-0.1873 left_roll=0.0962 left_gripper=0.9965 right_x=0.383 right_y=0.2354 right_z=0.1312 right_yaw=0.059 right_pitch=-0.181 right_roll=-0.0959 right_gripper=0.0652\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.619, -0.315, 0.0415, -0.0073, -0.2803, -11.8359, 10.2085, 1.7753, 0.3687, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5766, 1.9251, 0.8497, 0.2058, -0.5175, -0.4419, 0.0073, 0.7399, 1.7184, 1.2022, -0.3935, 0.5114, 0.421, 0.0652]\nstate[eef_state]: left_x=0.406 left_y=-0.1555 left_z=0.0019 left_yaw=0.0865 left_pitch=-0.1594 left_roll=0.0736 left_gripper=0.0073 right_x=0.3802 right_y=0.2349 right_z=0.1276 right_yaw=0.0688 right_pitch=-0.2 right_roll=-0.1061 right_gripper=0.0652\nstate[joint_eff]: [-0.0342, -10.3863, 4.7385, 1.0916, -0.1538, 0.0904, 0.5495, -0.3761, -8.6085, 6.5436, 1.3211, 0.2271, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1596, 0.9585, 0.7246, -0.5163, -0.2573, -0.1604, 0.9966, 0.7399, 1.7195, 1.2022, -0.3954, 0.5106, 0.4175, 0.0652]\nstate[eef_state]: left_x=0.3008 left_y=0.0007 left_z=0.1655 left_yaw=0.1343 left_pitch=-0.1525 left_roll=0.0622 left_gripper=0.9966 right_x=0.3799 right_y=0.2348 right_z=0.1268 right_yaw=0.0708 right_pitch=-0.2029 right_roll=-0.1101 right_gripper=0.0652\nstate[joint_eff]: [0.1162, -2.6325, 9.9624, 1.5604, -0.149, 0.1441, -0.0415, -0.2393, -8.5265, 6.5299, 1.3993, 0.1685, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb788cfe513af4b3eaef0aac5a818899546324ff5cd525f7c9702b4403ba38d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4efb65fc7d73a0a103429ff191cf819da6904b9e9ee3a4b4134d8053d349f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde72e8245fdcbb14480970bd1080498759efd19c972904aac996f6b498b5193",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCACNB3AnJm2HL91qUDb2ouNFKd_1JOD2npdm62rGgvur8ZPEhl4Uh8VVS0h05uy7teHwYx_-PShU9k6ktyV6hGVSgJkrhdmBTJQ05bSLXpdemeAjrFhLC3qjvivBk50HOlijLedVXYh94lqqnqP_xrbqaI0XzomTzmAi4TpGd_udzqm0eGUXay76iOaKsvSBz7tjgh18prO4I0NtNtK-Ezrz3OLbpTrUX6CVt1R2P1dfXWPKdZeFcBWcGQUtH52x05EJXC59TTp3TzpsTk8woznk8cFui7P_a0DJrFJo5q6mhDJxNWrV4pxnGb0ffp9T-Xa82vt_MQg4KUBwVxxyzeSi1a8_xpIDVWM8yQzBVn244DQp1h6TXsWp6N-d1J-0_3alj97tsqlaL2hnwbiBfpOvS1pzlnTJk0N-ijytMR1i2pmW8rWB93Ac2oWWOJfCPXMcBU3cYdlpQa-VSkJHC0hrUiIJJ7ljznZ5JOvmqQufyYQ8s2duZiLNJBHlagrD-Y_vvGmDHxMMepx4TNkwYrwY81GAOzUj8qfSPTUsMot5f2iHmcoe0zWj_wkPC29YV3GFcIN0pODFTQaO6D0qQHTZ-eg3C49MW4k2dv_hTBJ_7N3_Rml_cd_PpjlyBuFl3IDVCGkMTNasoAY0KqsDkwAb-cgfcUWXN5Q6zVO-prxftmFTWfGqKgoyFwyr2qsSrTC8j5YcqR1psosDDd-aQPykSTeDaXNE8Ef1Ve8XG-HaRZVj2jN6--xHHXMByrWVt1BJuF7LFWyYn427Z5fefQn1817sXuMGe2tPsZWl6w9r0ooue35MNI5QiAike0MqqqCtb1CTPGfLDNhgiZmh7sMjy9h3TAp6U6qNOub4qss2BzlprPbVvo4h_nHyMhj-bJ9Ik8XWI6wArFytsluyuE_C8p1jyOp7cAbpl0Vg7HzNLZ6vdjJJR-qLGZ2r5_nBEWfSl1Org5f81eD0nWRX4j8gGzXxepXZddS_KGQtGwDLeUXrUY3Xp-JSdVB4gAtCr0448BqmmopcjDYH10BZbQv0bwyRVh6lFal6df6XyMK53sHlCWHu8zMWnHxGfYZqkoAytAVBeHIkDRJziiA4WvJvzLoPmityq0A5wWGgDJeGs0MymRlQ0i2XUt6o94UCRfMsU4pZcYazo7es0fwNyxqarSHZSa8RgU0lcVDJzqGWhubKm2C2LGQQ-fpJPEj3qnCE-7l09F7U0R9Qdn2-FndvhHnJ-zuynEPn6_nXeAB72V7beS4b5nO-lfhYOVSWAGEkdUG8SQDU7IOiU2QUX4myW6buuLXot6NDWyW6NdPpG4BF_vPGsv5xaiqBmVEFo9fHd2yAI89SWuUaROG90KZuCljnmL4O5inemIBidyMLjKVS7CrPYauiAlwsaQkA1qp_uUQZ9uvifiBksdD7z1v4VgBRxlpH0fTUPaiP8PaOYtoqjEGT3nZ-mkJd2NBSTMKYFjcdeDfmPPjlvQxsJf1EIDhKJHpcX7obtIAZG6UGyBTQ3S_3MVsLln8eOe83uBj2gjUcG2zmjwMXrnvY_nlPS4KiRHaOULi6Vw1xURzrA-n72xRlby5tejaHIGRZT5AB_8IXLk96EU8jKYXVEvJgpXaElVOdX9JgiUvMbjU2Ii9EdybI8vTUUS57L9ddgh0rPVyXtzVb5feUQppYJBnwtLvdYk8hQg2UitHd6G-gbR5YVSdwGho85EdonyWQiSUlZESlsJh4MBOmTySz2hze3E5qW5YNzGmqE-lToWnuYu07pPCK7N1Q4HF2lG6ledMsoNMhAdrUCECYv8qj14heOXph3CQMceR3U2MFPuSJhrKmTWYiTq524ipsoCxyabVKVdYPq7Ih0OlaAGOIxUKgpgsLB4CH7TNGQRyo8R2QP8HaIYjdk1rSLunFMA-JSxS-6C6FrVmLanwf95XBuEHVicHY3ms1rwHcinodAwGtgcIEVswV-fYPaBhCOEQ0WJpRU_PKaSMUf6japsKaj-HRDlfgtqqiPazYF5YiebMZrcVCH_2FE1haxrqeP0z0HJs-ACe-XlE55mffQgCZYT0UMqYwydI7LcosE_f-vSIKu1duF9IuaIIBlRXciCh6AT8TvYepHFo0faiujp0kDPnBpqj9nbGeQUr33y5rhGAR9gHJUeBoR4jxZ2ENZp633_du1orMDOb8bqqZ5JJSJOLRZPjy8zutTNR-dnxg59q6Cx7WRsovuHb2gzTBMJYT3tH57zjS5YukZLFRHDWYboWjD8SdZVGgrTTAHXmSQlhZ0-tuH0XRsItPc_y3T9HWKD9ucDZyITTebzCQ7TK49xgd1OQvaA66G4O1WzbqwugZCsnHRK7zWpeFowIJRw-Ox2WpFUoq9Zr6wMKoqv3DWISCnlcEzzHlvEtEvxWDkPsfY-OnJ4Ao5TaMtJh9ugy0lFcit6IlMiNqOr9SR-R63JVLdQPDTjqp-AJbBwU7GhUn8k5MXbhvqx_hYG9rREZt885vqBEAxR22TSaf6ivWiI5L0dSt4x9HG33HrrKFbOyPv2mvGfPK5YjekW2BDana3jy-r7LktosVHiCkTDVjx-rSE9A22UPPinZejFp_7Z6S9rKD6HK4IuOGbiQv8vBsxnT0uPTXuJQNzCEhMWYYJPqptgJTjh6TZJU5Yb3czhUZBTMqY24AK6lDSmhV72YXmUmyebqteNF6B4so178ilPOhgAp9Yo3_yAhwrBiAhpbvo-jU7jGRiPSMpcauldAG8kjfXZnA1w5I4iajf-DiE1QwLm6hpNVEE-67eSeM06Ma0pckJwtbuSuGdsK_7wI3HEp7Mw85dWEJBQ4Qoj7jBAnVDB21bypeO2AvPfZThJnmNqte_6sRz2eokUIBAPdLY0xekCrbxhFMLr3dq4miqa4XJMt6h5Vcg6s1T1JayjGjgtBSbeGJpSb3o2wBdca5KqnK4PEFj6bLT2nb7EuWkM1d0E1tqa42foG4DHsHJkd7qx2OzXKVLjuDQNHEargjAdmPYsmE5y0CZL8OmPczwH7Fji_p9gsa1Rqyt4D7LzTmJve2WKDiZUk93z1RtPn9vnhhH7Q2-ZMWC7_uqBQACmjvN3iyBd-MHcqAz8nk2DFpQYKu243-axKsd7FQWyLss5pPMOLurabT1lK9c4ezwcSASzIQXMgcmrZ2zk2nrgBWwV-0RCA3-3O719UApvGR_S-vVhAy8HOc_D-PyQT3DOZ-I8Hpjb0ssUY36Cbf2D7A81r9TkfrDlcFPTP5EMFBzROiytIv0IZw67vEcZ27GIr2e4FdAxMv4XXVDv4GNEygkv7j0COOWs9Ow4MA4LhoIZuNHEQlTI0L_6mXmJ2BaUVxRi8j0t3MMjmAaHo8h2NRdanhG4dYH5vgraArtcQrWklhL16Ug0tu6pjM2sLNx7SsO_hZ4ylD0_IQO_vilfjIp2xLpJsOlvkGSwbdVaSeB6Aa2zdk_qaJh91lo9b3wkmvTvzXI67tylbqRVEmKIiw7s9MU__9MGxOBVA628ClEdICrvXw-8DSJraN30UbslxOGIR31GxmvN_6s6hEBMWm4NtoDjE6WFlGki6PapSeRMvyw5PZ76WK4u0Gl5TRcPsOh9D2pTPJYFqLtsScO8ye6GIaqkrvD3vn3qjrhJbH_w2MqCuwORO4DF5gPwjQ_2g2gF-gDxSsNfFsulp6WDonFJNJiB_-nJJ_aIGDJj4yRIYl6YxHSwY7bBiI1hH9p84JEj5HtA1ag4TyhbRckce8FMXWHCxaPj5nm2YiM9QSnEktr28wi-iDZFNcqU65zRKQKjiGwv4wdvn-mIy3Zpj8sN3706qAD0_r9U4t5Pr16jr1xhW__VXXrAOnKarGsNrrg==",
  "id": "rs_0358d89aeca12933016ab41ff7c83487d08d7bf8b9339c4add",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCACDr9LnmpijavslT6Ehbu7VOQ3lb0TNL59GrqzvaTH6GxFVvg9c8Ildpb2CYBdeaXEuQN4HepOKhLWPy6lUfISX5yMjcLcMiNjEGYGHYuFE0LgfzjzP50-4TZBMLdWPRuJoqfoaGQBVFPi_jw_pnvfvLCj9K8dhp-wjjdOlT_79v2HdwxJQhABH1QAybm4tSXrFzFRukT2ZXlrxz2aOQzXLG5eUhKYK30TUb-jP44HfmO-AiIWa6I9enYBsNChawJ7f_ViCn5yTatz4L_g-JOLuAx0oqfDxezdt9_NW-C6Ht95WZyiY-4oVXeOn9KSk7dPXQPK7zuJR9wCYM-PlnCMlJFJBu7PgZ6d7w9U2PpAJ8K6E8zKRwYpFIultDJhJUcH7yE-jOX10MnUBDC5ls-bupTb8it1ul4RNIA7UMcWejZ-9qZsm6b5oyOMDsUNmiqsDRqJt7yQwlzroOK_oCSm6YvJaXe1nSGyqlMLsRltR9vVMiL7otPv1VnjymRoM2NfrIRP8JYZIoclXocKW1pWy0UQCBcO5MOo1tpAGnXIXt9TUjFclcMocKu0SZzAblZmz09OWLj_tkZg2iu-qHYurkwUDV-K3igNbz_8mOk05uBxlrvho3F3CUxMZ2Rr3QQlarEMP5NXsj2bSmN5Gd7RavjE8zXd7HJLYnA2hFsAm7ZK4ExWX8FUiZts_T8vtNSWBsL4Zd3njnmDmXtJtXl00c7c4K8qHTEi56HZgSynDgk-k_vkVfqeCfxTDSsH-pt_yJMMmROW1YoTvkq4efM_Kuc7P_boZe9RJm-tXNOd-InH80Kw-bShGXR1bCwjE3PPeut6LWCYw-t96Qixo9KU7gGLD0j2bzB1oxqYkktHxiaMwvYog9eErLJUb4FE-Fhnp_nsLOZKOzEKEYYxCnc5rYGG_k-lJCM3zytrYFI6AszHOb4sA9u0rYGCuoYIHQdIX6duh1E_v4mqFBB3eJhvXdfdgubP10Bm41a2DRFvjAx5aoKZy5zKom2XxVWWbb4dGEH0SUF4s3abopFbK0FuwEE4sDOeoaUBaTf388Np1F_IOqkPOYoCEOABsmmiVVz5Bks-oY4W0ZIGF8RpozQjPYLqkmNaWo9xu8iT6fXbTJzczzDJUiY0ATaLGqvOFNWvwDyKwX_2Mk7JJo1sAdb7P4UGjJ9dcb1d09KxUGxnHrrB9CDRrUmC8t5LdIo9uXPbHd8PaK2E28kUzzrEPEtxIlt7jVOWm4GiKGKi_lAavdxvWPCqFUkfCioPlBykSFdhf2au8sVkEl8dyaSGrlDf6j3DQL7bnmroBZ842aaTGuR_Yq0LjeOjVVC9YfuETmu5PefNsaZg5YPMUegJVKuvfCt6MKdb6My9fbYOIpnrRReQpx8TxQ68mWoN0zwVcoK6BkheYzADIsX20KSq5jT49d_ZrODegUDjsvyTg2-e2PWSKeMgWqFbFmguNjv-cWrKG57gcMmQDO33EbJvcYrmDkMDN3x_OQrZeUfoFnKqtCnqqtc2qjrfj21iVHqKXtIfNKgPhTigKaAHgJAHLNzVubPHNXrl4mboXC3_B5rUANSwR463OvahhVgnuVtCU9PIcGFy0mNLJa7WGOf77tLc4qRtV3o3JTsT4OY-9SQFdhkdpUK3MiQaXsm9uwBL40HVqRPP0WBo3G4EWmpQ5bp-jOVMrtX3qSkBypRljCVHs2RnbD38iVkxZ1e8ssdx1BQmV4c95PoG4CFYuNl9SggQDhJeI631KoPQ6uC0oVlJwUPtEceaRb85DHGSKR6FzPpNkwNmGcEgcaaT8wSP5FKKXdgG8ljuwBuLa739yHg2c9YesuHSJ9w4E95tSdOcxvnAlgY_1yB78d6SmgOkdNNNyhaWL5qvkBZOPZ_wn3-eAyFR0rJBIF8_Wy8TZ7VI1gjuErXQ3e8vgDXnWZrinyns6hMEzUn9du2CBcaT4B6qqH8kbYwWP582nPyYmaptiEw4lV-4Q-rbdqy6AhxpTctxv9-afhi_iPkQUeHN5WfW_dG-lhFefMcveMoFI8DjwMk_kJ2OtcRUmV-CRVOZ3LSOX77IBYsZRYh-TB3UCHbRq8VMZKkCOf3xH7hPGHZiAjUqblzRjdVAYVCDHY93EFo1OwdkfEELODyU-Wts16VS-CgxQPmUkTSwf-zU5a-GdJmAlT9C3R5ao0mlpnBz0AgPKpMeTvX2i6Ute5vCE_tn4gXfZa3gejfyUYWkNftSG__-Y8leSyssdZUP3fbH5cHd412KO2ML7IrrbBaOG5Dz_YxrJLmltW8MJTJmk7NIzqOSW5CnvgCVzVShiH15fO7KGsZZZ-nEtNCUu8xIeAFESWALI3Sz5F3v9a1al7UFS8PWZPNaefszmp0PWXTkDzj0oXeuUc2jN1H56XlaSoEtK885YkbQUQszjN3zBN-z6vBCkW3eI2dFV7M-ncX0Vhh78FeVh7S-0iYe1TRZPS6IYxNQeYQFJ2h_svia13nQx0kV_7fX51V3nTYc591T1-lverN-QE_hFF8SSV-CQidp6Oi_isGB0A1idf8LkhJUtTVuV7hTj4xQs0FpM-uyeEInJKZ1ntkLnR-6HCNi0eFpslQguCO3hjqLgRDOIEb5l1bEpYDbKWYOc-9lvCKO42JB6hhDNgNxPWAUpkWdtpLSx6u6fsnAruq9aBfmhNej39BLQtOQzkn8Iq8-g2AmBFwcPGjOe88lHreBX7RMexSyUG6n5kLs4CT_GSTFj1mICKUbKHL_-tY9sORK22SQEp6C4iSq4v3s4ehfHUHzwFUt7qiRxbgKuvcINjI5RAMrAP6e2yfPmf_WEbza8K9ELI-edJ5mvQi_It9q9YzpK9pMTbTaQflP2WQccfowZHb3-dp8s4TlR-7UvHBQebFaPcMJKxhhg85Si1jiS4gQPUMLvxTyeTXlkeyLdbBBlISmMg8JRuw2LZm8x96XPjtIdeVYJs3YmKZav07GcLq-SvAscDCZ8fhiWb159VHWVN6l88ARHxXNcw_wpxcRUZXQl3IFNBN-nLQ7eCFyW1KTcn1_NHg9WBv_i47qbyVMjahNjxF_o6ffSClW8RYwKumNmn_Tfu2ZckiFzDi4Pm0lHZCtitUCnASWLjisVHXmnYGs8sMIvyoK6u8O9Wpwlt4uXMLUukGyPKrACuN4Eq-snHXb8Ubmv3gF5cK_2W94_wpI-p_67SuMb1vYDKiyNhfylLgKBIr9BGuINxfYLEPM8cP5aVzJ3ioIuXrjmvqnZ0lw9UOPeuUiLmChDZuXOpAGBGublQcXnYmvyBkuV0m25D3zndzQelOwKwig5fE2ACUy0L0PTBMiID6N7Vr_XLg-YvgXE7xa0r575k-ZxqstUU4GwDFIccxFNA0pqhWJ9keYCHlMp2R2zaeYYv2U3rO5ZlhFLD-HY7CjTc7jK1iDO13IFtutkHJSZNXK40ICQcCfD--RyGKhAAUa5LQzlLEDjb_52XUiXv9yb5-EXcg1MFvUu6o5UmHN-u_-9S0wBs5h1F0Fam2rc6WVeSy5oPhX6k7Xp1ld6rshFvtJbnKpf0MoJmX5PJG8N1ykHwAE_KTHnlCpBe206WyAE9hRMm7VeftBppUWGyktDtzhkQCFFscft6RDeW5ZvKB5gjbch28ZIIJd4frIsm-RD8ldIuBrUMKATP1ucOFI28_fZsoAe_qZkvwu9BaWeM68Nggipp_6pqUZ1EdI4sQc9710D_jvP3W3QgH0wmoyyqJhWU_VI3VrvFHQheFZUJvVdhCJlyX0BmOVZmHR9Ej4wNFUhXAK_pyrSbQ0PV5MsUE1Ovhaga45xvTGTX1YqXn4wKaVHqy4ZtgY",
  "id": "rs_0358d89aeca12933016ab41ffc0e6087d0b41c22a58bd21814",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.158,\"left_z\":0.075},\"note\":\"With the left arm withdrawn, the cap is still visible near the table center-left. The previous two closes were empty at nearly the same forward position, so I’ll approach a few centimeters nearer the base and inspect the cap relative to the fingers.\"}",
  "call_id": "call_1JHVcziXysCIdv0oANIDlYOo",
  "id": "fc_0358d89aeca12933016ab42001c3fc87d0a83ee189ca6bdce9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1JHVcziXysCIdv0oANIDlYOo",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6571, 1.6344, 0.8341, -0.1902, -0.5713, -0.5533, 0.9974, 0.7399, 1.7199, 1.2018, -0.4114, 0.5072, 0.4145, 0.0652]\nstate[eef_state]: left_x=0.3538 left_y=-0.1478 left_z=0.0587 left_yaw=0.1205 left_pitch=-0.216 left_roll=0.1054 left_gripper=0.9974 right_x=0.3775 right_y=0.2333 right_z=0.1241 right_yaw=0.0728 right_pitch=-0.218 right_roll=-0.1208 right_gripper=0.0652\nstate[joint_eff]: [-0.3897, -7.4735, 8.9094, 1.3602, -0.5153, -0.1294, 0.0708, 0.0479, -8.6222, 6.5299, 1.4335, 0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024a279340e614a2302d4b9f15eb5d39dfb0c53e3b7582d5ce3b6a7031f173d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42ead87c28583eac2c6ae3bb5ac0d52c6af6767297681c0622660118e099957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c00dc44ff4addae88e5cdbd1b1ebb77fe49d234be1f4c97ad9569f38e38eb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 1.89 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 65 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]: [-0.5762, 1.9072, 0.8467, 0.1799, -0.5117, -0.4324, 0.9973, 0.7399, 1.7184, 1.2022, -0.3901, 0.5152, 0.4217, 0.0652]\nstate[eef_state]: left_x=0.4028 left_y=-0.1543 left_z=0.004 left_yaw=0.0786 left_pitch=-0.1713 left_roll=0.0842 left_gripper=0.9973 right_x=0.3809 right_y=0.2347 right_z=0.1284 right_yaw=0.066 right_pitch=-0.1954 right_roll=-0.1058 right_gripper=0.0652\nstate[joint_eff]: [-0.4171, -5.9009, 6.0513, 0.569, -0.0464, 0.2271, 0.0708, -0.0889, -8.6632, 6.5983, 1.3797, 0.2515, 0.0513, 1.033]\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]: [-0.1596, 0.9585, 0.7246, -0.5163, -0.2573, -0.1604, 0.9966, 0.7399, 1.7195, 1.2022, -0.3954, 0.5106, 0.4175, 0.0652]\nstate[eef_state]: left_x=0.3008 left_y=0.0007 left_z=0.1655 left_yaw=0.1343 left_pitch=-0.1525 left_roll=0.0622 left_gripper=0.9966 right_x=0.3799 right_y=0.2348 right_z=0.1268 right_yaw=0.0708 right_pitch=-0.2029 right_roll=-0.1101 right_gripper=0.0652\nstate[joint_eff]: [0.1162, -2.6325, 9.9624, 1.5604, -0.149, 0.1441, -0.0415, -0.2393, -8.5265, 6.5299, 1.3993, 0.1685, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6571, 1.6344, 0.8341, -0.1902, -0.5713, -0.5533, 0.9974, 0.7399, 1.7199, 1.2018, -0.4114, 0.5072, 0.4145, 0.0652]\nstate[eef_state]: left_x=0.3538 left_y=-0.1478 left_z=0.0587 left_yaw=0.1205 left_pitch=-0.216 left_roll=0.1054 left_gripper=0.9974 right_x=0.3775 right_y=0.2333 right_z=0.1241 right_yaw=0.0728 right_pitch=-0.218 right_roll=-0.1208 right_gripper=0.0652\nstate[joint_eff]: [-0.3897, -7.4735, 8.9094, 1.3602, -0.5153, -0.1294, 0.0708, 0.0479, -8.6222, 6.5299, 1.4335, 0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024a279340e614a2302d4b9f15eb5d39dfb0c53e3b7582d5ce3b6a7031f173d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42ead87c28583eac2c6ae3bb5ac0d52c6af6767297681c0622660118e099957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c00dc44ff4addae88e5cdbd1b1ebb77fe49d234be1f4c97ad9569f38e38eb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAIINF92pgdtX2n5tRmYMDRxybITrxfAHgj10wcj4EioUesj2XRO69p7Dzl1d3Il1b1poFrnvcpcowM4kyT8qeofZkjCzds8LYBfrEjlGxc7q2Lr29BdP7pfhWUC3Fqp28nLWBsGQGhLrB69cNzsmBwjkPpRiLB3-Fgd2zsbBS33RH49pSPSTJQT4C9F6XW5jAa4aCLKYOQJozVFK0dJhw2dmhGVh8J6rAJlZU0WS45-iW3j8JRIAEIe0BcFw8mhFjH8scFc5N7Q5fywZuOy7aJZzhySqq2GAmCbCQxNBOgkNoEdPXKkkNqWKiNVkiQQtlghGH9YWcNftWh8M3Nu88kKc9xXILJNlwK3Adwa7DggYUSRiJE06P3ehq0MXsMOGk-pF1YZ0TBF-IoR2ZsWkQvyvA5p9fTTPs-RbtsG5EBN9OpVZQhY5o7T-SR7cmF2px6E0Ys-PT4NzQ8i7dWy5bphD5FG-G2j3w6QOiTRp2jQda0sNE57momETQ8BosTtpZ4zTUUbqnvQ9DO-TriRwlPcAA1O342PBC9rjhSrLzQ7rKbd4mCLxTVKCm-Re8g4A7HJKdcrz4UqBW-03ju5zxEYRYOWDn4TWeT0OY-uxHR0QW1RhJCTmPqTGie6pfpCxriRSbgJEkN4Zjn6_29tetKkPtTu8BsPbIkukaUgoDuvfhQ98Ih7S-yOmIIHS1tKwax0zuM5uaA1T4isQynAvOzGF6NzqPj-0LYsTy6ygyoFsvpE3WhOhtBZKUusMsJrOZ-TeWiLgIjjbIrb4CgxaJuNdT3H_ugmWjPNheZOZLYeutuxQ5lUGWIha6ChjVh6Gr-hN8tSEqPaPzz0koSVKMFFJIqXiAJgmpO-H1CaYhO5Coib9GhmXI088eF7ATmWdhiCdn-IfbGLWslg3qRmC5u6X6CPb9ZrHb75R5hfjDlABBsS9G9K11uJqUInCRub4w3iyGWnklFm9ogXkVbs4l7oJ90jW4nAwh-jfnjHxJgGgX7LGnQXcDj3XLTPpxIZN3apuk7rYWI0kcAGfqZKlNot6IF_av1rQKIAXfUKYrhpqZwqPaqr2NWu6fZRPo8ehbJl094n6F9-xLe-jce_uDs5twrNWcl1YN28KX37miG2tejvDsLogKIMqSVR6Dgj92uvN9ADEnX_WxYxfnDpj5cy2AwV5ULhT2TUEW0WjxjhVPI1cuTN-5YJKy5Mmw3Ne_DkYfBH-jvzfzE9FJ2dA_KIaczESoGiB-4ORUi_k_5M906KgzRP5vN08-MkP2pidR412Da0MRiV5EA2MBELslvaBv3hJ6J7cwwonfjFjCt0nHBgARa0L_NRg_nTbao6aJLAx-c5pHkO21bhps4uxXLAueLAdST1lxjkEighDYmvQuBaInoEPCL4AC-GNXJo8ZHa8RIQQKceSr_hX5yoTXCZcvKNAPkoz8S5DFQSqh6jeBmfYPf_X6kRXMXnHJYzimkJXrjJ_4iMVn-PbWdnVySMVObk1jJUMuErQDuGH1zFQWhVkw1FXQUfRN57wVrMiwnoInx8njMJKjEFg1JgxRdhzojDMEmt1Cao92NSqLCbR0QtqYVjG-cQrDQAhSCb0jr1bU85VEWXFTj00GzFNNJw2WfAqo1qbctVPhbeuf2wlkXse_UO3rm2B2AJry2A662-YFURJd8jd8Jq81RbzSRLkS-2TaV5hjHAAWRklyDa8mDHtOd46cWGEq33T9-W6ZZRZkYHXd-gVduOLsJ8v4qSWZrx87KbQQ8xQZfdmvGHo6qpsnlC1gq1GI8_tghzMZzYbj_F5EijZ6m2jkcDw0kvDSR9HFLDVxyZRljOhPYkvO_M--XaWEXZaCbm5x7Dv3BDt3Ti5I1YcCmSM0DVQGdIXbx3wKbTFhOXaT9eru98mFHdVAoTRhvUXyEFqtCnDKtBuy-QszfG8z93Z7KQcr4Qz_jNzStr5P0qdNt275F0_xPn1u56NQGFd8yLxtS5gmMW-RUhQrcPxfeGbxVKJjykNcEKS_s6mTkbge58n5T6U4ZqTkd5n_8tIq1ZiU7Pce5WUb--O9eTNxLjUTMvj5mWyOtZPz6wVpOV6sN0rknxd-39CDDAM4HDchLeTnHEX2InoOtpxAapokliUVfERWQ-pBVR1gQwi2xqkCnpffMg2BY0psStRH-ghP0LUUiuEVfe-vR0YNEOaM3pGiEnSBV4MvNaWYFbYf_iomdZClyZnxpOC8zSmJqNju68EXbjRy8cUhH6UaXqwWESKDfHrvTmFNZ3wrzcFJkg_RkrrJm-NH3eXrG5tMd3o-6ES_N-KpZKk_BPP0TETpbUKHgPwmX_9tYnosvrlBsMrknNA04OAo=",
  "id": "rs_0358d89aeca12933016ab4200536f887d0be14f0c36de51102",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.165,\"left_z\":-0.01},\"note\":\"From this nearer-base approach, the cap is fully visible ahead of the left jaws rather than disappearing below them. I’ll center it laterally and lower straight to table height to place its middle between the fingertips.\"}",
  "call_id": "call_1ndxEPzuWT2CeYctco1mDLWs",
  "id": "fc_0358d89aeca12933016ab42007ef1c87d0b91e1848f7620e90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ndxEPzuWT2CeYctco1mDLWs",
  "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]: [-0.6949, 1.8301, 0.7841, 0.0444, -0.6064, -0.6025, 0.9974, 0.7399, 1.7199, 1.2018, -0.4122, 0.4957, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3574 left_y=-0.1622 left_z=0.004 left_yaw=0.1348 left_pitch=-0.1995 left_roll=0.0985 left_gripper=0.9974 right_x=0.3766 right_y=0.2349 right_z=0.1232 right_yaw=0.0813 right_pitch=-0.2242 right_roll=-0.1142 right_gripper=0.0652\nstate[joint_eff]: [-0.6359, -5.5453, 4.6974, 0.4567, -0.0757, 0.1392, -0.0122, -0.1162, -8.5949, 6.653, 1.2479, 0.2515, -0.0464, 1.0281]\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:6cb4d46d9954e87f3363916921af42012096f1f4192146dd1b3ab0733cb06a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9129129cd2e61d701975f927bb0e558e5f31fe64319ced00852a1c7f6649af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c025e8a2a632ec35e1e1a99c54b939718dc635d181709bfc91f876a83b3fad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.229 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 65 changed as sent

message 69 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]: [-0.5766, 1.9251, 0.8497, 0.2058, -0.5175, -0.4419, 0.0073, 0.7399, 1.7184, 1.2022, -0.3935, 0.5114, 0.421, 0.0652]\nstate[eef_state]: left_x=0.406 left_y=-0.1555 left_z=0.0019 left_yaw=0.0865 left_pitch=-0.1594 left_roll=0.0736 left_gripper=0.0073 right_x=0.3802 right_y=0.2349 right_z=0.1276 right_yaw=0.0688 right_pitch=-0.2 right_roll=-0.1061 right_gripper=0.0652\nstate[joint_eff]: [-0.0342, -10.3863, 4.7385, 1.0916, -0.1538, 0.0904, 0.5495, -0.3761, -8.6085, 6.5436, 1.3211, 0.2271, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6571, 1.6344, 0.8341, -0.1902, -0.5713, -0.5533, 0.9974, 0.7399, 1.7199, 1.2018, -0.4114, 0.5072, 0.4145, 0.0652]\nstate[eef_state]: left_x=0.3538 left_y=-0.1478 left_z=0.0587 left_yaw=0.1205 left_pitch=-0.216 left_roll=0.1054 left_gripper=0.9974 right_x=0.3775 right_y=0.2333 right_z=0.1241 right_yaw=0.0728 right_pitch=-0.218 right_roll=-0.1208 right_gripper=0.0652\nstate[joint_eff]: [-0.3897, -7.4735, 8.9094, 1.3602, -0.5153, -0.1294, 0.0708, 0.0479, -8.6222, 6.5299, 1.4335, 0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.8301, 0.7841, 0.0444, -0.6064, -0.6025, 0.9974, 0.7399, 1.7199, 1.2018, -0.4122, 0.4957, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3574 left_y=-0.1622 left_z=0.004 left_yaw=0.1348 left_pitch=-0.1995 left_roll=0.0985 left_gripper=0.9974 right_x=0.3766 right_y=0.2349 right_z=0.1232 right_yaw=0.0813 right_pitch=-0.2242 right_roll=-0.1142 right_gripper=0.0652\nstate[joint_eff]: [-0.6359, -5.5453, 4.6974, 0.4567, -0.0757, 0.1392, -0.0122, -0.1162, -8.5949, 6.653, 1.2479, 0.2515, -0.0464, 1.0281]\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,$blob:6cb4d46d9954e87f3363916921af42012096f1f4192146dd1b3ab0733cb06a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9129129cd2e61d701975f927bb0e558e5f31fe64319ced00852a1c7f6649af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c025e8a2a632ec35e1e1a99c54b939718dc635d181709bfc91f876a83b3fad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCALmGZm-4Clp4miVlBBUKz3M0J652ZVcgoztABVFod58dEsiPkKWiYDJPSpUHda53fhdXK8N1X_mcB0h3lnCEY5TNN7n5jtRAbNvEI7cMug7UjtOde6fMI_6ruMuIJwPKDRoE8JlIEgtdErHhwedIQTDALKY7LOFNvUg-iYjOK1JAa0oSuEXyVMKOdZN9iRf6UCwlc373IxgLbgD0VHD385_oB5hO21qa695Use-vRmIJX_XJNsTJ415Pt1TvAq4St0P4xUigHPvFayntpTItuLF9kXdpfC7I11uWmuPvZ0gLDEzVnuVSCqauLF3NKGomxYGFlVf4_dkyR5cBRIV_-tuYN1BZumgTvcN_T9qN9_EhBp_M0SCLmVyEvpgLu4Uc5O3AWaIVhR1w6CxH8BQWqqvPLVtLoXmcIGIzMhjy5TOLIHHoKPaEbxokVV5SY5FVdoWeex8kQoeKDbfE3d0lwUCCGpqxFfUdcUzX5HZ8JKlTC6aOvfPUhsc-7IyGvjuqBjYuivGDxcxA5G5ysbVxPIo1s79sgOXeP6PMFM1SAVRPty_Yy2J7kxDs8qe3qf5zIzXOEsG7Qsbk2gkegaR2RcUAJCMLr5IBpxnDHhGe-4BQaCi1btZL_AtG_fVBhRWPoGqdRCtTyES7UvGtgurt5CUGP-dxAr7q1_qioVa9f78fOAXodc4RiBJ-Cq9Kx7hPOXiPIKUBhGGGUpoBCg6ZEGjfCDZyE9L4uY02fD5nQax83eEjOrehOZhpGYz40ZvHPSmyyTY_Q1U8BEzrfNBHXb-o3Wn6-qgFXNbfbEGOZ0rgY9Y3HjHqXSOwiO-CwpAy4WnYnDEEPnv2cdqa5ox6wCwoic-3a6PlM8QXHYJ-DWUYnXQHw8iBQ_PEEWWhT60_w71l3-Ic2n0zyNuBKvoYWcDNijuENV1vwnZFROcgh2Xhk5-yuvyhwwRzPzRBM6CwFmJD85-TG1hm_GPs44StiCjt8DgCBR2Ahxt0MaNWbqstsNbrUMZWBP_vGeFePbsOWa8-lCgzhLdLCFN1mAytpy66udQWpC2q-K3vfq4xkU2lvUhOWl0j4Pf9S4iUNq_K-DQvRVMR7iPiIMCPWMyz9MCdd4HAXWK4P_Ne7awXJthSWOhfFDGC69o9PgzotKFwb7JVyjKdvDA60RAsf_MraTrBBFTChwxVpVlVwCmJwhRUg2W5C-D7_znw4hNyzVYTWCeH6zJMBusCXoJRxtRox0CyqBVidTH5vBKhy6rPyEAlIbVYXZy_PDVtV2EdY1CLtmcaD1uLG_wr_A7oZws7JDJFqmUR8L_5Oa2sjDKbL-GpJ_rm4j31S6-udqHEO3wpYpgnFgpp2zoDVXC2TdGYmsmA==",
  "id": "rs_0358d89aeca12933016ab4200a2c3c87d0b93251dd56fa90c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thick middle now crosses the left fingertip gap at table height. I’ll close here and check the settled opening for a secure grasp.\"}",
  "call_id": "call_p82pSi75VBEOlIYuSPi3O51K",
  "id": "fc_0358d89aeca12933016ab4200a917887d0a5159a3895ff9ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p82pSi75VBEOlIYuSPi3O51K",
  "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]: [-0.6964, 1.845, 0.7837, 0.0647, -0.6182, -0.6056, 0.0468, 0.7399, 1.7199, 1.2018, -0.4126, 0.4923, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3592 left_y=-0.1622 left_z=0.0019 left_yaw=0.1419 left_pitch=-0.1886 left_roll=0.0993 left_gripper=0.0468 right_x=0.3764 right_y=0.2354 right_z=0.123 right_yaw=0.0838 right_pitch=-0.2262 right_roll=-0.1122 right_gripper=0.0652\nstate[joint_eff]: [-0.0479, -9.306, 4.8889, 0.9744, -0.1783, 0.0855, 1.5311, -0.1299, -8.5675, 6.4889, 1.2821, 0.1783, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a89943524ade397a61c816ef718c0cb693d605b2fc3b6516fd4ed032d8a680d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28fc8c9227973c500dcf4bdee3b98cda1b8f5734a52c11bc14185960b6bc8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4177ce43cc1e9ee4ac2c0469b1c60f5cfcc1339b6e99cf2bfe2dafffcd1d1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 17.61 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 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]: [-0.1596, 0.9585, 0.7246, -0.5163, -0.2573, -0.1604, 0.9966, 0.7399, 1.7195, 1.2022, -0.3954, 0.5106, 0.4175, 0.0652]\nstate[eef_state]: left_x=0.3008 left_y=0.0007 left_z=0.1655 left_yaw=0.1343 left_pitch=-0.1525 left_roll=0.0622 left_gripper=0.9966 right_x=0.3799 right_y=0.2348 right_z=0.1268 right_yaw=0.0708 right_pitch=-0.2029 right_roll=-0.1101 right_gripper=0.0652\nstate[joint_eff]: [0.1162, -2.6325, 9.9624, 1.5604, -0.149, 0.1441, -0.0415, -0.2393, -8.5265, 6.5299, 1.3993, 0.1685, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.8301, 0.7841, 0.0444, -0.6064, -0.6025, 0.9974, 0.7399, 1.7199, 1.2018, -0.4122, 0.4957, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3574 left_y=-0.1622 left_z=0.004 left_yaw=0.1348 left_pitch=-0.1995 left_roll=0.0985 left_gripper=0.9974 right_x=0.3766 right_y=0.2349 right_z=0.1232 right_yaw=0.0813 right_pitch=-0.2242 right_roll=-0.1142 right_gripper=0.0652\nstate[joint_eff]: [-0.6359, -5.5453, 4.6974, 0.4567, -0.0757, 0.1392, -0.0122, -0.1162, -8.5949, 6.653, 1.2479, 0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.845, 0.7837, 0.0647, -0.6182, -0.6056, 0.0468, 0.7399, 1.7199, 1.2018, -0.4126, 0.4923, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3592 left_y=-0.1622 left_z=0.0019 left_yaw=0.1419 left_pitch=-0.1886 left_roll=0.0993 left_gripper=0.0468 right_x=0.3764 right_y=0.2354 right_z=0.123 right_yaw=0.0838 right_pitch=-0.2262 right_roll=-0.1122 right_gripper=0.0652\nstate[joint_eff]: [-0.0479, -9.306, 4.8889, 0.9744, -0.1783, 0.0855, 1.5311, -0.1299, -8.5675, 6.4889, 1.2821, 0.1783, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a89943524ade397a61c816ef718c0cb693d605b2fc3b6516fd4ed032d8a680d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28fc8c9227973c500dcf4bdee3b98cda1b8f5734a52c11bc14185960b6bc8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4177ce43cc1e9ee4ac2c0469b1c60f5cfcc1339b6e99cf2bfe2dafffcd1d1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCAP6Pg1mjz8TdLau08TXQKQojTkN-CxjkmTDeh460eAGNggSBIUS5tvkYTlD4uHD6Y7jNsXrZnaZShT8-IZd6F1sCXL58vNdJsCRi_z2bdQCjYWyi8RMg8iiNcdjakWPn6jnXFrGPEwJ1rlObSMuugjQnTuw-tIM6mc9nfV91ukr5Ht3GUsJe2syjwW1vLzBNCYeXIk8yvyBAaoCKgOIFnUNMxUz0Urj2IG6-ObZ4SYLN_57ZVSLqCungWVl3JuHlTcc2sQk_HeM8gJVZmqIOu8fdCSTGvTm_xqr1fbAWVXE7b2X6_gjXgvbUTwk1YyLwt4zkmpq17m3-qT0N9qkyEmC5ueQxPA6M0yAPsmTl6SMx-IH6-PhgHSt4328FTRGBFM2mEy9qKe_jcnavDvbbAoWsXxKTCrGDdIWd3w_dONUwT8YZv1lRZ3pPkgRMkqPQHQTd07kwIsGmaivkZik03fLng-t1OrIL8q7TQGHySHKclD24REX5Qqp7vC2gnlx_wFa1NWbKS1QB4xCvNvYy6yJik1pYNmYbVjPg5zYVvEMyWaw2xmhUxf5ddx5UFWcDGPUN0r3Z0kQb3nka6xB9dO8jx8U9KK7K9V7kAgfFZ-5by-OTCIG25xpWmzPUF-PaTbS_ac2sZoPAFP6T9GjS0rE23X7bqOPOsRU9_FZw2gnqo8iqnKUqbT23_WemfFmZ8k6TvT1c-gOddBA5nzFrewejjocLHwJJdMXmuolYd57ragNIcFVA6dJfDhnbFwepCRlFJs5DCwluHQ4Aev7dw3culvOiElm8_wrBi31ftUWAEpBhHBRB1nZq79l5-rzPE0q6MrjQzl-sjRTvI1C99YgkMoB40S2-WRMR3qIYxRRkFwZMkmjhlN7VqtPDSYzP0FweQ9ixEthjIvijgm0YTltDGuWxG8egdKEjNsqrlnCfV-_qtx2dMxaIGC5J9NUx62627lEkeLYbY7jc0saY9OIN_WrPAN0y8TXrSJhY04CARuWs1wCmhVimxAjlyCbVYKeqxKzRR_m3JVfiezJvXL6YD63eY5Lcmi9NpfAWVrlsas3CG1tYf-uu4Dr3Ebv9VoqLElNgQgZSH7uko6xRD8k3tMiHPgnq-Fj0z4qQVwa-fovKTB6sMKktqnW9hnVeb6R47c8peUUwxChTbDPyLgmQ0cryoYFgRLcwhhDnndCoKJYjfORuE3qfVK5JWQOf-v9WuTenOgpyzXmqLKYxvnh158o6baB0oRdMutvCIaxo1MyyesElSd2TyrbtaI628Ex8xJmaDS657kYnyJZ-7KOA==",
  "id": "rs_0358d89aeca12933016ab4200e010087d0984365f1c0a7a36d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left jaws stopped at a roughly 4 mm gap, consistent with holding the cap. I’ll lift it and check that it leaves the tabletop before trying to align it with the pen.\"}",
  "call_id": "call_Y7JEvpJe4I4NenUoNDbvqHUH",
  "id": "fc_0358d89aeca12933016ab4200e58a887d0b7948c433709156b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y7JEvpJe4I4NenUoNDbvqHUH",
  "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]: [-0.6964, 1.5749, 1.145, -0.5831, -0.6151, -0.6132, 0.0541, 0.7399, 1.7195, 1.2018, -0.4126, 0.4919, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3609 left_y=-0.1642 left_z=0.1467 left_yaw=0.1465 left_pitch=-0.201 left_roll=0.1044 left_gripper=0.0541 right_x=0.3763 right_y=0.2354 right_z=0.1231 right_yaw=0.0842 right_pitch=-0.2261 right_roll=-0.1117 right_gripper=0.0652\nstate[joint_eff]: [-0.3761, -9.6068, 9.2513, 1.1355, -0.3639, 0.0366, 1.033, -0.0068, -8.5675, 6.5299, 1.2723, 0.1587, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936a31bd5fcc1c07a787942c13cbee0d7c2a58737d87d46a2c64310f5faced9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1761a78369369baea8611aceab7ae87c2c851174f0c4828bad9eb5e3348adc2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2879269e1a27202fb54c5a72ea48ecb11fa4024c4fcfa029895c6441cf7f6ba8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 7.97 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6571, 1.6344, 0.8341, -0.1902, -0.5713, -0.5533, 0.9974, 0.7399, 1.7199, 1.2018, -0.4114, 0.5072, 0.4145, 0.0652]\nstate[eef_state]: left_x=0.3538 left_y=-0.1478 left_z=0.0587 left_yaw=0.1205 left_pitch=-0.216 left_roll=0.1054 left_gripper=0.9974 right_x=0.3775 right_y=0.2333 right_z=0.1241 right_yaw=0.0728 right_pitch=-0.218 right_roll=-0.1208 right_gripper=0.0652\nstate[joint_eff]: [-0.3897, -7.4735, 8.9094, 1.3602, -0.5153, -0.1294, 0.0708, 0.0479, -8.6222, 6.5299, 1.4335, 0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.845, 0.7837, 0.0647, -0.6182, -0.6056, 0.0468, 0.7399, 1.7199, 1.2018, -0.4126, 0.4923, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3592 left_y=-0.1622 left_z=0.0019 left_yaw=0.1419 left_pitch=-0.1886 left_roll=0.0993 left_gripper=0.0468 right_x=0.3764 right_y=0.2354 right_z=0.123 right_yaw=0.0838 right_pitch=-0.2262 right_roll=-0.1122 right_gripper=0.0652\nstate[joint_eff]: [-0.0479, -9.306, 4.8889, 0.9744, -0.1783, 0.0855, 1.5311, -0.1299, -8.5675, 6.4889, 1.2821, 0.1783, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.5749, 1.145, -0.5831, -0.6151, -0.6132, 0.0541, 0.7399, 1.7195, 1.2018, -0.4126, 0.4919, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3609 left_y=-0.1642 left_z=0.1467 left_yaw=0.1465 left_pitch=-0.201 left_roll=0.1044 left_gripper=0.0541 right_x=0.3763 right_y=0.2354 right_z=0.1231 right_yaw=0.0842 right_pitch=-0.2261 right_roll=-0.1117 right_gripper=0.0652\nstate[joint_eff]: [-0.3761, -9.6068, 9.2513, 1.1355, -0.3639, 0.0366, 1.033, -0.0068, -8.5675, 6.5299, 1.2723, 0.1587, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936a31bd5fcc1c07a787942c13cbee0d7c2a58737d87d46a2c64310f5faced9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1761a78369369baea8611aceab7ae87c2c851174f0c4828bad9eb5e3348adc2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2879269e1a27202fb54c5a72ea48ecb11fa4024c4fcfa029895c6441cf7f6ba8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab420127afc87d0a6cd602ac45fe678",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0358d89aeca12933016ab42017945087d0b2ca7a17e8b57744",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0358d89aeca12933016ab4201d525c87d083c3c0d88135881a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.335,\"left_z\":0.25,\"right_y\":0.275,\"right_z\":0.17},\"note\":\"Both objects lifted with their jaws, and the pen’s exposed tip points forward in the right wrist view. I’ll move the cap above and ahead of that tip while shifting the pen slightly toward the table center, keeping vertical clearance between the two grippers.\"}",
  "call_id": "call_ALFFld7GQN0idJciimD9xuSr",
  "id": "fc_0358d89aeca12933016ab42020533087d0bc7102a00adb9c6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ALFFld7GQN0idJciimD9xuSr",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.733, 2.5122, 2.8468, -1.5196, -0.6567, -0.733, 0.0605, 0.7506, 1.8084, 1.3937, -0.7361, 0.5037, 0.4618, 0.0688]\nstate[eef_state]: left_x=0.464 left_y=-0.2678 left_z=0.2101 left_yaw=0.2326 left_pitch=-0.2687 left_roll=0.1814 left_gripper=0.0605 right_x=0.3644 right_y=0.2282 right_z=0.1197 right_yaw=0.0151 right_pitch=-0.3851 right_roll=-0.2355 right_gripper=0.0688\nstate[joint_eff]: [-6.1607, -14.5299, 4.8752, 1.7802, -0.5055, -0.0024, 1.0379, 5.2308, -9.6205, 14.0786, 1.9853, 0.5397, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f79fea58e78a648a987d72ec880e723ff107cc0f231a27c8175e37e8f1b51a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1597ae84493ab5f082517b6840386ac2baca6571d9a85d41776d19d2c1906a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86486fe7a537315edd2a03432b43b8577ab75612a3edbf022037feb4bbe12f46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.716 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 83 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.8301, 0.7841, 0.0444, -0.6064, -0.6025, 0.9974, 0.7399, 1.7199, 1.2018, -0.4122, 0.4957, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3574 left_y=-0.1622 left_z=0.004 left_yaw=0.1348 left_pitch=-0.1995 left_roll=0.0985 left_gripper=0.9974 right_x=0.3766 right_y=0.2349 right_z=0.1232 right_yaw=0.0813 right_pitch=-0.2242 right_roll=-0.1142 right_gripper=0.0652\nstate[joint_eff]: [-0.6359, -5.5453, 4.6974, 0.4567, -0.0757, 0.1392, -0.0122, -0.1162, -8.5949, 6.653, 1.2479, 0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.5749, 1.145, -0.5831, -0.6151, -0.6132, 0.0541, 0.7399, 1.7195, 1.2018, -0.4126, 0.4919, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3609 left_y=-0.1642 left_z=0.1467 left_yaw=0.1465 left_pitch=-0.201 left_roll=0.1044 left_gripper=0.0541 right_x=0.3763 right_y=0.2354 right_z=0.1231 right_yaw=0.0842 right_pitch=-0.2261 right_roll=-0.1117 right_gripper=0.0652\nstate[joint_eff]: [-0.3761, -9.6068, 9.2513, 1.1355, -0.3639, 0.0366, 1.033, -0.0068, -8.5675, 6.5299, 1.2723, 0.1587, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 2.5122, 2.8468, -1.5196, -0.6567, -0.733, 0.0605, 0.7506, 1.8084, 1.3937, -0.7361, 0.5037, 0.4618, 0.0688]\nstate[eef_state]: left_x=0.464 left_y=-0.2678 left_z=0.2101 left_yaw=0.2326 left_pitch=-0.2687 left_roll=0.1814 left_gripper=0.0605 right_x=0.3644 right_y=0.2282 right_z=0.1197 right_yaw=0.0151 right_pitch=-0.3851 right_roll=-0.2355 right_gripper=0.0688\nstate[joint_eff]: [-6.1607, -14.5299, 4.8752, 1.7802, -0.5055, -0.0024, 1.0379, 5.2308, -9.6205, 14.0786, 1.9853, 0.5397, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f79fea58e78a648a987d72ec880e723ff107cc0f231a27c8175e37e8f1b51a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1597ae84493ab5f082517b6840386ac2baca6571d9a85d41776d19d2c1906a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86486fe7a537315edd2a03432b43b8577ab75612a3edbf022037feb4bbe12f46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab420249d0087d092cf2d8be1201530",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAr7tLayjz8BjI1sCbah-TQGEEjWtDAxCilyKNEOSncHjrR5KIHBC64lV7kUexTEEuR7EszvT5E65rq2m6Y2K515woKi8wL3yKCg9-6hFMgUvPzkqn2N1nuxNx2lTi7If7QZMaGx-PbUeC5r_YUUxmFle6-vp2-UYIwahsjSYbQmQ4Fgby6oOcVzZ3mMIJXV1ML9UpBhO4Z9xawbE28-Os9DP8OUktyd3vJVmI-OjV-5exlu5vPhPyC9ElEKdqYDkmQ1Hsg98NFN2x6WKv9AC_ZsvYSG-ECJ5CQWn0bGZvcnWkQkN2XYlRYUgFziXxHDLk3xE67S3QXl7RrW3xAyJnJ9O7vs1OCsD8WrYmmE86UZSsVSC-4rOM3WDqgjXE2-4ySHPr_iQe_q-YAC0wR8p2k59etpJuGEEhylToUKyJB9tdveGGGLuasxLdowqJTVOQTIw5KObN1j2fSLqa3j3oLfG1cS-Lrk8pvNDEmFlFdovY99IfARE6-zCOkhB6LxPj3wr2QkzZwHW35eVHCYY3Op-pAZkIpDaCnYUE8TsRkC1Ne8_UoD2KZGeceW7d16AJfS7c-6M236lioCcBBI1eqpB7AA-AG0YQoR5qrcNKzQ0jRqD3LBCZPBLYNSAlKRqeDjP02iGqPi9Z0L8lABiIUJPp9K6KiNkShrWMbHQ7UYvebnTlqYxSAmG1ssnBczsmJrxLCib2P2GL92rluGJQAmafT7-5lMBgJRaWrsZs8ph4baLOWoAlDC2b2R7v-vTDyWFPhzY7mdaTjhD0uGa0uFaKnJeNf-l5pcFr89Ee0kjrBJCjJ5uF9fpNWKJmFENmfQxFDC4Wsbgn9NUUMX3OLJEWTTlChmh31OPZ7aoZdhhmzwWTmtnbdz7Oi8AwfygiXLlhlTzxmZmhBHjthuhKat8V1Fr6FVBiarTz5FuKLDKitiNZ5XAguoGctDLFv8B-VHyuHoGYSl3hAmOcjyUQJuN6pZu3TEVdjYNieWW3bs51yuNSQfLjSnyX6eiKjN0KVqZPR-nHsE7RbG8IawvcG0W__GSCp_lR4W-MeaIK7QorZk93mWDxhebxksORnTousYGTSLQP5lobcZKF2posjSaZLFbzgJUnqkjSLIkicAf_F0Gw8q5oDy7tSSMu-lHsrUxEd8s5XRchD8hJemu619kToXWls9gCJIa0OpacQJRQ2aWxPPGHigVEaz4J7qIva1TmPHjRKyL_C9lidsukqrcJVWDtg3dXcxAkT7H6nurGTSDQ04hQVr1KOSJUlzBy9uLEtvf7OWZKadzJXgAwtKfgD_C8PdWfHGtrgoks0j3lTg_dWMao2js8h06_hLCndwcSpg1iNJrHSudHjKtk4xh30hEUJgZjTwaJru8IHMfsMOooLXVr_32i0d_I4zziIjnPqBQhily3Lio3t6aelYiLM9zx5s_POU2EnH3dSgA-IiqOMg3yIBh-41EqYUsx4mI_IXW1ROQJFbcHJiCEJjuupo-Rg5U2aUnGHF21I_DH2NnygHI-O1hBnEhSAb0W04q-IAP52ayQZNLEU7nl0B7V1VvDM3cR1iWKlBOFYTgNWAD6NB5ZYHxWW28gQEWoK3PC_SxtxcsJ4SltNw6oC5jacS6ziHZlsMhMg7GrKAA1ZDavALLBN4MDqMq-65Q6jkslI4P9932RAjCRHpxTJ08Zk3FTcWK1kIzPeDP1PlBDrU0W-2LjMEoyXtHWJ561SvFSe_p09XZhB1ys8U9cMHA==",
  "id": "rs_0358d89aeca12933016ab42029126487d09911b535ca154de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.34,\"left_z\":0.19},\"note\":\"The overhead view shows the arms approaching the same area, but both fell short of their targets. I’ll reposition only the cap arm to a less extended pose and bring it closer to the pen’s centerline, leaving the pen arm still.\"}",
  "call_id": "call_wCJQqGtxNvZ5vflPJLrHQtZ6",
  "id": "fc_0358d89aeca12933016ab4202a484087d0b641bb11c1060ccb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wCJQqGtxNvZ5vflPJLrHQtZ6",
  "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]: [-0.741, 2.5462, 2.8883, -1.5711, -0.6735, -0.7879, 0.0605, 0.7422, 1.8023, 1.3663, -0.7567, 0.4953, 0.4599, 0.0727]\nstate[eef_state]: left_x=0.4597 left_y=-0.2664 left_z=0.2028 left_yaw=0.2734 left_pitch=-0.2739 left_roll=0.1903 left_gripper=0.0605 right_x=0.3574 right_y=0.2187 right_z=0.1104 right_yaw=0.0014 right_pitch=-0.4216 right_roll=-0.2612 right_gripper=0.0727\nstate[joint_eff]: [-5.2171, -12.588, 6.8991, 0.8327, -0.5397, -0.2076, 1.0281, 0.4718, -8.6222, 8.6769, 1.0965, 0.2662, -0.0269, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58903f3986cd6baaaef9af6e55c88403f8f1223f51ec3e3022cb04b71a3ae587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3678ee468c08e2d5ffc70bdd57efa6b6983ce1e9a7b3193f914d94f67179cbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d3076c1e73e3c2fc91add8f6732f22de0c4b7ea44a0f50acea511a45d076c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.535 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 83 changed as sent

message 88 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.845, 0.7837, 0.0647, -0.6182, -0.6056, 0.0468, 0.7399, 1.7199, 1.2018, -0.4126, 0.4923, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3592 left_y=-0.1622 left_z=0.0019 left_yaw=0.1419 left_pitch=-0.1886 left_roll=0.0993 left_gripper=0.0468 right_x=0.3764 right_y=0.2354 right_z=0.123 right_yaw=0.0838 right_pitch=-0.2262 right_roll=-0.1122 right_gripper=0.0652\nstate[joint_eff]: [-0.0479, -9.306, 4.8889, 0.9744, -0.1783, 0.0855, 1.5311, -0.1299, -8.5675, 6.4889, 1.2821, 0.1783, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 2.5122, 2.8468, -1.5196, -0.6567, -0.733, 0.0605, 0.7506, 1.8084, 1.3937, -0.7361, 0.5037, 0.4618, 0.0688]\nstate[eef_state]: left_x=0.464 left_y=-0.2678 left_z=0.2101 left_yaw=0.2326 left_pitch=-0.2687 left_roll=0.1814 left_gripper=0.0605 right_x=0.3644 right_y=0.2282 right_z=0.1197 right_yaw=0.0151 right_pitch=-0.3851 right_roll=-0.2355 right_gripper=0.0688\nstate[joint_eff]: [-6.1607, -14.5299, 4.8752, 1.7802, -0.5055, -0.0024, 1.0379, 5.2308, -9.6205, 14.0786, 1.9853, 0.5397, 0.2076, 1.033]",
      "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]: [-0.741, 2.5462, 2.8883, -1.5711, -0.6735, -0.7879, 0.0605, 0.7422, 1.8023, 1.3663, -0.7567, 0.4953, 0.4599, 0.0727]\nstate[eef_state]: left_x=0.4597 left_y=-0.2664 left_z=0.2028 left_yaw=0.2734 left_pitch=-0.2739 left_roll=0.1903 left_gripper=0.0605 right_x=0.3574 right_y=0.2187 right_z=0.1104 right_yaw=0.0014 right_pitch=-0.4216 right_roll=-0.2612 right_gripper=0.0727\nstate[joint_eff]: [-5.2171, -12.588, 6.8991, 0.8327, -0.5397, -0.2076, 1.0281, 0.4718, -8.6222, 8.6769, 1.0965, 0.2662, -0.0269, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58903f3986cd6baaaef9af6e55c88403f8f1223f51ec3e3022cb04b71a3ae587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3678ee468c08e2d5ffc70bdd57efa6b6983ce1e9a7b3193f914d94f67179cbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d3076c1e73e3c2fc91add8f6732f22de0c4b7ea44a0f50acea511a45d076c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCAxFPFxS2lLX7nwQtgNR2FIajYxDl2mQugZdeqjKH77whLltGveN-8-RlizoEk_Dxds_sNyMTtWvez08tUVcvg9_8D9d15PD-Ee-QykFCYBVZcH9enoTgdoz3T3ZpVc8bZGnKDwZLdd29G53qEcqCt8Fsy7MJZKb5AaZ7H9ehz-LD6q4ckeBsDJ3jIZH3RV3oNMTIQuHaLZuViA6ugPj-ShGq9C_1RAf_R1ZyNN2i1GvuIAHjENevDmC5ijyLkWgxEeykPUIeG6gE22n1aRdnuKjSN-N1nOnm0opKzC6QbsZasHrDMcPzeE96Tb0-MmbKRn_PZ8Zm2pUguQXqDiuWICBsj_5SvuQAUr-XlJ826yG2FiA-2Bq60j1lF8l9woei_FG72WkJbqo5pz22eGMOsyksyaZcMmWsL4cPbiiIfydwelYdRBNfFm1HCULohIzYUfYyC0PDremJmGk1i54Pkg8AixOJAWgjmbPGm8uVJV-ar-D9neOF-zmbnMzE6eJzdKNDjokhQlbZkgOFqmBK1dOCyarNrcPokVNTnpP6eeyyepXli4aTJZSafD_ao_E6tO9YNooSo-KQXxOtARKjiH5XWrSsf5mzbjElqoTGg51pFzwdKPKF-ceX2rLkg0U9fhLN3BanxOJt_wWuKwMJL-wqIArXLjulz3V8WZ2TPP0q5ieN_tm-OTvIEEbxdQ0N3WtVLWDkGFNZpfhwCtEHfNO-t6NnemdRdg6lergVc14MOgNnY3jkJ6PZAqXTvSscMDnwZcYpKSVSG_DLJCjQH2hsg9EwdrXHEBO4rWV46GPp1qUwW-nJH2WsFa4nEn3-PGL4aCejXsPWN_i4U6xMOnlxhME6kHDGtrniXUQiHrEjgKNr6biCED2rKww_l0bu5ftZ6CwsXhQAaVGBghETptCuej3F0hlbO_Q2IB1CRmdwzZupATbupTpDMxrWsXv0oEEb8ENBrFKw30-vfe0gvPpxgMdAJ8GwPiKZjQVJkRBltHCveWs0BirTL9oy1qdAFR_0i2oKL_YNckyXhgzHVq1W2waslW2haW045n7IAXfCs5eQ2Kz3-cQxM6nhLlP_seGlF5QfoVqdVzUCA8HK9-YYjBCFQOujt5NEc4tioCj3ksIqwP4hgp7Tek2stWsL9klz92YbzXApGpWZTw2iWrOiAaKrhqWwZLO4Npyy_zLanTDtv-_nFOdSCHS_DrPWq_up4IEOI7ALfGKilElQT7v4Rgx2V-Pf-lhupQsMf4ColHsNE8SJg8oORs4yNYvIGKEGDf-tf3UnDyZWW4cf4W9SAfAYZMk9WxJF-I09G6-dB08UvKjCshOjp9qcXc-e3vPX-HeFWI0pmELYDKVrOwlsphYXd9HhGGSZVaTWAmzqiURzFB9Ab7AYkE_w7rDarcztejJlEA_Al9D8q9es1JWvu_hPWLIq-3-gs2eBO1UPXlU8IBe2Trhfh8ZnGBCURjwarRchuEbnLgec5fSqneMHI3XRrxGKlA4OwtmJNE6R9Hz5AbAogGNQtXoXiBJvEmZGrnpYgVenvSAvQu_7zZtqJOIHIDic5eHEQqE2JMMB-izPLC6OUdi9fbPss1TbXuAyTI6aR9A43qk90lJ6l2QiDoelUrXcssujGHNdfGYTJcXlj7Zo_YYGweMlhnl3RnPfucRz1cVu1CsPi0CxX8EH4Jqy2c9lB1V8eFqmTCbQQQrO43-_JfEqRj_rydT2hoD8SQo2TE9uzbGTdIBmjQrFGD5eKPHmePRTVoXuzHWowghootPqhgcKh3O-dQOhftJVv2BCq4GjGr1zwST_0UwoHGK6tMAccyNZ66LePWHkTpBeN8sKSCQbpseamBccw-iEI-NCS6MML0oZvR3K1QYT8ENtZNVS7eHedvQ7tySfripbSSj57GaJugG1lgWif3Jc4__LHrHvuuj6s_6MFlCLzYoWQi2OB7YRbcbKDWrdygAGuFvc9k42tjDtMxeJZnwuGM6bdMGmuhuGS99jeBUmU3-xp_lCYQ4ozdFe6UIq2qQcZa2OROEYVrvqQTs_7w62zWuZqoRJYaIgZXnO0ATIeCAOqH82wV3gVk40f0MgYTliQShm4IpfXsiJXdeKhaJ0TcnPvxJAbfy_cujHXA2oHO2A42hvPH_x5AE39sGyRWEt_K2hFXyM7BKsd3lNq7FDAdAAhELC3OOfmARtYAS5xyT2m_rueYZqhMkMYI_0A-uOU9Hx7e2-nyh88oMZVuGHSf6Er5YsKo8MQ3d-AYH5hsvMIzcCe449F4LTp5zJlh8dkFaBt6Y6wyLhI9V15VlVvsTySP5X3L3LR7rY4ag0nC78Hz0qlb3SvATCb31yb0iXEG4IiBhjoplKCYYXQeq83HkYI6r9Az-ujomqz22eSXn17eg8kQYym5ZTN7fp66FbUHJYhO_VZx1qxJNCMIm98hBPNn--2Z4mC4h3VfYpI7gwEwMjh7pqWJh93dPMLn1SaAFSq6G7hPWMfTe07l5eWtczXqjG-b_WGbXMk3QntuwB3I-ulyrwJX0ok_c1u8WW2Gj0b_bzaVpsSbH86AIxUbKks6RyCFZG7gBtQ92qM94G6H7AnLD020MYRQiqxLrr4AazRn1HFv-M1bTn79HFsviDfv0ceUDPJImxvirGDf_kAYXAgyfYRnRx2lk9RHwpZdNhdegjGlf8qGXG1wm_E8-yElKaMbkAADZE_4PtjB6-6TVhoZ2avXl4kmLpRAHh8mEdnloDXkagv_50XiOB_GEIYHHUAaZqrDFwBjvgjQORyGCHc6v4DxZXYz7Uz8PqkCQqYaOHBa5Hs8O_Hk07Zvmh93Be5e1_bWKPe-R09zmJf8sRaaMfvi5lDna-fF97HjobudftxRw_kerAeGa6j9knx_1mDkOUK5gJXRCGDQ3FKyV3vPnWoLG6Bheqm6DerNGxDsGQNVJgNhAKZGbbWglR-Spm823RgxCJ1euU-JmYM7set1fY7oS-uz-0xdQnulY7Fscwe5gPGlvw2C9GbfszS8l478E1SAKBVtSRJUjJMto2oCZUpB06-UvD1J-w2zNT_uMF5lwwlwulc_U7xonJS4VRucSoigk9lqeXMI0XVWCX5dMh08SQLH5XcsUcFek9_XEmT8Ld9ti7AxLdtCgnKO96kOUcmWRZkcVoegMlyEy4xpflEJuYJKcFjSrcwNvuZ7nk8XRH7XzHc7mR4iDD4PlqOzOHwTNb9KlM0WDiLX7YaMt_bFmLU0Jvp2HNc8iaO3HDn1Cq7vSGCs_DREZ81zjwaxOqZ127YMP4Nna-ky3EbZ86l23YzUsko_y1EEqZT_f8JpR8T9Hm_3CfGwRlhUU28UhmNmWsAqqhA_hJ7oYgP1RDQedK_q7zj4q3_xj4yoSpwG2iASkzge",
  "id": "rs_0358d89aeca12933016ab4202d167087d08b08d880f0d8c775",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.18},\"note\":\"The cap arm barely moved while the pen arm drifted, so the crossed arm poses are blocking one another. I’ll back the cap arm away to restore clearance before bringing the pen to an accessible meeting point.\"}",
  "call_id": "call_Uld1lI56jvqMYFZdFCzUdNWe",
  "id": "fc_0358d89aeca12933016ab42030c6a487d090a6268cc08bc588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uld1lI56jvqMYFZdFCzUdNWe",
  "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]: [-0.7151, 1.6691, 1.9945, -1.0309, -0.6559, -0.767, 0.0605, 0.741, 1.8057, 1.3624, -0.7528, 0.4885, 0.4595, 0.0736]\nstate[eef_state]: left_x=0.3893 left_y=-0.1906 left_z=0.3738 left_yaw=0.218 left_pitch=0.0133 left_roll=-0.237 left_gripper=0.0605 right_x=0.3569 right_y=0.219 right_z=0.1076 right_yaw=0.0041 right_pitch=-0.4285 right_roll=-0.2588 right_gripper=0.0736\nstate[joint_eff]: [0.6222, 0.3487, 4.3556, 2.1026, -0.2125, 0.1245, 1.0281, -0.0889, -9.3744, 6.7214, 0.8816, 0.3492, -0.0659, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ed5b5b8fc9db9c74356fedabd43f42d952fa42f5c0c47755b342da06708149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b636a691d4ece7caf9ca0c4020f67415972c30eaf4a5016d8c89dcef09b2bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f389706da1e5a315ebe1b5a0993300486f84651c164e7ae383840265997cf977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.595 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 88 changed as sent

message 92 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.5749, 1.145, -0.5831, -0.6151, -0.6132, 0.0541, 0.7399, 1.7195, 1.2018, -0.4126, 0.4919, 0.4141, 0.0652]\nstate[eef_state]: left_x=0.3609 left_y=-0.1642 left_z=0.1467 left_yaw=0.1465 left_pitch=-0.201 left_roll=0.1044 left_gripper=0.0541 right_x=0.3763 right_y=0.2354 right_z=0.1231 right_yaw=0.0842 right_pitch=-0.2261 right_roll=-0.1117 right_gripper=0.0652\nstate[joint_eff]: [-0.3761, -9.6068, 9.2513, 1.1355, -0.3639, 0.0366, 1.033, -0.0068, -8.5675, 6.5299, 1.2723, 0.1587, -0.0562, 1.0281]",
      "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]: [-0.741, 2.5462, 2.8883, -1.5711, -0.6735, -0.7879, 0.0605, 0.7422, 1.8023, 1.3663, -0.7567, 0.4953, 0.4599, 0.0727]\nstate[eef_state]: left_x=0.4597 left_y=-0.2664 left_z=0.2028 left_yaw=0.2734 left_pitch=-0.2739 left_roll=0.1903 left_gripper=0.0605 right_x=0.3574 right_y=0.2187 right_z=0.1104 right_yaw=0.0014 right_pitch=-0.4216 right_roll=-0.2612 right_gripper=0.0727\nstate[joint_eff]: [-5.2171, -12.588, 6.8991, 0.8327, -0.5397, -0.2076, 1.0281, 0.4718, -8.6222, 8.6769, 1.0965, 0.2662, -0.0269, 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 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]: [-0.7151, 1.6691, 1.9945, -1.0309, -0.6559, -0.767, 0.0605, 0.741, 1.8057, 1.3624, -0.7528, 0.4885, 0.4595, 0.0736]\nstate[eef_state]: left_x=0.3893 left_y=-0.1906 left_z=0.3738 left_yaw=0.218 left_pitch=0.0133 left_roll=-0.237 left_gripper=0.0605 right_x=0.3569 right_y=0.219 right_z=0.1076 right_yaw=0.0041 right_pitch=-0.4285 right_roll=-0.2588 right_gripper=0.0736\nstate[joint_eff]: [0.6222, 0.3487, 4.3556, 2.1026, -0.2125, 0.1245, 1.0281, -0.0889, -9.3744, 6.7214, 0.8816, 0.3492, -0.0659, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ed5b5b8fc9db9c74356fedabd43f42d952fa42f5c0c47755b342da06708149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b636a691d4ece7caf9ca0c4020f67415972c30eaf4a5016d8c89dcef09b2bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f389706da1e5a315ebe1b5a0993300486f84651c164e7ae383840265997cf977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCA1d3Hzg_xTtGjbwtq78IwWiq0XBS4ZYNgRTAbfdD2_3kLv8gFIrlCtRFhPtMEvOn-yx1Ma_-h3IYGDRGftgrSbEJOut4xZtVksLRCPXvkNmCdNjBwhJVQy_F99croTXFwcr3Lz8OzZQsC6teIGqfLRoVT_hM_c37yAjdOJ75l7POJ3f1S5aFqBV45sEuKgUrHMYduVWNrUlpyCkOKr0-6ZedQX8ZrybApIFGnkNO9sOxkndN2Z4Jjt6M3ACYhEobL_7hUZIFRc4TGqRK28R40d2HO9CYwnRiMJ48gtLCPGun_V7s36jyJl-oOH3A0YOgPMlF7_AtnTMmjxdJpyo_elt5tYHA1tfOV_s6WeB3pz_e3oE-UqiKo7yY99ldNGl3MAXOPVp4smAIvETn1FOT6HymsDVByYBeOUIQ7ML3uxUPeF0ZcEILwbXndUcpyAYL6a0XTlwrnLtOFHlgQ2mgKhAkdl6NZGQGL-20rdXT5yEKeHYpK7cI31x99WtvzZPqWSQDRpmDlMQMKpaG0yEUQ_AOZHh8yHZiRq4GNbg8XulqGhFyGclERy5J3zWQ11HuSVFLc2TvNzZBPCcMM5i2wJEBvVk0m1lgBV48sNKvzgAdZJ7mpttRQHZGMc6PWD_PyfNXgz0xAi49ul6nh580_I7MBRC3GZeiHOXUJg6SOwqoSIRdx1hfO1RW7rKvpIi4pPcg1g_C5CuVKqsiz-OjhnVKzbi01RBuMKDpBYVMXGd6udQPPIzxweSyKd1ZIXwAEXao5ik-1VFTmXmqxtu5GAgXM1MoK1T6tush0xwQonr1dJg7TPEDG7dHJdwghO2-T7yihdn_8WTxsNO_k9UdsjytVQnxxjnS7wjpq9WTEWjWEiiQFzBGjYwUG5Kba68GJ1MKVaaCUNjq6YOPEgKjftPJCOgnQf-UlczEFNCEZ7vPZNGDmmltig6lYQfzrzil870CZFlzOVVeoj4DMsACl1H-gmEtR0eSzmyavPGPPRFqmkZKSFcS767f1RFFkgUwKx53ymE8EOxrJMGCg7aRZa7TTVIbqUatwYqr4dZBa8UXQBculbzY3oSW-ZS6fcuX0_VglMYVR1JhSfMV5jxmDApFE2xj4myuJRb39_5TOAUkinNSx9viy7C9BUsE6kSlYPxAq8nwNWI5x0KUy74lntapitBoOtBDaD-i9Jz4XNTzUEL2SKhY9-uiMPOOiY032w3ylFueftmaMwIcJxRUxCfScxYCFuyRnJpGribsKbuX0IWFBQPMvr759MYz2ZjW0Kk_buUCGnuI_DKQfIBl9Ti14VoHAo9jFHNAUhDHuB8jxmQc--eUIc7R6gASpoPi_PNXKLTT19mJsBOJ3N2vJX1JkNehsTrOmYKH9IVPJ-pJMWZeV__F87ySfUdE97iHJ7siunKS4yzxPa8Mfuh8KrQPhvmgMcls7KITJ_Gc20-Zz1_8jXGgkyh5znG22ildJkmL1AGDOBqU0x4sQ_-bDRyDVNJxrfCqC-UJ5bPW1z45_YDhF3YBbvAhfOd12b0jCxq8hurejfx4nC2kLdHFo9iBS_MxiF2LJD-ObQmD-llSwwCjvqCFWyLnus4r-kYLdM",
  "id": "rs_0358d89aeca12933016ab42033b3b487d084e0f8a3ad9b68c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.18},\"note\":\"The cap arm is clear of the pen again, though it rose higher than commanded while escaping the crossed pose. I’ll move the pen arm toward the center at a safe height, then reassess the spacing.\"}",
  "call_id": "call_YP8BEo4B1kpDXuP6VryfrkDR",
  "id": "fc_0358d89aeca12933016ab420346fe887d0b39d37fede93b0df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YP8BEo4B1kpDXuP6VryfrkDR",
  "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]: [-0.709, 1.6531, 1.9545, -0.9596, -0.6693, -0.7998, 0.0654, 0.9123, 1.9961, 1.8999, -1.195, 0.5034, 0.5907, 0.0742]\nstate[eef_state]: left_x=0.3948 left_y=-0.1895 left_z=0.3777 left_yaw=0.2525 left_pitch=0.0432 left_roll=-0.2986 left_gripper=0.0654 right_x=0.3341 right_y=0.2985 right_z=0.1728 right_yaw=0.0579 right_pitch=-0.4676 right_roll=-0.2666 right_gripper=0.0742\nstate[joint_eff]: [0.5402, -6.0513, 6.7077, 1.1502, -0.1587, 0.2515, 1.033, -0.4171, -9.7573, 8.3077, 0.989, 0.6569, 0.3834, 0.9206]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80c83aaa03b87fdb299d7b1f30443bea190f644f824db6ca0694c487ee45180",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43014d722dc12d2ba5d5e3d42886bbdeff1ba8bce4e34bd1c9bde221c6187a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28719b5c8127485ee98b7421bd22471317f575cbe65a54d2fc0934661e37c4fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 6.143 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 2.5122, 2.8468, -1.5196, -0.6567, -0.733, 0.0605, 0.7506, 1.8084, 1.3937, -0.7361, 0.5037, 0.4618, 0.0688]\nstate[eef_state]: left_x=0.464 left_y=-0.2678 left_z=0.2101 left_yaw=0.2326 left_pitch=-0.2687 left_roll=0.1814 left_gripper=0.0605 right_x=0.3644 right_y=0.2282 right_z=0.1197 right_yaw=0.0151 right_pitch=-0.3851 right_roll=-0.2355 right_gripper=0.0688\nstate[joint_eff]: [-6.1607, -14.5299, 4.8752, 1.7802, -0.5055, -0.0024, 1.0379, 5.2308, -9.6205, 14.0786, 1.9853, 0.5397, 0.2076, 1.033]",
      "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]: [-0.7151, 1.6691, 1.9945, -1.0309, -0.6559, -0.767, 0.0605, 0.741, 1.8057, 1.3624, -0.7528, 0.4885, 0.4595, 0.0736]\nstate[eef_state]: left_x=0.3893 left_y=-0.1906 left_z=0.3738 left_yaw=0.218 left_pitch=0.0133 left_roll=-0.237 left_gripper=0.0605 right_x=0.3569 right_y=0.219 right_z=0.1076 right_yaw=0.0041 right_pitch=-0.4285 right_roll=-0.2588 right_gripper=0.0736\nstate[joint_eff]: [0.6222, 0.3487, 4.3556, 2.1026, -0.2125, 0.1245, 1.0281, -0.0889, -9.3744, 6.7214, 0.8816, 0.3492, -0.0659, 1.0281]\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 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]: [-0.709, 1.6531, 1.9545, -0.9596, -0.6693, -0.7998, 0.0654, 0.9123, 1.9961, 1.8999, -1.195, 0.5034, 0.5907, 0.0742]\nstate[eef_state]: left_x=0.3948 left_y=-0.1895 left_z=0.3777 left_yaw=0.2525 left_pitch=0.0432 left_roll=-0.2986 left_gripper=0.0654 right_x=0.3341 right_y=0.2985 right_z=0.1728 right_yaw=0.0579 right_pitch=-0.4676 right_roll=-0.2666 right_gripper=0.0742\nstate[joint_eff]: [0.5402, -6.0513, 6.7077, 1.1502, -0.1587, 0.2515, 1.033, -0.4171, -9.7573, 8.3077, 0.989, 0.6569, 0.3834, 0.9206]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80c83aaa03b87fdb299d7b1f30443bea190f644f824db6ca0694c487ee45180",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43014d722dc12d2ba5d5e3d42886bbdeff1ba8bce4e34bd1c9bde221c6187a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28719b5c8127485ee98b7421bd22471317f575cbe65a54d2fc0934661e37c4fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCA63asfe2kpD_5jimbcxcqXmszysuCsprImGyGeTqFBxQTeHe0cKgFHdeQDkB0t4SQKJtGR6RXl7kSnErvjNdIODCNkbO6jU33iT_dhVnJizaJxkVJAApjtD--BFlOmcrDseZ2CtcFaFNmpFp4L0ac8YP0csh-Voap7l_NaRLwQ_9D2xCj7TJlLGvm3obLdWiIdCHw2adlneQcEjXixfSbLZ7mn3Ivqj3FGxshQxXOebkP8J9hGjzLc9wi6bB8ZJZZLugfTNYv1p3ZCGyXxLrR1elm4cm1GrDuux8u8Q6DxKRga9ViLF07gPpB7faNPZEvT0LMD35AlbD9mEG5O6JVIlxBgNqaqkBr2xyvj5SRuUnOIRp5tvUbC1DblBxMsRvL1LA8whAinBjNnKO4z9X-MuepVc7nMUCmpIVNW64fSPpWKouVx6wlZxM9FYTveIQdjxYPEu2Vb8TdBkHQYrDeHSsuLO-_M6vTLKnUZGqgaeJtnfs2rklsQ_7gZMRobwIvkIwdXwynj_kVk-nww4h2jlGm6eA88NONH1MKWtfRNlqY1ljWOvcAMWt-TDCKJe4Wqd4QvFs_XUncgeNhhwinN60Jw9zk__wjNTQ5yLzonwhh7fSqad6IdI5mYJ5lpzm9k6cgawaySinohgqZsgLuWqpBMQY_IPge3RQ2QbpMTP4bYXsjz_EKg2oTJRvkACUliKQx2RhdvFhYjfrkehypz7UoHaaxUkAZCGSTc3mPT_46q9YHcVtg0y_-Ljry4HJyE4y1XK9MwzYjeYfoSFDWASmo2mtXUh2NubWSAvY8eDUmUxZ3zYnj7xnnZZgT6COXR5QMuolA7sR3XGDxfPHPZLkbpQqRT8pvV0nLcpMWxJRZOT__eGmuhhy9SR0NzKt6kiUZkEjMdoPtvWrrJPCmNxlrTfBNzCmx2ivcas0tD3P1XDQ0_WOMAANSxSU48B2ZYxTakOq15Tw8CuFEr2xcw3tiSnuc2_pb_NSKBLrcSjNKX91K335N7zYtLLa9rH4baeordFc681ZOPp4JybnfUj_EUeDZlNOdU0H9xHPTdqIEOVDhfhjmU-OmPAfQwUhTmhZrjtbcnObtvngKnPQpgw0o-THRGWmAckM1mAbuGAFgL_QjVa1JNFHfpL9gyh98cklhilS3_3bYHcFvAM6ncv1XVYyDSWSpzOcM3EXwgGjnmn_IsV8Rj5mJYRvrLYFqI3A-vsNAFSy56r6f8vGwSakBfu7Y2nK-EWV7J1FFjbN2aZFz6qojZ1MY10bEAjmbkNK0piTXKRk1P0C_EsltR6fQ-ac4aATBhlYmrnT17q8D5vpC5JDR0gkpNGMz-1WdAiCljnf2LthQU2wtVy0c9sCBD3Q9wf4wFUG158XeqpvLt_EZKfreKEvHMkGTpFHZJMAokaUoVjcz4eBhhoZWe6F80aXsNK2knZRt4FmCkcf-P46b7-r-vwY4xEO4B2vxrFydImEYrKwOB65RygnX_Btd5oHXjEipkG4ApIh6-_KE_m-7_-1vKx9u5-jx931o_rErtgW4EYgaCvM6kpRzxCSzKvmHNv42zBrgzkb5xxUQwvCE_BS0pkqnRsLFa5ppZ9an4jW31JT2inrwnq4_Q54SOEm6UuD5RHzOQD0CG88JuGkBtWQCdTTr4xbXm8EHuLIA9AMKkcYaIhBbb9JG1qU4cnbtlH4Uv9cQkM_4bPSyoCmNID66kLlPKvidQM6CSZ61yFedJsLKb2Q9vf7UGawd7rOmpa2wEnSXrDaDURoIxQqiK1HfoYK9X2M2u0sVN2a6oolSBcKG1wlxL67qAvPARCYfeQkAkIPmh9hqa7quY6ZuZsymCbhVbvXVJxXaWRKX1mEy2eOCYVf-lVC6Pgq4uq0OtOnC6vhLn1zmqciSlYOQQKGECitb2Mb4G5QsINFSPt4B39RsyYmOOMWMt3K2x9ksbHJPBeWBl6AokLdzNKE-zmPKjQCt-uetUKezM0QRXPKWBhH2eU-NQDUglFzw4AbbD7agUQBvBTABfyf7NuEQH9Ys4sVCtJlvaXq2iswQ37ovTm8WsXXh7-MSkCzbBm4SDNbcLrzzyl3ikbkbBaKFYzVepMeD0dOjxx0YBdTJf7BNNQDaUjcEBcQKFR6CIluUuVDH6WqFdJkUpVY_0w9CK7jQCN7bmHC9Tc4yp5OPFXqFoJOO4ylm_B_Du4RkidBNRio80Vwd_RUx22R92CZJDTUGmdcuR2i5xZtTcPuCz3uWCxh_Xua6RUTgmI6_uBmLlmj8jvesqYPPUOiEDf26TqUX86EfW2pYhDz4PknAybnuAgl-h5jIswEAPBWZg86-m3_7FoF2ajESC8MVmXdwSw3qdah6TIynmopJwPKsJCBsPa_LWecGTrGmQ05-WtcWeqsWb5Jwu3pzn8EjFmXyIVpu91hqnwpya3rBo3fXoFVGW6vHtMYjqAMQEruWDTzk2kKalxfXN6u-y0Tfb0UrFSIi5lqj1hfLVVz-DKIC9d1507e8M8IjAuotE2QSsVR8k9vbrMD3JpKt1cJZ1YNGajyL_-wADmYr92EtY",
  "id": "rs_0358d89aeca12933016ab42036f0e087d0baa85bad64f9866b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.27,\"left_z\":0.27},\"note\":\"The pen arm reached its new position and remains elevated. I’ll bring the cap arm down from its unexpectedly high pose while keeping it to the side, so the two held objects can be aligned without crossing the arm bodies.\"}",
  "call_id": "call_CDel3AHdq2mVPSd7Xktw7bXh",
  "id": "fc_0358d89aeca12933016ab42039a9b887d0a27cef24b6c0911f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CDel3AHdq2mVPSd7Xktw7bXh",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8387, 1.5864, 1.6428, -0.6544, -0.9291, -0.9699, 0.067, 0.9192, 2.0232, 1.8404, -1.2678, 0.4931, 0.5907, 0.0753]\nstate[eef_state]: left_x=0.3825 left_y=-0.2085 left_z=0.3509 left_yaw=0.4186 left_pitch=0.1743 left_roll=-0.437 left_gripper=0.067 right_x=0.3148 right_y=0.2807 right_z=0.14 right_yaw=-0.0007 right_pitch=-0.5764 right_roll=-0.4018 right_gripper=0.0753\nstate[joint_eff]: [-10.1402, 0.1299, 0.6222, 0.6178, 0.6911, -0.3394, 1.0281, -0.9368, -12.7248, 10.7556, 1.1209, 0.3346, -0.0464, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c9782f401991fb0800f0c73ee61376a37b915f42027cc34bf6effec45b8e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11ee27efcb5da044cd71eb05cfc6acd8435689007d461887f78a175ddda61eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb4663698965073de6553866ee6ea15a519988e756cf9ffe48464fda62d18d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 9.127 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]: [-0.741, 2.5462, 2.8883, -1.5711, -0.6735, -0.7879, 0.0605, 0.7422, 1.8023, 1.3663, -0.7567, 0.4953, 0.4599, 0.0727]\nstate[eef_state]: left_x=0.4597 left_y=-0.2664 left_z=0.2028 left_yaw=0.2734 left_pitch=-0.2739 left_roll=0.1903 left_gripper=0.0605 right_x=0.3574 right_y=0.2187 right_z=0.1104 right_yaw=0.0014 right_pitch=-0.4216 right_roll=-0.2612 right_gripper=0.0727\nstate[joint_eff]: [-5.2171, -12.588, 6.8991, 0.8327, -0.5397, -0.2076, 1.0281, 0.4718, -8.6222, 8.6769, 1.0965, 0.2662, -0.0269, 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 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]: [-0.709, 1.6531, 1.9545, -0.9596, -0.6693, -0.7998, 0.0654, 0.9123, 1.9961, 1.8999, -1.195, 0.5034, 0.5907, 0.0742]\nstate[eef_state]: left_x=0.3948 left_y=-0.1895 left_z=0.3777 left_yaw=0.2525 left_pitch=0.0432 left_roll=-0.2986 left_gripper=0.0654 right_x=0.3341 right_y=0.2985 right_z=0.1728 right_yaw=0.0579 right_pitch=-0.4676 right_roll=-0.2666 right_gripper=0.0742\nstate[joint_eff]: [0.5402, -6.0513, 6.7077, 1.1502, -0.1587, 0.2515, 1.033, -0.4171, -9.7573, 8.3077, 0.989, 0.6569, 0.3834, 0.9206]\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 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]: [-0.8387, 1.5864, 1.6428, -0.6544, -0.9291, -0.9699, 0.067, 0.9192, 2.0232, 1.8404, -1.2678, 0.4931, 0.5907, 0.0753]\nstate[eef_state]: left_x=0.3825 left_y=-0.2085 left_z=0.3509 left_yaw=0.4186 left_pitch=0.1743 left_roll=-0.437 left_gripper=0.067 right_x=0.3148 right_y=0.2807 right_z=0.14 right_yaw=-0.0007 right_pitch=-0.5764 right_roll=-0.4018 right_gripper=0.0753\nstate[joint_eff]: [-10.1402, 0.1299, 0.6222, 0.6178, 0.6911, -0.3394, 1.0281, -0.9368, -12.7248, 10.7556, 1.1209, 0.3346, -0.0464, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c9782f401991fb0800f0c73ee61376a37b915f42027cc34bf6effec45b8e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11ee27efcb5da044cd71eb05cfc6acd8435689007d461887f78a175ddda61eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb4663698965073de6553866ee6ea15a519988e756cf9ffe48464fda62d18d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBB-yHGaBaUfO0SJDoNGi8ycR83DyPKxrDBV70EdxAoXgYB_20hBNsF3cWlQh-hmWFzKxglxvZAVmxXMs3pi3Q8aFUoAw6rHIaY6mFy9t7ndeIeEY1vF2O2rNQSi-jXSxyFtt2lR6O1Z3XtF3RKfj51ow87z2vciSgbHna54AszinyGpra6vLGbyqY2YxFB85H3UrO8ijYMOvrMiygNSiuEbVJt5rH4kfigsNdnoSZkY7E2XGRSKJl1x5i3ef6xd9OY3t-AIwDF45IC2v5SkgESY0zqJroTFc-E3Eqi9unj8ZIQon9mW586RtWSgs1iRKAWEaAo-KBOz8GWXQFAEck-QY9-ZqLEm-um0YYJ53Hbe8XTLLjpCuO0Y_xoPpqhcObNrreSOXmWx_8t1Hno3S4NSkNDPrBcZ0wrppDcNxIp1MK4wRiLE8jnJ9JchdMvsgdsKd5BG3aSYdxTFNWTFNOL3YC2ufpR6d3L66DH63oIC1NyWYe8aTBlj80k7qmdLMGxdiF-dJ5Hn5KnZ_ZImQeHS03Wb7NxwcoMWnSWa4Ocy2IMfdmex1OEUIDpsfzL4fXtbxQtkSSSz9mdoLaqWvDsoXTZBrHdfcQLMH_o3yBExb90jx8Hrc9bY0eqz2OrozNB_9EAEErBP63xVQD8TL6R9Cd75a3-FII1DoBET8uC79-Nbl-fd5xy2doJxl0E6JMNlwpvWE0u6kQeeb3Z1yvt084IxgZ5_t-Ah-RLvVBr_UTIL8D_af1P0fuQT9EHCsdWf9yvTI8KAHLZMec_bMGLv1utxOCmQs9mZyRWClXbyyMj10VkzxMWkPa8LZHxxSqSpV1_j6UVG6ZZdUQSzBre1sZ4_J5fCdO3Mk1TkjSNhTI-EOdNO5fYa_l4H0Y9nIyb-Vk8oHgf_o60f8CRK3wPQKJaqgWgj2ckcy6fWX5Cgc9ciTg7narAp2zx9HTBZfbwTFbSidm0suXnnEwKfaAwlsOOwEtKG1prKRgf1kgSZAK4PJAx9oT-86l70CP2a_pzWqgm-dglhXa6Ot_w9OQ6ysR_o9FbHp8npfdwwy73KzkdQAHdcNcLkUFTNiOv9CBrb0ub0tByc5SI7t1vwQDewKvzvfdi4KfPJnaFaUZtjyxxkr9DvFAPNqONouUoflQq5VHqFeuh26sMH9egvfytCB5sPGBHmgtcEzm8cbraJ3rdVkmPAVgBQIwFUaVbTpVCWVWueuKWpX9TaaijiJetZc-f-OcHxzlFtDu7ACYl1zqiA4dO4CqFlHEvarg7M0aZNAgm9qhBTPMK4ZGd3g_Sq3yqYmaVa8qXf683Y4J5o59s4a4hSAY4j5yCEAwIO_B7q4IdS-6d8vqoprbERL4zDBsDBYGGOGRoUl5TpOjsvpcHJK7TDFm7nDU46GQV3yutD3Xlas4bYvWBLkFLXsErx0pbMej_yZ60S5SQ8Rzj73XrkbBVJ3EC_xPXdOmV4WYcOGApdJizja6IKsdrkq6_s5IiKNz9W9dKJd0kPqBPJtvWheihYCAJWIRKNx8JT3Ym1ZVZs01EUcQz3YEKDMw3UO02SGKX-lJRGuVZF17MFoWTOaHqMEgUekuF9nCn6PDvrzcsmKP_WCobpn95Y44LQ9zux0GvAloDcbrM9i3_syHIcyYBC1E2qrPIVClwCVNStCRgrRje2VI7_bn-8eoPfnK1-VBaAK0Wo_pR8WMoZJv1AL61HH3eu9z3BjlUpdee22N5YnSaxMckMcusgA4VSI47HXTQYwMXsKpowPvwlaMXis43FoXR3bMo4mJOwSXYKw449uHjVKSa8sEi3GQ_6mwBkLxyzNykC0KvEIeCh3Z2gH2czMOJbnozV7CtEPkHf4drYC-KTOyJqp40rriMZF5BKTeewJS2ezWNiYyscn6me3PiyqTCCosiH24gvuPNRaWkmsBz3d1JiWZy5nCdynS4Ejy7ZDOcBEyiCsO2Wi0z3tDVxmr4atw3gkC7inn-ALtFkJnTsp52PnMEl1O4ok306dYBy8Msnnp8ZFj0aylog5hpCI28XtUvLElAE0a_8uCo_AZSH-wlOs8agLM67YEQ0682sFtyp9gnEPs5TAoBhhP197VRT4ToNcqnIsLi5_18Iwx9SLUbZmb0hafy3QiPIkhz5kY8fNXChwzedvtCCNExFJDXGyDXK3AUu00jNMJsKe2kxQrW-sAe8BVvX1wDeF0HMjVi0xH4MRusRnQwjflyJV39d_xl5QetV816q7nVGm4KIkCNniwM0V9POzTvWNV3d_Mie9CZrAXF1DOTNIX4kuEdpM_dnRK4BjUTP1IAkws_DEzOKlQoSAMF_wjzwEP2fp259eHqZa3L0as5IWQTa7aaXFgX_oPO2UBcocsX5m6y6vHQxwZDKD1JqBYp_9T3gOT5HXI3CJZApSr1yHeIRSlyi7jphwt0NoDp7APAcJKl_TyaKto5p0JCeRvFxMpqIU_LIasJ7syOKknz_2BMVEcxyOVrWCGTepy_zY-zMrpNZQfhBJPovm09Lz4NTY--2pAYzBm39JxH_ISOjDkxv0Etm_tEUWGX55GnYFnORRBVdSZUhu3CTtKhd4DGbvOJOgFVDBdfHsXSfMfznV08QQZNZXSvgBP3SCVp-5CXwX4vQs7Kyu7e3lCfE9zRtcaP5MbKPsWYdXaGbvMVvZYCjsOguWP1l9lLL62DxHj6EGxXGiSHUbOd5DOfLGynR8CI0iGHyuTlpaNmkIhvD-fdjzWYEO4iaciFRO-olfN8qCho_-QmRTF7LujKJ6yLUSLxXBR1TVwt7sKzseQonImFl7Y1ow_nRdPz6PlQiOgFUArp9H7cRreae1dDlWl2yJhkwCP6Vxph0p8oEAHE4rTSmqc1cZe8iMgf2CCiJl34tEYw20T8i-TCFufQ_eW9f8ZVzhZPDzor9uzAXHUydDNhhs-1B5GD7mStXUqI3zBomxmkSLc1EvdilD1wyaTO8kNt6X1nIy9b8NTY63aI1R1rozQCa6fwuWnU3oY77MfltVeZozaZfWRVuIAN1Dzwgvpw2vEjKlSlrPYKq6goxMZdAjqLaTWEFZH6Y4fPuKoOrse3OrKvCCi8CYA3s_BcUF9DNFaepHDcp3ELm5_YimtzktZB5_7UYyPA13R6OjG7N5K_rhzIdlE1IZtvcYWbu8KfLLiL6QGa6PXqlGbUqqRBdr4a-jdUYe1mtT-ECyMnEo9_lo9dOM9fSz-0omsgQpUp-W9V3n7nT2ckQdkvD6fEgmmF4ZFpd1mnLH4tUNj4dynRV3Zvak5bkPzNXSuzo7dNkcE9AqchhkmZIcQpGrWu8Chlc_QJ1JE-4iOg4UoKfO0WpHlpdoJ1CSmxEV9dUjXT74TE2Oc-XMR5E27C5FngyxMcaMOyyFO5P062jghqOrT7kqeJEW6-nRauF4meMYM-bTQWLdOiXNpDUlHJUkQm_vXXTQJXNsJMSy-uLWmdyOLdrCcOyxA85lG1oQKT6xG7Csv32BafdGaSg4fQDWcNWYYuL5VYKnuO7iNyIom5nEGiGT4gxzcmaTu2L3nYeNHYoytvdBiJsUxr6TkkxsPgVRf3-gogZLVAwgKdHhmQacmpTmpdnleUb6umIEU4bn-zwcRumNNXgBT-CdsqVU5y5inAL38tO-YAlcLYVJI5f0WoJEP83kqtMcPSvA==",
  "id": "rs_0358d89aeca12933016ab4203c3e4087d0b11fb62ecb1d6217",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.305,\"right_z\":0.19},\"note\":\"When the cap arm moves toward the middle, the pen arm is displaced, suggesting arm-body interference. I’ll retract the pen gripper nearer its own base while keeping the pen lifted, creating room for the cap arm to come alongside.\"}",
  "call_id": "call_3ETUM2VA01YxmUvmf8LBDYY3",
  "id": "fc_0358d89aeca12933016ab42040506c87d08ad057e9f28917e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3ETUM2VA01YxmUvmf8LBDYY3",
  "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]: [-0.8196, 1.5475, 1.6592, -0.5903, -0.9974, -1.0271, 0.0691, 0.9871, 2.0869, 2.0075, -1.4662, 0.4923, 0.6823, 0.0789]\nstate[eef_state]: left_x=0.3828 left_y=-0.1872 left_z=0.3867 left_yaw=0.5454 left_pitch=0.2238 left_roll=-0.5991 left_gripper=0.0691 right_x=0.2898 right_y=0.2937 right_z=0.1565 right_yaw=-0.0395 right_pitch=-0.6109 right_roll=-0.4488 right_gripper=0.0789\nstate[joint_eff]: [-3.7949, -0.1709, 3.6991, 1.0672, 0.2515, 0.1099, 0.9158, 4.1641, -12.588, 11.3846, 0.0952, 0.3883, 0.2173, 0.7497]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a252c8c91b80d7b2739f8a3ba12d5b55f40083d3e3429a2b9eaac4d0c901ea48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc26b35348c5e040f5ba599e22caada5e7665db5a517f6dcf747990fbb47573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf90c19f8ecd89beee800190038577e1726e1d27ca61596d53255e2d5d51d5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.682 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7151, 1.6691, 1.9945, -1.0309, -0.6559, -0.767, 0.0605, 0.741, 1.8057, 1.3624, -0.7528, 0.4885, 0.4595, 0.0736]\nstate[eef_state]: left_x=0.3893 left_y=-0.1906 left_z=0.3738 left_yaw=0.218 left_pitch=0.0133 left_roll=-0.237 left_gripper=0.0605 right_x=0.3569 right_y=0.219 right_z=0.1076 right_yaw=0.0041 right_pitch=-0.4285 right_roll=-0.2588 right_gripper=0.0736\nstate[joint_eff]: [0.6222, 0.3487, 4.3556, 2.1026, -0.2125, 0.1245, 1.0281, -0.0889, -9.3744, 6.7214, 0.8816, 0.3492, -0.0659, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8387, 1.5864, 1.6428, -0.6544, -0.9291, -0.9699, 0.067, 0.9192, 2.0232, 1.8404, -1.2678, 0.4931, 0.5907, 0.0753]\nstate[eef_state]: left_x=0.3825 left_y=-0.2085 left_z=0.3509 left_yaw=0.4186 left_pitch=0.1743 left_roll=-0.437 left_gripper=0.067 right_x=0.3148 right_y=0.2807 right_z=0.14 right_yaw=-0.0007 right_pitch=-0.5764 right_roll=-0.4018 right_gripper=0.0753\nstate[joint_eff]: [-10.1402, 0.1299, 0.6222, 0.6178, 0.6911, -0.3394, 1.0281, -0.9368, -12.7248, 10.7556, 1.1209, 0.3346, -0.0464, 0.9744]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8196, 1.5475, 1.6592, -0.5903, -0.9974, -1.0271, 0.0691, 0.9871, 2.0869, 2.0075, -1.4662, 0.4923, 0.6823, 0.0789]\nstate[eef_state]: left_x=0.3828 left_y=-0.1872 left_z=0.3867 left_yaw=0.5454 left_pitch=0.2238 left_roll=-0.5991 left_gripper=0.0691 right_x=0.2898 right_y=0.2937 right_z=0.1565 right_yaw=-0.0395 right_pitch=-0.6109 right_roll=-0.4488 right_gripper=0.0789\nstate[joint_eff]: [-3.7949, -0.1709, 3.6991, 1.0672, 0.2515, 0.1099, 0.9158, 4.1641, -12.588, 11.3846, 0.0952, 0.3883, 0.2173, 0.7497]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a252c8c91b80d7b2739f8a3ba12d5b55f40083d3e3429a2b9eaac4d0c901ea48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc26b35348c5e040f5ba599e22caada5e7665db5a517f6dcf747990fbb47573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf90c19f8ecd89beee800190038577e1726e1d27ca61596d53255e2d5d51d5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCBKBTfw5zXNINXQg-v0mM18lsa9d3dwhCBzMrzKDHMRIYgrhf46d5sF7q8k0_8Ze7r4-BEpb8jyvfRGuzMbv-Zggcy21KJ7i_Xl2XTAzxCmOR77XLCjIamtWUZmYeqVvfFO8W0j7RcNHWrocnNWmWYW7mH0wOVgLFi0Ooyvv97f7V-lDFeiPf9E2QGamnWGxtXEAdcDI7Lxf_Endmf5mNm9hPg1axnfwfwRjNJZDFL5vv_f7DEUUKGrxyhDIaf6ZDrLrMvdaTvmIHU22z2YbD-BYt8uqiBc5HFr_tgyWTHYIFDQOnd6dcxcKqzpxPUwZMxVJAfaQ8dcwqh1eVThDhQ0zLUFJ5xC5OMraBlFyXS06gGVu4iI7I9wJMZ7d5vqepu5rVi8iI0chYICbBgRYo_anKaCXcN56wbJZ6iNAVKnP6L0He_bDRL2WdYQqsyhKcxNZcEd7vYD_xqZGC2XF_MLNMkbTL11iqNXYiKRM3iPn8pOPJU8BOd1jd9S-Xfr0-Y4wFiAujSoAsliFM6K4fO4Mg_vcQj5ql4N8wGUGkGzrdmdAmko57XMUuoLSSiKywfDMzUCp0h0o60Pz-B6kydnsVfZWZno4Rr2KeEAKeaGm47dQFcBFgvGopTSzAY35LuXPTZF3Uqzyz4j9hBRnPkx04guegGyCd-QO7uKaDfTQuoVixESR2q2ZVuDOvZ4sqbN_gRfOEtEqSRpe_LSGNQk7Krx2xKv9DIFVdjk29eFCuqCAqRzH9F04pYQQ_hYSPYThhQi2omGwkfhL4di7olAlEL1paMJwEdtVAzDuVmYWsoj18m6AGXIrM1EIEdjS2N_b_-hwEJfRbhjJp9-62fTsnGX_pdIGANvGLAdGDCbZ-UnWE7o5uJ39ldZJGANC9HRPab-B1S7oVAPd8TxYrM7JIQGjFn_Wbc8JrwrHrJBD4CP-2qFqyVhh_-0IFi7Ewmq1Ffq38bTqRKxHk9JHcKLiVQ2lX2OzIBTkUrh-rwUuUnlosh8Oy182OtqArTJL8R0daDR79vkQF2LD-82Hf38nPdZo_Opf_CKMbO9r8b_6FUCdoIH8sAxNrKpIJTl1mNTMO0BJ5LOwK5vnFxo8iEyWAHbQfrmrxznTcfJyM71JtreUCsOehJV3uPgT7Fh0Q0IGFdxyWApRDNcLiqVzU3lK14t3YxQ_aHJZclxvsClP3sbNRCU2Os6MUfUsn9qjLYPkPB16amfkOWkErIjW-51ROGuFqNa3zLyBUxHks20Qo4BOHKBEGlEjnGkcGJwp33qKtc_mCe7an1QgROF67pdH76dR084nSEVDwGrgF5bPRjqIjczUZGw8f4PNpKyK_EZECkmutvF9GfGQbV8V0b7t03wso3Y7TreyNor9Fpbugl-5fHbMpg130MTKIv7m6A92DZxj4Ij0mfwje5LrR4Ftw0qhBsk8Rxk5zUedVqtxP9M4OdHjsH5zJfjsMZ1gCCnwbbtJlcO_b4HiiV-whOtzp1LtC2PTO8vqOMakggQh4I_ZPl3Ti3nNbdUA78kHMsZVV9yWAhIJpdneJ0_VL_tFlMjZj79Y2sPLOCvg4yO9hmTxBjr7FLrWtTxu0gF_nWmDX_GQfFbnLMNwLtFCNFesLxOSdKNZhDRD111D7J5k46geeurn1Zg_K556wI0nkZetHVDol1MO99_a7XFY1nb0DHnbvLJvD5AGjVDewFNk4KeQwmqZt_iZaSoWv_kO5rvefw41wj_YZHHChc1Uvl4dqsNZ6eI-TMrP4MPYkvdIYDWlvywN1WNgiEz3b8fsWc6Gw0hqrZoQy-uU6-YlICSDZu4sJyMJSTugaL3a2CQENDk_xsJ_ZRHvhjf3MCFwokrAU3COui3I1iMsYWAg9Ua7V6D-TANlqMyZ6s-GmT5HuK1r90G-172zuoKez9WoczfbviHrU0u2SK5mFon5JVyajHSS00Fy0NxTfLavVr8R3R8CikE18oUn6hCdI0w76F0xZ1N1oGgFlsuZ1KvMF72TMCyR7Cb7tAOgueLr7aSpuC_SWzwD_wIJF19cU9w3WWJi84bjAN6CgWmHwR3obega2qIiA1AZ7t3-CheoCJ-QlzNUbDlxAyttxRfu6uBZn7WhNKY4-QJoDCPqZEG1Dks6Q-jUFtlP_-3LLeyobPXsnNfABxx29zGWcra3-W8AImYIQACRi5C4lEnSFm3MvwElI7nz2vlols5hAWMazwDIFwVDgZPNnf7Z62LlzYyUSL5cMW57eIipsn7AqtR6K3yESG8qIbKyulsPif9Gm9ckejvCPxM4q20KXT_m6W-SZHb-NS-f1BwA0yPN3WpjfOPwz3qodBwcnScdFwwHBOcSgr43YFtK1z4WQ-OQ-pTI44YgFx6_OICMSGUq0PvYUWgXUVFYIklnRUmQDRBJKzQ9tld8dZMNov1xaOYww5NDXzSfWtndlBpmo92YwcKjwzkvEpz454nY3f3sUw6fwDfmriyoo5oPDp2SBmeM_nV2wbWWIzqYAY7uINkxhiNXkmTnvLPpR_bVDLbclQ1OoU1OYkisascsPjgpjKw_rCcstvtUV-n1cYHQwLtzaBumMACzwjfkI4KED3XUStCjys7BDdqWRDHx1irihbWmCjJDVaEA7HXQg020zJ4sQ-pwnsZT68j7_Dq7l_wO0Q0eVL7dce3enreZlaU3ZtHlKqsA7BLBNzgROpgYUOLQRmus6lUoYc6ZVaiyTQWKonXgLrvY1HvU0XS015jQ-Cmajc8e1gfwMFlC5VMRzmcY6fq2Ukw3RnV6i9UQ1XHIBbVVyCB9sWqY8kGkocwgobqu1mnE7Kj7SQBilWKRoZxLXgzZbENZ8U_l2PhictBvfc2gtTTs8_PL3BmRE-vTWyaOkrl-C2kq2tFCiXQk-I6apstcn9QxflrtxgwqRdCQFtDkvfaJbHdq_t20fMtVgLSmtSWdaKaIUzVDkjgklgokaq7xUBaI5FCPKwLtPUf3jHd645Ivs9CubGWbGeFFCM5xfAB4VMMP9oV-81GVxAvQrqudbwPiAcfymOAnrH9pC684XBP9n8w7QR6Wqi2ukXZOJRlUiABqx_yH_Ou4tse9tOzameLJtmjVcqaQaXYD84ipsPSh2NJ15TzKTtSeSBJl-RWzfZQDnvbW9fOeYH-x7H6pAnSN9uShMEFaIA4kZ_STdLMwy6ybB5D6OX4yB01h57DGJm5--tG4CoSpLBhPxSakg7vi8UbCR2IzH6rUwTJpalj-6in5jvBsopqmMwyltoeYAsArBhj2B_BJztTARP_iO-VXS2t_7KMDwXGVku5CpGxv3Dsy8gSCk9CYSPeg6OqtNU63B6wjcuVBIax1uXa3XoE-1VqoavjhYt-XgA-RLhqmAbb-WA-nN4N0I1A094soWjx2cQsTZitnK00fSE99QO8aedfeL3PNaDJVUxH_-Rs4Dg_DTt4XtcBwDJa-AKogI9Ey9XZloGw6tAOZIaDKYdaL3uUZiZaaY8o3UUBOSgnMBJO2Ad4N26fs8NhLgVB-zWja2v27QdmBIp2E2R3V8a5wu0NYndS9Vt5A4Rk5UAeQ5CsH8V57lLsJQyBb9Oz_ubmH3xYR0QRxGXvsTWoCvWN_3lO6VLvRhrQDy5gaIG0BKl9Fc_fMNzqITSK00N0nbAZnLv__NQRsHYXfcehD16r0aik0LjhAG82eSbuK819CRfhVoKMtU0yKZXXVHXBMu06j9zZ1Kf3svR8KFkitXU4bo5PHgwnONOpxTAbe777ENkYvHdyTKEg29hI-6awBP-VOmf9Ued0bsqnXxoeoI9RHYk2gyyyZIGpCcqNcwGihr0=",
  "id": "rs_0358d89aeca12933016ab42044ac8487d08c9cfe98a9307acb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBK9KDNnDtuE6-lpNeGS_Ts1BKpjXdi74jrmDiyfFg0pKI2WLOlDpyC8arKf_FyaGdvmpPYbHT3W23nT3DiQO4jpZh7GmwDxd67dM4RVmFZ7NFaHNUJBkwtdSmlPlS1Kari9px66oGv0VZdOqEqsS3QFOIp8TezhWmnfkNt8aEyoEMZ7mNCPuw6utzjDNCZZ5VKwf2S8dAq5xi59T4hgxO4wlHbsQ9aO6VcHzm4vbBKvnH02SItG2x7J7mN6W4tZ-ORD9BypJElys838tFgeqwtrnrJy2oys05KPWhin1UwHTyWl5BGr0ddWDKDpRLBjsp4Lq5CcdE9ImMx7CTAB4YaFJtxpvJRxRraLc4NqWs9B0tgDGcCUWH7wxzxIusgjYRVIixnxROPFQmUIe5VwXClPS7KeyMUe249MnHO1Na6guSW_G4hSEMtN09T3CVBDWrYFo3i4jWxDCkbmho83SheWngIRmRMgh2uiUYAEFg0fAeeZvYj44dW3cdgFWToLmdMR8-WzHq1Ezv1HliU_bLVKNo_3_JQEsevqqP2mK6Qt2mEXW3OgAghtS2n_25djO_U-Sqo4pkuKam3Tr2aBFVcDUmG8p8GOTp9kSzTjleUCwrhB1GPC_cIvSN_6MijuBxUz-SyB9xmcz_IJVM7-aAH9yk1dHbCVgb11f-xFGiS7wMp4BjKLJ-pUKjkhmbcIG8rVC1QIqK5yGRNtneRMHIWHV7vhqqO-koZ5_l_O6xQIIYPkuAvfN20w0yDsUYSy_nQkRwg_4LAP49DUMDaRXrx2vtG_h9oLrzsuF6JOgRZg6Zin6T0YfdfdtP01qCqn9H91deHcPyRccKt_wuxDMz6MCrmcn7MSrfTRliF6jHUVtoFOYotccQTgifBN2Uuy7Y_xX65ZtnOS58d7A1pWh6M_Qh2ATbNaPcAot9ufvcf4qTiVB_KsHcaB9yIZXuVvmnmqK28rg2p4YM2hOw9tbfnvMVoXiHizQy0WFdmWOlfcMpmmG5X1v4eJlKCBBGT6Hmb7IG6l0e-gV8uULe0B7rvFAORicDE1kMtgIUUSVqN_JrxaXvIAdHstoBO3iEyoDPOKcz-hUU7FEwwG1D85ywa7_oYm8m4QZmKcthdC5C8hh9TIMJ7_XUoHbvgrbT5NfeLbmMBlHDUqKY5ZB8w3vZZ6-kph20KP5EPwN5lQPXNYnTpCMYHhjiKkctGfLFjw3bJdtclwhGdDEE2KreWbmZs6Ru2RbYRPoR_i7z61PaZln-Z-QeFrSVVgrLxHfckNGQy3meOa_ogw6jpmIwwwga8voqlabi_C09mr5tq51V2pK94lKOqdXX5JjAOCXaFtrm1jRI7JB3W_xC7u5QS0jHWpoxFnmO-2QqfRQYb-LmjCl5ELBbWbNZ4fN-tmhiVsYWKasOT4uQEOQZPDATzQxuN-EETMuGcYLBwXEOxODZjQU4V5UK0GWcKaA5mjnj_ISLSwdOv0A5UMSW1DqUu4GWuqp_5daLQ5i4HgP1ar7IJdBc=",
  "id": "rs_0358d89aeca12933016ab420493ebc87d0b8d40224bfaa736d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.014},\"note\":\"The arms continue to obstruct each other when both are carried into the center. I’ll set the pen down gently near the centerline, so I can withdraw the right arm and use the cap arm without forcing the two wrists together.\"}",
  "call_id": "call_tTgctCE8o7hBoSWXM8QpQbcx",
  "id": "fc_0358d89aeca12933016ab42049efb087d0898584639456ed3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tTgctCE8o7hBoSWXM8QpQbcx",
  "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]: [-0.8482, 1.6119, 1.6196, -0.6197, -0.9585, -1.0241, 0.0705, 0.9775, 2.1651, 1.5967, -0.9943, 0.4931, 0.6762, 0.0821]\nstate[eef_state]: left_x=0.3862 left_y=-0.2141 left_z=0.3392 left_yaw=0.4568 left_pitch=0.1737 left_roll=-0.4687 left_gripper=0.0705 right_x=0.2946 right_y=0.2937 right_z=0.0239 right_yaw=-0.0562 right_pitch=-0.6205 right_roll=-0.4704 right_gripper=0.0821\nstate[joint_eff]: [1.1966, -11.7538, 10.1812, 1.6825, -0.652, -0.0659, 1.033, -0.0889, -10.0308, 5.2718, 0.486, 0.3101, -0.0806, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1113494d3fb0f8ccfce269dd8bff006044009500ce190c7e0825334c973b1dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a06174ef924878d976ac8665c42efe7bc17fd660d5c892bf7a91fe2847c279e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70065eda9b314f9cbafe7084348d7cae4e134ca87c856523145a1eaf30165e0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.976 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.709, 1.6531, 1.9545, -0.9596, -0.6693, -0.7998, 0.0654, 0.9123, 1.9961, 1.8999, -1.195, 0.5034, 0.5907, 0.0742]\nstate[eef_state]: left_x=0.3948 left_y=-0.1895 left_z=0.3777 left_yaw=0.2525 left_pitch=0.0432 left_roll=-0.2986 left_gripper=0.0654 right_x=0.3341 right_y=0.2985 right_z=0.1728 right_yaw=0.0579 right_pitch=-0.4676 right_roll=-0.2666 right_gripper=0.0742\nstate[joint_eff]: [0.5402, -6.0513, 6.7077, 1.1502, -0.1587, 0.2515, 1.033, -0.4171, -9.7573, 8.3077, 0.989, 0.6569, 0.3834, 0.9206]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8196, 1.5475, 1.6592, -0.5903, -0.9974, -1.0271, 0.0691, 0.9871, 2.0869, 2.0075, -1.4662, 0.4923, 0.6823, 0.0789]\nstate[eef_state]: left_x=0.3828 left_y=-0.1872 left_z=0.3867 left_yaw=0.5454 left_pitch=0.2238 left_roll=-0.5991 left_gripper=0.0691 right_x=0.2898 right_y=0.2937 right_z=0.1565 right_yaw=-0.0395 right_pitch=-0.6109 right_roll=-0.4488 right_gripper=0.0789\nstate[joint_eff]: [-3.7949, -0.1709, 3.6991, 1.0672, 0.2515, 0.1099, 0.9158, 4.1641, -12.588, 11.3846, 0.0952, 0.3883, 0.2173, 0.7497]\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 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]: [-0.8482, 1.6119, 1.6196, -0.6197, -0.9585, -1.0241, 0.0705, 0.9775, 2.1651, 1.5967, -0.9943, 0.4931, 0.6762, 0.0821]\nstate[eef_state]: left_x=0.3862 left_y=-0.2141 left_z=0.3392 left_yaw=0.4568 left_pitch=0.1737 left_roll=-0.4687 left_gripper=0.0705 right_x=0.2946 right_y=0.2937 right_z=0.0239 right_yaw=-0.0562 right_pitch=-0.6205 right_roll=-0.4704 right_gripper=0.0821\nstate[joint_eff]: [1.1966, -11.7538, 10.1812, 1.6825, -0.652, -0.0659, 1.033, -0.0889, -10.0308, 5.2718, 0.486, 0.3101, -0.0806, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1113494d3fb0f8ccfce269dd8bff006044009500ce190c7e0825334c973b1dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a06174ef924878d976ac8665c42efe7bc17fd660d5c892bf7a91fe2847c279e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70065eda9b314f9cbafe7084348d7cae4e134ca87c856523145a1eaf30165e0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCBONRUJBe_afoFg8EjK3W8QzHFkkkL-HYDPaFFfdZcGmnHDLGSkbWveLOZKAVpBlP4zgg_nVDIk3jWyE3QYA7_RwiQxbbaMRwOcVr33iaUJx5P3EGN2KRshK3B2ZIP74qWIv1ZQBgfSZ3BPDHAxwU7nsMqb_GLuo2EZb-vkCc--lwSdt7vkuUH1jGDlZr48NwCIDuHPTMKCI_Z5YI7UNMR26-SBHDKRC06Pe2Pf6-EBemluCOHtGCeJspjSYvlLX3vSoMaJrx0PqHc_rYxOrpJkZZOIUx88SMXQ9SvBTVEj4K46Sz9OmZCHEfCGefaASRRQnsGTbBIcr059Sb24Y1rekIUEke_XL0Qq7k2MtROGnKj5JHvkAhRWrl-bwiB6R2G_lQMNJv-iP_oHhLBr8Ql3RnXjjIUcIBIDwcdpqFy8zarIAwtyUfoyqcbzIXx_wzJ0Rp2Lcmj05X09YyI-_TZRMcdWJB_s8kU7k6804_Cn5GI9Cf1nSwSnub3hnEQaGZ2rQ_FpUQf5Rwafnk_nQBfkEtG2UpAXXWfGFAIvWU8OXBGPaohV3PN915qtazAvfUTBjA9jJJc0Xqje4RsvVy0AtupCE_lWgqQxEfvdsB1dACZtRpeLqVdxaRPH3eJTyYoJuX8-tzX73dnceFSQXJXQ1OrJbFlZcDa10Y599XU4798fBptrofioaOYgNU-k29R3tf7m-fFrSjLtcznCGCkwNjtyLBWp_ANBlEPZnTdyF-MQBNL9lbbKKb8Tg6YNsfrsmG6l3E7Cfj-nP-pV3BuDo-zJRu-gm3gr9xaH4hSH8ATIU9qK93_Q4NGF8tHEurAS4JvcX5qrAscNe7vVNDSR2YIPb-IysYNVP5cCmsnHI_jgxP_QiIEPbLB9MHanrs_6Nz5MEsfgcawvNLsUFMOK8dM0SVfGByjRAalbUE9J-1HICqttkXQccjr96syac3T7YcNaC8JSVylfir5JYWKVIqgf3jSEC4jBi9XygVeFicy2YXpJ8vqSAUNjPXZnZDzK5QcLXb6gIWj1xgOIqKqlkkxtPu3XWtoAjRBb7geKMzCxyNXwRNfqQMzxA0HQpYMr2BI7qUiQLrODeDsskPS6bS3TTsNBmb5fYzLUY8O9pWcH-3SGXF2QEurn-3PQ0d04zsUmJXK0dYgWxcRfB9jvIoqvQKOgkXM45yBDqlCrg3of3jDHswKWNITc5-nEnW7an3OyXq8ZEpEUQEUn6NYXeEK_YuFJ69YIrB-Own9s3bGvhLQQkGNSVNj0VPcokAtWgegJPjWbIfEzJoDBNcRj8W1Rd9pHpXdwSu8Py4ntuTUcqjAuB4LV4w5uqaf3OXooTF4amScGHKKFKSAcS57EHPDYmLfzqxrnuF51zi7BT0U=",
  "id": "rs_0358d89aeca12933016ab4204cbe6887d084f71a89cf522797",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen gripper has reached near-table height and its descent has stopped. I’ll release the pen there, then move the right arm out of the cap arm’s path.\"}",
  "call_id": "call_VIWWu42LvNjVwb1qbv8ihS0D",
  "id": "fc_0358d89aeca12933016ab4204d290087d081933e587d33ed96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VIWWu42LvNjVwb1qbv8ihS0D",
  "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]: [-0.8513, 1.6245, 1.6157, -0.6136, -0.9543, -1.0309, 0.0705, 0.9775, 2.1761, 1.5841, -0.9646, 0.5064, 0.6769, 0.9954]\nstate[eef_state]: left_x=0.3877 left_y=-0.2184 left_z=0.3332 left_yaw=0.4521 left_pitch=0.167 left_roll=-0.4656 left_gripper=0.0705 right_x=0.2973 right_y=0.294 right_z=0.0178 right_yaw=-0.0579 right_pitch=-0.6057 right_roll=-0.4719 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -8.6769, 6.9812, 1.37, -0.3785, 0.0317, 1.0427, 0.1846, -12.7658, 5.2581, 0.1441, 0.2613, 0.0171, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f771070b4fc55de75c66830d6f606c6c76c240394f442df3e470f4bf46899213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283264a6c670607973fc85089b5e1658cae16b65b1e3d248ed831cc616f519cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109360bb4fedaccf5f38af434de43af776b369cc5036382085ad30dbc91fa555",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.65 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]: [-0.8387, 1.5864, 1.6428, -0.6544, -0.9291, -0.9699, 0.067, 0.9192, 2.0232, 1.8404, -1.2678, 0.4931, 0.5907, 0.0753]\nstate[eef_state]: left_x=0.3825 left_y=-0.2085 left_z=0.3509 left_yaw=0.4186 left_pitch=0.1743 left_roll=-0.437 left_gripper=0.067 right_x=0.3148 right_y=0.2807 right_z=0.14 right_yaw=-0.0007 right_pitch=-0.5764 right_roll=-0.4018 right_gripper=0.0753\nstate[joint_eff]: [-10.1402, 0.1299, 0.6222, 0.6178, 0.6911, -0.3394, 1.0281, -0.9368, -12.7248, 10.7556, 1.1209, 0.3346, -0.0464, 0.9744]",
      "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]: [-0.8482, 1.6119, 1.6196, -0.6197, -0.9585, -1.0241, 0.0705, 0.9775, 2.1651, 1.5967, -0.9943, 0.4931, 0.6762, 0.0821]\nstate[eef_state]: left_x=0.3862 left_y=-0.2141 left_z=0.3392 left_yaw=0.4568 left_pitch=0.1737 left_roll=-0.4687 left_gripper=0.0705 right_x=0.2946 right_y=0.2937 right_z=0.0239 right_yaw=-0.0562 right_pitch=-0.6205 right_roll=-0.4704 right_gripper=0.0821\nstate[joint_eff]: [1.1966, -11.7538, 10.1812, 1.6825, -0.652, -0.0659, 1.033, -0.0889, -10.0308, 5.2718, 0.486, 0.3101, -0.0806, 0.6862]\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]: [-0.8513, 1.6245, 1.6157, -0.6136, -0.9543, -1.0309, 0.0705, 0.9775, 2.1761, 1.5841, -0.9646, 0.5064, 0.6769, 0.9954]\nstate[eef_state]: left_x=0.3877 left_y=-0.2184 left_z=0.3332 left_yaw=0.4521 left_pitch=0.167 left_roll=-0.4656 left_gripper=0.0705 right_x=0.2973 right_y=0.294 right_z=0.0178 right_yaw=-0.0579 right_pitch=-0.6057 right_roll=-0.4719 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -8.6769, 6.9812, 1.37, -0.3785, 0.0317, 1.0427, 0.1846, -12.7658, 5.2581, 0.1441, 0.2613, 0.0171, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f771070b4fc55de75c66830d6f606c6c76c240394f442df3e470f4bf46899213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283264a6c670607973fc85089b5e1658cae16b65b1e3d248ed831cc616f519cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109360bb4fedaccf5f38af434de43af776b369cc5036382085ad30dbc91fa555",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCBS8OEPyefWs3YUypZ7zuY6dglEsUZ2N7mcwS2yMuK-gY95NJbRV97pNXN3wz3AGuhkW5vFRdxGnqVCBjOfTscgLrFGbka621c8LuvhJXeZJEbfJ0YoJ8z_in78hV2QdA4poUuvr1D9FVZR5Rm7GTpgDv6ltLrzArwGg43G30SAQiKjhgU6HVoiAbulcEYpHqhm-4eG60__gEWskvdpXklCDfuju-gQ3oieLzRiszLoVW9kKsJL48fl_fx6W4bt_4SGazIgVzmNKtTXARM0_AHnNvpGZhpXfvqUvFdlH9YdvJhJnLTzwv2_f-AQGggaOKa5Em9Z4yu1x9c1wK6gWnBg62_bKEHs3FYma6231a2_HAp2Rj2mmEqC-SvMzMMVvrTJHW5LbPP_VxdadJ3n4PCVD7f4CVV_jCTI4sgriFaH2xQ_avnU1_pbj-YLXQ9oxU_AMkm41S4Vr_GDYv8FyVAarIYM4kjsMC4Dkb76mOVnlgkQUSmQYg3eQ3Oh8HaCMHY4xbyN_lcwdOhjiXxFCAhrICssw8nHLMMOtBOTUI0emmH-4l5K9qdo_BwXiegjJvWcNZqj0ZlY4bOsVEaEYQ4JEmrKmPP3RFXUp9eyKzGYt6dcQRTBu034pCCxwXSKY9AfMzwAG35mbbhAmXHbLZdVxyyPFl2BhWafbJ7ib3gacLlxBd-ApJy29NxrvK7N0La-4Vj7UiCfSH05oUrRneAS58N1Ovv0e-sPdRoP0JfflQJPVWTn50ZVeYelQjd1dMJnzI1BnToiBE1Q3kUAySTLfB2_VnF9I4JRqtHlv4J8ylhhh1Sa0zp3tDVQ0x7zI2l3fCBPca9PWh_dkKiXHBhGWQhTtt7R1M6XpoJZKIvzMcLf9MqzKLoA_zsnD_WRCMB4MJ4iT0mpP4mHGPY1Td95mZZHADR7wDmDgMqjb9J6_TjH9pGFEyc7FhqFhzC7N_vzACfHK33g_kzvsHBfHl1mcjQpV0mdFPqNHPSe8Tdprpsk5imaE2l9OGd8GhPQUyrbQP2wH372eMDT3Zd_gyDAU2rJ0yRujLJDJ6OARGkvYd91C00lWWYnvFsaktkq31OiP_dg1IXCoHOtm8lu1IrFZxf1THrXdPaccupQsjO7PhInmJ4JbkrZr9ZA8brv0fZYh4XavSTGABUabefsSBLb1J4aQMfRAXJMrhXqrCRPBVIICktXML4FnlJjrpz9m8KZOo18X0ohVRFPj-nG_fEcyAIglqh94ugQHf4jzL80PBAYlnRdX_ZkFPAFB5VxrQo4oVG4o9hv0svtPH2SiF1dUkwJPyj1ycRmAEmVQXBUHCADu-aJBVkgp8nkFm6iG_JyXgx_xfyJYGWJbzERFOZbtKC2Oj4rTmQbk2FNhDerp_qI5cggIEGg7Mpf3zD1qqzBMnkf-LUKNe16ewAxD_FDaMmtkoMIX4RBKxDJwV4F4LY=",
  "id": "rs_0358d89aeca12933016ab42050e85487d083bb8f337a0a6d1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right jaws are open and the pen remains in front of them on the table. I’ll park the right arm at home to uncover the pen and give the cap arm a clear approach.\"}",
  "call_id": "call_5NAjkLiMQm10QmNegqBmvRfA",
  "id": "fc_0358d89aeca12933016ab42051839c87d08f1acae1093df20a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5NAjkLiMQm10QmNegqBmvRfA",
  "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]: [-0.8516, 1.6249, 1.6154, -0.6125, -0.9535, -1.0317, 0.0705, 0.0593, 0.8101, 0.5999, -0.4103, 0.1509, 0.0845, 0.9963]\nstate[eef_state]: left_x=0.3878 left_y=-0.2188 left_z=0.333 left_yaw=0.4515 left_pitch=0.1665 left_roll=-0.4668 left_gripper=0.0705 right_x=0.2902 right_y=-0.0058 right_z=0.1687 right_yaw=-0.1203 right_pitch=-0.05 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -7.8427, 6.6256, 1.4188, -0.3687, -0.0464, 1.033, -0.0889, -1.7026, 6.9675, 2.1221, -0.0464, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3696f2f205803ae5aa0c143835215627df0b0b08ae0c6a5ad1e9665d8e9429a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00b7b16591a2ab5a2ea9e267d332139bde0c5350a2dba868e7bc76bfa88f2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cebeca3cd46c591c7fe684e5d4ca6e296b9f7017cd7f2adda8486d76eceee3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 8.543 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8196, 1.5475, 1.6592, -0.5903, -0.9974, -1.0271, 0.0691, 0.9871, 2.0869, 2.0075, -1.4662, 0.4923, 0.6823, 0.0789]\nstate[eef_state]: left_x=0.3828 left_y=-0.1872 left_z=0.3867 left_yaw=0.5454 left_pitch=0.2238 left_roll=-0.5991 left_gripper=0.0691 right_x=0.2898 right_y=0.2937 right_z=0.1565 right_yaw=-0.0395 right_pitch=-0.6109 right_roll=-0.4488 right_gripper=0.0789\nstate[joint_eff]: [-3.7949, -0.1709, 3.6991, 1.0672, 0.2515, 0.1099, 0.9158, 4.1641, -12.588, 11.3846, 0.0952, 0.3883, 0.2173, 0.7497]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8513, 1.6245, 1.6157, -0.6136, -0.9543, -1.0309, 0.0705, 0.9775, 2.1761, 1.5841, -0.9646, 0.5064, 0.6769, 0.9954]\nstate[eef_state]: left_x=0.3877 left_y=-0.2184 left_z=0.3332 left_yaw=0.4521 left_pitch=0.167 left_roll=-0.4656 left_gripper=0.0705 right_x=0.2973 right_y=0.294 right_z=0.0178 right_yaw=-0.0579 right_pitch=-0.6057 right_roll=-0.4719 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -8.6769, 6.9812, 1.37, -0.3785, 0.0317, 1.0427, 0.1846, -12.7658, 5.2581, 0.1441, 0.2613, 0.0171, -0.2076]\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 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]: [-0.8516, 1.6249, 1.6154, -0.6125, -0.9535, -1.0317, 0.0705, 0.0593, 0.8101, 0.5999, -0.4103, 0.1509, 0.0845, 0.9963]\nstate[eef_state]: left_x=0.3878 left_y=-0.2188 left_z=0.333 left_yaw=0.4515 left_pitch=0.1665 left_roll=-0.4668 left_gripper=0.0705 right_x=0.2902 right_y=-0.0058 right_z=0.1687 right_yaw=-0.1203 right_pitch=-0.05 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -7.8427, 6.6256, 1.4188, -0.3687, -0.0464, 1.033, -0.0889, -1.7026, 6.9675, 2.1221, -0.0464, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3696f2f205803ae5aa0c143835215627df0b0b08ae0c6a5ad1e9665d8e9429a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00b7b16591a2ab5a2ea9e267d332139bde0c5350a2dba868e7bc76bfa88f2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cebeca3cd46c591c7fe684e5d4ca6e296b9f7017cd7f2adda8486d76eceee3f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab42055ea4487d09cfa9f8f29672b94",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBbfFy7XbGxCR5UGkvUFyxtvacXzEP_q6BdV0LOJpQEfvR4S45UbuwA4Pj7VNFOnuHpVsPuIPFrqi6jvFbnYByALbg-XWn2LmnrEMA_-wFmc8Iw7LvDmxnB9SyJKUF269x_J6ig5XI6UEHgnl45pUobo7U0pzcPOjbLXGzVbolNg_MtuHAvjdHUWqHwk1mdcgk1Uk0dRggji2nZ_A1YgcSbsvhlMCmiMKNULlpw9z286WdWG6vxgmAZM7xNCIv0PeK7F1nvaoW9UJwtzlsVYLhbxb6mHhFxZwp_x4pCtrT6dd81YLl530rT1SSTN3FVVnTK1VqX5VIQx5Cb6SC-k0DWyM6Wga1T4yytaSJLXY6Pg_lBwOZSgHaB_fYS6lw7aWY8BIyK3BnJl7S4oSuw3GoyHB89-COFS9-00XySzF_nZqM7g6jnJ6-ed0UBFxJ5xTlWsAip1JK9Z6tOaCCpdIEYncru_IQ2rijrkZRSFs8eU6zLQ99dtEDh-b75ETNAM-ClYxWsFziINtzmNOp-ZV8pWFWYspHeTyxmx_uHFQ3aTionUqExw6cbvl2miOycFbACoPN7jEzzc9_3TbLeSJ3KE4ai_eOD7m7cF0T8HTxR1Kteie1CqLsqNuyK4xLopYM6H2ZF27ZWF_6BKQmqkROHoiiulCouSLq2PWJiB7i_r_OJlZ0RoAWz0X-4FaEzqXfIOpXtbPe75XheT9uMIcBTrPNocFTgmEoD3bUQt4GDJ9TSx4299H31NuNbxfV87R_egRt2_xi-Qz2Y3Tm7xnlHwxYlvJEyMNeMz-mZNvnHyP2QEL3FTIpmXhrYb1buck_ej3ltpdqCUAipkwHyDeOF9tx9_jLKUz0iwVCKrGLQSa7CQO1fvROIT8jGJC6Tj8lrOcFLjW_P0PyUY5Hi_bJtMlM2F06mg9yVNuHqHdyiPuawPMVfReJmbHTJWK2VFT3jgQqrtpLt6adu9tZd6HoCoXCqVw9MCT4c58w9aEMn45K3KOYkQpdxe3PR7vFSC-Uyqa8C1VdeMmRasWk8ILGIjBVUxcGZNULgxrYntNZoPf_aTv3gIwgIZ1ZyQ-1Ycfit-ZpXSs717S1I4YSspgSvp0dmu26ToI_7J9d4SivU_Ke-XkNSHAsa84blcSXVeNxVyRr4OiS7G5tJ1LsuLEyjCzNjHCF6Xw01Pc4DTzKeaTGNtiyO5T-FYLN4FabXT4vIMTh1KGbp5eEDpZ0cvLBHAZ4jGJK5OHNSiA17uSmGlxAHcsolqyyFmOQ5HETHLysCY9TMkbYqjIkVsvjJ9CtGSionpyvqkGw8EGzB4sNyR2plZKRN4FC6ULBKlI3P_AZU",
  "id": "rs_0358d89aeca12933016ab42059f12c87d09d9b5dad989147ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.33,\"left_z\":0.115,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen is now visible lying almost straight along the arm-forward direction, with its tip at the far end. I’ll bring the held cap above that tip from the left arm’s side and straighten the wrist before lowering.\"}",
  "call_id": "call_yG1uWYCC0t5R4lp0kAZYuLPR",
  "id": "fc_0358d89aeca12933016ab4205a7c3087d0931c4f80464942e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yG1uWYCC0t5R4lp0kAZYuLPR",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0958, 1.8652, 1.2495, -0.3695, -0.8547, -0.8738, 0.0705, 0.0559, 0.8127, 0.5961, -0.4122, 0.131, 0.0669, 0.9964]\nstate[eef_state]: left_x=0.3202 left_y=-0.3235 left_z=0.1172 left_yaw=0.028 left_pitch=-0.0096 left_roll=-0.0115 left_gripper=0.0705 right_x=0.2897 right_y=-0.0033 right_z=0.1656 right_yaw=-0.0977 right_pitch=-0.0603 right_roll=-0.0239 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5385, 6.3658, 1.3162, -0.3932, 0.1538, 1.033, 0.2393, -1.5658, 7.4872, 1.6679, 0.1783, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b054867127c7030ec5a68cd8850f84f344485fa05b6e46abb414f9d21bca2ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93152b4c03379cac0b1bf7bca7d6ff40dc25f776b0b77fdd845e1bdc2262d041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1cb3b47e89fff0e7f4bda7e1bfc5d11d1549fa4ad675c736b2002e9a3ca542",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.324 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 122 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]: [-0.8482, 1.6119, 1.6196, -0.6197, -0.9585, -1.0241, 0.0705, 0.9775, 2.1651, 1.5967, -0.9943, 0.4931, 0.6762, 0.0821]\nstate[eef_state]: left_x=0.3862 left_y=-0.2141 left_z=0.3392 left_yaw=0.4568 left_pitch=0.1737 left_roll=-0.4687 left_gripper=0.0705 right_x=0.2946 right_y=0.2937 right_z=0.0239 right_yaw=-0.0562 right_pitch=-0.6205 right_roll=-0.4704 right_gripper=0.0821\nstate[joint_eff]: [1.1966, -11.7538, 10.1812, 1.6825, -0.652, -0.0659, 1.033, -0.0889, -10.0308, 5.2718, 0.486, 0.3101, -0.0806, 0.6862]\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]: [-0.8516, 1.6249, 1.6154, -0.6125, -0.9535, -1.0317, 0.0705, 0.0593, 0.8101, 0.5999, -0.4103, 0.1509, 0.0845, 0.9963]\nstate[eef_state]: left_x=0.3878 left_y=-0.2188 left_z=0.333 left_yaw=0.4515 left_pitch=0.1665 left_roll=-0.4668 left_gripper=0.0705 right_x=0.2902 right_y=-0.0058 right_z=0.1687 right_yaw=-0.1203 right_pitch=-0.05 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -7.8427, 6.6256, 1.4188, -0.3687, -0.0464, 1.033, -0.0889, -1.7026, 6.9675, 2.1221, -0.0464, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0958, 1.8652, 1.2495, -0.3695, -0.8547, -0.8738, 0.0705, 0.0559, 0.8127, 0.5961, -0.4122, 0.131, 0.0669, 0.9964]\nstate[eef_state]: left_x=0.3202 left_y=-0.3235 left_z=0.1172 left_yaw=0.028 left_pitch=-0.0096 left_roll=-0.0115 left_gripper=0.0705 right_x=0.2897 right_y=-0.0033 right_z=0.1656 right_yaw=-0.0977 right_pitch=-0.0603 right_roll=-0.0239 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5385, 6.3658, 1.3162, -0.3932, 0.1538, 1.033, 0.2393, -1.5658, 7.4872, 1.6679, 0.1783, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b054867127c7030ec5a68cd8850f84f344485fa05b6e46abb414f9d21bca2ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93152b4c03379cac0b1bf7bca7d6ff40dc25f776b0b77fdd845e1bdc2262d041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1cb3b47e89fff0e7f4bda7e1bfc5d11d1549fa4ad675c736b2002e9a3ca542",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab420601a1087d0b051561e630dcef9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.324,\"left_y\":-0.325,\"left_z\":0.027},\"note\":\"The pen’s exposed end is centered ahead of the cap gripper in the left wrist view. I’ll lower the cap toward the pen’s height without advancing into the tip yet.\"}",
  "call_id": "call_R3dYW0nd9cswtj660AHJ0PZo",
  "id": "fc_0358d89aeca12933016ab42064174487d08d1766dc8c6ebc03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R3dYW0nd9cswtj660AHJ0PZo",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0935, 2.0388, 1.1107, -0.1066, -0.8478, -0.8623, 0.0705, 0.0547, 0.8165, 0.5961, -0.4149, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3181 left_y=-0.3189 left_z=0.0269 left_yaw=0.0215 left_pitch=-0.0366 left_roll=0.0401 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.164 right_yaw=-0.0978 right_pitch=-0.0668 right_roll=-0.0251 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -9.9897, 5.3128, 1.3309, -0.3834, -0.0513, 1.033, 0.0889, -1.6205, 7.241, 1.7558, 0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35602101797cf65ae1c20fd3c6fe5d8eb7d2cd9ca4d696f7b3f4750887b8080e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a1f0c5a69a3de30a8cf2514c4b78fbf8fd58a79cc7c4f7dc67e5800aade0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0d7d611683716a5378f094dc301ac8c2658cd497f8b5ead84cf4aeee73b392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.027 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 122 changed as sent

message 126 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]: [-0.8513, 1.6245, 1.6157, -0.6136, -0.9543, -1.0309, 0.0705, 0.9775, 2.1761, 1.5841, -0.9646, 0.5064, 0.6769, 0.9954]\nstate[eef_state]: left_x=0.3877 left_y=-0.2184 left_z=0.3332 left_yaw=0.4521 left_pitch=0.167 left_roll=-0.4656 left_gripper=0.0705 right_x=0.2973 right_y=0.294 right_z=0.0178 right_yaw=-0.0579 right_pitch=-0.6057 right_roll=-0.4719 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -8.6769, 6.9812, 1.37, -0.3785, 0.0317, 1.0427, 0.1846, -12.7658, 5.2581, 0.1441, 0.2613, 0.0171, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0958, 1.8652, 1.2495, -0.3695, -0.8547, -0.8738, 0.0705, 0.0559, 0.8127, 0.5961, -0.4122, 0.131, 0.0669, 0.9964]\nstate[eef_state]: left_x=0.3202 left_y=-0.3235 left_z=0.1172 left_yaw=0.028 left_pitch=-0.0096 left_roll=-0.0115 left_gripper=0.0705 right_x=0.2897 right_y=-0.0033 right_z=0.1656 right_yaw=-0.0977 right_pitch=-0.0603 right_roll=-0.0239 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5385, 6.3658, 1.3162, -0.3932, 0.1538, 1.033, 0.2393, -1.5658, 7.4872, 1.6679, 0.1783, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0935, 2.0388, 1.1107, -0.1066, -0.8478, -0.8623, 0.0705, 0.0547, 0.8165, 0.5961, -0.4149, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3181 left_y=-0.3189 left_z=0.0269 left_yaw=0.0215 left_pitch=-0.0366 left_roll=0.0401 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.164 right_yaw=-0.0978 right_pitch=-0.0668 right_roll=-0.0251 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -9.9897, 5.3128, 1.3309, -0.3834, -0.0513, 1.033, 0.0889, -1.6205, 7.241, 1.7558, 0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35602101797cf65ae1c20fd3c6fe5d8eb7d2cd9ca4d696f7b3f4750887b8080e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a1f0c5a69a3de30a8cf2514c4b78fbf8fd58a79cc7c4f7dc67e5800aade0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0d7d611683716a5378f094dc301ac8c2658cd497f8b5ead84cf4aeee73b392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab42066dfec87d0b67063dd235c8f68",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBtTN8F3tmy_CwTe1ho0_HJY2DcXCiMvWq7feINBxxP0MaAvcrXeuJML0GHiS9lCpRJwrvjMQRN2CW68czFneoHKmnKnw4GFlNgRKN9bmAxBH-_l2kLXvHc9DWjfKteeJJDZpF4zqQif4-f0ZRX6X5awMoEciQowLxlVDOrgGCVDQytTPdREkXNYrNHt91BNHGHKGoDwDvUrnEfEjeqz4Kj4xCw2osm-cPv4sxH_K7cGw6k8HHxxFgto2IwAaDvhW4pHmzGH-DGQkpNlhDQ5-qsbIo2CqqiBPOxWr9v3BujkrJtYqO5tlkPGi1Q013UX1YwYI7NcNQe6ncQCjX5KL9Hn9PdPxFBVL1qntVlyL_nmM_AQMMH1nia7JI8xFc116s4FdElZtK9mln1ZyliDZOWFj3CC1sJjV_GRlxd5nxbrp9FFmXKNKHStukIYKhzQPdRPoGE74MUzhbD7L4sE1qZq4-FnqZVFOimkrj7wQGPpyYTUF4k1y-3UG3Bv4_m3fLN3sTItrsCjHMsByrX6lUuMIhYQ27KU1C2qK73VckE8BEr_PExMWDvLwjuB4lqKYmtwpLeJLJONXvhOrvV7Q-21oVb-md_WFo6AXn2ARVQ3FasSLvckXkoiBrsrNqLKd9ZUpPQBtOpxOEejHlK0z6bpLYbOfonSDVlBqM7wGFKjaDWxDO5RQ6wJiwkc5S1gQh3E1M_r1oXvNGadSame87LLBdV8qub7R3BQrXgTFcrNLcSW9cssG8i0aHs7iCzSfwMEQxzMrBMHEmkaZnmhdC--hRZtenyFnpxC8hHLXJ6yvrgDU4UO-abwlnu6_frq3USfSwWspYc8gKh3qIhO187KYwUkpho0O6Idxv-T-iXhlV8NiZHuXg4Vwyp-DqKwl_dD51ML5Sh4_giBjvHhAAEXBtBlLLMu_d_3-MCa7u1qmCckNHCsJs7ctQ4vGUZtwd65Jr1aZBBkW4RbamfDcDoJREzIWywHvebJbzwlMiPt3quSkXeqhvPd-s6n7R8CXNorGtmi7a-XkIiCmBlXCNGlLeYDnEh5Ypr8fsm8fxDn30WLCnOBV_AsHEkqXsQ2B3Psu5sQpDt06PrxUBDJD1l2qnLQnEGKaoZaWPLSeXJXCiWuFc5tRgtA27RqaTsHxfNgZL99cNQgTXLGXah4BjFDh15lCmlkm-vo9LTCfihdz7SfeBcuTPGtYrrat_lDrxmlXgluAe2_vuoG7C9SaaHD9Q45L_EI2MH5KWfVkiH5j8E7AmN5kHgXEdxYuCJxV7mPrrF7F1mkl4nTOEfSuGwLHODNMuplSigndgCMiy-QbjXcJ2LFgo8Bde-BdJi598BpWi5OFSaWwue9WhxfxxQejYd0kzgtnvB18r9Bzw6rDVMARy1oDX8zRVixnkxKeuTkNMiKA-xs9oRzNB3Irlcs2EdtYRygmdtb1qhWEerxjFDaakcTVL0KXMnRO6q6FfmgAJp0WSUCylHe-XGOXwKXr1k6kuPEHjjlqE_a8g_BytRc2mTHIP2kIztv2JM7Rui2QKgvw8JlHQIgysXMz5RcWif9Cy5z1mz6qm9iXYmSwoUvwJVkzhZiBWGpInXLDAgAEG5JC3_Lyuj8NGFeNnT8qKY_76AZjwT-xAVAa1nVyE=",
  "id": "rs_0358d89aeca12933016ab4206afe8c87d0b2ba68559c6c2f5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.338,\"left_y\":-0.334,\"left_z\":0.015},\"note\":\"At this height the beige pen tip is visible just right of the cap’s dark axis in the wrist camera. I’ll shift the cap toward that axis and advance about a centimeter, stopping short of a forceful push.\"}",
  "call_id": "call_Tvwb4BmvvXEHFjXtr6vyIKBW",
  "id": "fc_0358d89aeca12933016ab4206c2cb087d0afc4a2b19128735c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tvwb4BmvvXEHFjXtr6vyIKBW",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0817, 2.0991, 1.1515, -0.0631, -0.8436, -0.857, 0.0705, 0.0547, 0.8165, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3285 left_y=-0.3286 left_z=0.0174 left_yaw=0.0275 left_pitch=-0.0293 left_roll=0.0214 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1639 right_yaw=-0.0975 right_pitch=-0.0672 right_roll=-0.0249 right_gripper=0.9964\nstate[joint_eff]: [0.9231, -9.7026, 7.2, 0.9597, -0.4225, 0.1685, 1.033, -0.0205, -1.3607, 6.9949, 1.6728, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5908e324a15bf7599901aad9d3017ca1bfaf6b7f07b7ac0a9ce85c1dcb73dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee8c014174ccf6d474490f130d84f2672c91e69d45ef61fb7970063170b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3974658bbb4afb529596ecdfe26fa9d3776a8f1a59353752027e1405f58f8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.658 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 126 changed as sent

message 131 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]: [-0.8516, 1.6249, 1.6154, -0.6125, -0.9535, -1.0317, 0.0705, 0.0593, 0.8101, 0.5999, -0.4103, 0.1509, 0.0845, 0.9963]\nstate[eef_state]: left_x=0.3878 left_y=-0.2188 left_z=0.333 left_yaw=0.4515 left_pitch=0.1665 left_roll=-0.4668 left_gripper=0.0705 right_x=0.2902 right_y=-0.0058 right_z=0.1687 right_yaw=-0.1203 right_pitch=-0.05 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -7.8427, 6.6256, 1.4188, -0.3687, -0.0464, 1.033, -0.0889, -1.7026, 6.9675, 2.1221, -0.0464, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0935, 2.0388, 1.1107, -0.1066, -0.8478, -0.8623, 0.0705, 0.0547, 0.8165, 0.5961, -0.4149, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3181 left_y=-0.3189 left_z=0.0269 left_yaw=0.0215 left_pitch=-0.0366 left_roll=0.0401 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.164 right_yaw=-0.0978 right_pitch=-0.0668 right_roll=-0.0251 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -9.9897, 5.3128, 1.3309, -0.3834, -0.0513, 1.033, 0.0889, -1.6205, 7.241, 1.7558, 0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0817, 2.0991, 1.1515, -0.0631, -0.8436, -0.857, 0.0705, 0.0547, 0.8165, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3285 left_y=-0.3286 left_z=0.0174 left_yaw=0.0275 left_pitch=-0.0293 left_roll=0.0214 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1639 right_yaw=-0.0975 right_pitch=-0.0672 right_roll=-0.0249 right_gripper=0.9964\nstate[joint_eff]: [0.9231, -9.7026, 7.2, 0.9597, -0.4225, 0.1685, 1.033, -0.0205, -1.3607, 6.9949, 1.6728, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5908e324a15bf7599901aad9d3017ca1bfaf6b7f07b7ac0a9ce85c1dcb73dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee8c014174ccf6d474490f130d84f2672c91e69d45ef61fb7970063170b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3974658bbb4afb529596ecdfe26fa9d3776a8f1a59353752027e1405f58f8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBxk4CATgGJWQqzkQ1W3M4M4foA_O0ZAegpjCK5-puc7sn1Z5SMz7mmBbtlwsGI0rjCxKgTsTlQzomRMkRidDHVOEISFnpIM1BUyAiZSkmk6bJhANdFdsYMi3km47ugCWsjhllkJLfXicYyCtPAihTB3EEYnHAm9cWg3HXd0tM9tQ_3V3NwtsCUiaxS811A0PFsyMdmEz7nMB348tYsUq53wnjRRNtcoWeEcigB7JNZv58tjP7LChZ3AmHB9MobMnZ5fMORpQx65PF2VyHvK4wH2MXlc-QbEQTqNzfqn8ckBjE_wqwQHlS-MWhp2tkne0ZHoJRh2E94oRqNpKW7fj52qxlvlwdyg8lANH7DF4sqVD6lduvkN7j9fq9qStffL6gM9Sb2Y4cukCr-YrUhEGCZYoB6FAe29WrhXexf-3l4Xkwc1nBLnmJ-pQECpiELgXxdFR1VbqlVYWE3kTUu4hezEASQ1HfS6eCeG_-HBUmhVbISooWPQDXkT2u_7Sv0PrXZPM62xRkElmc-XY9m52ijqSsOEOLn5O_yNxcDB-1xwHSb_NPO7cI3HGcrDJEfQFpgrLO3ViDdg4nzkNVe-QBcCfVc5_mOgcUt0TWWQDu5pqJvxc7p0WACFtYy7_EZ0DnllTbCnLQOHIb_x4Korv0kclrsMpeax3YWGyz9o9ef68eMvjzkrZOqooO5p-3_3cgHiFiq2uCJGqAkO2mlJzFfDTAbqx9EAyirHTO_HV8n5g8kxuXYSLzUsr67c0hSNeNj3Ktf8-hmBHowAsrZ4S6OXLCnvhz8MLDzP5VCwKhCx5t9K7zxk01IlzFawGfKLlBWvvbK54Sw0VAesh_Erh7zvW6M5-c7QQfulucQQ-pDMHj0NC6bQxREqAnnQyLgTqQVPObimyqfgZHAg68uUSoNo8bydgq1ue-Qn0pXP9iiQxA7uwIee--u-EtDYM8jv8g-1oaU6mPadK4nTcX6mpCGT9NbOHp2B3IfBHnYZTTiZ3ROO3pMehfvGG3_OuWPp7ahl1bipl99QfNadh-1q-o-i5cfTF9LPgjiyvzafEYcER6MbnfQazQvFeAKAhTJnwFztNri-kK-orT9rm-lUv_oyvhaPw43oPc2Cl7Fn6mzDomTq2WspYe_xLMK_ZjOKv2Y-vXlG7kOubmZMdXhkalveGL3xEua55XOyO9hQbp-IFDPZJmr89CjSxhc6Roq9tjD_WhZXqZllBF2WxstJAqx_31KqKRch2AKWRPQ-hDr8Law-vk7CEX3ACFONzCspLONqRsr2-sqldQ545cDXO91RuFumhBMQ6lavJeNAmQFc6OEsfBp8FbGsRMCZCCdFJcC3p4Ia1770_9P4jSSDyRmpnBPJFODjJ6vTQSNc-8efD8AykDDWzVHIUGO_Y2lUuH2iu8rhNB3qO0qzJMTv-L-YuFNfqs4M4Ne90F-ARDDDrxrufamd5IvyXsiFLVdTeTtjopeDfeskqxVal2Vv1tfO7Pw2uNRr0VfnieG51psseVE4pEtAktAu3AduOcsiZb5IzRtAHTomKQx9ZhY2FeC8Kt-7-WJYiswzadDq_RkDRCOF4BvHdsrbB5gWVIERfNWhrChmqpUYI07t5kqg_BP6sXTWGX_TZigFFhGercHxB5JnlSeXNklMTqB4vPWo7G-EMAAMbMub3Hv3ZMYhw5SqYar-54Pr2S6mGFD6CzOk8FUxyk9Y3QY_SzfGgo6BBqrr84aRfQzoL21kftPf9ocLJXUMdCc8TKxVvOuM8qQNUHP-xbLelLRFjWlquTZ_sYoHzs9ZqyKQr5-6WAcSbP6NYkPCLCzhwCMXKChjEDyjzX9qMc0uR_t6E8Qfg_ZAN-r4QtvK7Ht__lIMbysyIcQmwX_wI2z6UhWvay9aWnzj8PYdev4p5lSroRJNKCeIGyKkyE28hkh-tJFq3a4ZEfc_LGxnzaMH9m0Oc-BVYnGPtDtxLB6bWkq8VJ5cf6HupYY",
  "id": "rs_0358d89aeca12933016ab4206e826487d0a596ec21fbf8f648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.33,\"left_z\":0.016},\"note\":\"The pen tip has disappeared behind the cap in the wrist view, indicating that their axes are close. I’ll make one small forward insertion motion and check for contact or movement before releasing anything.\"}",
  "call_id": "call_Cl30kXjb1gBSquSH5Ekt736S",
  "id": "fc_0358d89aeca12933016ab4206feedc87d0ac2742849de4a865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cl30kXjb1gBSquSH5Ekt736S",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0631, -0.8295, -0.8501, 0.0705, 0.0547, 0.8181, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.0453 left_roll=0.0319 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -12.3966, 4.8889, 1.2625, -0.4322, 0.1245, 1.0427, -0.1299, -1.4701, 7.1179, 1.707, 0.0024, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d02000dde402b9f84b1047ad6334c7ac68f857ba358b0acb92f70f70b706c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb63e3a2ee3c8c06d37fe14614d03fe32d86801db7234e501a519412022e10f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b6ab48ab6427c74144f230c8de666ca98a5f28382db2a373fb4a57c1e286cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0958, 1.8652, 1.2495, -0.3695, -0.8547, -0.8738, 0.0705, 0.0559, 0.8127, 0.5961, -0.4122, 0.131, 0.0669, 0.9964]\nstate[eef_state]: left_x=0.3202 left_y=-0.3235 left_z=0.1172 left_yaw=0.028 left_pitch=-0.0096 left_roll=-0.0115 left_gripper=0.0705 right_x=0.2897 right_y=-0.0033 right_z=0.1656 right_yaw=-0.0977 right_pitch=-0.0603 right_roll=-0.0239 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5385, 6.3658, 1.3162, -0.3932, 0.1538, 1.033, 0.2393, -1.5658, 7.4872, 1.6679, 0.1783, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0817, 2.0991, 1.1515, -0.0631, -0.8436, -0.857, 0.0705, 0.0547, 0.8165, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3285 left_y=-0.3286 left_z=0.0174 left_yaw=0.0275 left_pitch=-0.0293 left_roll=0.0214 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1639 right_yaw=-0.0975 right_pitch=-0.0672 right_roll=-0.0249 right_gripper=0.9964\nstate[joint_eff]: [0.9231, -9.7026, 7.2, 0.9597, -0.4225, 0.1685, 1.033, -0.0205, -1.3607, 6.9949, 1.6728, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0631, -0.8295, -0.8501, 0.0705, 0.0547, 0.8181, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.0453 left_roll=0.0319 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -12.3966, 4.8889, 1.2625, -0.4322, 0.1245, 1.0427, -0.1299, -1.4701, 7.1179, 1.707, 0.0024, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d02000dde402b9f84b1047ad6334c7ac68f857ba358b0acb92f70f70b706c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb63e3a2ee3c8c06d37fe14614d03fe32d86801db7234e501a519412022e10f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b6ab48ab6427c74144f230c8de666ca98a5f28382db2a373fb4a57c1e286cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCB4iccY4PDHxEBmevaEkFvmeSzmyUQ4koAAK2kDFu066V1y-qFjDeqr3ylLsNs_EjXuvsx2v_URuEKF2H6lr-M2v08QMXjr1vmNL_Lv4uEYGwtEvSKkwy16K1eFBbsrDqrzSy3dgCRoG1oujt0nnuJTgNM35AAlN9Yk6d_y3NNqKDlOVVTfRqTDJaX8TXTzqrscqxC-kxuH-LRqf8TQ7tz-HRfCf9ckqMmCkO6zD3dkWw4c1Q2G1POm6IlwbGVxmy_DJlT8ZZVnLGfVbLRrFVtFNPg6Oh9PcE2EsICxYUHzkft-mxNaM3FwMa6QpQGpR99J4LeFgxkacBtkyGdB8ePcRC1Om3gLOQl9wrIU9LbI2kOLWppwIZ_uOrkgAPf4Mm-9Vgg9LPW1EhcttzKwxu_3EnXvEMTstzwkNuPbUOAP9kwZ9dUYpprMtEeskMTUQnGBqNNnMUnDu9T5pemekboGPyctF7gAyRvOjNbZ7G_BTwW5mWcJy2C84Wjr49-XDsBlnb6NkNvxDGwdVauZFx4nYmE6arNZdkiRu22RNTXEkz3xA3oMl0GTu5NKDckTgAM8IkRZUjlcsXT0WR9KAatjatZAdV_ZRMQEEIlSmG2IzK_qqb_R75jX2RBW0a_cjvh-CfpF74V3h-6qa5ivOwAB8bNv-zFLVJaWro0gTFfPL3YwFZZQhY5MaNsCym0a9RtVDNef7TQVlnX5zExpP2FSasv7iKbive6Dyn6etbvLXBXDlGKRmtq1CuWwNmrHJswZiABMC9eUM6ZLGHTGU1Dd6tXUhwIsUt6E5neSbLIc4zYfMqlrqmIHAqtSBb9ZsUrwZwzsolsQlwmX-fLKLwqbFXt2frZZjZk9EYgCneFz8ymSSA40HtWnzuaAyunLc_6bhjZJqOlPPSi6i5tChYV5ypeFyfG3DN9p-XZiEDgS9JgG2kPdEjgL13F_refyccC1J-udSH9xE8x-Z42bE7Qv_9RulTMcT2Y3eAHGV1U4wvPlRopqMMLZp-LmioFy6j8EyoiPCZsIdHVqkwyFbEp6Znxhs3cs8xNMs65ldkFYzLVgQJtIIgUlPkcg9adxnU-GsdkfwDq92qNd7Yevus8ePSBmXTE20XkFHSwi2oi4mAhuR1fUK8vZWbCu12ky0Ewfs_DerEiAB7Z-jLoL43svdJhNdNXpoykxZ2soUfV-WBjfMJwabJJE38PsrSai1yQ6pPECVT6sHh6uizbut4looEhiWcwus-AhxuWnaF7Az7LwihKnR_jxa3doVVXtvxkSEOJurTICvJ5CnaUlt1iZZRbGqRRw15I-IkEV2DbYYanIvVnRR-BernR-p-hsoRs2Sp8qyUMN9Vc-Tw82iWD-7J2Yukct95vXD-WNC6S49vow2olvOq81UxCInBcRdwTw_JsBJXMzaixKKhPbyeXj69QytnzNTy2ys24V8gpAMVyERiVFHMQ0w31KUOdQ8GCKM4oMM827dR24HUI2gjBXYx9Ci-1KX5rgEur2nKU7UdMo1JxbIooI1y56D-MqhrQ6oM6XUVKD27VsPt-7Ic79s3JAaWFC-AeoknWozz1VnSWugwIOzo7P-nqAAba9g4POKEQG9fpLFvyLmoVxlNHtP9_mcXezoL9eFydHruh_jnaxEWCH7DJTgBgF6Y9s74QucWuL0i0u-No9nuRVb8-xCKlaaAzMLBPmAhZdIM3765XrMDS_MM87dSSmE_6kMFjTN6SeGEwXREwpgDNUjoMNAVYbbQg9zB-9QLb_XDoqWmm0w8YPQV0PRaJwiUL1N809w7StI8f6lxWQOQV5WBjIvX202uSpbNVvaNuey6ehIGqBW90p9h73Nw6KqiSnZnmq70l2mQ4LS8QXxoMrU7n8DsV5S6Kw_6N_3hWxxX_l2ZXgB_ZEGO0ZOMcyQyllueiP7T0vG-ln7Ld6knGa8txPEdAGs7XpkcdEXfqHXTLTC6hCmbP1r7i4gYNX04uprqCN0GL4LAc0PtTX-1FEaptJKoMbG7IzraFuTN1uyYWk9VdhKH_iisg6_t6uGWqhmTKVVu2NjQ0uGqQu-a-lqfFNaHYvzZwHgSxq-hS1EnB3nhQ7XFBOaQzr_HPD83hecTNFVOrkC7KB-mcTmLL15IZM1lz8okt9FHdz2CQzR8e1t9DsVT1BfVOEAiZy2eWiRVeKIoTTvS1-hyJs4IsfWrDPrMkofYhE1RIW9dzJGFMdO8COIG_rboq2ZZlUwL23rtOhwnGfZyhCtSS4ZbN4w1Jxwy_mssMAl_Rab-D1Molc12qiqBNIDMRiugiC8uNBd95yni_ewpE7CNF0UmvtsglaJuuo91oDt_9dzlHXrjQoPqw8cGakPqVhgVRgYie7x42jW7dMA-7agDleRV9VVXD33F6OZVt5YGWMquH_GNOx0GSeAMfw75p_-hX1CT6EkLBnqwKtKg5k0A5K6h94xHrvm5OJytKX-zmQ6lbYRT99HAhfWK_vLW3AiqC6yNu9psvJgM2ggahcVt3ZqNGFrZtmCWakPvyzhSvFmhqTvoPlNqGcZtKmXTiu3ktTA_yzKrL2Sr3VdAGsrUtiZnCvd1Mow1Sip5vJ1HRne-oAOcYa9FQCqSU62cGarHjA1Qz5NxkJ_ZT1g0maRst_Otg0u1Kqkhk7gXFmpe-9hogCx6aey-o2kgbWcleSI5sXmxGKKxsbA0ZFoHd-IbBsv4K0iFIWYA7UbJXsBcNWFMv3MzWM0g7pcsrU0ofIsnlmGuTVpztaG701lW6QTAdBVD0V9mg-Q12ANTuOA7XLs6SjhzfYHDBTV5FJ-Jjz4RhxEa1os_rg",
  "id": "rs_0358d89aeca12933016ab4207344e487d09bd4ecc20ae0eb29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.339,\"left_y\":-0.318,\"left_z\":0.016},\"note\":\"The latest wrist view separates the objects: the gold pen is left of the cap’s dark axis, so they are not yet seated. I’ll correct the lateral alignment while keeping the cap at roughly the same height and depth.\"}",
  "call_id": "call_RPwDvapWLSoN0hzZ3kLUWElT",
  "id": "fc_0358d89aeca12933016ab4207715cc87d0b7da6734c1becd27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RPwDvapWLSoN0hzZ3kLUWElT",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "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]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0705, 0.0547, 0.8185, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -12.4786, 4.7795, 1.243, -0.3883, 0.1245, 1.0379, 0.0479, -1.4291, 7.0085, 1.6679, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5eba408aa35beb7a9ddaf4c9b01fc32ca2a4e2124592402e04745cf8e9acf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45860a9db4d2c69aad9fc32a79dd69b05c8da817989434b396ff66079725917d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4555879731aa086b3734f5e9985a9d18565023e49d89f9fe62027c7ddf37d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0935, 2.0388, 1.1107, -0.1066, -0.8478, -0.8623, 0.0705, 0.0547, 0.8165, 0.5961, -0.4149, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3181 left_y=-0.3189 left_z=0.0269 left_yaw=0.0215 left_pitch=-0.0366 left_roll=0.0401 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.164 right_yaw=-0.0978 right_pitch=-0.0668 right_roll=-0.0251 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -9.9897, 5.3128, 1.3309, -0.3834, -0.0513, 1.033, 0.0889, -1.6205, 7.241, 1.7558, 0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0631, -0.8295, -0.8501, 0.0705, 0.0547, 0.8181, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.0453 left_roll=0.0319 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -12.3966, 4.8889, 1.2625, -0.4322, 0.1245, 1.0427, -0.1299, -1.4701, 7.1179, 1.707, 0.0024, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0705, 0.0547, 0.8185, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -12.4786, 4.7795, 1.243, -0.3883, 0.1245, 1.0379, 0.0479, -1.4291, 7.0085, 1.6679, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5eba408aa35beb7a9ddaf4c9b01fc32ca2a4e2124592402e04745cf8e9acf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45860a9db4d2c69aad9fc32a79dd69b05c8da817989434b396ff66079725917d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4555879731aa086b3734f5e9985a9d18565023e49d89f9fe62027c7ddf37d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCB7t7COklTZVIQaa0B5edvDD5DsSSPdnsH8O98p28dUg4M8B2c44YwfptgpFU9h9NM2Ij5SvY67HYaJFx49ydzIPs0XCzXWNJKraDGoXpMGShKeLK34b-RCwqF3sIjIzohqqQwQynWn5_VOAZ5NGa3FGVu9TFaQ9a-tuGUwNihtqTZ9GLo7962jPdZd3t_GzVNUkOojWkgHRhwAVlDfaKSgHrPMRfUAW3TtG_lgdorA8Utx8ydO_UnOkS_FSkE1caQd94Hx3HB-GwuDGKIP7JViIJTYK_4AD-MxjlPADaqYTWx8m7gfEd6tWjX2_aMBOO9oINbGITLCReVYg7SRwt4h_sLx_THmmQX-r33m0-gQTs0Uczi3qVSOQ5XDTukv-bPWtH-EbS1OoMN1mc9XfMvhJUOYIdY5GMnF9dMatLP7o22Vs_T_3SJoG-TDVjn9217vJg9wALrUMijDJFNKf3QWxwH47SyRdZhLZIOeBzvvKalJxHgtWP5CVpq9usmQm0AAtFUM2iUlqd-XCwoU_7Q7-MmBU70sdzoSbjZAyfSuRbgAjK7l35nDAQiLaE1PJevAvHxcF8OAax9apGb22aRboVoB98uqCcOjCC4Vx_z1w-uxNKbF16xaUFnhD98gr_qYr-RHOMWrM6YTB0VY_ZkXszxd8O_-_uNJ06NJ8u-r4yPXXFD7mNHvGAxFifGv5jDi5WJS4GTbc9P2IUk6hfTaVxaiM38UCP5hp20UQWG2EhsTebrYobKuiesabbFXq9IyN_1Ol9SXvHkr8LBAfss5HJ0pUh90vO_BNnjSegdOWJm3jIStyrCf2qFnaXAKwmZIWWPlSK3ZhFMAvzdiUiyNEsGz-Ppx93-CaoN2PdtzU1ydW8JUt-6Vp7NPMzhkYYkMWVML-Jos-bAIUh2atbN36s8Y9R6jpzxlwZSbwGEMBQl6tsVwrsnKs0CvjIvSFs5whYVEhB1J0Pw8tkDT06E9sqIfsXXdE68GK_HaJc8YrGEGJ7IM6n35IJxJIiWVUfjzJzHEAcSBvllV67JpwighBe_GUwoFAZuZ7F2BQfgx3ZIwqjO7DZIgs8P_8sndz9cpzlGlNhFXD1gR3Ty1LZFxNQWjqH4o9qnd-c5Tl39Pgmok1RtP31YtItfcHKRhgbr-fFgX4HDkYgdIZxQxXCLeO9kuqpuM6m2mmd1QBokpkS5rhKcuyJraFj1jyN034g8FAp48pJKkawmG2mc_qNVg0WW-8ggNFqmKCb_aVBlLHgPmja2AxFBurGOC9cq6_OArBMukaOcUa5sLUahcHEMGNBlgnA-s9t4amPsz9Orrg6UOg7wXuOeFYqgwqQ0OhbpmkXGmQAp_lK8-1lbeFcqQ3qP-HESc0gCASRU9HhHd11T5KQPqGthG2N_62nz-17dEoatRiNLLtnbcvPdDmebMzFhNZmxR7isMSl5P0UYQlDeUP4Qw1TwKwtyU6SQig0XtMf0BWr7MMjsTxyMoT5DfAoXM7ik-xPns2LzH86EaJSHBdGjn_DN7WDN_-stI8FvB2H1YAWeUsV89BDqf1z9JBpTnpDDRH9xRcdKUhxW221mupMpVrvtCuLuC7KWVLGce",
  "id": "rs_0358d89aeca12933016ab420797c5887d08d0992bb32297a79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.307,\"left_z\":0.02},\"note\":\"That one-step correction did not move the gripper measurably, and the gold pen is still left of the cap in the wrist view. I’ll request a slightly larger sideways move while lifting a few millimeters to avoid scraping the table.\"}",
  "call_id": "call_FFBAQ2EG3hVPrDK9RbqFZoEM",
  "id": "fc_0358d89aeca12933016ab4207a8c4887d0a56e1fb9d65ce7a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FFBAQ2EG3hVPrDK9RbqFZoEM",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0719, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0719 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -12.3829, 4.9846, 1.2918, -0.4322, 0.1783, 0.7937, -0.1709, -1.0462, 7.2274, 1.6532, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a90ecc9d44a7a844945a299dfeeeb0c5c084aa372f497b48b5240357894c355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5636b5094a8118d82e21da68cb827e0509c811f2840a1cdbfcf64820eb65686b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f75d3102493019ba5abfcb4d71e40bfba2f1b6728f55d46bf965a9877229b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 3.943 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0817, 2.0991, 1.1515, -0.0631, -0.8436, -0.857, 0.0705, 0.0547, 0.8165, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3285 left_y=-0.3286 left_z=0.0174 left_yaw=0.0275 left_pitch=-0.0293 left_roll=0.0214 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1639 right_yaw=-0.0975 right_pitch=-0.0672 right_roll=-0.0249 right_gripper=0.9964\nstate[joint_eff]: [0.9231, -9.7026, 7.2, 0.9597, -0.4225, 0.1685, 1.033, -0.0205, -1.3607, 6.9949, 1.6728, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0705, 0.0547, 0.8185, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -12.4786, 4.7795, 1.243, -0.3883, 0.1245, 1.0379, 0.0479, -1.4291, 7.0085, 1.6679, 0.0024, -0.0366, -0.0122]",
      "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]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0719, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0719 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -12.3829, 4.9846, 1.2918, -0.4322, 0.1783, 0.7937, -0.1709, -1.0462, 7.2274, 1.6532, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a90ecc9d44a7a844945a299dfeeeb0c5c084aa372f497b48b5240357894c355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5636b5094a8118d82e21da68cb827e0509c811f2840a1cdbfcf64820eb65686b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f75d3102493019ba5abfcb4d71e40bfba2f1b6728f55d46bf965a9877229b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCB-tCswhqnNJoeAaCzPsk-7lr-sV_8M0x-2QvVH8mQQCA5HMjBU8CNi0Qzyup3CBqmRMCUCEpGeuwFzOJYKqgLdgvPWAm3rBAMLqwk1iCms5hHqRlVgOPw9vrvs_LwNJzBZxG3iebW0aTC95zrT3RQebc4JtYKM_3fLnMJrcHk_0LYPMZkq1mZbbt_ucxHBBH3Mq4fhbtdZmhy5yjmWzxG6GTY_0F078OW3tYO-vzIJceO9zvRYRYOJVfM4YD8nbeHY2hAJMLxNLzguKt67AiSrUh8fL8IoRKyGa-piSTzNtenFPrNUaMdxi_t-pCKm8tULmZETs4il0Xrno_Fk4Jo0bVihEvg6vkK2wrOfS5PRfR-GZaFVnIvJD2ofBx5pPrZ0QE6MGdpviiNZucBiheexdpwfW3AdkKWX3fnY5gjIlcfiZ6s_myuml7T2yUvjbYkXhTyTL042R7-U_rE8Olab8MLC4gZvApUMZFnX9CLRCkLJeke6dBk95dl18M2Gv9zef80-5VEHCUNclcgbxXAiXDJti6we1M-GMnuLsfS9GBxh-uY34I9tCuLs7KEi4zJuqBaZF78fP0WPuZjR_m5qagVk0kws6UeTmYSHE1rIFxI2tE61W_MewgMqxnZkUINeNbzmR7hXvKKqRQFFUSES4qiUs3HiJyIa15ukeE_a5lcP8pxEigHqkHObXgF9aDGX0yWv2nT3EaQfunuHtFmEBH_e0eqfRmBIeYOVHM5ffj1_41iEnXIETJnXCegPlsf1D-rlwwzlkAKVXrXdaLePGGe5NOj1uXXNqCwR8dXiqrjQy0Jvx85lleDwHbRY0tq9k8AVcWnNKEl1U3C4BfIaf5ypn16KY58NEzmrrCb7D9cxVQf-6kWkxyaYHpUr2mUvdvSYMYOLuFCVRFPA2NmY2VHiMz9T-ZmrZbdnroESP5o-6Uh4r5lkNGbORAxtnFvWhteWuo073FXVQivRhpnz4J-OrAUzLP7kl4Nu-WFpe0FaPpFUSu6xKW7dbDzkS6GL4cpvHNReI4enEYkMkoCX5nq5UhqysBduqpqqQveN0gLM-Z-DeZC20pS8IiQJg49CBUIGUG0CNET1EcZQ01WYy5QuKiNlEN8FUCcgBdnmlyjZb7tZlOF7HhVluwx0jDoVJaRxPViFn3VnmQVx1ZsYS5RLXKVB7IC5DnXPg3kYfTJ4L66COSRCAGxZ-tKrG3S6EumVNilHplptk16YltZ7PIN4m0jMPV3wcReM5KyKuG6eOU6lrlSpUuJYIKFB0h-9wy9L8G8Sv0CEc7Y1CT21p3iukaZ34xyNLGiP315N_8yNPlGw4a-BoC6fogY4dFJVlf7j8rC6ZC_iHWFfODF_jH3TlJEltGyxqxSiR6ub0RB-jBoj2fbDj_JUQE9UO-Vy_OtCtBNFVG_awXH8WfV0PYvClPoOOmUlnYZ8ICQ67QDr6LqujSNcLogcjOqRYpztfNYBMWmOQtkB83QazP_jldKKN3fp3gIeUrc2V5yqSf7kkG495fP44-xnGGDeJYumaNtiN0lxOpKJlPQ22WlztDQDbgegwwBDcOpipll8cy0o7EIM3-V1o0GghEjWfmOXgK9lYV-F0xBbCYOrcx4M_H9ApvQe6xOwRPiXQssz8GhjSVcd0qsziDHYvwAaR5Bj5r6iaZM29WvuFzkjEoYgJADoMV0_mfaBcNro9fNWUmGUS2rTMhxx2kfIuc4iJJ6Fvz5aR1MaMd2AR4l0xuekc2eUqoqWbwQbLBBw0Tpxmhg=",
  "id": "rs_0358d89aeca12933016ab4207cd7ac87d0af07f06f2a3a98a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.312,\"left_y\":-0.31,\"left_z\":0.075},\"note\":\"The cap arm is not tracking sideways at this low pose, possibly because the objects or fingertips are in contact. I’ll back it away and lift before making another alignment attempt.\"}",
  "call_id": "call_wdzbCmSReLKGzkxn5neU1TVl",
  "id": "fc_0358d89aeca12933016ab4207dc74887d0bff832df31f06894",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wdzbCmSReLKGzkxn5neU1TVl",
  "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]: [-1.0634, 2.1342, 1.1751, -0.0624, -0.8295, -0.8501, 0.0752, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.328 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.045 left_roll=0.0312 left_gripper=0.0752 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -12.1778, 5.2308, 1.2723, -0.4176, 0.1392, 0.8571, -0.0342, -1.3607, 7.0085, 1.6728, 0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b031146042685dd9cd19aa70f25f9506e1400ff00094069327403624ebe736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a871889af8488fa4e724cb405a7702392e0350210c172a5cbce5ebca5f6b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2342746a4773ad0042161394f9cf744d62fd41ed86e466b2a95e38ceb73583",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.745 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0631, -0.8295, -0.8501, 0.0705, 0.0547, 0.8181, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.0453 left_roll=0.0319 left_gripper=0.0705 right_x=0.2895 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -12.3966, 4.8889, 1.2625, -0.4322, 0.1245, 1.0427, -0.1299, -1.4701, 7.1179, 1.707, 0.0024, -0.0757, -0.0122]",
      "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]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0719, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0719 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -12.3829, 4.9846, 1.2918, -0.4322, 0.1783, 0.7937, -0.1709, -1.0462, 7.2274, 1.6532, 0.0073, -0.0269, -0.0073]",
      "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]: [-1.0634, 2.1342, 1.1751, -0.0624, -0.8295, -0.8501, 0.0752, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.328 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.045 left_roll=0.0312 left_gripper=0.0752 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -12.1778, 5.2308, 1.2723, -0.4176, 0.1392, 0.8571, -0.0342, -1.3607, 7.0085, 1.6728, 0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b031146042685dd9cd19aa70f25f9506e1400ff00094069327403624ebe736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a871889af8488fa4e724cb405a7702392e0350210c172a5cbce5ebca5f6b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2342746a4773ad0042161394f9cf744d62fd41ed86e466b2a95e38ceb73583",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCCuxHZgmGO33B4EN0cI09Je7Mco29iLZAm_1i-1DSnlmo7HqEDhtTAUnzpoFMYfhNUi8yk5RHqz65MZmdM5kbufxg83ZkPcKAFp-zOXC_qfwoNX2P9BVMPP7BwFv04Tn1V_OqWCDn4bjRfxS2lCs-bJYm_40rFwtAsKB_r85HPis11ncGK_WB4d1zZ6ucuE373DzeIAWUjbcGUU6pY93hh3VK_0ybPUkEuzmTf9DrNv8DouBm20vRPBlIfVFObKoCB7IEMFYLU4iac64QmDAGtizcYJtq_BmQuucdk47h6txmI0qFvEqQEoG6SsVWQYQGCIQcF3UY5ZkN50kb9Yz3MG_-je50xmaxXapANoHg_25aXYujJ4Fod3_rEE1Vv-AOQpBfCuqgeMhckdb3DU1Y0iPl1QtDmqKVad1YfBgsXaNVs0G2VMzwlaCz24srbckQDLMBh1KPiPxEZNrjq3bl03eRFcqJFB35DNg7pC_aOYwAI7q1pPDFdNJ81VynUwK2ED-RMI3uIsxUPskk86jq_qe4swX7CtJfaJzTs18e83yfLmtsO7vIaH-8qGl-VE_Jc1r1XdwLLEF7ORWXTTgODY2ST6B3G7qFI28Wu2eybuOKGfLQ3-yMGcHkl8oGy1haFqNdMT-kf9gEDYcu4f7P3acYxCLTDR78JqagiKjEujACYnuIH87Zt81RJ2ddKgHfISy89jCIXVCevu9O2QozFPa_dM6twvEM2qoXriuur_220sSKACdg8ctIFEvFHK48MPGohpXjpN741WwX37qCJq3kag5F13W1r7q2UiqbUFSd9l6ueNKG1WpKQOrm486It_DydVyAtI_OR4wotHeT2wVwP2rBR3f9b2pikv_pTMfnpFg1TbGe7v-m4_F_lRgalS98HWHqWZozS7xk6ahOU1-wj09Ojro-4Evn-kloSyAVmvVqDaXZ9fIlaoj1heDfPnoXh0qeRwougDm1ylqWKOKrLqUVyB6oVRe4QMdf-QP8BmEYOOMFpHiMfQpkSEzdOCPKKH2n71SiFDR9cdYWHoYobsjzGCL36O57otqvsfZUeb0XskMARrRf3uHeHaeqPI5y5jXhatPVCmXYFRKoHNJckIVg0sp0sVpT5ovA7OB3dMGA_d54BMPOzBRkdIsAV0zsNDXDTsaErlXgCi-N6JV2gRrOY514y2_WShoFuxTdj2MdmrjsRGaoQ6MCqMHLHurcUTAiTUztcQD93YOBD_2ifYEW-tTfEhZ5RpUZOr4v_2W5ndD6BPAR1HQsVDy6hoyKwN-Ws26SqIZ6CqGe7HLMER9SXS4FZq8Ryg1RiSAGfE2ydBQ3Rvl4YY_PkFlvC05svbUqMDyB_JqXL5dunXMc7nxxfV8xoReZntqN0moQdk2XP6O8qFfTP3X3s3PPElK-7ol3ACvvhJ6WNy7aIgX_ElwHiin4kP_j_2OWS4vjDRcFHROj3OlK5mlpN1kKymdVKXqq5WPmBAbCS-krxZdER-P4N84jWzpEwEF2u94_9Ik79eWdJzkaBRrOyPzCfzwUkxfwtngyBnNoV20y_KdxAfXZJz-fceIfExK4ROsEUefwT2twoPvhK-rsWoydSeTF_VcVx9n5TqxClfPXSx5vUVjaeNuvlKKqdiMYZ9ppbVdzew_E6XNsIA9U37EeyulxfQb-SAdb14c73or7p9KpJyzcDw6sDd7chSRfMAutFDIiE9U71LVgZJ44ddXrohNqTi1ch1SK4WEK19kMlF-i1BNW6V876eKaj5Ad-idPsRWviEw26BVRWj_Um9VeZmcUu2InNnL928lEYmGZ9fI5w7jGZLvUmPc-g6uJrepKvlBIc_H3P6WCDa0i9R5hYi0n3Fl0fn66QJhXM1X3LNKNDdcOXG-iF4OsVVU5k31pF4RXsSEvbD9cRql55Ap_gMwC_d9J3T9TVxGvmg8Zd3Crk1ehA3CBRFV0VmKrVnsh5pLH5e5saUPmqV_k6D3zRlKs2hKxYmHGY12ZpLKKNPljSmvB1gNPXpi1jHzaLO52ihVdkeso4otVPpBOS7woDLvhIbLMTdsRbdMR8nAEmMwSyZJyiipBRU3xjT6lSdDmPYMxb3xT7LMl2Pp8X-m7B7MOQoDvZr7CV-MNJxrYkFx2VRHOGD79ggF7MakpWMLxriTiZyGlfRxiz-oISK6YxF6zah97LNlVabNew18E4l8YTrb4rOQ4rdUxbS1ON3nUCZovTbRACkL0Gxbj1NDC6aVdsFmfPHEZH7ijlZMlkcA==",
  "id": "rs_0358d89aeca12933016ab420802b1c87d0928038a5ace32682",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The cap arm still has not moved, even when asked to back away; I’ll try a straight upward retreat instead of a combined sideways motion. I’ll keep the cap gripped until I know whether it is engaged with the pen.\"}",
  "call_id": "call_mKRRNBo712ZHsvokxS2VYtG7",
  "id": "fc_0358d89aeca12933016ab420823db487d0bda95938c75131f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mKRRNBo712ZHsvokxS2VYtG7",
  "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]: [-1.0634, 1.9289, 1.4639, -0.5934, -0.8249, -0.8627, 0.0782, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3359 left_y=-0.3298 left_z=0.1376 left_yaw=0.041 left_pitch=-0.0649 left_roll=0.0522 left_gripper=0.0782 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -13.4632, 9.0872, 1.0379, -0.4322, 0.1001, 0.6813, -0.0068, -1.1829, 6.9949, 1.6435, 0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0471fc40e54e966fb35cd4e4ee905db59b0dced43b1e82bcc26fe171cd93aa45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275a6b8cca702125bbb3df512fb3dba35f6526d6c1788ff45232314ba1ce55ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b08365d81c1f01ac80af8bc43ca8f850f35153e91e1340b35b6252d7137e60e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 10.89 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0705, 0.0547, 0.8185, 0.5961, -0.4152, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0705 right_x=0.2896 right_y=-0.0035 right_z=0.1634 right_yaw=-0.0975 right_pitch=-0.0691 right_roll=-0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -12.4786, 4.7795, 1.243, -0.3883, 0.1245, 1.0379, 0.0479, -1.4291, 7.0085, 1.6679, 0.0024, -0.0366, -0.0122]",
      "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]: [-1.0634, 2.1342, 1.1751, -0.0624, -0.8295, -0.8501, 0.0752, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.328 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.045 left_roll=0.0312 left_gripper=0.0752 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -12.1778, 5.2308, 1.2723, -0.4176, 0.1392, 0.8571, -0.0342, -1.3607, 7.0085, 1.6728, 0.022, -0.0806, -0.0122]",
      "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]: [-1.0634, 1.9289, 1.4639, -0.5934, -0.8249, -0.8627, 0.0782, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3359 left_y=-0.3298 left_z=0.1376 left_yaw=0.041 left_pitch=-0.0649 left_roll=0.0522 left_gripper=0.0782 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -13.4632, 9.0872, 1.0379, -0.4322, 0.1001, 0.6813, -0.0068, -1.1829, 6.9949, 1.6435, 0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0471fc40e54e966fb35cd4e4ee905db59b0dced43b1e82bcc26fe171cd93aa45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275a6b8cca702125bbb3df512fb3dba35f6526d6c1788ff45232314ba1ce55ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b08365d81c1f01ac80af8bc43ca8f850f35153e91e1340b35b6252d7137e60e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCICFZyUuUPf-HnYNrZ5ss7HUyXY-q1ohmlefpRPp39-vFgjckPn0wtp2f2Jmy89BJKxVeksUdkmkipmbL_QuxU0HskEKz7EZprNwC4CbAtgVxWclmaS2JjOrcBZwS448vGGBv_BS0ooUjmOYbeiilAYnwO1LwxONKDLmW3ke7d8aeYgYMMqtQ1YDWF_Xe2BjJAARNbHuXdEyXfqJyhQBJ9vjnIN2Ep5V7WrVk_MYAgLeWqSupTAixSEpZK8_lAb7bpnX-lxiAT4CxPJFZ4a6yyhfIXBzSd6RVH-7RHIPl4sUzF7-hBQRnH6HD2sTRnMmwdnn2OuL8F5TKeUufdGP7EeWBAXqRf03pIoGhG9AjQY2uTS2tyTeFJTxfJuqCnh7s4Ul2y4EoT9pzgaHLDytxleNHevITiqnnZTnFBfRIx7S5KexOOJZ3WtalphBDeX-NLDd_eU9F7YSd3NFO-Q-uKWzGM-IMJWPAO65ol0I3zGJzMVKUaBoVIVQaG65nzYkQA5N81BCJ0Ww2D2-HmIJGcw1nGB_V0g7CD00paw6rY3-C6CtfAqr78gG_GITkcK6d9NaMoWzMOcmUtJQHofuWbLQPx2bE-MCnAyNAMUmqAco_9IdiyXvTmKmTiv4itUHoLjfKHmmmATKxRMZTXQJy9HB4A23RuQAA1Sc6IFYHq9XlRboYuFOG-Pxf2kKCh6FWB83G10Jc1zVu0RKABIudoghijL5rBBJtZRl8s304jgNLxYLZI0aVlRIkWIkY9hfpMg1HWDBYmmU9r-sFvLZovMNv2LgKz2kfUmoqA-fAjz9uhfg4Iq2qvMT6pC3tbBC2znpBsjq70hNXpPVRHmHkBFd95JbxnAA1snFvfYegoSCcuWj0Tsb_xru13Kh8K9Bw6hGeoLjHtU1UYOhQCuvESdc_4y5WC39RMsqRJJdq2LuZZ0TACWp6BhdVyh_veTWePV0O80zm45J65ZOlK60sU9QvICmLoUbJ6-Xd6PQf-HZkM3GMPBGeBlABsyPizDbwkMA2UqZ7kyIs4hZUsWnlaRpM3Ch85J32o3pFlZ2o-B3O9xso3x20Hbcmx2DdaoNKm9VjzG7U9TfIrjklOo7tru2qZHiHhzDNlxRZ4rzsF7M-xfDur-KhqMgkLEvML-AxeB91Gc80ILltRJCVrciByuKujdNpW04eSkkMFOLYXLB2Kps7QoyFG0aAJ1n5zCXrOphXPF8c_0Ka5FGWSzlhxLKoDT2QnRLZ7hSJ0RswTijWZAuZg53PggmCRG_1EGiLd4zXKlAxIzn7LRFx1XxUEfcpThbGiVaV1C2iZo_qAC5olH5GBvVL1KPuAnkvgnciovIoRUmYekVRTUdZS0XCi2IlM48dEOe6aWrkm9YhXugK4fqDXoz4KcsW-P0lz8tOKJyhy0DEJneNRCTYR4BAyNGipCugIoSYRdyunhYla2NouPmaXfQpSVzEn3QfUdkFYCnKtZ73xOwg0Y6gzQPNAlkYXmDeBxcf4R5U5Ib_sVJpHB5pMTAUSGXcqYtOZRzn18g9MOqehbD-Kx7wl6Ks6VH-ESZxF4rrbyOF3CYzs4vTGjyS4thyuMN6soSRRoPNUrqD4vroGFBeVNqj_dwN8v5cGMfzVcWvDBopxQe5oC8lrMbcu8izSks5Cqm9CAPTdNJp34mkMlw_v2wVBogfgT_4lInATfiNYojxj6OWmTDWMlQp1stCjm-XDnZgpakn_VJvlvOLfSzw6TW_xI-Qtg6rThWA1xRe22OmtJUfL5IiazRqAtsagOnFvuDQwST0sAWT1Aw_56Sgo8Guu2AJjKoOqhIdHuPLX8ApS3xU2WFxze5pli7JM5tBvYt9cqOktoNbICLg6gnVuryHGyrS8H5xzFMc0tmlmnsEENnCkq3_GWXduoESnNYL2tK1LfEzYccq6NhAEpxVZIMZnGelLPqtd_Vanqt1uNEHBtJobsgV_TDwjYlPcSKNQXzigRgtm84QoGWiO5_v-9hiKlVL7umugtiz8mRjJ5TTff498LFKmZgDB0MK2i0dtBm7ooWMff0JloUvIEQ_vymPodoPvz_LhYO_6p80fo_tiEFlkQOeV-0ipwghY546H6BQ6FdaT",
  "id": "rs_0358d89aeca12933016ab420861d7487d094bc9e76c61d1a50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.19,\"left_z\":0.16},\"note\":\"The straight lift worked. The pen stayed on the table, so the cap is not yet attached; I’ll withdraw sideways at height to uncover the pen and see whether the attempted insertion shifted it.\"}",
  "call_id": "call_m3SGJl27LhXvdxgV2bnNWQXm",
  "id": "fc_0358d89aeca12933016ab42087b49487d081b17375bbd55f60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3SGJl27LhXvdxgV2bnNWQXm",
  "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]: [-0.9909, 1.3666, 0.9226, -0.5549, -0.7849, -0.7895, 0.0806, 0.0547, 0.8185, 0.5961, -0.4179, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=-0.1965 left_z=0.1556 left_yaw=0.0487 left_pitch=-0.0688 left_roll=0.0424 left_gripper=0.0806 right_x=0.2892 right_y=-0.0035 right_z=0.1629 right_yaw=-0.0976 right_pitch=-0.0717 right_roll=-0.0256 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -6.106, 6.735, 1.2283, -0.442, 0.1392, 0.5983, -0.1709, -1.3607, 7.2, 1.7509, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8712cdbd1c6774970040de7f53dcea173bf7cd06bf6bdc5544c4439714dbab0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c366d731c5cd8f983d7cb30dfffaa8e2fda5005d81043219d604b47631f1f210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f711578245bcad8601ef8a29f6fddea3ac2fe61b3ac061731248d511509f38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.901 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]: [-1.0634, 2.1342, 1.1751, -0.0628, -0.8295, -0.8505, 0.0719, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.3279 left_z=0.0077 left_yaw=0.035 left_pitch=-0.0451 left_roll=0.0312 left_gripper=0.0719 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -12.3829, 4.9846, 1.2918, -0.4322, 0.1783, 0.7937, -0.1709, -1.0462, 7.2274, 1.6532, 0.0073, -0.0269, -0.0073]",
      "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]: [-1.0634, 1.9289, 1.4639, -0.5934, -0.8249, -0.8627, 0.0782, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3359 left_y=-0.3298 left_z=0.1376 left_yaw=0.041 left_pitch=-0.0649 left_roll=0.0522 left_gripper=0.0782 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -13.4632, 9.0872, 1.0379, -0.4322, 0.1001, 0.6813, -0.0068, -1.1829, 6.9949, 1.6435, 0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9909, 1.3666, 0.9226, -0.5549, -0.7849, -0.7895, 0.0806, 0.0547, 0.8185, 0.5961, -0.4179, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=-0.1965 left_z=0.1556 left_yaw=0.0487 left_pitch=-0.0688 left_roll=0.0424 left_gripper=0.0806 right_x=0.2892 right_y=-0.0035 right_z=0.1629 right_yaw=-0.0976 right_pitch=-0.0717 right_roll=-0.0256 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -6.106, 6.735, 1.2283, -0.442, 0.1392, 0.5983, -0.1709, -1.3607, 7.2, 1.7509, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8712cdbd1c6774970040de7f53dcea173bf7cd06bf6bdc5544c4439714dbab0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c366d731c5cd8f983d7cb30dfffaa8e2fda5005d81043219d604b47631f1f210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f711578245bcad8601ef8a29f6fddea3ac2fe61b3ac061731248d511509f38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab4208b6ce487d0acb4a1c636b51ee8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0358d89aeca12933016ab4208f755487d08461245ef63850a9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCUC_LbBVjYwahBtBL0xo6PhBubUB5sc-dln0CWUhZ5jSPGdVsmgwUqFuUwkeJ9P9yzGDl_wtrkHufzqU-FLd8sR08TC1I7G7F5iqQ0t6GkPUDSi3h5b7eXwqwp3iUqtgdAaR7ExVixevzNu_ptseqFd5XFCYw818kTobnXVuao-kvukaTZEzJyVDruqC27uuxitC6jAWAF3GTxXh_7n3YDYyYsRl1AXPhFW-0hjNc9uQrKMNWLELG0We6FaeueHx971JcfeihVruTQVeNFEJ-wfFhdqa9i0jX5PIS2ES4erPBvB51kVJdNfhHx8hX_9-cYLjx9a3tdFNkWrb6W2z3yK_Fng15tZf42laMGisuH2vCCoWphPRXqPeVavIAWXAMGURhHOO3aXyor4GLUQQwKNi6DtPFZmskz8NRoDOlCUtfv54fd9BRCIdxjrXqoiqxE1zw9nT5fEHpK5nTuVyLAdjk9PXb3nTMRw00z5xTIPNlBGaWLzB0cIN6gKBMOCWetMsayvwki852IMIVglbE-jwPaaiiK9JpP3xg7xmtzPFvTWcFEEdi2wwbfiP2jFyoFa-tyLLPhehDkON0de-KObPC6C293rYqkxI0lTVxedjlvE5MoTQlMyiwJi11TKr6hlly-u3AFVA9pAIh6RuTvjPKcafEXz_zPzzpXfKlN5iY2Sc3cpqF76Zf1_MLVCmVP18SBprPDLXz8yh4SbVGJJZiZZvciPJe1KmtwVg4XufJ1fTydLkC2Dqr7vFkTcEo7iVPAiz6AeT2roEd9adjCzGjeSjl02rBexyu6F1kPu5yj7ZN-Strgu_qZQg7m7749xwXJkxkKd_gZzjPbKGaZfU6r00-34VWoD8DmF1AF4zc7ZM_Kb_mmHquK7ZaX-eRhE2jSa4GFy5PSPZlQvkmTMq29J4ZGA3KXtFAsGFB4zposfWk0X5k4AgE9bn5_-9WPInWT_kU2afafkg6-4zPO29dP4kJN8NUMesA5s0KsjQTBeIDZa1nMG2A7gBOylqgLyZMpGiQk8ar6d6AIIpZHz-EjVje7b_nQKNkM7dYFI21V75bczv-W9XXADLBvdVlOyqYzUE_vw-AJmJ_iP9xAXxu9QrIpLr6-bCTGBDyenkHx033X6iudQR2kt4ChgYqYX5rQAiAEIbwZhSfTNSx-uoIeQ9FdRxmgLozG1ZKPhNulfzc4F7syTFaHyn1zGT_jpkwlEbyYqYUqeBqq9WiCihVJaOWeWF6_1QDed9pYiZc62ctkdVVnpjXjo7U-XPfgcyWaCzAUHVO74nGVeh9u_Q==",
  "id": "rs_0358d89aeca12933016ab420939ca087d0b8c7e6a32106ddbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.306,\"left_z\":0.027},\"note\":\"The pen remains on the table but has shifted slightly left, with its tip still pointing forward. I’ll return the cap to table height on the pen’s new centerline, leaving a short forward gap for a controlled final insertion.\"}",
  "call_id": "call_CghuDj2e38cEap47yGkHLN5E",
  "id": "fc_0358d89aeca12933016ab42093f23c87d09b5fbb19a32301a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CghuDj2e38cEap47yGkHLN5E",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.076, 1.9888, 1.0561, -0.2142, -0.8112, -0.8974, 0.0804, 0.0547, 0.8219, 0.5961, -0.4198, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.2896 left_z=0.0176 left_yaw=0.0475 left_pitch=-0.1134 left_roll=0.0989 left_gripper=0.0804 right_x=0.2891 right_y=-0.0035 right_z=0.1616 right_yaw=-0.098 right_pitch=-0.077 right_roll=-0.0267 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0171, 7.3778, 1.0769, -0.5739, -0.0073, 0.735, -0.1299, -1.6479, 7.1863, 1.6581, 0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb09bdf3be743dcf39fe6d61975754f44854ce860722a6ed97d964c44ce084f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70560a19be5f690a54b736f5819779ff5be4051232b53af31a6dc3bcea826b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a8a8abe07e1946c4bdd08a8555f16722f81b8e2c0e1d9a2706186222be2794",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 2.819 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 161 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]: [-1.0634, 2.1342, 1.1751, -0.0624, -0.8295, -0.8501, 0.0752, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3355 left_y=-0.328 left_z=0.0077 left_yaw=0.0348 left_pitch=-0.045 left_roll=0.0312 left_gripper=0.0752 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -12.1778, 5.2308, 1.2723, -0.4176, 0.1392, 0.8571, -0.0342, -1.3607, 7.0085, 1.6728, 0.022, -0.0806, -0.0122]",
      "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]: [-0.9909, 1.3666, 0.9226, -0.5549, -0.7849, -0.7895, 0.0806, 0.0547, 0.8185, 0.5961, -0.4179, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=-0.1965 left_z=0.1556 left_yaw=0.0487 left_pitch=-0.0688 left_roll=0.0424 left_gripper=0.0806 right_x=0.2892 right_y=-0.0035 right_z=0.1629 right_yaw=-0.0976 right_pitch=-0.0717 right_roll=-0.0256 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -6.106, 6.735, 1.2283, -0.442, 0.1392, 0.5983, -0.1709, -1.3607, 7.2, 1.7509, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.076, 1.9888, 1.0561, -0.2142, -0.8112, -0.8974, 0.0804, 0.0547, 0.8219, 0.5961, -0.4198, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.2896 left_z=0.0176 left_yaw=0.0475 left_pitch=-0.1134 left_roll=0.0989 left_gripper=0.0804 right_x=0.2891 right_y=-0.0035 right_z=0.1616 right_yaw=-0.098 right_pitch=-0.077 right_roll=-0.0267 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0171, 7.3778, 1.0769, -0.5739, -0.0073, 0.735, -0.1299, -1.6479, 7.1863, 1.6581, 0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb09bdf3be743dcf39fe6d61975754f44854ce860722a6ed97d964c44ce084f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70560a19be5f690a54b736f5819779ff5be4051232b53af31a6dc3bcea826b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a8a8abe07e1946c4bdd08a8555f16722f81b8e2c0e1d9a2706186222be2794",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCZTbMT3ovif6GmaYozN5SPQGlTbZVVxxnnlavkj3zZm_Ocu3ebsf-gv8KQDvyP39c8oHjhDUjbZ7fNneLipOaNvw2GRNriAHbkZbi-ShtJs_-2u_K941XLKe_q3puJNk49hQ_IWuEvgEzzkCM8IL-yewaVb5MaMPijDbcwgrdT34-hXC6V0FlyLwXZewMnrRNsbFVxKs57YOny4RJ-yA12U9rlXYUZ7lDfpBTPMr6BWGQ8uSQKokRYUlvGCDlC0AO0gDmxaNNxdERVytvdA3wAy_kCGjosTBZwIV_WnDUdMmtQZzOUQmxfVkCfSPgQ0BDclgjantCXPTq56DCK5XJ6RvFeAqwoEbryjy4vqbJaKMgNkk8cg8845McU5CImxuDkP_D9MXa9ij20bnWa7f5f_MJTtM-rfZbeiXkmq8jIwO-WgnG9N0LIbXsPvhTkg9PVUzywNPDJPfBiXjNHYzbeYov78tJoPQvRIkSzPDxVoHCRmU82R69fpj6uB_MrzV3Ig1B2rnsF91LbOuY4zkl45wNLtfVNVUEkRCsPQceCh8a8Vk3lR6cz_WiJeJARkyHrjWtkkGdg6s12_WRjN0_nI8QscbD86i8PPNBSI0b6hOuuyxnaNoKOe5u5k2Hqx0pr58XitialQ5pHPTeHQ9WrBF5MWN1Y_cjGWMtnZUb61fU3Nwh9I1JW21hgY2YliJKvg21VNhldJc2s2eaYmbwJkkTNk-TIKLgvg20qEkhwaPUiR-IWs91Bqst_X9sx81QLsPDv3ENVVRzYX-7dyvtLPLvl_iKdsKBI7HmG_RT0wS5WNYaBzohpEMIER9-ZwofgEC7qNHvpao3TYwFUVsyZqBGxUacFV6tHe7FvdnMGFkJzUx2M5vZK3GtKROQUBo79kzwX5phi-OvtndQo9yLZLU8AnOqXqjrAVDvqyNFv7SpfWUjNc0fORfVI1i586t29qci4iKrefDMAA1jnumQmmvYeiB_EmzaiEj8gog8SjT3vVIaZKGP8NBsYoGoBVK09wkYoJFeCbDEquxWspPYNtfzmgSXRfD1y1nPkCqBekV-cI4Mp102GAst9lcVB7spSfyRePCBCQL77KuDMz9CkspNjh53lNtZp5m8m2UzEUx4bqZHPr0VPIwbmrxXhb-tJPvLi79yrdgWcIt8DbG6OJWB_2xa-TjydJXinXoaVPAz3_71TvScki-I8JHXQXBl9MCUbJPozeAbYT4KIX7qft3wUV7xjk5oPMuuvkTKrjT5hhU2MGCnZUodo2bY-yCoLI7tR_GUqWPhYroO8rDOUkQKBfnC6rWkBOk3Ix5d27fsGjKwB88NILPZjIil5-BCbNLHbw_YSh13CJA7Lwop73HWQ0ENJVQoS6In4E-1n38D_YYSW8LcTVYKTIjx521W1HJuxg0iXwtZ2KW6gvstrA7lPiwWDAl0sL7E8QfCcdSwH_PNOzJlSN7ttewtVrjqOZdJjokDDqFhitQpLbJQO4OSrbiBhmdLZtyGUJkzARIGWNAeuMvYw_vgOScZY5Cr_xupeMi9koijxknyeuea9alPXWvAiOMZOnxUPVXuKEvk8fBGIvP0R4I69yFLEU8BWxkErlFYJdqNJzNQ3TOCfy_tKdeyFNjOjVhIt2IEKnaIQOX-7n7mh80MNgKt2IuHPpCip2TznRBPIcAye2lfxJzlkjZQO40M0JyFzowSuxqID_KkYkQgPwEObp-CMO1TemoXutXNEXHYclpr8530p2v4m8jret0YQQDXXsPv7CMYuRtjmUOfjpsfNF2XizVI5wYpAWw4IDYIQTSRKb-UtbOnsly-oeuDL-14iEvEc3OSPqU3keXYr5vcXyDCltyu5KyVp3TH6GJFHbTE8DyvtHra0AZy1GrjZ2bhp7g1WNZ3sCnY2HW3XCcjlOG-nL6bWDgHJJXCjEehd5NdKY6xb5QcgLjSIOyXD2UHxVZsXgmop-AK9qvpfJxk5tLpTlCaMN3sTZieqDox3p2P4lR-dMLgIcq2Pe-mtCRCuZHBtk9dGJUEENNTDPe-Aq6N8T5XExXKw4wvfPMUxcfqdWhu1xCXsiYcGKGjX4ZmwN204qdtmLKMiJBJQfGnE7CKTDLAD-yVXZ5QOxYoImsf4FyEk-Q==",
  "id": "rs_0358d89aeca12933016ab42096f8a887d0b06fa7ef546cc3d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_y\":-0.311,\"left_z\":0.023},\"note\":\"The cap and pen tip are at similar height in the left wrist view, but the pen tip is about two dozen pixels to the right. I’ll shift the cap laterally onto that line and advance partway, then inspect before the final push.\"}",
  "call_id": "call_qgPJW44KmUMvivoNqVHsitFE",
  "id": "fc_0358d89aeca12933016ab42098b30087d08e2da90d8246f06e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qgPJW44KmUMvivoNqVHsitFE",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0416, 2.0632, 1.1664, -0.2325, -0.7963, -0.8791, 0.0824, 0.0547, 0.8223, 0.5957, -0.4191, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3278 left_y=-0.3033 left_z=0.0157 left_yaw=0.0632 left_pitch=-0.1188 left_roll=0.0914 left_gripper=0.0824 right_x=0.2892 right_y=-0.0035 right_z=0.1614 right_yaw=-0.0976 right_pitch=-0.077 right_roll=-0.0264 right_gripper=0.9964\nstate[joint_eff]: [0.253, -9.9897, 7.2547, 0.8327, -0.398, 0.2711, 0.6422, -0.1709, -1.4017, 7.0632, 1.6142, 0.0024, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:909ca5676954f0ef74ac152cdff3192f92240976d23857c641210fce4892f684",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d65afc5a53d81b0d2cfd36d4a8f0703400852729944d5dabb10ab40c8465f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7870e2386d3d85d5da6512daf02d50fac55abb2fd34fabdc360ac3532286ca89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 6.263 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 161 changed as sent

message 165 changed as sent

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]: [-1.0634, 1.9289, 1.4639, -0.5934, -0.8249, -0.8627, 0.0782, 0.0547, 0.8185, 0.5961, -0.4156, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3359 left_y=-0.3298 left_z=0.1376 left_yaw=0.041 left_pitch=-0.0649 left_roll=0.0522 left_gripper=0.0782 right_x=0.2895 right_y=-0.0035 right_z=0.1633 right_yaw=-0.0976 right_pitch=-0.0695 right_roll=-0.0253 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -13.4632, 9.0872, 1.0379, -0.4322, 0.1001, 0.6813, -0.0068, -1.1829, 6.9949, 1.6435, 0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.076, 1.9888, 1.0561, -0.2142, -0.8112, -0.8974, 0.0804, 0.0547, 0.8219, 0.5961, -0.4198, 0.1303, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.2896 left_z=0.0176 left_yaw=0.0475 left_pitch=-0.1134 left_roll=0.0989 left_gripper=0.0804 right_x=0.2891 right_y=-0.0035 right_z=0.1616 right_yaw=-0.098 right_pitch=-0.077 right_roll=-0.0267 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0171, 7.3778, 1.0769, -0.5739, -0.0073, 0.735, -0.1299, -1.6479, 7.1863, 1.6581, 0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 165 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0416, 2.0632, 1.1664, -0.2325, -0.7963, -0.8791, 0.0824, 0.0547, 0.8223, 0.5957, -0.4191, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3278 left_y=-0.3033 left_z=0.0157 left_yaw=0.0632 left_pitch=-0.1188 left_roll=0.0914 left_gripper=0.0824 right_x=0.2892 right_y=-0.0035 right_z=0.1614 right_yaw=-0.0976 right_pitch=-0.077 right_roll=-0.0264 right_gripper=0.9964\nstate[joint_eff]: [0.253, -9.9897, 7.2547, 0.8327, -0.398, 0.2711, 0.6422, -0.1709, -1.4017, 7.0632, 1.6142, 0.0024, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:909ca5676954f0ef74ac152cdff3192f92240976d23857c641210fce4892f684",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d65afc5a53d81b0d2cfd36d4a8f0703400852729944d5dabb10ab40c8465f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7870e2386d3d85d5da6512daf02d50fac55abb2fd34fabdc360ac3532286ca89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCc7fqU_1SvwYPWPjSiXCKU3Ym-dZKpJDhIt1Ewr_j6nXg8SMRa62WakTgSLQqmHSQ7rKZz5o9RVTGFvcQqfSLHD6faURy4KV3WULORU9somMWFkrUxc_XNTPo2FXMvCPd2pGgKJH9Lhizi-TPKSIe1CADCxxFiDv_ePg2HCk07XRkLexWTonSXLgiMSFMAJpNtn0oG5v0nVAX77U4OAao1kTttTz3buybJ9fNGulVCWBmKquoka5fi3aqnVdj-7LCSAJbnpLcxYv7SYj7BllfPBTtZgF1q5I0Nwvfp0fqLky3zM2_bTHvoWhBxnRRE0ZITw1TQgWA1LLbB-A-j4ykrBxlbn7uNXpO2FDVT8YkLK_58rOPZ2k_WpB_7WdzAdtc-MDK_MrVdKU_o2IMeY4WigOW8MqZ3s8EcB54aEtmXlw6-l6OtO96t2zNnDIxpzoSqMZfv1M8RodrvodYMhYw9TUk9Zsp-tFCjzkgsrLS6MNivBat92MUQi9B0qismPQC-HWZa9MMW_qbzhfVYtPDQgutTw6nSSN7kg0DpLgpFRu9xH3Og_FAKm8HDafdC9uLGNdo2-pNb52q7JGct84K1kOvXg8L7KX6XvENvtaaK-fAvLRpb4uLKr8tZli9iVz6wJiGrRKYHCwqAJn2UAWuwHK3Y0KQKfyQnwpxc1v7Xq1LX6hBsxYzN2iOceqIM5hJhK-R6iQrepz5zxQgS7k9iyo09rDMCbcHIExxt_g4Ub7BQPmy1O3gPIWXY4_rk8Bh-Qst5__e9TVwjLHuZJJAauSxu_dxTrQTud_whdLCU7DNz169f_Vpptc1IMBVr7wH7X-JSRNgl5z4ZYh4Yd6X-3B7TzYnAqIpXcryyTMf665X_RxgKQPGsHVOjGad8BPjLXUSbtdxrbSTHwtCLT7HaV4JrbrZ-83MaaAHXQHvGuLMcj0ZVLCtvcmlkJ-X70XPQb3hy0Jk56PvVSEt-RUdCgr5ZP7BMU46xeeVhVsTcANQdT8PWQivyjOaCpft4FPvu8sUdHsr8MWiHqnKihBWKgVROUSJJoPp4BwEVZe67yVXEBMqdveHGWk6qyhdDYbDTpnAgQ3lME_YrcT43T1TOxClhSWGzpsgiciInAmsIs_o5u2wx0nzpprR4tyFqNUSSIdfzhB6Wy6A1lsWyAFmstOjWPpF42dfecAj8RSTSKOpuKYk2ev6zMojryn2pIqxyHXxLF70JS45nxxmhO2LYLGWdH1X0IVSqjp7bP_6HPZ4LKjegx2kI76u53CWBoATftyEHnOqzkQjiMGggDAX2tPi_lUfWkrx47iET_nF7rL7eiJTPY1GpLEUklaQQLz7h8k3P1XXfQ-aFd7Y8repq2xyEYQi_FnMoCo5Vx_J_vg2koYZgHaDQK9OKe7vGXfbyc5GquVTUqVDk0Xr9IA_-bBQbH9eaCQXBnWFsQ1wamgNup3rnu_MhxXyM7EP69oHqKbvMU4dHTz76EeCG-loa51LeHy4vWnVDy9m4AyCFre0a-apLWnRrwY8CbPwpi4u18mCEjiuq5z3Vi6FoLJyTOeIjxHv9UK76pbgscQ9__Dv82lqKgni4BUVzXiem_1F1_-iF1GohOyBaDnGJrADykAm6JMNPBg8DQmtcFHFzBlQ1Cc7KPLibVKwdcDUA61XN4mq7diUlW63Xkrkpmzl2NQ==",
  "id": "rs_0358d89aeca12933016ab4209b00c487d0b0d3a41e6265f450",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.309,\"left_z\":0.024},\"note\":\"The pen tip is now almost on the cap axis and appears near its open end in the wrist view. I’ll advance the cap another small increment to seat it without driving the pen across the table.\"}",
  "call_id": "call_IWlw9boGpU1Emed6k1PKiEI4",
  "id": "fc_0358d89aeca12933016ab4209bdb1087d09c61e2fc49841330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IWlw9boGpU1Emed6k1PKiEI4",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0241, 2.0724, 1.1904, -0.2501, -0.7921, -0.8551, 0.0818, 0.0547, 0.823, 0.5957, -0.4187, 0.1299, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.3348 left_y=-0.3013 left_z=0.0169 left_yaw=0.0661 left_pitch=-0.1248 left_roll=0.1107 left_gripper=0.0818 right_x=0.2893 right_y=-0.0035 right_z=0.1613 right_yaw=-0.0976 right_pitch=-0.0774 right_roll=-0.0265 right_gripper=0.9964\nstate[joint_eff]: [0.4991, -9.9487, 6.7624, 1.0867, -0.3297, 0.0269, 0.6129, -0.1573, -1.4564, 7.1453, 1.7216, -0.022, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d5d530da5ce66f3e9a9c010d093a4ed58f155e2918ef1849cabdb34926c75a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6b9c2e2a3cbe193767bc3acdc3f8073c9e6f0c7393570edf486238226dfc7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a8e7ff128f54f5322ae6032884ef9f367e7e0877f5fc006f04b386bc38b689",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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